diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00010/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5ba5b9ee8e542f43b96ca927bc5d80b6547800f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00010/meta.json @@ -0,0 +1,3225 @@ +{ + "frame_id": 10, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 5.0, + "sim_timestamp": 15432.340649056481 + }, + "drone_pose": { + "x": -47.06657379349159, + "y": -106.05814327070658, + "z": 20.5238804054642, + "pitch": -42.471591247740115, + "yaw": 88.9293242533862, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.013782799243927002, + -0.7374835014343262, + 0.6752245426177979, + 65.00660705566406 + ], + [ + 0.9998254776000977, + 0.01868569850921631, + 2.9802322387695312e-08, + -45.07658004760742 + ], + [ + -0.0126170814037323, + 0.6751066446304321, + 0.737612247467041, + -87.33306121826172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.22162027260245, + "y": -105.34244678873172, + "z": 20.239679611609485 + }, + "t1_image_uv": [ + 865.2818620697951, + -3.336570216072971 + ], + "t1_depth": 0.7175766817666035 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -84.68776321411133, + "z": 0.957603022903204 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.977437213159185, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 693, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -84.68775939941406, + "z": 0.9576030373573303 + }, + "extent": { + "x": 0.50506591796875, + "y": 0.37221190333366394, + "z": 0.8861880898475647 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.9225947497059, + "ymin": 326.6386316248638, + "xmax": 652.7431802071451, + "ymax": 392.85670670977015 + }, + "corners_3d": [ + [ + -46.29497146606445, + -85.19282531738281, + 0.07141494750976562 + ], + [ + -47.03939437866211, + -85.19282531738281, + 0.07141494750976562 + ], + [ + -47.03939437866211, + -84.18269348144531, + 0.07141494750976562 + ], + [ + -46.29497146606445, + -84.18269348144531, + 0.07141494750976562 + ], + [ + -46.29497146606445, + -85.19282531738281, + 1.843791127204895 + ], + [ + -47.03939437866211, + -85.19282531738281, + 1.843791127204895 + ], + [ + -47.03939437866211, + -84.18269348144531, + 1.843791127204895 + ], + [ + -46.29497146606445, + -84.18269348144531, + 1.843791127204895 + ] + ], + "corners_2d": [ + [ + 627.4584123010654, + 392.5364621906193 + ], + [ + 651.9254118207086, + 392.85670670977015 + ], + [ + 652.233867773518, + 370.1755476009974 + ], + [ + 628.3752681858518, + 369.8710369176155 + ], + [ + 626.9225947497059, + 349.12265685198787 + ], + [ + 652.435091015317, + 349.44068065814827 + ], + [ + 652.7431802071451, + 326.9403888694126 + ], + [ + 627.8914875769848, + 326.6386316248638 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 10, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 87, + "semantic_pixel_counts": { + "1": 593853, + "2": 112899, + "3": 77163, + "4": 20178, + "6": 10596, + "7": 2611, + "9": 21178, + "10": 34916, + "12": 3935, + "14": 6520, + "20": 2859, + "21": 4899, + "24": 29993 + }, + "instance_pixel_counts": { + "143": 6293, + "1167": 7693, + "1679": 14116, + "2703": 15727, + "3727": 8127, + "3749": 93, + "4261": 70, + "5714": 57, + "8556": 1597, + "8579": 1053, + "9068": 2267, + "9580": 1584, + "10092": 1512, + "12396": 1504, + "14444": 392, + "15186": 7543, + "15698": 7931, + "16210": 4618, + "16722": 2399, + "19796": 1607, + "22381": 3668, + "22784": 5655, + "22893": 3207, + "23441": 4564, + "23552": 6262, + "23953": 5189, + "24429": 5003, + "24465": 4658, + "24941": 4866, + "24977": 4462, + "25489": 3996, + "25965": 3154, + "26001": 16, + "26696": 20178, + "26987": 988, + "26989": 1462, + "27243": 64, + "27719": 33246, + "28231": 27604, + "28523": 76, + "28779": 1568, + "30548": 35, + "31572": 48, + "31633": 3735, + "32084": 2990, + "32145": 4645, + "32657": 3803, + "33169": 3227, + "40358": 2594, + "42918": 1787, + "51815": 228004, + "52327": 34542, + "53351": 85162, + "53863": 214301, + "54375": 30096, + "54887": 1748, + "54889": 13975, + "55401": 981, + "55913": 1880, + "56173": 21178, + "56320": 693, + "56425": 12220, + "56486": 11, + "56576": 604, + "56742": 33, + "56832": 470, + "56937": 838, + "57088": 528, + "57344": 753, + "57449": 99, + "57600": 887, + "58022": 3, + "58278": 1, + "58790": 16, + "59392": 1840, + "59522": 92, + "59762": 2745, + "60070": 27, + "60274": 93, + "62827": 180, + "63083": 113, + "63314": 4428, + "63339": 168, + "63874": 145, + "64594": 101, + "64654": 6337, + "64850": 63 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 693, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -84.68775939941406, + "z": 0.9576030373573303 + }, + "extent": { + "x": 0.47737303376197815, + "y": 0.458984375, + "z": 0.8708128333091736 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.9853181754119, + "ymin": 327.59488405945285, + "xmax": 655.6293252638727, + "ymax": 391.89543256682555 + }, + "corners_3d": [ + [ + -46.20819854736328, + -85.16513061523438, + 0.08679020404815674 + ], + [ + -47.12616729736328, + -85.16513061523438, + 0.08679020404815674 + ], + [ + -47.12616729736328, + -84.21038818359375, + 0.08679020404815674 + ], + [ + -46.20819854736328, + -84.21038818359375, + 0.08679020404815674 + ], + [ + -46.20819854736328, + -85.16513061523438, + 1.828415870666504 + ], + [ + -47.12616729736328, + -85.16513061523438, + 1.828415870666504 + ], + [ + -47.12616729736328, + -84.21038818359375, + 1.828415870666504 + ], + [ + -46.20819854736328, + -84.21038818359375, + 1.828415870666504 + ] + ], + "corners_2d": [ + [ + 624.6298516936878, + 391.5010982009812 + ], + [ + 654.7904303748467, + 391.89543256682555 + ], + [ + 655.0148420824574, + 370.45766070820713 + ], + [ + 625.563846324302, + 370.08166920701154 + ], + [ + 623.9853181754119, + 348.84578223715954 + ], + [ + 655.41093388282, + 349.2374070753955 + ], + [ + 655.6293252638727, + 327.9675559474739 + ], + [ + 624.9733060126064, + 327.59488405945285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 604, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -81.69004821777344, + "z": 0.9662016034126282 + }, + "extent": { + "x": 0.46650880575180054, + "y": 0.5513941049575806, + "z": 0.9286311864852905 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 493.88092925283445, + "ymin": 262.62931516966114, + "xmax": 535.5298963282236, + "ymax": 328.94753194374704 + }, + "corners_3d": [ + [ + -42.09884262084961, + -82.26100158691406, + 0.037570416927337646 + ], + [ + -43.17753219604492, + -82.03172302246094, + 0.037570416927337646 + ], + [ + -42.98354721069336, + -81.11909484863281, + 0.037570416927337646 + ], + [ + -41.90485763549805, + -81.34837341308594, + 0.037570416927337646 + ], + [ + -42.09884262084961, + -82.26100158691406, + 1.8948328495025635 + ], + [ + -43.17753219604492, + -82.03172302246094, + 1.8948328495025635 + ], + [ + -42.98354721069336, + -81.11909484863281, + 1.8948328495025635 + ], + [ + -41.90485763549805, + -81.34837341308594, + 1.8948328495025635 + ] + ], + "corners_2d": [ + [ + 501.9673816111979, + 328.94753194374704 + ], + [ + 535.5298963282236, + 324.8108683079115 + ], + [ + 532.4559979606124, + 307.152081595541 + ], + [ + 499.5846410849141, + 311.1169708782937 + ], + [ + 496.23499164432866, + 284.10624715949143 + ], + [ + 531.2133772325154, + 280.0265112008202 + ], + [ + 528.1092436161368, + 262.62931516966114 + ], + [ + 493.88092925283445, + 266.53285197785476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 470, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -77.74504852294922, + "z": 0.993828535079956 + }, + "extent": { + "x": 0.4825366139411926, + "y": 0.47838377952575684, + "z": 0.9078003764152527 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 691.2417393962686, + "ymin": 197.96596065732564, + "xmax": 724.1905899016264, + "ymax": 257.3792250478434 + }, + "corners_3d": [ + [ + -48.497684478759766, + -78.27494812011719, + 0.08602815866470337 + ], + [ + -49.44921112060547, + -78.17493438720703, + 0.08602815866470337 + ], + [ + -49.348331451416016, + -77.21514892578125, + 0.08602815866470337 + ], + [ + -48.39680480957031, + -77.3151626586914, + 0.08602815866470337 + ], + [ + -48.497684478759766, + -78.27494812011719, + 1.9016289710998535 + ], + [ + -49.44921112060547, + -78.17493438720703, + 1.9016289710998535 + ], + [ + -49.348331451416016, + -77.21514892578125, + 1.9016289710998535 + ], + [ + -48.39680480957031, + -77.3151626586914, + 1.9016289710998535 + ] + ], + "corners_2d": [ + [ + 694.6252212364118, + 257.3792250478434 + ], + [ + 721.1841714424711, + 256.0081323473046 + ], + [ + 717.2689859819933, + 240.32577888602563 + ], + [ + 691.2417393962686, + 241.64188365912685 + ], + [ + 696.6518190870748, + 214.66519378603755 + ], + [ + 724.1905899016264, + 213.32157338233938 + ], + [ + 720.0704011862406, + 197.96596065732564 + ], + [ + 693.1028651437957, + 199.25376023168033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 528, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -84.68775939941406, + "z": 0.9479252696037292 + }, + "extent": { + "x": 0.3244995176792145, + "y": 0.5502392649650574, + "z": 0.8814814686775208 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 929.4781035278143, + "ymin": 334.76768873395673, + "xmax": 984.1770917968656, + "ymax": 392.9805608110608 + }, + "corners_3d": [ + [ + -55.616943359375, + -85.01226043701172, + 0.0664438009262085 + ], + [ + -56.71742248535156, + -85.01226043701172, + 0.0664438009262085 + ], + [ + -56.71742248535156, + -84.3632583618164, + 0.0664438009262085 + ], + [ + -55.616943359375, + -84.3632583618164, + 0.0664438009262085 + ], + [ + -55.616943359375, + -85.01226043701172, + 1.82940673828125 + ], + [ + -56.71742248535156, + -85.01226043701172, + 1.82940673828125 + ], + [ + -56.71742248535156, + -84.3632583618164, + 1.82940673828125 + ], + [ + -55.616943359375, + -84.3632583618164, + 1.82940673828125 + ] + ], + "corners_2d": [ + [ + 933.8218952008993, + 392.50720981643974 + ], + [ + 970.1466732460483, + 392.9805608110608 + ], + [ + 965.2148771447883, + 378.27686356187627 + ], + [ + 929.4781035278143, + 377.81865244061856 + ], + [ + 946.3018425680198, + 349.34491383115557 + ], + [ + 984.1770917968656, + 349.8150090250744 + ], + [ + 978.8035149037815, + 335.22212542720695 + ], + [ + 941.5670952751893, + 334.76768873395673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 753, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -95.81512451171875, + "z": 0.9689164757728577 + }, + "extent": { + "x": 0.4843433201313019, + "y": 0.32270023226737976, + "z": 0.9463908672332764 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 778.1997268779833, + "ymin": 665.0064983399725, + "xmax": 818.8072579194519, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.9111213684082, + -96.2630844116211, + 0.0225256085395813 + ], + [ + -50.55298614501953, + -96.3305435180664, + 0.0225256085395813 + ], + [ + -50.654239654541016, + -95.3671646118164, + 0.0225256085395813 + ], + [ + -50.01237487792969, + -95.2997055053711, + 0.0225256085395813 + ], + [ + -49.9111213684082, + -96.2630844116211, + 1.9153072834014893 + ], + [ + -50.55298614501953, + -96.3305435180664, + 1.9153072834014893 + ], + [ + -50.654239654541016, + -95.3671646118164, + 1.9153072834014893 + ], + [ + -50.01237487792969, + -95.2997055053711, + 1.9153072834014893 + ] + ], + "corners_2d": [ + [ + 778.1997268779833, + 750.1280939012245 + ], + [ + 807.9089756036194, + 753.6740642800685 + ], + [ + 807.6970929304513, + 712.0517392463764 + ], + [ + 778.9575761549651, + 708.7336477174208 + ], + [ + 787.1430898738381, + 707.5097456876924 + ], + [ + 818.8072579194519, + 711.1590454019265 + ], + [ + 818.203287964458, + 668.4068660976736 + ], + [ + 787.638310733326, + 665.0064983399725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 887, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -92.85797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4075952172279358, + "y": 0.471992164850235, + "z": 0.9281767010688782 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 125.11273345139705, + "ymin": 543.1072881127754, + "xmax": 205.4854584585815, + "ymax": 623.2932778347961 + }, + "corners_3d": [ + [ + -34.87542724609375, + -93.15853118896484, + 0.013645052909851074 + ], + [ + -35.79878234863281, + -93.35479736328125, + 0.013645052909851074 + ], + [ + -35.96826934814453, + -92.55742645263672, + 0.013645052909851074 + ], + [ + -35.04491424560547, + -92.36116027832031, + 0.013645052909851074 + ], + [ + -34.87542724609375, + -93.15853118896484, + 1.8699984550476074 + ], + [ + -35.79878234863281, + -93.35479736328125, + 1.8699984550476074 + ], + [ + -35.96826934814453, + -92.55742645263672, + 1.8699984550476074 + ], + [ + -35.04491424560547, + -92.36116027832031, + 1.8699984550476074 + ] + ], + "corners_2d": [ + [ + 152.54070561798278, + 615.6501403488323 + ], + [ + 187.02457838856668, + 623.2932778347961 + ], + [ + 205.4854584585815, + 595.3725772365777 + ], + [ + 171.71856127013552, + 588.0973835512157 + ], + [ + 125.11273345139705, + 571.0274633463491 + ], + [ + 161.3554687415545, + 578.786048149997 + ], + [ + 181.49767258555568, + 550.4720900879194 + ], + [ + 146.04470118535227, + 543.1072881127754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 232, + "instance_id": 59392, + "pixel_count": 1840, + "type_id": "vehicle.toyota.prius", + "bbox_3d": { + "center_world": { + "x": -62.880393981933594, + "y": -94.98814392089844, + "z": 0.7607561349868774 + }, + "extent": { + "x": 2.256761312484741, + "y": 1.0034072399139404, + "z": 0.7624167203903198 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 1225.9711683332052, + "ymin": 628.7680263669013, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -60.625144958496094, + -93.98133850097656, + -0.00165654718875885 + ], + [ + -60.62212371826172, + -95.98815155029297, + -0.00165654718875885 + ], + [ + -65.1356430053711, + -95.99494934082031, + -0.0016646161675453186 + ], + [ + -65.13866424560547, + -93.9881362915039, + -0.0016646161675453186 + ], + [ + -60.62514877319336, + -93.98133850097656, + 1.523176908493042 + ], + [ + -60.622127532958984, + -95.98815155029297, + 1.523176908493042 + ], + [ + -65.1356430053711, + -95.99494934082031, + 1.5231688022613525 + ], + [ + -65.13866424560547, + -93.9881362915039, + 1.5231688022613525 + ] + ], + "corners_2d": [ + [ + 1225.9711683332052, + 664.3331277375288 + ], + [ + 1265.2294532495162, + 747.3221036682869 + ], + [ + 1473.206743596335, + 751.3691002229006 + ], + [ + 1420.1585279373558, + 667.8662755099031 + ], + [ + 1253.9684705608784, + 628.7680263669013 + ], + [ + 1297.3053672924889, + 713.3918977971302 + ], + [ + 1516.0958379898766, + 717.533188203744 + ], + [ + 1457.5503734729614, + 632.3592286283722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 842.3234780840132, + "ymin": 91.861701599112, + "xmax": 856.9514187118341, + "ymax": 123.07019260487687 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 842.3234780840132, + 117.12361602790233 + ], + [ + 843.9653667678601, + 122.98946574794448 + ], + [ + 852.7505542123781, + 123.07019260487687 + ], + [ + 851.0281560566025, + 117.20287388313818 + ], + [ + 846.2807198054924, + 91.861701599112 + ], + [ + 847.9922468969594, + 97.60574157037092 + ], + [ + 856.9514187118341, + 97.6848065208286 + ], + [ + 855.1561769255877, + 91.93929977916389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2618456511093177771, + "instance_id": 43901, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -39.78401565551758, + "y": -86.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 360.3364341892332, + "ymin": 231.14709449960205, + "xmax": 380.86555874485623, + "ymax": 267.6778346332016 + }, + "corners_3d": [ + [ + -39.64543151855469, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -85.91574096679688, + 6.416468620300293 + ], + [ + -39.64543151855469, + -85.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 366.97056589762343, + 267.5566399310922 + ], + [ + 377.6614546445286, + 267.6778346332016 + ], + [ + 380.86555874485623, + 258.8871211132059 + ], + [ + 370.2936586316279, + 258.7686203204422 + ], + [ + 360.3364341892332, + 239.8288868640422 + ], + [ + 371.28608629912674, + 239.9486495575083 + ], + [ + 374.6401367127057, + 231.26413153378695 + ], + [ + 363.81526925786864, + 231.14709449960205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 936.6562312287972, + "ymin": 92.70265465036147, + "xmax": 954.0705230696246, + "ymax": 123.94526115881413 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 936.6562312287972, + 117.98253484331289 + ], + [ + 939.1716792077651, + 123.8643140550445 + ], + [ + 947.9808352523675, + 123.94526115881413 + ], + [ + 945.3844406337337, + 118.06200695700423 + ], + [ + 942.4665161912837, + 92.70265465036147 + ], + [ + 945.0864243533481, + 98.46260049538546 + ], + [ + 954.0705230696246, + 98.54188542646904 + ], + [ + 951.3664366927273, + 92.78046671391752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 435.8071047587347, + "ymin": 167.26091454399403, + "xmax": 449.52241797601687, + "ymax": 195.6124016536057 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 439.4859145066346, + 195.52816330487184 + ], + [ + 447.674623304806, + 195.6124016536057 + ], + [ + 449.52241797601687, + 189.5191721245676 + ], + [ + 441.4033263012744, + 189.43636449862746 + ], + [ + 435.8071047587347, + 173.270241050413 + ], + [ + 444.14562714493564, + 173.3533521407323 + ], + [ + 446.0576789486438, + 167.34258849437447 + ], + [ + 437.7913330481168, + 167.26091454399403 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 385.7978192434323, + "ymin": 168.9923573565002, + "xmax": 403.8551319786334, + "ymax": 203.22959680465885 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 391.3338895699193, + 203.1274496186081 + ], + [ + 401.15215937256687, + 203.22959680465885 + ], + [ + 403.8551319786334, + 195.81377343037568 + ], + [ + 394.1373107275834, + 195.71371358299191 + ], + [ + 385.7978192434323, + 176.28771570921455 + ], + [ + 395.8339047131801, + 176.38825517326262 + ], + [ + 398.6522567333979, + 169.09079731150536 + ], + [ + 388.7211022218079, + 168.9923573565002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 763.9070440155928, + "ymin": 91.1627862476289, + "xmax": 776.2246104633327, + "ymax": 122.34290552726833 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 763.9070440155928, + 116.4097348127936 + ], + [ + 764.8245707305488, + 122.26236149362884 + ], + [ + 773.5898606131668, + 122.34290552726833 + ], + [ + 772.5921866729524, + 116.48881480950698 + ], + [ + 766.3277662073586, + 91.1627862476289 + ], + [ + 767.286130215397, + 96.89362375192121 + ], + [ + 776.2246104633327, + 96.97250611356321 + ], + [ + 775.1829158011209, + 91.24020689329461 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15348604559986913947, + "instance_id": 39922, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -39.78401184082031, + "y": -88.60569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 335.2694070935487, + "ymin": 292.2227933958469, + "xmax": 358.36142565883017, + "ymax": 330.8796850379268 + }, + "corners_3d": [ + [ + -39.64542770385742, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.41574096679688, + 6.416468620300293 + ], + [ + -39.64542770385742, + -88.41574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 343.07898417155786, + 330.73823093977376 + ], + [ + 354.62501841356703, + 330.8796850379268 + ], + [ + 358.36142565883017, + 320.62856093984453 + ], + [ + 346.95405289369353, + 320.49049916462536 + ], + [ + 335.2694070935487, + 302.38583420931775 + ], + [ + 347.11784093535175, + 302.5261644025607 + ], + [ + 351.0442474202387, + 292.35967133632744 + ], + [ + 339.34178741586453, + 292.2227933958469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1065.0046175402695, + "ymin": 176.39010558248157, + "xmax": 1084.9919939720962, + "ymax": 205.02929729772325 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1065.0046175402695, + 198.6900934485855 + ], + [ + 1068.496429704766, + 204.9428237109979 + ], + [ + 1076.8682306505598, + 205.02929729772325 + ], + [ + 1073.3036689416485, + 198.77507924125558 + ], + [ + 1072.837281435196, + 176.39010558248157 + ], + [ + 1076.463545964812, + 182.56114311565395 + ], + [ + 1084.9919939720962, + 182.6465008125389 + ], + [ + 1081.2902443272214, + 176.47396773675734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.6881920459944, + "ymin": 23.57551165452537, + "xmax": 1139.0698970252738, + "ymax": 264.0824959424101 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1055.645614912225, + 264.0824959424101 + ], + [ + 1052.1264742160904, + 256.8275665216841 + ], + [ + 715.6881920459944, + 251.345135765566 + ], + [ + 716.0577704707979, + 258.49739393476074 + ], + [ + 1139.0698970252738, + 34.34625622927388 + ], + [ + 1133.9257453379623, + 28.202862520208498 + ], + [ + 730.583776336897, + 23.57551165452537 + ], + [ + 731.1927590711824, + 29.614832088751655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 520448382005777854, + "instance_id": 48789, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_0", + "bbox_3d": { + "center_world": { + "x": -19.3944149017334, + "y": -69.02778625488281, + "z": 3.636636972427368 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 28.088694916799852, + "xmax": 16.192520385949933, + "ymax": 59.29070752664444 + }, + "corners_3d": [ + [ + -20.361778259277344, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361778259277344, + -70.11705780029297, + 3.7999587059020996 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.7999587059020996 + ] + ], + "corners_2d": [ + [ + -10.934306369490287, + 59.29070752664444 + ], + [ + 16.192520385949933, + 36.06723980671222 + ], + [ + -29.793763723074107, + 35.69752229524573 + ], + [ + -58.825119262864746, + 58.88940539542108 + ], + [ + -14.69599045767518, + 51.492608811198124 + ], + [ + 12.73322067398351, + 28.455361300983213 + ], + [ + -33.50558994043365, + 28.088694916799852 + ], + [ + -62.86073995406002, + 51.09443377686432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 282.40695165557224, + "ymin": 126.10665457162222, + "xmax": 389.9228675220248, + "ymax": 282.2141973292187 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 375.86588282541913, + 282.2141973292187 + ], + [ + 389.9228675220248, + 243.1794325923884 + ], + [ + 333.4708064298971, + 242.55952109840632 + ], + [ + 316.5363941046028, + 281.5291739859246 + ], + [ + 347.9700675702509, + 163.2434670120197 + ], + [ + 364.9273450832127, + 126.68423235015885 + ], + [ + 302.8602444947962, + 126.10665457162222 + ], + [ + 282.40695165557224, + 162.59864314179896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 1.950255055581863, + "xmax": 51.03276710004275, + "ymax": 133.82536380758174 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 25.378403634697634, + 133.82536380758174 + ], + [ + 51.03276710004275, + 107.6216223031733 + ], + [ + 4.741031640361257, + 107.20166667978205 + ], + [ + -22.83047561534636, + 133.36955208418837 + ], + [ + -26.618431068822133, + 25.971319005616238 + ], + [ + 3.3687777077543615, + 2.3278746973219313 + ], + [ + -46.63200645260872, + 1.950255055581863 + ], + [ + -78.86329437899985, + 25.558670793024532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 282.81064105194463, + "ymin": 23.02455107411714, + "xmax": 454.0645718935891, + "ymax": 515.8789717369104 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 454.0645718935891, + 250.88648647430207 + ], + [ + 442.14616574804006, + 250.6913391577579 + ], + [ + 361.6948842755836, + 515.526351339998 + ], + [ + 377.68919256968485, + 515.8789717369104 + ], + [ + 417.4981935485573, + 23.18898429015121 + ], + [ + 403.24769819803896, + 23.02455107411714 + ], + [ + 282.81064105194463, + 262.36069894226614 + ], + [ + 303.30592373204576, + 262.70252870924156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 409.2128183364374, + "ymin": 0.0, + "xmax": 472.1793487668141, + "ymax": 32.55709339410282 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 465.3906811001335, + 32.55709339410282 + ], + [ + 472.1793487668141, + 13.741721316731855 + ], + [ + 432.590937343986, + 13.438252212815769 + ], + [ + 424.4083983413766, + 32.23180823614558 + ], + [ + 453.07588495923414, + -64.49909237464533 + ], + [ + 460.7746988673746, + -81.0559461440547 + ], + [ + 418.5045406534513, + -81.3223366043614 + ], + [ + 409.2128183364374, + -64.78600864576538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 293.274474923126, + "ymin": 155.65954469975802, + "xmax": 370.6989693328397, + "ymax": 200.18753781810676 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 355.45474806427944, + 200.18753781810676 + ], + [ + 370.6989693328397, + 164.7019187399114 + ], + [ + 313.91988108564175, + 164.14247644328717 + ], + [ + 295.7435246316704, + 199.5685247154342 + ], + [ + 353.41218342720947, + 191.5124184996638 + ], + [ + 368.86189306049755, + 156.21580702046506 + ], + [ + 311.6973110420094, + 155.65954469975802 + ], + [ + 293.274474923126, + 190.89648815215816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 293.322215511383, + "ymin": 155.67777897048063, + "xmax": 370.6438329914866, + "ymax": 200.10914354023123 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 355.4131774388473, + 200.10914354023123 + ], + [ + 370.6438329914866, + 164.66372996807036 + ], + [ + 313.93079640461127, + 164.10485070858877 + ], + [ + 295.77457431177805, + 199.49081913513507 + ], + [ + 353.38394308419225, + 191.49134014662772 + ], + [ + 368.81853688209117, + 156.23350218457904 + ], + [ + 311.72300261417513, + 155.67777897048063 + ], + [ + 293.322215511383, + 190.8760754631043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11665211921157023400, + "instance_id": 43110, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_1", + "bbox_3d": { + "center_world": { + "x": -19.394420623779297, + "y": -69.02778625488281, + "z": 3.637737274169922 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 28.100620542838328, + "xmax": 16.126876732802316, + "ymax": 59.2253757178936 + }, + "corners_3d": [ + [ + -20.3605899810791, + -70.1158676147461, + 3.475497007369995 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.4755005836486816 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.4755005836486816 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.475497007369995 + ], + [ + -20.3605899810791, + -70.1158676147461, + 3.799973964691162 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.7999775409698486 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.7999775409698486 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.799973964691162 + ] + ], + "corners_2d": [ + [ + -10.973320117146386, + 59.2253757178936 + ], + [ + 16.126876732802316, + 36.02862134773852 + ], + [ + -29.80518725143554, + 35.65928635973938 + ], + [ + -58.80560705017547, + 58.8245235809336 + ], + [ + -14.710153537550013, + 51.478882513986775 + ], + [ + 12.690119012735636, + 28.466927431979514 + ], + [ + -33.49250327841162, + 28.100620542838328 + ], + [ + -62.814218116332995, + 51.08113380988647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1238.3373217266267, + "ymin": 273.3891587918906, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1538.4582795128645, + 1084.8447679672947 + ], + [ + 1563.882766773493, + 1085.6925548819158 + ], + [ + 1254.8090783449788, + 527.2290800298051 + ], + [ + 1238.3373217266267, + 526.868684446895 + ], + [ + 2006.2820749555272, + 916.2147909053946 + ], + [ + 2045.3318443120324, + 917.3687675532958 + ], + [ + 1431.6124399364103, + 273.7407086638505 + ], + [ + 1410.3275036834762, + 273.3891587918906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1162.149586174859, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 41.06945488375317 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1175.4984176104037, + -20.150808296867012 + ], + [ + 1162.149586174859, + -20.24566252340037 + ], + [ + 1223.2557054997833, + 40.94988292382061 + ], + [ + 1238.256446963982, + 41.06945488375317 + ], + [ + 1262.2246530204236, + -251.55918083367987 + ], + [ + 1246.6952312780354, + -251.6182474386801 + ], + [ + 1331.4376974941604, + -212.7396876987567 + ], + [ + 1349.248870776663, + -212.66217812861464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1152.8697900956354, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 240.70389535024913 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1152.8697900956354, + 119.85408155684053 + ], + [ + 1331.12423837924, + 240.70389535024913 + ], + [ + 1528.2790481382951, + 194.71382179046896 + ], + [ + 1329.4315270708464, + 87.01880164402849 + ], + [ + 1310.0858472121943, + -275.2310167506772 + ], + [ + 1598.5858821681202, + -211.30463670804193 + ], + [ + 1843.828652000313, + -236.5388727434041 + ], + [ + 1526.7950382713123, + -291.33866216162096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 698.6103425550743, + "xmax": 208.69378019431178, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -42.32275390625, + -110.74749755859375, + -0.42456769943237305 + ], + [ + -38.674442291259766, + -102.44004821777344, + -0.42456769943237305 + ], + [ + -30.09263038635254, + -106.20884704589844, + -0.42456769943237305 + ], + [ + -33.74094009399414, + -114.51629638671875, + -0.42456769943237305 + ], + [ + -42.32275390625, + -110.74749755859375, + 13.455196380615234 + ], + [ + -38.674442291259766, + -102.44004821777344, + 13.455196380615234 + ], + [ + -30.09263038635254, + -106.20884704589844, + 13.455196380615234 + ], + [ + -33.74094009399414, + -114.51629638671875, + 13.455196380615234 + ] + ], + "corners_2d": [ + [ + 208.69378019431178, + 2016.950576752553 + ], + [ + 168.01679737239948, + 1091.721681221405 + ], + [ + -502.0781219151677, + 1392.10890484129 + ], + [ + -959.602240174497, + 2850.982753062295 + ], + [ + -2720.40105243281, + 6147.715903767149 + ], + [ + -417.32979825436223, + 698.6103425550743 + ], + [ + -2688.3608779373562, + 1360.3492895208535 + ], + null + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00012/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3e68cd16906bc834272ac6c8535900d4d44a01c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00012/meta.json @@ -0,0 +1,2945 @@ +{ + "frame_id": 12, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 6.0, + "sim_timestamp": 15453.716615413548 + }, + "drone_pose": { + "x": -47.230025684714995, + "y": -104.94499648642682, + "z": 20.327564848994026, + "pitch": -39.67678175674647, + "yaw": 90.72905298762763, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.009793281555175781, + -0.7695961594581604, + 0.6384559869766235, + 67.32447052001953 + ], + [ + 0.9999191164970398, + -0.012724041938781738, + 0.0, + -48.5615234375 + ], + [ + 0.008123695850372314, + 0.6384043097496033, + 0.7696583271026611, + -82.2589340209961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.28337471575637, + "y": -104.43504588890184, + "z": 20.298884664667575 + }, + "t1_image_uv": [ + 749.3678463996168, + -349.3727717789378 + ], + "t1_depth": 0.4112894490116773 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -83.68776321411133, + "z": 0.958359858468175 + }, + "image_uv": [ + 612.1471441751775, + 404.8417954941498 + ], + "depth": 28.72035516421775, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 719, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -83.68775939941406, + "z": 0.9583598375320435 + }, + "extent": { + "x": 0.5172094702720642, + "y": 0.4787841737270355, + "z": 0.897339940071106 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 594.8303017014957, + "ymin": 370.65261231578677, + "xmax": 628.441763833081, + "ymax": 438.6280276156453 + }, + "corners_3d": [ + [ + -46.18840026855469, + -84.20497131347656, + 0.0610198974609375 + ], + [ + -47.145965576171875, + -84.20497131347656, + 0.0610198974609375 + ], + [ + -47.145965576171875, + -83.17054748535156, + 0.0610198974609375 + ], + [ + -46.18840026855469, + -83.17054748535156, + 0.0610198974609375 + ], + [ + -46.18840026855469, + -84.20497131347656, + 1.8556997776031494 + ], + [ + -47.145965576171875, + -84.20497131347656, + 1.8556997776031494 + ], + [ + -47.145965576171875, + -83.17054748535156, + 1.8556997776031494 + ], + [ + -46.18840026855469, + -83.17054748535156, + 1.8556997776031494 + ] + ], + "corners_2d": [ + [ + 596.621771640235, + 438.6280276156453 + ], + [ + 628.441763833081, + 438.34411027574254 + ], + [ + 628.3261192713908, + 414.8953577190039 + ], + [ + 597.3593882411516, + 415.16425428630316 + ], + [ + 594.8303017014957, + 394.08098766144354 + ], + [ + 627.9645835246112, + 393.8004004409863 + ], + [ + 627.8576033365845, + 370.65261231578677 + ], + [ + 595.6475007714477, + 370.9177675007269 + ] + ], + "center_offset_px": [ + -27.85285582482254, + 44.84179549414978 + ] + }, + "trace_timestep_index": 12, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 114, + "semantic_pixel_counts": { + "1": 535158, + "2": 126772, + "3": 95229, + "4": 22479, + "5": 351, + "6": 11673, + "7": 2752, + "9": 23779, + "10": 45109, + "12": 3253, + "14": 9143, + "20": 2885, + "21": 10961, + "24": 28211, + "25": 3845 + }, + "instance_pixel_counts": { + "143": 7513, + "339": 2090, + "883": 4176, + "1167": 7151, + "1679": 14614, + "1875": 1177, + "2703": 17900, + "3727": 9910, + "3749": 86, + "4204": 7, + "4261": 85, + "5202": 377, + "5714": 267, + "6565": 1153, + "7539": 538, + "8018": 1853, + "8530": 1227, + "8556": 2417, + "8579": 1078, + "8810": 93, + "9042": 1042, + "9068": 3106, + "9320": 2847, + "9554": 1848, + "9580": 2465, + "10092": 2476, + "11368": 2424, + "11370": 70, + "11596": 745, + "12396": 1726, + "12675": 4, + "15186": 8078, + "15698": 8467, + "16210": 4849, + "19796": 2228, + "22381": 3987, + "22784": 6144, + "22893": 3780, + "23441": 4789, + "23552": 6294, + "23953": 5443, + "24429": 4568, + "24465": 4922, + "24941": 5074, + "24977": 4749, + "25489": 1389, + "25928": 351, + "25965": 3622, + "26696": 21734, + "26987": 1126, + "26989": 1803, + "27243": 57, + "27719": 37624, + "28231": 35718, + "28523": 81, + "28779": 1446, + "30339": 411, + "30548": 1959, + "30630": 1011, + "30863": 641, + "31142": 965, + "31572": 2042, + "31633": 3984, + "31654": 1008, + "32084": 2914, + "32145": 4947, + "32657": 4063, + "32911": 1070, + "33169": 1024, + "37286": 4, + "37798": 23, + "39239": 3845, + "40358": 2561, + "41894": 371, + "42391": 241, + "42918": 1790, + "44951": 243, + "51815": 196082, + "52327": 40373, + "53351": 59729, + "53863": 195914, + "54375": 34734, + "54887": 3055, + "54889": 12354, + "55401": 1147, + "55913": 1427, + "56173": 23779, + "56320": 719, + "56425": 11968, + "56486": 11, + "56576": 614, + "56742": 35, + "56832": 481, + "56937": 976, + "57088": 539, + "57449": 176, + "57600": 900, + "58022": 14, + "58278": 1, + "58790": 16, + "59522": 498, + "59762": 2681, + "60274": 2610, + "60582": 2133, + "61094": 2094, + "61803": 370, + "62059": 376, + "62827": 202, + "63083": 111, + "63314": 2599, + "63339": 372, + "64594": 116, + "64654": 7031, + "64850": 67 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 719, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -83.68775939941406, + "z": 0.9583598375320435 + }, + "extent": { + "x": 0.5020092725753784, + "y": 0.3509863317012787, + "z": 0.8659374713897705 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 599.2935692974625, + "ymin": 371.8236753380123, + "xmax": 624.1852831517446, + "ymax": 437.4868878229778 + }, + "corners_3d": [ + [ + -46.31619644165039, + -84.18976593017578, + 0.09242236614227295 + ], + [ + -47.01816940307617, + -84.18976593017578, + 0.09242236614227295 + ], + [ + -47.01816940307617, + -83.18575286865234, + 0.09242236614227295 + ], + [ + -46.31619644165039, + -83.18575286865234, + 0.09242236614227295 + ], + [ + -46.31619644165039, + -84.18976593017578, + 1.824297308921814 + ], + [ + -47.01816940307617, + -84.18976593017578, + 1.824297308921814 + ], + [ + -47.01816940307617, + -83.18575286865234, + 1.824297308921814 + ], + [ + -46.31619644165039, + -83.18575286865234, + 1.824297308921814 + ] + ], + "corners_2d": [ + [ + 600.8519069704645, + 437.4868878229778 + ], + [ + 624.1852831517446, + 437.2789557932805 + ], + [ + 624.1837895701873, + 414.5219914208193 + ], + [ + 601.4583595235657, + 414.71923057312654 + ], + [ + 599.2935692974625, + 394.5044239764317 + ], + [ + 623.5559147840598, + 394.29885183289883 + ], + [ + 623.5713924183839, + 371.8236753380123 + ], + [ + 599.965683754251, + 372.0182721988473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 614, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -80.69004821777344, + "z": 0.9669536352157593 + }, + "extent": { + "x": 0.42707765102386475, + "y": 0.5019751787185669, + "z": 0.866698145866394 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 465.27906740574144, + "ymin": 311.7737230834358, + "xmax": 504.6361892228685, + "ymax": 374.1345821810397 + }, + "corners_3d": [ + [ + -42.13898468017578, + -81.212158203125, + 0.10025548934936523 + ], + [ + -43.120994567871094, + -81.00342559814453, + 0.10025548934936523 + ], + [ + -42.94340515136719, + -80.16793823242188, + 0.10025548934936523 + ], + [ + -41.961395263671875, + -80.37667083740234, + 0.10025548934936523 + ], + [ + -42.13898468017578, + -81.212158203125, + 1.8336517810821533 + ], + [ + -43.120994567871094, + -81.00342559814453, + 1.8336517810821533 + ], + [ + -42.94340515136719, + -80.16793823242188, + 1.8336517810821533 + ], + [ + -41.961395263671875, + -80.37667083740234, + 1.8336517810821533 + ] + ], + "corners_2d": [ + [ + 473.69567109197317, + 374.1345821810397 + ], + [ + 504.6361892228685, + 369.725846005118 + ], + [ + 501.69711663933566, + 353.5428253062304 + ], + [ + 471.36534772094865, + 357.7758515174918 + ], + [ + 467.56529514222393, + 331.99552239202654 + ], + [ + 499.6744926364238, + 327.66280882544487 + ], + [ + 496.73311796100376, + 311.7737230834358 + ], + [ + 465.27906740574144, + 315.9276069015531 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 481, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -76.74504852294922, + "z": 0.9961674213409424 + }, + "extent": { + "x": 0.4844702184200287, + "y": 0.2979052662849426, + "z": 0.9288762211799622 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 666.9202893183758, + "ymin": 241.43593952276294, + "xmax": 688.8810749392215, + "ymax": 301.32590960285034 + }, + "corners_3d": [ + [ + -48.67737579345703, + -77.25800323486328, + 0.06729120016098022 + ], + [ + -49.269920349121094, + -77.19572448730469, + 0.06729120016098022 + ], + [ + -49.16864013671875, + -76.23209381103516, + 0.06729120016098022 + ], + [ + -48.57609558105469, + -76.29437255859375, + 0.06729120016098022 + ], + [ + -48.67737579345703, + -77.25800323486328, + 1.9250435829162598 + ], + [ + -49.269920349121094, + -77.19572448730469, + 1.9250435829162598 + ], + [ + -49.16864013671875, + -76.23209381103516, + 1.9250435829162598 + ], + [ + -48.57609558105469, + -76.29437255859375, + 1.9250435829162598 + ] + ], + "corners_2d": [ + [ + 670.6838558970309, + 301.32590960285034 + ], + [ + 687.1913105163098, + 300.1706798048224 + ], + [ + 683.0847230757281, + 284.60853775490557 + ], + [ + 666.9202893183758, + 285.7154283261379 + ], + [ + 671.7843281718392, + 257.71590149966056 + ], + [ + 688.8810749392215, + 256.5900471359009 + ], + [ + 684.5937060153153, + 241.43593952276294 + ], + [ + 667.864633617069, + 242.51305082724028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 539, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -83.68775939941406, + "z": 0.9442533850669861 + }, + "extent": { + "x": 0.3145751953125, + "y": 0.33338865637779236, + "z": 0.8696820735931396 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 909.9661231480254, + "ymin": 373.545896216527, + "xmax": 948.3734488464012, + "ymax": 430.7867829195202 + }, + "corners_3d": [ + [ + -55.83379364013672, + -84.00233459472656, + 0.07457131147384644 + ], + [ + -56.500572204589844, + -84.00233459472656, + 0.07457131147384644 + ], + [ + -56.500572204589844, + -83.37318420410156, + 0.07457131147384644 + ], + [ + -55.83379364013672, + -83.37318420410156, + 0.07457131147384644 + ], + [ + -55.83379364013672, + -84.00233459472656, + 1.8139355182647705 + ], + [ + -56.500572204589844, + -84.00233459472656, + 1.8139355182647705 + ], + [ + -56.500572204589844, + -83.37318420410156, + 1.8139355182647705 + ], + [ + -55.83379364013672, + -83.37318420410156, + 1.8139355182647705 + ] + ], + "corners_2d": [ + [ + 914.7168806947911, + 430.7867829195202 + ], + [ + 936.6210514187253, + 430.59246172398775 + ], + [ + 931.5133148454053, + 416.42217848788255 + ], + [ + 909.9661231480254, + 416.6101985043868 + ], + [ + 925.6039512427087, + 387.728916442773 + ], + [ + 948.3734488464012, + 387.5369274250033 + ], + [ + 942.8671997001376, + 373.545896216527 + ], + [ + 920.4831947817952, + 373.7314192549693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 900, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -91.85797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3877209424972534, + "y": 0.5109814405441284, + "z": 0.9303649067878723 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 80.20398095229109, + "ymin": 604.8539012625274, + "xmax": 167.2413696381147, + "ymax": 687.0198672088563 + }, + "corners_3d": [ + [ + -34.84142303466797, + -92.13098907470703, + 0.011456847190856934 + ], + [ + -35.8410530090332, + -92.34346771240234, + 0.011456847190856934 + ], + [ + -36.00227355957031, + -91.58496856689453, + 0.011456847190856934 + ], + [ + -35.00264358520508, + -91.37248992919922, + 0.011456847190856934 + ], + [ + -34.84142303466797, + -92.13098907470703, + 1.8721866607666016 + ], + [ + -35.8410530090332, + -92.34346771240234, + 1.8721866607666016 + ], + [ + -36.00227355957031, + -91.58496856689453, + 1.8721866607666016 + ], + [ + -35.00264358520508, + -91.37248992919922, + 1.8721866607666016 + ] + ], + "corners_2d": [ + [ + 109.48616683427133, + 679.4157296384046 + ], + [ + 148.52441199719544, + 687.0198672088563 + ], + [ + 167.2413696381147, + 658.6081276325792 + ], + [ + 129.06043291212325, + 651.3825293391819 + ], + [ + 80.20398095229109, + 633.1690893358642 + ], + [ + 121.2018209539159, + 640.8632630409602 + ], + [ + 141.6599913780903, + 612.1446776840409 + ], + [ + 101.60529895717707, + 604.8539012625274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 812.9599608250644, + "ymin": 149.74150732237456, + "xmax": 827.1849794804123, + "ymax": 180.9934433244847 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 812.9599608250644, + 175.00845483640455 + ], + [ + 814.8085599056966, + 180.9934433244847 + ], + [ + 823.7002569914513, + 180.93734193058302 + ], + [ + 821.7656293363502, + 174.95343589808593 + ], + [ + 816.2088391456805, + 149.7952479732061 + ], + [ + 818.1249174486891, + 155.64226877229245 + ], + [ + 827.1849794804123, + 155.58745065804104 + ], + [ + 825.1796002157059, + 149.74150732237456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2618456511093177771, + "instance_id": 43901, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -39.78401565551758, + "y": -86.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 315.79934687802427, + "ymin": 303.4269411191078, + "xmax": 338.17922041838966, + "ymax": 341.09251542993456 + }, + "corners_3d": [ + [ + -39.64543151855469, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -85.91574096679688, + 6.416468620300293 + ], + [ + -39.64543151855469, + -85.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 323.40071811359843, + 341.09251542993456 + ], + [ + 334.6543191920564, + 341.0035448971267 + ], + [ + 338.17922041838966, + 331.5377571021392 + ], + [ + 327.06306771256044, + 331.6245739296954 + ], + [ + 315.79934687802427, + 312.85292564277177 + ], + [ + 327.32399972910525, + 312.765128548149 + ], + [ + 331.02384404197676, + 303.4269411191078 + ], + [ + 319.6432979463974, + 303.5125628416574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 908.186124163431, + "ymin": 149.16046191805958, + "xmax": 925.1415627062931, + "ymax": 180.386757494702 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 908.186124163431, + 174.41346964018473 + ], + [ + 910.9642211019152, + 180.386757494702 + ], + [ + 919.8384511916715, + 180.3307663073013 + ], + [ + 916.9746621219904, + 174.35855773574133 + ], + [ + 913.218735177227, + 149.21409606099533 + ], + [ + 916.0996355341581, + 155.04947048118194 + ], + [ + 925.1415627062931, + 154.9947620923168 + ], + [ + 922.1717172127735, + 149.16046191805958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 398.4843518823459, + "ymin": 231.74568825231097, + "xmax": 413.1398887292379, + "ymax": 260.51502288041183 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 402.7189218874406, + 260.51502288041183 + ], + [ + 411.1908911947661, + 260.4549373499571 + ], + [ + 413.1398887292379, + 254.07712812260183 + ], + [ + 404.7456358964423, + 254.13611872315477 + ], + [ + 398.4843518823459, + 238.08652936326746 + ], + [ + 407.1078721684896, + 238.0273399785566 + ], + [ + 409.1293571780168, + 231.74568825231097 + ], + [ + 400.5863454746543, + 231.80378005789586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 343.7502063683972, + "ymin": 237.13250321146222, + "xmax": 363.26300360085213, + "ymax": 272.1213208374047 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 350.08000835396894, + 272.1213208374047 + ], + [ + 360.33256299205516, + 272.04743543877805 + ], + [ + 363.26300360085213, + 264.17801103109485 + ], + [ + 353.1246561654443, + 264.2502639129152 + ], + [ + 343.7502063683972, + 244.9358735140994 + ], + [ + 354.2272549645764, + 244.86327217278776 + ], + [ + 357.2902290754955, + 237.13250321146222 + ], + [ + 346.93241476709244, + 237.20346598125707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.4630049447164, + "ymin": 150.22670992408214, + "xmax": 745.404396513738, + "ymax": 181.50004893854594 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 733.4630049447164, + 175.5052812927579 + ], + [ + 734.5342351146326, + 181.50004893854594 + ], + [ + 743.440529204536, + 181.44385543503984 + ], + [ + 742.2829889223367, + 175.45017289883273 + ], + [ + 735.2200667067436, + 150.2805395954016 + ], + [ + 736.3291785729672, + 156.13729470189173 + ], + [ + 745.404396513738, + 156.08238487544148 + ], + [ + 744.205685906453, + 150.22670992408214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15348604559986913947, + "instance_id": 39922, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -39.78401184082031, + "y": -88.60569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 287.8642363846996, + "ymin": 369.53303570741843, + "xmax": 313.2701289794651, + "ymax": 409.732452354503 + }, + "corners_3d": [ + [ + -39.64542770385742, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.41574096679688, + 6.416468620300293 + ], + [ + -39.64542770385742, + -88.41574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 296.8495362466296, + 409.732452354503 + ], + [ + 309.09989354815565, + 409.62707905767354 + ], + [ + 313.2701289794651, + 398.428313459216 + ], + [ + 301.1824702801942, + 398.5309152594868 + ], + [ + 287.8642363846996, + 380.73163985709635 + ], + [ + 300.43647325411155, + 380.6272141395331 + ], + [ + 304.83205378373424, + 369.53303570741843 + ], + [ + 292.4311178144781, + 369.6346443991942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1039.8944558513265, + "ymin": 230.27158906043607, + "xmax": 1059.4631525364007, + "ymax": 258.9900405665364 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1039.8944558513265, + 252.63889713078242 + ], + [ + 1043.7270156735365, + 258.9900405665364 + ], + [ + 1052.1252985515482, + 258.93021771284924 + ], + [ + 1048.2163632340553, + 252.58016206740126 + ], + [ + 1046.9489773831178, + 230.32942478813334 + ], + [ + 1050.9159684907318, + 236.5843477548226 + ], + [ + 1059.4631525364007, + 236.5254217314337 + ], + [ + 1055.4170664605642, + 230.27158906043607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.0541661709032, + "ymin": 82.73178625660927, + "xmax": 1107.9417776966561, + "ymax": 318.8667099753125 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1032.8550281427067, + 318.06702087452834 + ], + [ + 1028.9521942560007, + 310.66251637843834 + ], + [ + 688.0541661709032, + 311.44657667776204 + ], + [ + 688.5785227671834, + 318.8667099753125 + ], + [ + 1107.9417776966561, + 88.86041795075874 + ], + [ + 1102.4255163199516, + 82.73178625660927 + ], + [ + 697.1429590417538, + 83.37965818232198 + ], + [ + 697.8751068557294, + 89.52368838087307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 237.9913786692308, + "ymin": 191.91604675224158, + "xmax": 352.55820125109346, + "ymax": 351.08470080799174 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 337.53124525334624, + 350.5890145262329 + ], + [ + 352.55820125109346, + 309.3278829856989 + ], + [ + 293.8840926084854, + 309.77293723473497 + ], + [ + 275.59897129035664, + 351.08470080799174 + ], + [ + 306.33697919011837, + 230.26566680747598 + ], + [ + 324.61911067485374, + 191.91604675224158 + ], + [ + 260.21989805986414, + 192.3274957145614 + ], + [ + 237.9913786692308, + 230.72889731405928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 69.25021989857686, + "xmax": 3.261483709837762, + "ymax": 202.3986067919555 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + -24.672165263416105, + 202.07167119584332 + ], + [ + 3.261483709837762, + 174.58484114777283 + ], + [ + -45.08416946730392, + 174.8842241943289 + ], + [ + -75.20837557176708, + 202.3986067919555 + ], + [ + -79.35483076758305, + 93.86935272444373 + ], + [ + -46.69076003504222, + 69.25021989857686 + ], + [ + -98.85754230349744, + 69.51743217332944 + ], + [ + -134.08127409426777, + 94.16322877172229 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.20288697009795, + "ymin": 87.18078117571014, + "xmax": 419.07164973614704, + "ymax": 601.9364899012526 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 419.07164973614704, + 316.04047316341325 + ], + [ + 406.7324046935744, + 316.0690394182418 + ], + [ + 319.9231971949175, + 601.9364899012526 + ], + [ + 336.95480583655234, + 601.8820945527317 + ], + [ + 376.9804477173234, + 87.18078117571014 + ], + [ + 362.288324633752, + 87.20444538891894 + ], + [ + 229.20288697009795, + 342.4981290536787 + ], + [ + 251.06758979831835, + 342.4457612773718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 372.82169686307395, + "ymin": 0.0, + "xmax": 438.1871058732895, + "ymax": 92.35891020635154 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 431.2636772750357, + 92.13495256246676 + ], + [ + 438.1871058732895, + 73.1634202705207 + ], + [ + 398.0583280517689, + 73.3715841202602 + ], + [ + 389.63715421331904, + 92.35891020635154 + ], + [ + 417.2503755204022, + -3.540683604094056 + ], + [ + 425.1563684991869, + -20.080856033248892 + ], + [ + 382.42974474235126, + -19.899801662683956 + ], + [ + 372.82169686307395, + -3.344951868538658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 249.8352206329157, + "ymin": 221.6922277333609, + "xmax": 331.2184748582275, + "ymax": 268.0037719545365 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 314.8187858714017, + 267.5581098380312 + ], + [ + 331.2184748582275, + 230.23674240779988 + ], + [ + 272.26695123758657, + 230.63638582193545 + ], + [ + 252.55418092507693, + 268.0037719545365 + ], + [ + 312.538230976385, + 258.79358688752353 + ], + [ + 329.1685132119052, + 221.6922277333609 + ], + [ + 269.8241444606702, + 222.08936915170426 + ], + [ + 249.8352206329157, + 259.23678852585147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 249.8855464073913, + "ymin": 221.71137481456165, + "xmax": 331.16006413907337, + "ymax": 267.9235600513973 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 314.77481776911293, + 267.4786294940762 + ], + [ + 331.16006413907337, + 230.19962969957678 + ], + [ + 272.2770381452464, + 230.5986628148165 + ], + [ + 252.5861384769898, + 267.9235600513973 + ], + [ + 312.5091739796625, + 258.7720356762838 + ], + [ + 329.12327359319477, + 221.71137481456165 + ], + [ + 269.8504543360469, + 222.10792606372752 + ], + [ + 249.8855464073913, + 259.21452546174623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 378.4505137088564, + "ymin": 2.7114227080007254, + "xmax": 427.74676694396896, + "ymax": 25.961117794841584 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 420.51816362775014, + 25.768864647317173 + ], + [ + 427.74676694396896, + 9.362675116407331 + ], + [ + 388.3251567342944, + 9.541517207429536 + ], + [ + 379.64188670056626, + 25.961117794841584 + ], + [ + 419.5142560006434, + 18.946710618836562 + ], + [ + 426.81054167461815, + 2.7114227080007254 + ], + [ + 387.21459975553, + 2.8883733820628095 + ], + [ + 378.4505137088564, + 19.13699232423471 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 378.42011781702945, + "ymin": 2.7030427655156473, + "xmax": 427.7811394550399, + "ymax": 26.016323188284275 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 420.54594736617355, + 25.823811495287657 + ], + [ + 427.7811394550399, + 9.39848047768919 + ], + [ + 388.31275278439205, + 9.577549257993667 + ], + [ + 379.6195849085638, + 26.016323188284275 + ], + [ + 419.53543430004095, + 18.956153167309026 + ], + [ + 426.8388249409886, + 2.7030427655156473 + ], + [ + 387.1947360097838, + 2.8802053076801712 + ], + [ + 378.42011781702945, + 19.146677886614157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1233.5199066423947, + "ymin": 331.40364145054406, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1593.607439959587, + 1208.3928491050847 + ], + [ + 1620.4803356793418, + 1208.256360223657 + ], + [ + 1250.315288678501, + 590.3762515327835 + ], + [ + 1233.5199066423947, + 590.4294463432782 + ], + [ + 2106.706284991207, + 1042.1930347941588 + ], + [ + 2147.9711019347883, + 1042.004328067786 + ], + [ + 1420.834644389949, + 331.40364145054406 + ], + [ + 1399.3576999935635, + 331.4545332321619 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1122.9201387359408, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 90.42127089465765 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1135.9403468390074, + 30.995256801742073 + ], + [ + 1122.9201387359408, + 31.057651218745036 + ], + [ + 1186.2700378200502, + 90.42127089465765 + ], + [ + 1200.93411098069, + 90.34202243859619 + ], + [ + 1210.1377878303815, + -191.36714525250522 + ], + [ + 1195.180720723545, + -191.32954394124738 + ], + [ + 1280.1758786847254, + -154.86093702795824 + ], + [ + 1297.3437603912948, + -154.91056325341185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1122.021429245432, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 289.25178453500007 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1122.021429245432, + 170.0270383471891 + ], + [ + 1306.294877428209, + 289.25178453500007 + ], + [ + 1496.1743722888787, + 239.17893414118242 + ], + [ + 1293.2703330851493, + 134.6563279476363 + ], + [ + 1259.5310876412636, + -214.31318671885697 + ], + [ + 1547.2624343486186, + -154.86814854118677 + ], + [ + 1777.4254698808302, + -180.67383910012995 + ], + [ + 1465.8901128801313, + -230.68722730117838 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00015/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d611a7d23711b929a88ebddece095d2f4213ff60 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00015/meta.json @@ -0,0 +1,2707 @@ +{ + "frame_id": 15, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 7.5, + "sim_timestamp": 15487.932924819412 + }, + "drone_pose": { + "x": -47.36311778160901, + "y": -103.41609668041002, + "z": 20.24351215578991, + "pitch": -43.0713369310314, + "yaw": 83.12232765800321, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.08747774362564087, + -0.7252473831176758, + 0.6829084157943726, + 65.32100677490234 + ], + [ + 0.9928040504455566, + 0.11974984407424927, + 0.0, + -34.63822555541992 + ], + [ + -0.08177816867828369, + 0.6779942512512207, + 0.730504035949707, + -88.77676391601562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.39409648167008, + "y": -102.90706726485216, + "z": 20.216810836526125 + }, + "t1_image_uv": [ + 868.8647607109303, + -446.23746631930067 + ], + "t1_depth": 0.3846968444330743 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -82.18776321411133, + "z": 0.9595024366676808 + }, + "image_uv": [ + 702.0808259949141, + 347.8413489473115 + ], + "depth": 28.625884090282085, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 721, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -82.18775939941406, + "z": 0.9595024585723877 + }, + "extent": { + "x": 0.49681395292282104, + "y": 0.3914233446121216, + "z": 0.8815638422966003 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 686.6040918116161, + "ymin": 313.53814320663787, + "xmax": 717.8588792754938, + "ymax": 381.6507120805254 + }, + "corners_3d": [ + [ + -46.275760650634766, + -82.6845703125, + 0.07793861627578735 + ], + [ + -47.0586051940918, + -82.6845703125, + 0.07793861627578735 + ], + [ + -47.0586051940918, + -81.69094848632812, + 0.07793861627578735 + ], + [ + -46.275760650634766, + -81.69094848632812, + 0.07793861627578735 + ], + [ + -46.275760650634766, + -82.6845703125, + 1.8410663604736328 + ], + [ + -47.0586051940918, + -82.6845703125, + 1.8410663604736328 + ], + [ + -47.0586051940918, + -81.69094848632812, + 1.8410663604736328 + ], + [ + -46.275760650634766, + -81.69094848632812, + 1.8410663604736328 + ] + ], + "corners_2d": [ + [ + 686.6040918116161, + 379.47294277868207 + ], + [ + 712.5918455802216, + 381.6507120805254 + ], + [ + 714.686841479109, + 359.240025737118 + ], + [ + 689.3264449460212, + 357.167043994552 + ], + [ + 688.6300252991608, + 335.6785990193655 + ], + [ + 715.755318165852, + 337.84272518076926 + ], + [ + 717.8588792754938, + 315.59377779144717 + ], + [ + 691.4163486126589, + 313.53814320663787 + ] + ], + "center_offset_px": [ + 62.08082599491411, + -12.158651052688526 + ] + }, + "trace_timestep_index": 15, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 86, + "semantic_pixel_counts": { + "1": 581515, + "2": 127680, + "3": 87012, + "4": 15547, + "6": 13369, + "7": 3042, + "9": 23502, + "10": 24227, + "12": 3931, + "14": 2789, + "20": 3397, + "21": 7312, + "24": 28277 + }, + "instance_pixel_counts": { + "143": 7169, + "1167": 9597, + "1447": 1712, + "1679": 17875, + "1957": 1821, + "2703": 20790, + "3727": 143, + "3749": 98, + "4261": 121, + "5714": 326, + "8556": 1159, + "8579": 1125, + "9068": 2168, + "9580": 892, + "10092": 577, + "11596": 5, + "12396": 339, + "12675": 6, + "14444": 122, + "14956": 2, + "15186": 7716, + "15698": 8377, + "16210": 4822, + "16722": 6280, + "22381": 4213, + "22784": 6511, + "22893": 3701, + "23441": 4938, + "23552": 7969, + "23953": 5661, + "24429": 6064, + "24465": 4884, + "24941": 5747, + "24977": 4680, + "25489": 4577, + "25965": 4132, + "26001": 2532, + "26513": 5, + "26696": 15542, + "26987": 1163, + "27243": 53, + "27719": 40662, + "28231": 24200, + "28523": 80, + "28779": 1876, + "30548": 1143, + "31572": 1363, + "31633": 3949, + "32084": 283, + "32145": 5080, + "32166": 634, + "32657": 3951, + "33169": 3755, + "40358": 1233, + "42918": 2386, + "51815": 225113, + "52327": 40736, + "53351": 97813, + "53863": 179664, + "54375": 38189, + "54889": 14502, + "55401": 1168, + "55913": 2293, + "56173": 23502, + "56320": 721, + "56425": 9228, + "56486": 14, + "56576": 591, + "56742": 29, + "56832": 493, + "56937": 1086, + "57088": 567, + "57344": 712, + "57600": 847, + "59522": 96, + "59762": 3313, + "60274": 862, + "61803": 63, + "62827": 257, + "63083": 141, + "63314": 4451, + "63339": 451, + "63874": 710, + "64594": 110, + "64654": 7587, + "64850": 55 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 721, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -82.18775939941406, + "z": 0.9595024585723877 + }, + "extent": { + "x": 0.4833984375, + "y": 0.5124316215515137, + "z": 0.8731832504272461 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 682.6453900776833, + "ymin": 313.7285640199271, + "xmax": 721.9148580945493, + "ymax": 381.47849776921805 + }, + "corners_3d": [ + [ + -46.15475082397461, + -82.67115783691406, + 0.0863192081451416 + ], + [ + -47.17961502075195, + -82.67115783691406, + 0.0863192081451416 + ], + [ + -47.17961502075195, + -81.70436096191406, + 0.0863192081451416 + ], + [ + -46.15475082397461, + -81.70436096191406, + 0.0863192081451416 + ], + [ + -46.15475082397461, + -82.67115783691406, + 1.8326857089996338 + ], + [ + -47.17961502075195, + -82.67115783691406, + 1.8326857089996338 + ], + [ + -47.17961502075195, + -81.70436096191406, + 1.8326857089996338 + ], + [ + -46.15475082397461, + -81.70436096191406, + 1.8326857089996338 + ] + ], + "corners_2d": [ + [ + 682.6453900776833, + 378.62943444433284 + ], + [ + 716.6628220666774, + 381.47849776921805 + ], + [ + 718.606387561427, + 359.65769821969116 + ], + [ + 685.3884008209695, + 356.9421354652401 + ], + [ + 684.4798861554295, + 335.2558753187625 + ], + [ + 719.971360539796, + 338.08717989913924 + ], + [ + 721.9148580945493, + 316.4216947597195 + ], + [ + 687.2927315591554, + 313.7285640199271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 591, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -79.19004821777344, + "z": 0.9963725805282593 + }, + "extent": { + "x": 0.47095951437950134, + "y": 0.55076664686203, + "z": 0.9290470480918884 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 562.821936978983, + "ymin": 242.11560286318297, + "xmax": 600.4710124864571, + "ymax": 307.193647589547 + }, + "corners_3d": [ + [ + -42.10038375854492, + -79.76522827148438, + 0.06732553243637085 + ], + [ + -43.1778450012207, + -79.53620147705078, + 0.06732553243637085 + ], + [ + -42.98200607299805, + -78.6148681640625, + 0.06732553243637085 + ], + [ + -41.904544830322266, + -78.8438949584961, + 0.06732553243637085 + ], + [ + -42.10038375854492, + -79.76522827148438, + 1.925419569015503 + ], + [ + -43.1778450012207, + -79.53620147705078, + 1.925419569015503 + ], + [ + -42.98200607299805, + -78.6148681640625, + 1.925419569015503 + ], + [ + -41.904544830322266, + -78.8438949584961, + 1.925419569015503 + ] + ], + "corners_2d": [ + [ + 566.8286082139508, + 307.193647589547 + ], + [ + 600.4710124864571, + 305.2648904376493 + ], + [ + 598.8023383536638, + 287.3004138705059 + ], + [ + 565.874969427083, + 289.14772543176105 + ], + [ + 563.7462874398049, + 261.71105285107035 + ], + [ + 598.8098290808382, + 259.8094654399135 + ], + [ + 597.1094533202155, + 242.11560286318297 + ], + [ + 562.821936978983, + 243.93362562427507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 493, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -75.24504852294922, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4841625988483429, + "y": 0.3433569371700287, + "z": 0.9478874802589417 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 767.8294043123863, + "ymin": 187.98904352281087, + "xmax": 795.63485899806, + "ymax": 249.38746859194453 + }, + "corners_3d": [ + [ + -48.63214111328125, + -75.762451171875, + 0.049383461475372314 + ], + [ + -49.315093994140625, + -75.69066619873047, + 0.049383461475372314 + ], + [ + -49.21387481689453, + -74.72764587402344, + 0.049383461475372314 + ], + [ + -48.530921936035156, + -74.79943084716797, + 0.049383461475372314 + ], + [ + -48.63214111328125, + -75.762451171875, + 1.9451584815979004 + ], + [ + -49.315093994140625, + -75.69066619873047, + 1.9451584815979004 + ], + [ + -49.21387481689453, + -74.72764587402344, + 1.9451584815979004 + ], + [ + -48.530921936035156, + -74.79943084716797, + 1.9451584815979004 + ] + ], + "corners_2d": [ + [ + 770.0873809170287, + 249.20830982350446 + ], + [ + 789.660815671037, + 249.38746859194453 + ], + [ + 787.000304890022, + 233.22610739988335 + ], + [ + 767.8294043123863, + 233.05423194338374 + ], + [ + 775.2788776531147, + 203.80527278377997 + ], + [ + 795.63485899806, + 203.9808299477241 + ], + [ + 792.7429166134599, + 188.15718802280924 + ], + [ + 772.8219417775383, + 187.98904352281087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 567, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -82.18775939941406, + "z": 0.9449467062950134 + }, + "extent": { + "x": 0.3210742175579071, + "y": 0.5559619069099426, + "z": 0.8799760341644287 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 1000.3876217582288, + "ymin": 343.1994424527329, + "xmax": 1060.634282634644, + "ymax": 405.43093892872827 + }, + "corners_3d": [ + [ + -55.61122131347656, + -82.50883483886719, + 0.06497067213058472 + ], + [ + -56.72314453125, + -82.50883483886719, + 0.06497067213058472 + ], + [ + -56.72314453125, + -81.86668395996094, + 0.06497067213058472 + ], + [ + -55.61122131347656, + -81.86668395996094, + 0.06497067213058472 + ], + [ + -55.61122131347656, + -82.50883483886719, + 1.824922800064087 + ], + [ + -56.72314453125, + -82.50883483886719, + 1.824922800064087 + ], + [ + -56.72314453125, + -81.86668395996094, + 1.824922800064087 + ], + [ + -55.61122131347656, + -81.86668395996094, + 1.824922800064087 + ] + ], + "corners_2d": [ + [ + 1003.7190330425574, + 402.1811867423403 + ], + [ + 1042.6585239408903, + 405.43093892872827 + ], + [ + 1038.6814707831254, + 390.0717810093524 + ], + [ + 1000.3876217582288, + 386.9268640969665 + ], + [ + 1019.8979747916676, + 358.3786086479333 + ], + [ + 1060.634282634644, + 361.6151827677202 + ], + [ + 1056.1770348626626, + 346.32707175622346 + ], + [ + 1016.1467467669886, + 343.1994424527329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 712, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -93.31512451171875, + "z": 0.9617924094200134 + }, + "extent": { + "x": 0.4832983911037445, + "y": 0.4499463140964508, + "z": 0.9425586462020874 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 805.900535813125, + "ymin": 666.8745908360263, + "xmax": 864.9315817703636, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.7846794128418, + -93.74874114990234, + 0.019233763217926025 + ], + [ + -50.67964172363281, + -93.84280395507812, + 0.019233763217926025 + ], + [ + -50.78068161010742, + -92.88150787353516, + 0.019233763217926025 + ], + [ + -49.885719299316406, + -92.78744506835938, + 0.019233763217926025 + ], + [ + -49.7846794128418, + -93.74874114990234, + 1.904350996017456 + ], + [ + -50.67964172363281, + -93.84280395507812, + 1.904350996017456 + ], + [ + -50.78068161010742, + -92.88150787353516, + 1.904350996017456 + ], + [ + -49.885719299316406, + -92.78744506835938, + 1.904350996017456 + ] + ], + "corners_2d": [ + [ + 805.900535813125, + 752.0694680778425 + ], + [ + 848.2414594470436, + 761.3014564416507 + ], + [ + 851.2420528689374, + 719.0378994390553 + ], + [ + 810.2488546771887, + 710.3949835923262 + ], + [ + 816.9531752644746, + 709.7752283649821 + ], + [ + 862.2209307064004, + 719.303848532202 + ], + [ + 864.9315817703636, + 675.756642210294 + ], + [ + 821.2010480207124, + 666.8745908360263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 847, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -90.35797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4038317799568176, + "y": 0.4513574242591858, + "z": 0.922723650932312 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 185.05329186643803, + "ymin": 492.4390360962018, + "xmax": 258.572177134093, + "ymax": 572.7199009727194 + }, + "corners_3d": [ + [ + -34.896392822265625, + -90.65914154052734, + 0.019098103046417236 + ], + [ + -35.779380798339844, + -90.84683227539062, + 0.019098103046417236 + ], + [ + -35.947303771972656, + -90.05681610107422, + 0.019098103046417236 + ], + [ + -35.06431579589844, + -89.86912536621094, + 0.019098103046417236 + ], + [ + -34.896392822265625, + -90.65914154052734, + 1.8645453453063965 + ], + [ + -35.779380798339844, + -90.84683227539062, + 1.8645453453063965 + ], + [ + -35.947303771972656, + -90.05681610107422, + 1.8645453453063965 + ], + [ + -35.06431579589844, + -89.86912536621094, + 1.8645453453063965 + ] + ], + "corners_2d": [ + [ + 208.7908901520076, + 562.9131854463926 + ], + [ + 239.19899233269246, + 572.7199009727194 + ], + [ + 258.572177134093, + 547.4218478719249 + ], + [ + 228.6837501190351, + 538.055095898624 + ], + [ + 185.05329186643803, + 517.5531778334794 + ], + [ + 216.9277642734216, + 527.4780984870342 + ], + [ + 237.88662260891215, + 501.894942523898 + ], + [ + 206.5802321751118, + 492.4390360962018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 937.0039863224831, + "ymin": 127.81678555308386, + "xmax": 955.0011996643611, + "ymax": 162.16465364898542 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 937.0039863224831, + 154.649772370506 + ], + [ + 938.3849102117246, + 161.55078713022962 + ], + [ + 948.2151919770538, + 162.16465364898542 + ], + [ + 946.7359319120108, + 155.25157251280004 + ], + [ + 943.4713861173109, + 127.81678555308386 + ], + [ + 944.948592345844, + 134.59616451411418 + ], + [ + 955.0011996643611, + 135.1993537716036 + ], + [ + 953.4211837635941, + 128.40786132441235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2618456511093177771, + "instance_id": 43901, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -39.78401565551758, + "y": -86.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.9199194641225, + "ymin": 259.1773498438713, + "xmax": 422.7380948350525, + "ymax": 298.54362994499775 + }, + "corners_3d": [ + [ + -39.64543151855469, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -85.91574096679688, + 6.416468620300293 + ], + [ + -39.64543151855469, + -85.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 407.0679203535359, + 297.6672600232886 + ], + [ + 418.2568961224688, + 298.54362994499775 + ], + [ + 422.7380948350525, + 288.6916454975665 + ], + [ + 411.6761992740883, + 287.8357988687023 + ], + [ + 400.9199194641225, + 268.9178897525058 + ], + [ + 412.3979126004117, + 269.7864488623535 + ], + [ + 417.0669324135948, + 260.0250411439174 + ], + [ + 405.7226246562774, + 259.1773498438713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1043.2476626478133, + "ymin": 134.27077324731513, + "xmax": 1064.9741209471215, + "ymax": 168.87864578585663 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1043.2476626478133, + 161.2196261517714 + ], + [ + 1045.7113510256077, + 168.2529458440557 + ], + [ + 1055.7311298220156, + 168.87864578585663 + ], + [ + 1053.1653302878128, + 161.83291089962273 + ], + [ + 1052.1137542943552, + 134.27077324731513 + ], + [ + 1054.7234034030387, + 141.18301155534513 + ], + [ + 1064.9741209471215, + 141.79808807313168 + ], + [ + 1062.2576282987866, + 134.873378281566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 494.9927715124009, + "ymin": 183.04565559990002, + "xmax": 508.88382565719155, + "ymax": 213.25450980946468 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 497.7843944620482, + 212.66093527214963 + ], + [ + 506.29341171607246, + 213.25450980946468 + ], + [ + 508.88382565719155, + 206.5997518000429 + ], + [ + 500.44814879605605, + 206.0166502080825 + ], + [ + 494.9927715124009, + 189.61104607368802 + ], + [ + 503.6666989441127, + 190.19768356893053 + ], + [ + 506.33128080413655, + 183.621742037744 + ], + [ + 497.7335502886099, + 183.04565559990002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 435.92837956704693, + "ymin": 189.8069143829899, + "xmax": 454.730060916327, + "ymax": 226.59464546293728 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 440.72492075092197, + 225.86256578273176 + ], + [ + 450.9832098761542, + 226.59464546293728 + ], + [ + 454.730060916327, + 218.35713223479857 + ], + [ + 444.57871457923636, + 217.64074579081793 + ], + [ + 435.92837956704693, + 197.91626981435195 + ], + [ + 446.4291166114973, + 198.63853940751744 + ], + [ + 450.31551583364296, + 190.51333433615378 + ], + [ + 439.92680550297166, + 189.8069143829899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 849.982053645249, + "ymin": 122.53258110053969, + "xmax": 864.9762183131359, + "ymax": 156.66653405383022 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 849.982053645249, + 149.26867951799645 + ], + [ + 850.491243191441, + 156.06227391936017 + ], + [ + 860.1676891700695, + 156.66653405383022 + ], + [ + 859.5631890293143, + 149.86115403539355 + ], + [ + 854.5181915603728, + 122.53258110053969 + ], + [ + 855.0843464334355, + 129.20415102610212 + ], + [ + 864.9762183131359, + 129.7976957523927 + ], + [ + 864.3104840947549, + 123.11430026970766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15348604559986913947, + "instance_id": 39922, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -39.78401184082031, + "y": -88.60569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 366.13018450474686, + "ymin": 327.9682835517053, + "xmax": 391.14733132982633, + "ymax": 369.73375978126955 + }, + "corners_3d": [ + [ + -39.64542770385742, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.41574096679688, + 6.416468620300293 + ], + [ + -39.64542770385742, + -88.41574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 373.77185238608337, + 368.7018703765492 + ], + [ + 385.87572188614956, + 369.73375978126955 + ], + [ + 391.14733132982633, + 358.1440500232291 + ], + [ + 379.19200091946857, + 357.13834330575827 + ], + [ + 366.13018450474686, + 339.47584704420836 + ], + [ + 378.5729318097478, + 340.5031521698353 + ], + [ + 384.0899840057289, + 328.9687883873054 + ], + [ + 371.80414695516737, + 327.9682835517053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1182.7186218400263, + "ymin": 233.07075619115835, + "xmax": 1207.7547534250912, + "ymax": 264.8460984869412 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1182.7186218400263, + 256.58469810545205 + ], + [ + 1186.3880069307197, + 264.16817161882915 + ], + [ + 1196.0641479237397, + 264.8460984869412 + ], + [ + 1192.3000742530494, + 257.24985369430397 + ], + [ + 1194.0087178641459, + 233.07075619115835 + ], + [ + 1197.865272417595, + 240.5842378966856 + ], + [ + 1207.7547534250912, + 241.25605323359127 + ], + [ + 1203.7993167771815, + 233.72965326410747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.608682533999, + "ymin": 47.9386991567045, + "xmax": 1280.0, + "ymax": 326.1325232774513 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1165.5737735346472, + 326.1325232774513 + ], + [ + 1161.994672866767, + 317.4309038759375 + ], + [ + 787.8299705132422, + 287.42053243043335 + ], + [ + 787.608682533999, + 295.5190464647276 + ], + [ + 1286.6604632089616, + 81.74106098639504 + ], + [ + 1280.7692656937593, + 74.08232918833744 + ], + [ + 820.0291598038766, + 47.9386991567045 + ], + [ + 820.1449052125188, + 54.95283763122262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 520448382005777854, + "instance_id": 48789, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_0", + "bbox_3d": { + "center_world": { + "x": -19.3944149017334, + "y": -69.02778625488281, + "z": 3.636636972427368 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 13.510604184965587, + "ymin": 9.75207928055363, + "xmax": 92.35811106055553, + "ymax": 43.05653718431819 + }, + "corners_3d": [ + [ + -20.361778259277344, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361778259277344, + -70.11705780029297, + 3.7999587059020996 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.7999587059020996 + ] + ], + "corners_2d": [ + [ + 62.96981954035107, + 43.05653718431819 + ], + [ + 92.35811106055553, + 19.86255075222408 + ], + [ + 48.260297243578066, + 17.48747389473192 + ], + [ + 17.17535408504989, + 40.48011495318622 + ], + [ + 59.55930224365886, + 35.11375106333463 + ], + [ + 89.25135116603292, + 12.107335469578288 + ], + [ + 44.91775830472159, + 9.75207928055363 + ], + [ + 13.510604184965587, + 32.557628199333294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 335.3843259461792, + "ymin": 132.7548827562304, + "xmax": 445.2394434381255, + "ymax": 299.0375250397114 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 426.57660448664063, + 299.0375250397114 + ], + [ + 445.2394434381255, + 257.06440236944275 + ], + [ + 387.6523699402362, + 252.78853246791806 + ], + [ + 366.0702371159638, + 294.29929304841335 + ], + [ + 402.5171329682013, + 176.40064576999356 + ], + [ + 424.5028356769598, + 136.76737855380654 + ], + [ + 360.94423339340335, + 132.7548827562304 + ], + [ + 335.3843259461792, + 171.9041168873887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 123.82588500247402, + "ymax": 118.93010276113284 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 95.79457199114904, + 118.93010276113284 + ], + [ + 123.82588500247402, + 92.74708832435141 + ], + [ + 79.3717988882272, + 90.04791363783676 + ], + [ + 49.62680501571731, + 116.00250333933258 + ], + [ + 48.68063689013525, + 9.156464637136253 + ], + [ + 81.06895193459434, + -14.453821126571825 + ], + [ + 33.14784301014856, + -16.878539588410945 + ], + [ + -1.2364441539949667, + 6.508435226304584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 307.15932195992394, + "ymin": 31.609451197268413, + "xmax": 510.7649128616375, + "ymax": 560.1406524584286 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 510.7649128616375, + 269.4252713596753 + ], + [ + 498.4412117004488, + 268.4316648011017 + ], + [ + 386.2390363088045, + 558.3028903114543 + ], + [ + 402.8147486874049, + 560.1406524584286 + ], + [ + 483.36023187894693, + 32.4598503004608 + ], + [ + 468.46804516659745, + 31.609451197268413 + ], + [ + 307.15932195992394, + 300.0841984327185 + ], + [ + 328.7378525338893, + 301.92759199438143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 492.516525887992, + "ymin": 0.0, + "xmax": 553.3903528006347, + "ymax": 32.78914170294422 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 544.5449854832764, + 32.78914170294422 + ], + [ + 553.3903528006347, + 12.928286331819493 + ], + [ + 512.9479769215637, + 10.868943542846239 + ], + [ + 502.68316063467773, + 30.578790017733922 + ], + [ + 537.448162384027, + -67.88591694620823 + ], + [ + 547.1914804595203, + -85.41090182021924 + ], + [ + 503.89099120777763, + -87.22286318773308 + ], + [ + 492.516525887992, + -69.84079228146379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 345.6109213931155, + "ymin": 163.47703284565685, + "xmax": 428.7733914912278, + "ymax": 214.4835761915805 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 408.89535223813147, + 214.4835761915805 + ], + [ + 428.7733914912278, + 176.12027737254112 + ], + [ + 370.7010940234901, + 172.24170071001345 + ], + [ + 347.8326628752996, + 210.1780052703781 + ], + [ + 407.1277543594279, + 205.51632155095734 + ], + [ + 427.24085298694513, + 167.3355025177581 + ], + [ + 368.75791321957735, + 163.47703284565685 + ], + [ + 345.6109213931155, + 201.2297464084675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 345.6620936915804, + "ymin": 163.49856141845686, + "xmax": 428.7169170048775, + "ymax": 214.39929414513435 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 408.85728044049756, + 214.39929414513435 + ], + [ + 428.7169170048775, + 176.07954336631397 + ], + [ + 370.71208592573885, + 172.2055421785292 + ], + [ + 347.8687473445697, + 210.0992727992953 + ], + [ + 407.10119270870894, + 205.49125904503157 + ], + [ + 427.19411341950695, + 167.35261035116918 + ], + [ + 368.78183096052123, + 163.49856141845686 + ], + [ + 345.6620936915804, + 201.21008898182305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11665211921157023400, + "instance_id": 43110, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_1", + "bbox_3d": { + "center_world": { + "x": -19.394420623779297, + "y": -69.02778625488281, + "z": 3.637737274169922 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 13.556891485089068, + "ymin": 9.765125417876732, + "xmax": 92.29468332830766, + "ymax": 42.988926983998965 + }, + "corners_3d": [ + [ + -20.3605899810791, + -70.1158676147461, + 3.475497007369995 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.4755005836486816 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.4755005836486816 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.475497007369995 + ], + [ + -20.3605899810791, + -70.1158676147461, + 3.799973964691162 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.7999775409698486 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.7999775409698486 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.799973964691162 + ] + ], + "corners_2d": [ + [ + 62.935610499807126, + 42.988926983998965 + ], + [ + 92.29468332830766, + 19.82173258800111 + ], + [ + 48.24898147101089, + 17.449538702843142 + ], + [ + 17.19709779383129, + 40.41585363003986 + ], + [ + 59.54763360083257, + 35.09870621165726 + ], + [ + 89.2081427186323, + 12.11765170424161 + ], + [ + 44.928500543374184, + 9.765125417876732 + ], + [ + 13.556891485089068, + 32.54577507344692 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00016/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ab9685bdbeedadb881f47a9f781bdfc499a345b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00016/meta.json @@ -0,0 +1,2723 @@ +{ + "frame_id": 16, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 8.0, + "sim_timestamp": 15500.415265747579 + }, + "drone_pose": { + "x": -47.39409648167008, + "y": -102.90706726485216, + "z": 20.216810836526125, + "pitch": -42.20763471129226, + "yaw": 88.0379753316227, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.02535998821258545, + -0.74028080701828, + 0.671819269657135, + 63.799991607666016 + ], + [ + 0.9994136691093445, + 0.03423714637756348, + 0.0, + -43.84307098388672 + ], + [ + -0.023001134395599365, + 0.6714254021644592, + 0.7407150864601135, + -85.15943908691406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.42244206112676, + "y": -102.39848295281537, + "z": 20.190778385132045 + }, + "t1_image_uv": [ + 751.6593207432245, + -424.9154752701919 + ], + "t1_depth": 0.3932654776491813 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -81.68776321411133, + "z": 0.9598784134536982 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.663857278239238, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 719, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -81.68775939941406, + "z": 0.9598783850669861 + }, + "extent": { + "x": 0.4922412037849426, + "y": 0.5277148485183716, + "z": 0.9021890163421631 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.1422451308746, + "ymin": 325.87113777327147, + "xmax": 658.391757484061, + "ymax": 393.58926592227084 + }, + "corners_3d": [ + [ + -46.139469146728516, + -82.18000030517578, + 0.057689368724823 + ], + [ + -47.19489669799805, + -82.18000030517578, + 0.057689368724823 + ], + [ + -47.19489669799805, + -81.19551849365234, + 0.057689368724823 + ], + [ + -46.139469146728516, + -81.19551849365234, + 0.057689368724823 + ], + [ + -46.139469146728516, + -82.18000030517578, + 1.862067461013794 + ], + [ + -47.19489669799805, + -82.18000030517578, + 1.862067461013794 + ], + [ + -47.19489669799805, + -81.19551849365234, + 1.862067461013794 + ], + [ + -46.139469146728516, + -81.19551849365234, + 1.862067461013794 + ] + ], + "corners_2d": [ + [ + 621.9327188196664, + 392.75230500179003 + ], + [ + 656.9640855452776, + 393.58926592227084 + ], + [ + 657.639088879536, + 371.3399863727268 + ], + [ + 623.4682444756548, + 370.54368574241704 + ], + [ + 621.1422451308746, + 347.87636258474885 + ], + [ + 657.7070102733273, + 348.7065838696647 + ], + [ + 658.391757484061, + 326.65932830064355 + ], + [ + 622.7634903208942, + 325.87113777327147 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 16, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 102, + "semantic_pixel_counts": { + "1": 548655, + "2": 134790, + "3": 89600, + "4": 20061, + "6": 12912, + "7": 3126, + "9": 22304, + "10": 39943, + "12": 3978, + "14": 5942, + "20": 3264, + "21": 8364, + "24": 28661 + }, + "instance_pixel_counts": { + "143": 7955, + "339": 351, + "1167": 8087, + "1679": 17791, + "1875": 218, + "2703": 20292, + "3727": 5624, + "3749": 95, + "4204": 117, + "4261": 115, + "5202": 175, + "5714": 309, + "6565": 514, + "8018": 552, + "8530": 379, + "8556": 2675, + "8579": 1180, + "9042": 339, + "9068": 3452, + "9554": 415, + "9580": 2717, + "10092": 2647, + "11596": 89, + "12396": 2574, + "12675": 6, + "14444": 9, + "15186": 8561, + "15698": 9142, + "16210": 5381, + "16722": 81, + "19796": 52, + "22381": 4528, + "22784": 7047, + "22893": 4095, + "23441": 5382, + "23552": 7453, + "23953": 6052, + "24429": 5055, + "24465": 5396, + "24941": 6084, + "24977": 5267, + "25489": 2891, + "25965": 4087, + "26696": 19972, + "26987": 1306, + "26989": 750, + "27243": 50, + "27719": 42270, + "28231": 35096, + "28523": 117, + "28779": 1575, + "30339": 200, + "30548": 1205, + "30630": 266, + "31142": 284, + "31572": 1296, + "31633": 4370, + "31654": 300, + "32084": 3389, + "32145": 5527, + "32657": 4437, + "33169": 1875, + "37286": 5, + "37798": 12, + "40358": 3076, + "42918": 2215, + "51815": 209664, + "52327": 43791, + "53351": 65156, + "53863": 191086, + "54375": 38958, + "54889": 13446, + "55401": 1271, + "55913": 1605, + "56173": 22304, + "56320": 719, + "56425": 11242, + "56486": 16, + "56576": 623, + "56742": 35, + "56832": 478, + "56937": 1097, + "57088": 537, + "57344": 681, + "57600": 940, + "58022": 13, + "58790": 19, + "59522": 158, + "59762": 3105, + "60070": 8, + "60274": 1190, + "60582": 264, + "61094": 308, + "61803": 192, + "62059": 223, + "62827": 245, + "63083": 126, + "63314": 3639, + "63339": 422, + "64594": 121, + "64654": 8172, + "64850": 75 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 719, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -81.68775939941406, + "z": 0.9598783850669861 + }, + "extent": { + "x": 0.5248070955276489, + "y": 0.53314208984375, + "z": 0.9071587324142456 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.8968042969332, + "ymin": 325.0302439374128, + "xmax": 658.5992580163287, + "ymax": 394.46711106209307 + }, + "corners_3d": [ + [ + -46.13404083251953, + -82.21257019042969, + 0.05271965265274048 + ], + [ + -47.20032501220703, + -82.21256256103516, + 0.05271965265274048 + ], + [ + -47.20032501220703, + -81.16294860839844, + 0.05271965265274048 + ], + [ + -46.13404083251953, + -81.16295623779297, + 0.05271965265274048 + ], + [ + -46.13404083251953, + -82.21257019042969, + 1.867037057876587 + ], + [ + -47.20032501220703, + -82.21256256103516, + 1.867037057876587 + ], + [ + -47.20032501220703, + -81.16294860839844, + 1.867037057876587 + ], + [ + -46.13404083251953, + -81.16295623779297, + 1.867037057876587 + ] + ], + "corners_2d": [ + [ + 621.7025521748162, + 393.62029248218494 + ], + [ + 657.1196900588944, + 394.46711106209307 + ], + [ + 657.8346098448641, + 370.7446915598117 + ], + [ + 623.3441713728262, + 369.94165774349716 + ], + [ + 620.8968042969332, + 348.4908523355333 + ], + [ + 657.8743111604346, + 349.3308756959608 + ], + [ + 658.5992580163287, + 325.82499834475027 + ], + [ + 622.6307411814131, + 325.0302439374128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 623, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -78.69004821777344, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4414624273777008, + "y": 0.43949711322784424, + "z": 0.8795042037963867 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 498.0330663612694, + "ymin": 262.27441767140965, + "xmax": 532.2668503420277, + "ymax": 324.88312589705953 + }, + "corners_3d": [ + [ + -42.203086853027344, + -79.21324157714844, + 0.11776673793792725 + ], + [ + -43.06287384033203, + -79.03048706054688, + 0.11776673793792725 + ], + [ + -42.879302978515625, + -78.16685485839844, + 0.11776673793792725 + ], + [ + -42.01951599121094, + -78.349609375, + 0.11776673793792725 + ], + [ + -42.203086853027344, + -79.21324157714844, + 1.8767751455307007 + ], + [ + -43.06287384033203, + -79.03048706054688, + 1.8767751455307007 + ], + [ + -42.879302978515625, + -78.16685485839844, + 1.8767751455307007 + ], + [ + -42.01951599121094, + -78.349609375, + 1.8767751455307007 + ] + ], + "corners_2d": [ + [ + 505.2210181441186, + 324.88312589705953 + ], + [ + 532.2668503420277, + 321.8523451290819 + ], + [ + 529.8128773729459, + 305.0618266554114 + ], + [ + 503.3056803590972, + 307.97138098902616 + ], + [ + 499.9106597417271, + 281.7960897643395 + ], + [ + 528.0381115408644, + 278.80876063956805 + ], + [ + 525.5783922922873, + 262.27441767140965 + ], + [ + 498.0330663612694, + 265.1377066582129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 478, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -74.74504852294922, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.48546385765075684, + "y": 0.2954443395137787, + "z": 0.9556834101676941 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 699.8382902425443, + "ymin": 196.87211418294282, + "xmax": 722.7307188191135, + "ymax": 258.5991389250934 + }, + "corners_3d": [ + [ + -48.679927825927734, + -75.25873565673828, + 0.04158264398574829 + ], + [ + -49.267578125, + -75.19696807861328, + 0.04158264398574829 + ], + [ + -49.16608810424805, + -74.23136138916016, + 0.04158264398574829 + ], + [ + -48.57843780517578, + -74.29312896728516, + 0.04158264398574829 + ], + [ + -48.679927825927734, + -75.25873565673828, + 1.9529495239257812 + ], + [ + -49.267578125, + -75.19696807861328, + 1.9529495239257812 + ], + [ + -49.16608810424805, + -74.23136138916016, + 1.9529495239257812 + ], + [ + -48.57843780517578, + -74.29312896728516, + 1.9529495239257812 + ] + ], + "corners_2d": [ + [ + 703.0323719823552, + 258.5991389250934 + ], + [ + 719.6080141343684, + 257.9021332277233 + ], + [ + 716.074446213824, + 242.0287905410049 + ], + [ + 699.8382902425443, + 242.6972918596048 + ], + [ + 705.5072105791165, + 213.05997905587753 + ], + [ + 722.7307188191135, + 212.378510318923 + ], + [ + 718.9945499709813, + 196.87211418294282 + ], + [ + 702.1372903303538, + 197.52465529363155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 537, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -81.68775939941406, + "z": 0.9453275799751282 + }, + "extent": { + "x": 0.32990720868110657, + "y": 0.45692136883735657, + "z": 0.8972346782684326 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 936.5763661680378, + "ymin": 337.1900133815409, + "xmax": 986.0562173345118, + "ymax": 397.55654313402766 + }, + "corners_3d": [ + [ + -55.710262298583984, + -82.01766967773438, + 0.04809290170669556 + ], + [ + -56.62410354614258, + -82.01766967773438, + 0.04809290170669556 + ], + [ + -56.62410354614258, + -81.35784912109375, + 0.04809290170669556 + ], + [ + -55.710262298583984, + -81.35784912109375, + 0.04809290170669556 + ], + [ + -55.710262298583984, + -82.01766967773438, + 1.842562198638916 + ], + [ + -56.62410354614258, + -82.01766967773438, + 1.842562198638916 + ], + [ + -56.62410354614258, + -81.35784912109375, + 1.842562198638916 + ], + [ + -55.710262298583984, + -81.35784912109375, + 1.842562198638916 + ] + ], + "corners_2d": [ + [ + 940.8529121525714, + 396.82574796075266 + ], + [ + 971.5601843107245, + 397.55654313402766 + ], + [ + 966.7677819826632, + 382.3986218778916 + ], + [ + 936.5763661680378, + 381.69200598800654 + ], + [ + 953.9953569962197, + 352.1972034865918 + ], + [ + 986.0562173345118, + 352.9224409953475 + ], + [ + 980.8056194305307, + 337.8902341190522 + ], + [ + 949.3066771394126, + 337.1900133815409 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 681, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -92.81512451171875, + "z": 0.9603618383407593 + }, + "extent": { + "x": 0.47721195220947266, + "y": 0.5036329030990601, + "z": 0.9320563077926636 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 763.9376232783801, + "ymin": 670.2558967995367, + "xmax": 822.2429419604492, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.73192596435547, + -93.23707580566406, + 0.028305530548095703 + ], + [ + -50.733673095703125, + -93.34236907958984, + 0.028305530548095703 + ], + [ + -50.83343505859375, + -92.39317321777344, + 0.028305530548095703 + ], + [ + -49.831687927246094, + -92.28787994384766, + 0.028305530548095703 + ], + [ + -49.73192596435547, + -93.23707580566406, + 1.8924181461334229 + ], + [ + -50.733673095703125, + -93.34236907958984, + 1.8924181461334229 + ], + [ + -50.83343505859375, + -92.39317321777344, + 1.8924181461334229 + ], + [ + -49.831687927246094, + -92.28787994384766, + 1.8924181461334229 + ] + ], + "corners_2d": [ + [ + 763.9376232783801, + 755.6211979000418 + ], + [ + 811.1415997497502, + 761.9871116539878 + ], + [ + 811.4750953792769, + 720.0723926638933 + ], + [ + 765.8165918740285, + 714.1179011067348 + ], + [ + 771.9342058207876, + 712.854866813202 + ], + [ + 822.2429419604492, + 719.4047800665928 + ], + [ + 822.2088176876931, + 676.3565351384661 + ], + [ + 773.6517814703224, + 670.2558967995367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 940, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -89.85797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.35072875022888184, + "y": 0.4872412085533142, + "z": 0.9151318073272705 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 116.21838864631411, + "ymin": 540.4418635056234, + "xmax": 195.8744603711828, + "ymax": 617.751165401535 + }, + "corners_3d": [ + [ + -34.87233352661133, + -90.09973907470703, + 0.02668994665145874 + ], + [ + -35.82551956176758, + -90.3023452758789, + 0.02668994665145874 + ], + [ + -35.97136306762695, + -89.61621856689453, + 0.02668994665145874 + ], + [ + -35.0181770324707, + -89.41361236572266, + 0.02668994665145874 + ], + [ + -34.87233352661133, + -90.09973907470703, + 1.8569536209106445 + ], + [ + -35.82551956176758, + -90.3023452758789, + 1.8569536209106445 + ], + [ + -35.97136306762695, + -89.61621856689453, + 1.8569536209106445 + ], + [ + -35.0181770324707, + -89.41361236572266, + 1.8569536209106445 + ] + ], + "corners_2d": [ + [ + 143.78565210518997, + 609.3390137085768 + ], + [ + 179.21020503237742, + 617.751165401535 + ], + [ + 195.8744603711828, + 593.7353602086101 + ], + [ + 161.07670952567287, + 585.6761738051143 + ], + [ + 116.21838864631411, + 564.3887841463013 + ], + [ + 153.4079279873248, + 572.9154762657138 + ], + [ + 171.56354620545773, + 548.5914958541589 + ], + [ + 135.06269538185586, + 540.4418635056234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 860.7600600437818, + "ymin": 139.7436752909704, + "xmax": 877.160561661236, + "ymax": 173.40837075225036 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 860.7600600437818, + 166.38585729853736 + ], + [ + 862.5441480829356, + 173.235407523645 + ], + [ + 872.1680063106068, + 173.40837075225036 + ], + [ + 870.287066548805, + 166.55537306404347 + ], + [ + 865.4575304679239, + 139.7436752909704 + ], + [ + 867.3285154409408, + 146.46517142993167 + ], + [ + 877.160561661236, + 146.63493853322262 + ], + [ + 875.1885114800018, + 139.90998699481793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2618456511093177771, + "instance_id": 43901, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -39.78401565551758, + "y": -86.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 323.5104581580537, + "ymin": 300.58228326062584, + "xmax": 347.83741046151636, + "ymax": 340.3238975827677 + }, + "corners_3d": [ + [ + -39.64543151855469, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -85.91574096679688, + 6.416468620300293 + ], + [ + -39.64543151855469, + -85.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 331.79596416073593, + 340.05625284303665 + ], + [ + 343.6009493265861, + 340.3238975827677 + ], + [ + 347.83741046151636, + 329.74471425417136 + ], + [ + 336.1778117884994, + 329.48368132223305 + ], + [ + 323.5104581580537, + 311.06562083177744 + ], + [ + 335.6302247823537, + 311.3310975189265 + ], + [ + 340.0808731484439, + 300.8410287311232 + ], + [ + 328.11429897608986, + 300.58228326062584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 964.1322320948931, + "ymin": 141.54832445057843, + "xmax": 983.906129963174, + "ymax": 175.286094635748 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 964.1322320948931, + 168.2251772221702 + ], + [ + 966.9698087116037, + 175.11218074539124 + ], + [ + 976.6465627714779, + 175.286094635748 + ], + [ + 973.7110754902351, + 168.39561533092643 + ], + [ + 971.048455816845, + 141.54832445057843 + ], + [ + 974.0188768219192, + 148.3073630953166 + ], + [ + 983.906129963174, + 148.4780834405719 + ], + [ + 980.8335150237635, + 141.71556040211627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 418.9813592006184, + "ymin": 214.6711904101442, + "xmax": 434.416107367908, + "ymax": 244.93330355925832 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 423.2625187203718, + 244.75615139788835 + ], + [ + 432.083276016324, + 244.93330355925832 + ], + [ + 434.416107367908, + 237.94687917259756 + ], + [ + 425.67634325771803, + 237.7729872785198 + ], + [ + 418.9813592006184, + 221.5724990381206 + ], + [ + 427.9753685597145, + 221.74760742856054 + ], + [ + 430.3925800233576, + 214.84301338115966 + ], + [ + 421.4827614251626, + 214.6711904101442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 356.92523139692867, + "ymin": 226.3355692345126, + "xmax": 377.92193324412676, + "ymax": 263.3813351523757 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 363.66613981202585, + 263.15989235983795 + ], + [ + 374.41294523949864, + 263.3813351523757 + ], + [ + 377.92193324412676, + 254.61877506258085 + ], + [ + 367.29575297863425, + 254.40231658370666 + ], + [ + 356.92523139692867, + 234.97768468123795 + ], + [ + 367.9322960468006, + 235.1962698116674 + ], + [ + 371.6010442039858, + 226.549116419203 + ], + [ + 360.72048314924683, + 226.3355692345126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.0434902950201, + "ymin": 138.24754472471685, + "xmax": 788.6608794692438, + "ymax": 171.8515737764094 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 775.0434902950201, + 164.86082196723632 + ], + [ + 775.9583746076563, + 171.67939675434027 + ], + [ + 785.5384855293262, + 171.8515737764094 + ], + [ + 784.5276220543685, + 165.02957488834932 + ], + [ + 777.9104204704718, + 138.24754472471685 + ], + [ + 778.8744845402155, + 144.9379966222133 + ], + [ + 788.6608794692438, + 145.10697551273648 + ], + [ + 787.5966800301009, + 138.41309213032557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15348604559986913947, + "instance_id": 39922, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -39.78401184082031, + "y": -88.60569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 289.9716353407802, + "ymin": 374.92839967582546, + "xmax": 317.8532324622421, + "ymax": 417.1822221182592 + }, + "corners_3d": [ + [ + -39.64542770385742, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.41574096679688, + 6.416468620300293 + ], + [ + -39.64542770385742, + -88.41574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 299.9624600226632, + 416.8640604171001 + ], + [ + 312.82265705649513, + 417.1822221182592 + ], + [ + 317.8532324622421, + 404.6200028129733 + ], + [ + 305.16538243408206, + 404.31039620787215 + ], + [ + 289.9716353407802, + 387.43595731306726 + ], + [ + 303.2062904863606, + 387.75307973049644 + ], + [ + 308.51662851724757, + 375.2367495804426 + ], + [ + 295.46443101353816, + 374.92839967582546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.949205686275, + "ymin": 231.31121167897817, + "xmax": 1125.7529126879226, + "ymax": 262.09365161434135 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1102.949205686275, + 254.60603729566316 + ], + [ + 1106.9428488310207, + 261.90836295028686 + ], + [ + 1116.1278824826618, + 262.09365161434135 + ], + [ + 1112.0464583545213, + 254.78783961538073 + ], + [ + 1112.215336194668, + 231.31121167897817 + ], + [ + 1116.3798926138095, + 238.53435713315173 + ], + [ + 1125.7529126879226, + 238.71767258254135 + ], + [ + 1121.4969637301974, + 231.4910092000326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.7965056563562, + "ymin": 65.75692648295751, + "xmax": 1190.234768017256, + "ymax": 322.90736246926065 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1090.8955079941697, + 322.90736246926065 + ], + [ + 1086.9111732777708, + 314.49801050297293 + ], + [ + 721.7965056563562, + 304.61181348577657 + ], + [ + 722.0569096192584, + 312.819877580745 + ], + [ + 1190.234768017256, + 81.54257582558381 + ], + [ + 1184.163219711128, + 74.26795641901441 + ], + [ + 739.3372152976431, + 65.75692648295751 + ], + [ + 739.8690648072952, + 72.82012562099032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 250.76027141918195, + "ymin": 169.84257381110936, + "xmax": 371.62311042721353, + "ymax": 336.7552686202139 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 354.2739587889061, + 336.7552686202139 + ], + [ + 371.62311042721353, + 292.2182803911221 + ], + [ + 311.2598887047126, + 290.928037671899 + ], + [ + 290.5975900874797, + 335.31804901750087 + ], + [ + 321.63507468197406, + 213.1918824976914 + ], + [ + 342.75050314441205, + 171.05576877462843 + ], + [ + 275.95620095849347, + 169.84257381110936 + ], + [ + 250.76027141918195, + 211.82424179772886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 27.18043003899379, + "xmax": 22.98566209409819, + "ymax": 165.92544593912305 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + -6.372524538889252, + 165.92544593912305 + ], + [ + 22.98566209409819, + 137.16813069880106 + ], + [ + -25.392717027825483, + 136.3259289190083 + ], + [ + -56.855506829987576, + 165.00687212455307 + ], + [ + -64.13954836316213, + 53.98603532324813 + ], + [ + -29.614176711584832, + 27.94024997141679 + ], + [ + -82.03674775317006, + 27.18043003899379 + ], + [ + -119.04215797157951, + 53.15101516941712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.72215827275937, + "ymin": 62.646919446220465, + "xmax": 440.1722616383871, + "ymax": 611.6218356129144 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 440.1722616383871, + 301.33416056156483 + ], + [ + 427.39753574374197, + 300.9864364912351 + ], + [ + 324.84608507857723, + 610.9577140672244 + ], + [ + 342.4414148818724, + 611.6218356129144 + ], + [ + 397.52957804026084, + 62.94495543980457 + ], + [ + 382.0523320903476, + 62.646919446220465 + ], + [ + 223.72215827275937, + 351.8567213066077 + ], + [ + 246.88864433367183, + 352.53143405691753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 403.17327298534167, + "ymin": 0.0, + "xmax": 470.4248599879036, + "ymax": 57.99332140310412 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 462.4441886360922, + 57.99332140310412 + ], + [ + 470.4248599879036, + 37.54491924180422 + ], + [ + 428.99544194520183, + 36.941842845486065 + ], + [ + 419.4804302109872, + 57.3444463394253 + ], + [ + 449.2980410810933, + -42.734169771914424 + ], + [ + 458.35317558901625, + -60.75863250110149 + ], + [ + 413.99218547889257, + -61.28876769580825 + ], + [ + 403.17327298534167, + -43.307601852383186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 263.3686249750285, + "ymin": 200.83952839566584, + "xmax": 349.5709906674608, + "ymax": 251.62904951373628 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 330.65205112014485, + 251.62904951373628 + ], + [ + 349.5709906674608, + 210.85818241477546 + ], + [ + 288.58579422196914, + 209.68604384769586 + ], + [ + 266.2593822016528, + 250.3208296974093 + ], + [ + 328.25520444258547, + 242.5884575466333 + ], + [ + 347.4419580652025, + 202.00575999293963 + ], + [ + 286.01391598792827, + 200.83952839566584 + ], + [ + 263.3686249750285, + 241.28575333283848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 263.42174842830303, + "ymin": 200.8607352468833, + "xmax": 349.5094229818363, + "ymax": 251.54469706519606 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 330.6073792122341, + 251.54469706519606 + ], + [ + 349.5094229818363, + 210.819881284852 + ], + [ + 288.59486265322795, + 209.64902444008166 + ], + [ + 266.2929593435432, + 250.2380580049936 + ], + [ + 328.2261862224412, + 242.56379636210056 + ], + [ + 347.3940235092531, + 202.02573009403704 + ], + [ + 286.0400562589434, + 200.8607352468833 + ], + [ + 263.42174842830303, + 241.26263149442622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1198.3785885207346, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 72.99978191768037 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1212.56093000923, + 5.389806789726151 + ], + [ + 1198.3785885207346, + 5.19922203990393 + ], + [ + 1265.6833055372615, + 72.75600415715707 + ], + [ + 1281.7516864811969, + 72.99978191768037 + ], + [ + 1310.715514850975, + -236.8520816382363 + ], + [ + 1294.0604770842083, + -236.97054045502875 + ], + [ + 1389.7210979795177, + -194.01920007118076 + ], + [ + 1409.0386329736612, + -193.86063999786916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1193.2158357560309, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 300.110997342968 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1193.2158357560309, + 160.54509363917498 + ], + [ + 1392.47027023411, + 300.110997342968 + ], + [ + 1605.988072070571, + 249.09981597830583 + ], + [ + 1382.4076700280534, + 125.20083618587913 + ], + [ + 1377.8357439242382, + -259.2442422622677 + ], + [ + 1718.413295878338, + -184.31276644459376 + ], + [ + 1987.6923927242574, + -212.96142303920965 + ], + [ + 1613.0663851045936, + -276.5985761343816 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00020/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..100ae0da1660aa4e2cfeabadd3e8d26952225521 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00020/meta.json @@ -0,0 +1,2842 @@ +{ + "frame_id": 20, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 10.0, + "sim_timestamp": 15547.151292341994 + }, + "drone_pose": { + "x": -47.61536298186747, + "y": -100.91337889599863, + "z": 20.048587184370408, + "pitch": -40.705941225646605, + "yaw": 82.44221215756622, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.09970545768737793, + -0.7514811754226685, + 0.6521769762039185, + 67.50679016113281 + ], + [ + 0.9913127422332764, + 0.13152605295181274, + 2.9802322387695312e-08, + -33.928977966308594 + ], + [ + -0.08577826619148254, + 0.6465113162994385, + 0.758066713809967, + -84.52417755126953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.57704922256552, + "y": -100.21652244556763, + "z": 20.234452417352024 + }, + "t1_image_uv": [ + 766.8269130925846, + -1045.2509658455845 + ], + "t1_depth": 0.4062775609647024 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -79.68776321411133, + "z": 0.9868413028120995 + }, + "image_uv": [ + 702.4264897572318, + 381.7824326998514 + ], + "depth": 28.476821792581674, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 704, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -79.68775939941406, + "z": 0.9868413209915161 + }, + "extent": { + "x": 0.47606444358825684, + "y": 0.5287036299705505, + "z": 0.8923454880714417 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 682.2363496524829, + "ymin": 346.99482803854363, + "xmax": 723.0131910635533, + "ymax": 416.1533676654083 + }, + "corners_3d": [ + [ + -46.13848114013672, + -80.16382598876953, + 0.09449583292007446 + ], + [ + -47.19588851928711, + -80.16382598876953, + 0.09449583292007446 + ], + [ + -47.195884704589844, + -79.2116928100586, + 0.09449583292007446 + ], + [ + -46.13847732543945, + -79.2116928100586, + 0.09449583292007446 + ], + [ + -46.13848114013672, + -80.16382598876953, + 1.8791868686676025 + ], + [ + -47.19588851928711, + -80.16382598876953, + 1.8791868686676025 + ], + [ + -47.195884704589844, + -79.2116928100586, + 1.8791868686676025 + ], + [ + -46.13847732543945, + -79.2116928100586, + 1.8791868686676025 + ] + ], + "corners_2d": [ + [ + 682.2363496524829, + 412.91919114561284 + ], + [ + 717.517490205705, + 416.1533676654083 + ], + [ + 719.722683435435, + 394.6602276196915 + ], + [ + 685.2902759009862, + 391.5814705281737 + ], + [ + 684.0181789274186, + 368.0764214099659 + ], + [ + 720.8002731738833, + 371.2755461778253 + ], + [ + 723.0131910635533, + 350.03396546105733 + ], + [ + 687.1526431039687, + 346.99482803854363 + ] + ], + "center_offset_px": [ + 62.42648975723182, + 21.782432699851427 + ] + }, + "trace_timestep_index": 20, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 115, + "semantic_pixel_counts": { + "1": 506917, + "2": 152633, + "3": 125909, + "4": 17134, + "5": 311, + "6": 15051, + "7": 3522, + "9": 26206, + "10": 24366, + "12": 3251, + "14": 5404, + "20": 3690, + "21": 9270, + "24": 25822, + "25": 2114 + }, + "instance_pixel_counts": { + "143": 9142, + "339": 1492, + "851": 429, + "883": 6393, + "1167": 9893, + "1363": 841, + "1447": 460, + "1679": 18368, + "1875": 992, + "1957": 716, + "2703": 25365, + "3749": 131, + "4204": 693, + "4261": 131, + "4716": 540, + "5714": 356, + "6565": 1320, + "7077": 3, + "7539": 1573, + "8018": 1718, + "8530": 955, + "8556": 2652, + "8579": 1207, + "8810": 114, + "9042": 752, + "9068": 3528, + "9320": 3708, + "9554": 1062, + "9580": 2647, + "10092": 2525, + "10578": 21, + "11368": 4187, + "11370": 128, + "11596": 1830, + "12396": 2540, + "12675": 6, + "14444": 2628, + "14956": 439, + "15186": 8337, + "15698": 9230, + "16210": 5381, + "16722": 4972, + "22381": 5340, + "22784": 7800, + "22893": 4552, + "23441": 5442, + "23552": 8220, + "23953": 6159, + "24429": 6098, + "24465": 5362, + "24941": 6120, + "24977": 5166, + "25489": 5041, + "25928": 311, + "25965": 5038, + "26001": 2590, + "26696": 15304, + "26987": 1468, + "27243": 30, + "27719": 49972, + "28231": 24324, + "28523": 100, + "28779": 1824, + "30548": 2729, + "30630": 1081, + "30863": 656, + "31142": 1025, + "31572": 2675, + "31633": 4374, + "31654": 1074, + "32145": 5597, + "32657": 4359, + "32911": 2375, + "33169": 4120, + "37286": 2, + "37798": 3, + "39239": 2114, + "42391": 259, + "42918": 2778, + "44951": 481, + "51815": 185653, + "52327": 50909, + "53351": 71916, + "53863": 143560, + "54375": 46984, + "54889": 12916, + "55401": 1434, + "55913": 1918, + "56173": 26206, + "56320": 704, + "56425": 8003, + "56486": 15, + "56576": 593, + "56742": 28, + "56832": 489, + "56937": 1309, + "57088": 609, + "57600": 856, + "58022": 15, + "58790": 16, + "59522": 495, + "59762": 3765, + "60070": 35, + "60274": 3463, + "60582": 1174, + "61094": 1322, + "62827": 289, + "63083": 147, + "63314": 4854, + "63339": 476, + "63874": 851, + "64594": 129, + "64654": 8974, + "64850": 80, + "65362": 3 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 704, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -79.68775939941406, + "z": 0.9868413209915161 + }, + "extent": { + "x": 0.4837670922279358, + "y": 0.6004540920257568, + "z": 0.8899872303009033 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 679.8280554083707, + "ymin": 346.6847470343248, + "xmax": 725.4685111762635, + "ymax": 416.4950140941673 + }, + "corners_3d": [ + [ + -46.06673049926758, + -80.17152404785156, + 0.09685409069061279 + ], + [ + -47.267635345458984, + -80.17152404785156, + 0.09685409069061279 + ], + [ + -47.267635345458984, + -79.20399475097656, + 0.09685409069061279 + ], + [ + -46.06673049926758, + -79.20399475097656, + 0.09685409069061279 + ], + [ + -46.06673049926758, + -80.17152404785156, + 1.8768285512924194 + ], + [ + -47.267635345458984, + -80.17152404785156, + 1.8768285512924194 + ], + [ + -47.267635345458984, + -79.20399475097656, + 1.8768285512924194 + ], + [ + -46.06673049926758, + -79.20399475097656, + 1.8768285512924194 + ] + ], + "corners_2d": [ + [ + 679.8280554083707, + 412.82049324826266 + ], + [ + 719.9072769996376, + 416.4950140941673 + ], + [ + 722.0892974724633, + 394.6437159788924 + ], + [ + 682.9896852826382, + 391.1485695606511 + ], + [ + 681.5036686640674, + 368.09679341209926 + ], + [ + 723.2837222384381, + 371.731657938562 + ], + [ + 725.4685111762635, + 350.1349790569368 + ], + [ + 684.7518775180305, + 346.6847470343248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 593, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -76.69004821777344, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.46727052330970764, + "y": 0.45167481899261475, + "z": 0.9147935509681702 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 567.509020306695, + "ymin": 276.97473130938806, + "xmax": 598.4998565945351, + "ymax": 340.59784546392495 + }, + "corners_3d": [ + [ + -42.19654083251953, + -77.24102020263672, + 0.0824773907661438 + ], + [ + -43.08015060424805, + -77.0531997680664, + 0.0824773907661438 + ], + [ + -42.88584899902344, + -76.13907623291016, + 0.0824773907661438 + ], + [ + -42.00223922729492, + -76.32689666748047, + 0.0824773907661438 + ], + [ + -42.19654083251953, + -77.24102020263672, + 1.912064552307129 + ], + [ + -43.08015060424805, + -77.0531997680664, + 1.912064552307129 + ], + [ + -42.88584899902344, + -76.13907623291016, + 1.912064552307129 + ], + [ + -42.00223922729492, + -76.32689666748047, + 1.912064552307129 + ] + ], + "corners_2d": [ + [ + 570.8512605815179, + 340.59784546392495 + ], + [ + 598.4998565945351, + 339.23563389780537 + ], + [ + 597.2487083123974, + 321.525322561242 + ], + [ + 570.2072231319003, + 322.82821673811185 + ], + [ + 568.1153455576842, + 295.6801051048479 + ], + [ + 596.8607592292245, + 294.34295564663023 + ], + [ + 595.598770317121, + 276.97473130938806 + ], + [ + 567.509020306695, + 278.2514316030031 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 489, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -72.74504852294922, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4850170910358429, + "y": 0.2958422899246216, + "z": 0.9335668087005615 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 771.510367370993, + "ymin": 224.6131235156151, + "xmax": 796.1689349219231, + "ymax": 285.141509265168 + }, + "corners_3d": [ + [ + -48.67948532104492, + -73.25833129882812, + 0.0637090802192688 + ], + [ + -49.26792907714844, + -73.19648742675781, + 0.0637090802192688 + ], + [ + -49.16653060913086, + -72.23176574707031, + 0.0637090802192688 + ], + [ + -48.578086853027344, + -72.29360961914062, + 0.0637090802192688 + ], + [ + -48.67948532104492, + -73.25833129882812, + 1.930842638015747 + ], + [ + -49.26792907714844, + -73.19648742675781, + 1.930842638015747 + ], + [ + -49.16653060913086, + -72.23176574707031, + 1.930842638015747 + ], + [ + -48.578086853027344, + -72.29360961914062, + 1.930842638015747 + ] + ], + "corners_2d": [ + [ + 773.6271663221091, + 284.8697725866484 + ], + [ + 790.5255956239841, + 285.141509265168 + ], + [ + 788.047293966673, + 269.10796828048564 + ], + [ + 771.510367370993, + 268.8477079851874 + ], + [ + 778.6350878472986, + 240.23491044807804 + ], + [ + 796.1689349219231, + 240.5000738535649 + ], + [ + 793.4748832488676, + 224.86668225550338 + ], + [ + 776.3299235740931, + 224.6131235156151 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 609, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -79.68775939941406, + "z": 0.961260199546814 + }, + "extent": { + "x": 0.3349291980266571, + "y": 0.5796093344688416, + "z": 0.8927236199378967 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 1002.5141880846205, + "ymin": 378.9167797961624, + "xmax": 1064.9839810189223, + "ymax": 443.62924493212967 + }, + "corners_3d": [ + [ + -55.58757400512695, + -80.02268981933594, + 0.06853657960891724 + ], + [ + -56.74679183959961, + -80.02268981933594, + 0.06853657960891724 + ], + [ + -56.74679183959961, + -79.35282897949219, + 0.06853657960891724 + ], + [ + -55.58757400512695, + -79.35282897949219, + 0.06853657960891724 + ], + [ + -55.58757400512695, + -80.02268981933594, + 1.8539838790893555 + ], + [ + -56.74679183959961, + -80.02268981933594, + 1.8539838790893555 + ], + [ + -56.74679183959961, + -79.35282897949219, + 1.8539838790893555 + ], + [ + -55.58757400512695, + -79.35282897949219, + 1.8539838790893555 + ] + ], + "corners_2d": [ + [ + 1006.0189871731352, + 439.8660214978274 + ], + [ + 1047.1953296997044, + 443.62924493212967 + ], + [ + 1042.9443813469425, + 427.46369005514714 + ], + [ + 1002.5141880846205, + 423.83278191838673 + ], + [ + 1021.9397810837136, + 394.80281758176375 + ], + [ + 1064.9839810189223, + 398.5350361043262 + ], + [ + 1060.221046710004, + 382.5122110249457 + ], + [ + 1017.991497107565, + 378.9167797961624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 856, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -87.85797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.37913084030151367, + "y": 0.28700193762779236, + "z": 0.9072332382202148 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 184.58025002849848, + "ymin": 525.8299548983796, + "xmax": 245.63263785553, + "ymax": 601.9123545654966 + }, + "corners_3d": [ + [ + -35.062294006347656, + -88.16915130615234, + 0.034588515758514404 + ], + [ + -35.62375259399414, + -88.28849792480469, + 0.034588515758514404 + ], + [ + -35.781402587890625, + -87.54680633544922, + 0.034588515758514404 + ], + [ + -35.21994400024414, + -87.42745971679688, + 0.034588515758514404 + ], + [ + -35.062294006347656, + -88.16915130615234, + 1.8490550518035889 + ], + [ + -35.62375259399414, + -88.28849792480469, + 1.8490550518035889 + ], + [ + -35.781402587890625, + -87.54680633544922, + 1.8490550518035889 + ], + [ + -35.21994400024414, + -87.42745971679688, + 1.8490550518035889 + ] + ], + "corners_2d": [ + [ + 207.146939173029, + 595.3990726371361 + ], + [ + 226.36679474754385, + 601.9123545654966 + ], + [ + 245.63263785553, + 578.0884192405265 + ], + [ + 226.72412871891714, + 571.861682169879 + ], + [ + 184.58025002849848, + 549.4959923456358 + ], + [ + 204.6628400835591, + 556.0545440384612 + ], + [ + 225.4249283308111, + 532.0854057223746 + ], + [ + 205.68026767100713, + 525.8299548983796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.2978722374827, + "ymin": 211.05723197027535, + "xmax": 966.6152844412027, + "ymax": 247.1803785159682 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 947.2978722374827, + 238.61515785461717 + ], + [ + 948.8400395159888, + 246.41609402324744 + ], + [ + 959.4124192068024, + 247.1803785159682 + ], + [ + 957.7527095828766, + 239.36278517098987 + ], + [ + 954.1424601552778, + 211.05723197027535 + ], + [ + 955.7968611189522, + 218.72187462668597 + ], + [ + 966.6152844412027, + 219.47300937653674 + ], + [ + 964.8378409191087, + 211.7916333625161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2618456511093177771, + "instance_id": 43901, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -39.78401565551758, + "y": -86.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 362.3551730063102, + "ymin": 357.90482634369533, + "xmax": 387.5243703250811, + "ymax": 400.0051562412312 + }, + "corners_3d": [ + [ + -39.64543151855469, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -85.91574096679688, + 6.416468620300293 + ], + [ + -39.64543151855469, + -85.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 369.78065009110526, + 398.87843045956504 + ], + [ + 381.8643950304136, + 400.0051562412312 + ], + [ + 387.5243703250811, + 388.50465404666835 + ], + [ + 375.59364159477747, + 387.40763960846823 + ], + [ + 362.3551730063102, + 369.2833329015828 + ], + [ + 374.7614761818611, + 370.4014414158639 + ], + [ + 380.67196533885055, + 358.99265653948856 + ], + [ + 368.42689002502414, + 357.90482634369533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1061.6505236391604, + "ymin": 219.09183597108085, + "xmax": 1085.2484593564232, + "ymax": 255.5589821611357 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1061.6505236391604, + 246.7925367140986 + ], + [ + 1064.4918475330458, + 254.7766416017039 + ], + [ + 1075.3139975578258, + 255.5589821611357 + ], + [ + 1072.3496007963859, + 247.55762966375076 + ], + [ + 1071.1536068975527, + 219.09183597108085 + ], + [ + 1074.1685886405755, + 226.94055079537432 + ], + [ + 1085.2484593564232, + 227.7098381185474 + ], + [ + 1082.1045145446524, + 219.84378319015764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 476.89346474471455, + "ymin": 261.7365775550055, + "xmax": 492.16434275542986, + "ymax": 293.29693658709937 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 480.07530304068734, + 292.5709649971898 + ], + [ + 489.05791963053684, + 293.29693658709937 + ], + [ + 492.16434275542986, + 285.90299764153684 + ], + [ + 483.2661844893892, + 285.19109120244747 + ], + [ + 476.89346474471455, + 269.02824305317625 + ], + [ + 486.0518664817429, + 269.7456899523223 + ], + [ + 489.2493940344923, + 262.43985188829333 + ], + [ + 480.1787704131243, + 261.7365775550055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 406.1829267963834, + "ymin": 277.88664225261556, + "xmax": 427.4390032995424, + "ymax": 316.8112377450539 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 411.8361576669263, + 315.8905011883171 + ], + [ + 422.80846216492256, + 316.8112377450539 + ], + [ + 427.4390032995424, + 307.4024386827394 + ], + [ + 416.5930588998508, + 306.5036922165079 + ], + [ + 406.1829267963834, + 287.14963846525774 + ], + [ + 417.4205978392657, + 288.0585272542122 + ], + [ + 422.23094693085153, + 278.77329566387607 + ], + [ + 411.1257783831103, + 277.88664225261556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 853.9895679040623, + "ymin": 204.50446398291226, + "xmax": 869.8855589467256, + "ymax": 240.34559811781392 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 853.9895679040623, + 231.94281537922097 + ], + [ + 854.4936852345057, + 239.59588676800814 + ], + [ + 864.8644717503233, + 240.34559811781392 + ], + [ + 864.2472067142344, + 232.67634115158484 + ], + [ + 858.7097205326186, + 204.50446398291226 + ], + [ + 859.2780013977355, + 212.02061836841727 + ], + [ + 869.8855589467256, + 212.75711264611604 + ], + [ + 869.1989350605058, + 205.2247090708728 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15348604559986913947, + "instance_id": 39922, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -39.78401184082031, + "y": -88.60569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.79881416913594, + "ymin": 439.0337020429002, + "xmax": 347.2541773413811, + "ymax": 484.15581735575546 + }, + "corners_3d": [ + [ + -39.64542770385742, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.41574096679688, + 6.416468620300293 + ], + [ + -39.64542770385742, + -88.41574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 327.2521619848002, + 482.7996271613257 + ], + [ + 340.44943309549126, + 484.15581735575546 + ], + [ + 347.2541773413811, + 470.3292651050116 + ], + [ + 334.23912818128906, + 469.0122345490531 + ], + [ + 317.79881416913594, + 452.78237983771226 + ], + [ + 331.3816604555474, + 454.1354144088644 + ], + [ + 338.52520712234366, + 440.34651278881887 + ], + [ + 325.13528789733186, + 439.0337020429002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1212.6113133179333, + "ymin": 323.2928214656139, + "xmax": 1240.1191772359527, + "ymax": 356.915113734979 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1212.6113133179333, + 347.4023818849149 + ], + [ + 1216.9193763630724, + 356.06244537760847 + ], + [ + 1227.419069888495, + 356.915113734979 + ], + [ + 1222.9958488454602, + 348.23716869127105 + ], + [ + 1224.8450897589814, + 323.2928214656139 + ], + [ + 1229.3792736705823, + 331.8776563914459 + ], + [ + 1240.1191772359527, + 332.7231290337657 + ], + [ + 1235.4645477687568, + 324.12018649947504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 788.1590160717718, + "ymin": 126.84213580118518, + "xmax": 1280.0, + "ymax": 419.08950641302914 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1194.1702999118347, + 419.08950641302914 + ], + [ + 1189.9748493547602, + 409.18003511598505 + ], + [ + 788.4949210047728, + 372.13894132063956 + ], + [ + 788.1590160717718, + 381.22290446897085 + ], + [ + 1325.8708163297601, + 167.94217611758435 + ], + [ + 1318.8717827577339, + 159.1814702220536 + ], + [ + 821.4969516219896, + 126.84213580118518 + ], + [ + 821.5236861991116, + 134.71409668347962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 520448382005777854, + "instance_id": 48789, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_0", + "bbox_3d": { + "center_world": { + "x": -19.3944149017334, + "y": -69.02778625488281, + "z": 3.636636972427368 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 71.53252137240048, + "xmax": 71.63431893369784, + "ymax": 106.5118429516503 + }, + "corners_3d": [ + [ + -20.361778259277344, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361778259277344, + -70.11705780029297, + 3.7999587059020996 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.7999587059020996 + ] + ], + "corners_2d": [ + [ + 38.758346658118285, + 106.5118429516503 + ], + [ + 71.63431893369784, + 82.04855609590436 + ], + [ + 26.658801440083607, + 79.3030692421695 + ], + [ + -8.04254436944177, + 103.5164103215576 + ], + [ + 35.2450890251979, + 98.51022813975692 + ], + [ + 68.45589570933328, + 74.25401274713084 + ], + [ + 23.24614658880023, + 71.53252137240048 + ], + [ + -11.809344349235062, + 95.53949991600416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.9569571189318, + "ymin": 208.23764905982148, + "xmax": 426.08087212815167, + "ymax": 382.44847453172576 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 403.861678951975, + 382.44847453172576 + ], + [ + 426.08087212815167, + 335.8092692784352 + ], + [ + 365.62836481296927, + 330.6151154804383 + ], + [ + 340.0687520487743, + 376.63459941307053 + ], + [ + 376.7986237605849, + 257.135068884696 + ], + [ + 403.0571813931697, + 213.106916633254 + ], + [ + 336.3100546338334, + 208.23764905982148 + ], + [ + 305.9569571189318, + 251.61643220957666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 44.753813491735855, + "xmax": 103.91921982758697, + "ymax": 183.0529530434812 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 72.51452944087589, + 183.0529530434812 + ], + [ + 103.91921982758697, + 155.34380173755767 + ], + [ + 58.523381800368384, + 152.21324208163855 + ], + [ + 25.269855904148017, + 179.6376718649467 + ], + [ + 23.948568238430653, + 72.41250110919145 + ], + [ + 60.15971903933519, + 47.55124314993577 + ], + [ + 11.316885953877431, + 44.753813491735855 + ], + [ + -27.038923369083705, + 69.33842325488848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 245.59965686306367, + "ymin": 106.58573002697793, + "xmax": 494.84965011345764, + "ymax": 684.0174394833793 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 494.84965011345764, + 349.76560230835497 + ], + [ + 481.8662674109718, + 348.5608093051898 + ], + [ + 343.7983796354952, + 681.6243574046175 + ], + [ + 361.8142736372398, + 684.0174394833793 + ], + [ + 463.6373353932913, + 107.61468473624373 + ], + [ + 447.923086367104, + 106.58573002697793 + ], + [ + 245.59965686306367, + 418.3111480925075 + ], + [ + 269.3320293146796, + 420.76813180438626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 487.36033675287746, + "ymin": 0.0, + "xmax": 550.551786943552, + "ymax": 94.41422526819082 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 540.6390366808633, + 94.41422526819082 + ], + [ + 550.551786943552, + 73.64140409720886 + ], + [ + 509.1544184850742, + 71.27914839778771 + ], + [ + 497.7001525061103, + 91.86700067743635 + ], + [ + 533.3838746522274, + -6.457154565093504 + ], + [ + 544.2795541855753, + -24.684732428990003 + ], + [ + 500.02231911669594, + -26.75131620514162 + ], + [ + 487.36033675287746, + -8.697580747336417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.27822088231363, + "ymin": 239.68731933146418, + "xmax": 407.87171234435164, + "ymax": 295.9590016784633 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 384.15914897055836, + 295.9590016784633 + ], + [ + 407.87171234435164, + 253.3374642719801 + ], + [ + 346.88648246831326, + 248.6273751608803 + ], + [ + 319.7494888131415, + 290.67619275634803 + ], + [ + 382.17101698590454, + 286.78995541191404 + ], + [ + 406.1695047305442, + 244.37258397984579 + ], + [ + 344.75124570640685, + 239.68731933146418 + ], + [ + 317.27822088231363, + 281.5304502293886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.33399913732427, + "ymin": 239.7113545274323, + "xmax": 407.8103307196718, + "ymax": 295.87019953812046 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 384.11977423431244, + 295.87019953812046 + ], + [ + 407.8103307196718, + 253.29712736226205 + ], + [ + 346.8958091546672, + 248.59258611568816 + ], + [ + 319.7884835064419, + 290.59424687543077 + ], + [ + 382.14461732834843, + 286.7617091597695 + ], + [ + 406.11893730952374, + 244.39126243140322 + ], + [ + 344.7747495551583, + 239.7113545274323 + ], + [ + 317.33399913732427, + 281.5088831405177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 491.5700633948021, + "ymin": 0.0, + "xmax": 544.648430647462, + "ymax": 24.462945102494587 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 534.5882890993379, + 24.462945102494587 + ], + [ + 544.648430647462, + 6.42147455972497 + ], + [ + 503.86627921563183, + 4.382952138993062 + ], + [ + 492.30043327503404, + 22.266079545994785 + ], + [ + 534.0646739628397, + 17.25332751243974 + ], + [ + 544.1922970408456, + -0.6079257599347443 + ], + [ + 503.21787992361476, + -2.6256746636262847 + ], + [ + 491.5700633948021, + 15.07805768162143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11665211921157023400, + "instance_id": 43110, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_1", + "bbox_3d": { + "center_world": { + "x": -19.394420623779297, + "y": -69.02778625488281, + "z": 3.637737274169922 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 71.54638480407414, + "xmax": 71.56805871070583, + "ymax": 106.4428153958734 + }, + "corners_3d": [ + [ + -20.3605899810791, + -70.1158676147461, + 3.475497007369995 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.4755005836486816 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.4755005836486816 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.475497007369995 + ], + [ + -20.3605899810791, + -70.1158676147461, + 3.799973964691162 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.7999775409698486 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.7999775409698486 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.799973964691162 + ] + ], + "corners_2d": [ + [ + 38.72484802836209, + 106.4428153958734 + ], + [ + 71.56805871070583, + 82.00787459183397 + ], + [ + 26.645693028912433, + 79.26572739649941 + ], + [ + -8.018754316106538, + 103.45130235258091 + ], + [ + 35.23482980885183, + 98.4941716576435 + ], + [ + 68.41031540178585, + 74.26472190408083 + ], + [ + 23.255544608517198, + 71.54638480407414 + ], + [ + -11.760316209303483, + 95.52717155259847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 491.5372394713894, + "ymin": 0.0, + "xmax": 544.6820307793998, + "ymax": 24.522892012749935 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 534.6122305322598, + 24.522892012749935 + ], + [ + 544.6820307793998, + 6.46031641958848 + ], + [ + 503.851568879193, + 4.419218627591476 + ], + [ + 492.27264501963737, + 22.323075812496427 + ], + [ + 534.0852211439378, + 17.265190538644333 + ], + [ + 544.2230169005948, + -0.615777806818528 + ], + [ + 503.19877815434063, + -2.6359394347186367 + ], + [ + 491.5372394713894, + 15.087139983550173 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00023/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c7aa856104e5131607f74d3010f2a64731b80cc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00023/meta.json @@ -0,0 +1,2494 @@ +{ + "frame_id": 23, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 11.5, + "sim_timestamp": 15582.027164067375 + }, + "drone_pose": { + "x": -47.589176450270344, + "y": -99.35634343045008, + "z": 20.090913511243674, + "pitch": -44.28943829221777, + "yaw": 84.58484572573172, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.06755334138870239, + -0.7126267552375793, + 0.698283314704895, + 59.989646911621094 + ], + [ + 0.9955369830131531, + 0.0943717360496521, + 0.0, + -38.0003662109375 + ], + [ + -0.06589815020561218, + 0.6951668858528137, + 0.7158215045928955, + -86.5867919921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.61603902450719, + "y": -98.85034489334501, + "z": 20.07904807326153 + }, + "t1_image_uv": [ + 834.8319767276895, + -533.1267984517532 + ], + "t1_depth": 0.36705889290217486 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -78.18776321411133, + "z": 0.994834468215704 + }, + "image_uv": [ + 676.3962956729437, + 322.68567936246967 + ], + "depth": 28.4820547940839, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 716, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -78.18775939941406, + "z": 0.9948344826698303 + }, + "extent": { + "x": 0.5142163038253784, + "y": 0.5256640315055847, + "z": 0.9083453416824341 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 656.9415372038178, + "ymin": 286.9580171008344, + "xmax": 696.2699419291481, + "ymax": 357.8350201845886 + }, + "corners_3d": [ + [ + -46.141517639160156, + -78.70197296142578, + 0.08648914098739624 + ], + [ + -47.192848205566406, + -78.70197296142578, + 0.08648914098739624 + ], + [ + -47.192848205566406, + -77.67354583740234, + 0.08648914098739624 + ], + [ + -46.141517639160156, + -77.67354583740234, + 0.08648914098739624 + ], + [ + -46.141517639160156, + -78.70197296142578, + 1.9031798839569092 + ], + [ + -47.192848205566406, + -78.70197296142578, + 1.9031798839569092 + ], + [ + -47.192848205566406, + -77.67354583740234, + 1.9031798839569092 + ], + [ + -46.141517639160156, + -77.67354583740234, + 1.9031798839569092 + ] + ], + "corners_2d": [ + [ + 656.9415372038178, + 355.5298335633789 + ], + [ + 691.9754097075829, + 357.8350201845886 + ], + [ + 693.8458778964722, + 334.5817724417401 + ], + [ + 659.6773314368658, + 332.38976648217874 + ], + [ + 657.7225657254934, + 309.9548425355513 + ], + [ + 694.3777490932381, + 312.2486433532333 + ], + [ + 696.2699419291481, + 289.1341991753669 + ], + [ + 660.5609495717046, + 286.9580171008344 + ] + ], + "center_offset_px": [ + 36.396295672943666, + -37.31432063753033 + ] + }, + "trace_timestep_index": 23, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 81, + "semantic_pixel_counts": { + "1": 529092, + "2": 155344, + "3": 99406, + "4": 17587, + "6": 15862, + "7": 3897, + "9": 25873, + "10": 29829, + "12": 4222, + "14": 3465, + "20": 3762, + "21": 5288, + "24": 27973 + }, + "instance_pixel_counts": { + "143": 9404, + "1167": 9400, + "1679": 21447, + "2703": 26262, + "3749": 142, + "4261": 142, + "5714": 390, + "8556": 2772, + "8579": 1313, + "9068": 3971, + "9580": 2556, + "10092": 2221, + "11596": 47, + "12396": 2003, + "12675": 6, + "14444": 180, + "15186": 9514, + "15698": 10503, + "16210": 6158, + "16722": 87, + "22381": 6055, + "22784": 9059, + "22893": 4708, + "23441": 6477, + "23552": 9248, + "23953": 7119, + "24429": 5644, + "24465": 6469, + "24941": 6900, + "24977": 6256, + "25489": 4399, + "25965": 5217, + "26696": 17540, + "26987": 1612, + "27243": 21, + "27719": 50409, + "28231": 29789, + "28523": 135, + "28779": 1704, + "30548": 1517, + "31572": 1747, + "31633": 5183, + "32084": 201, + "32145": 6626, + "32657": 5198, + "33169": 2297, + "40358": 370, + "42918": 3524, + "51815": 204081, + "52327": 52440, + "53351": 60010, + "53863": 163758, + "54375": 48803, + "54889": 14183, + "55401": 1503, + "55913": 1750, + "56173": 25873, + "56320": 716, + "56425": 9184, + "56486": 20, + "56576": 595, + "56742": 33, + "56832": 512, + "56937": 1353, + "57088": 566, + "57344": 952, + "57600": 881, + "58022": 2, + "58790": 19, + "59522": 139, + "59762": 4200, + "60070": 10, + "60274": 1326, + "61803": 71, + "62827": 293, + "63083": 132, + "63314": 3563, + "63339": 508, + "64594": 150, + "64654": 9898, + "64850": 94 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 716, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -78.18775939941406, + "z": 0.9948344826698303 + }, + "extent": { + "x": 0.4993530213832855, + "y": 0.47157713770866394, + "z": 0.886379063129425 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 658.7896132803811, + "ymin": 287.967369008936, + "xmax": 694.3714671336936, + "ymax": 356.8446267710697 + }, + "corners_3d": [ + [ + -46.19560623168945, + -78.6871109008789, + 0.10845541954040527 + ], + [ + -47.13875961303711, + -78.6871109008789, + 0.10845541954040527 + ], + [ + -47.13875961303711, + -77.68840789794922, + 0.10845541954040527 + ], + [ + -46.19560623168945, + -77.68840789794922, + 0.10845541954040527 + ], + [ + -46.19560623168945, + -78.6871109008789, + 1.8812135457992554 + ], + [ + -47.13875961303711, + -78.6871109008789, + 1.8812135457992554 + ], + [ + -47.13875961303711, + -77.68840789794922, + 1.8812135457992554 + ], + [ + -46.19560623168945, + -77.68840789794922, + 1.8812135457992554 + ] + ], + "corners_2d": [ + [ + 658.7896132803811, + 354.778222488695 + ], + [ + 690.2239558705811, + 356.8446267710697 + ], + [ + 692.0841003577436, + 334.2703159371084 + ], + [ + 661.4043986335672, + 332.3025576692806 + ], + [ + 659.6342091767381, + 310.3075494310833 + ], + [ + 692.4867652334839, + 312.3639306818981 + ], + [ + 694.3714671336936, + 289.92133134586163 + ], + [ + 662.3422912510922, + 287.967369008936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 595, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -75.19004821777344, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.435966819524765, + "y": 0.4453735649585724, + "z": 0.861406147480011 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 538.3298864985558, + "ymin": 221.5375421852068, + "xmax": 570.7469580305394, + "ymax": 282.6481285927803 + }, + "corners_3d": [ + [ + -42.196197509765625, + -75.7090835571289, + 0.13586479425430298 + ], + [ + -43.06747817993164, + -75.52388763427734, + 0.13586479425430298 + ], + [ + -42.886192321777344, + -74.67101287841797, + 0.13586479425430298 + ], + [ + -42.01491165161133, + -74.85620880126953, + 0.13586479425430298 + ], + [ + -42.196197509765625, + -75.7090835571289, + 1.8586771488189697 + ], + [ + -43.06747817993164, + -75.52388763427734, + 1.8586771488189697 + ], + [ + -42.886192321777344, + -74.67101287841797, + 1.8586771488189697 + ], + [ + -42.01491165161133, + -74.85620880126953, + 1.8586771488189697 + ] + ], + "corners_2d": [ + [ + 543.3141785845895, + 282.6481285927803 + ], + [ + 570.7469580305394, + 280.6362559773763 + ], + [ + 569.0809551505953, + 263.9472277405307 + ], + [ + 542.1797186222577, + 265.88142775222315 + ], + [ + 539.4302119393283, + 240.00808153995484 + ], + [ + 567.9717694788001, + 238.0194411122691 + ], + [ + 566.2965132616648, + 221.5375421852068 + ], + [ + 538.3298864985558, + 223.4464198139882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 512, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -71.24504852294922, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.45989012718200684, + "y": 0.4927758574485779, + "z": 0.9349682331085205 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 737.6239877323831, + "ymin": 162.4849839691122, + "xmax": 773.1111852919305, + "ymax": 223.05041543654073 + }, + "corners_3d": [ + [ + -48.48100280761719, + -71.7539291381836, + 0.062307655811309814 + ], + [ + -49.46115493774414, + -71.65090942382812, + 0.062307655811309814 + ], + [ + -49.365013122558594, + -70.73616790771484, + 0.062307655811309814 + ], + [ + -48.38486099243164, + -70.83918762207031, + 0.062307655811309814 + ], + [ + -48.48100280761719, + -71.7539291381836, + 1.932244062423706 + ], + [ + -49.46115493774414, + -71.65090942382812, + 1.932244062423706 + ], + [ + -49.365013122558594, + -70.73616790771484, + 1.932244062423706 + ], + [ + -48.38486099243164, + -70.83918762207031, + 1.932244062423706 + ] + ], + "corners_2d": [ + [ + 739.8053356484317, + 223.05041543654073 + ], + [ + 767.9387225343172, + 222.8790506486174 + ], + [ + 765.2172210837715, + 207.51855370352837 + ], + [ + 737.6239877323831, + 207.68339518710548 + ], + [ + 743.8412875249355, + 177.71668463542275 + ], + [ + 773.1111852919305, + 177.54850099988857 + ], + [ + 770.1785213713973, + 162.4849839691122 + ], + [ + 741.4928468763303, + 162.64651426230176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 566, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -78.18775939941406, + "z": 0.9862064719200134 + }, + "extent": { + "x": 0.3137866258621216, + "y": 0.362739235162735, + "z": 0.8723081946372986 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 981.3406071856218, + "ymin": 313.1506570568307, + "xmax": 1026.607597083659, + "ymax": 373.32730036031813 + }, + "corners_3d": [ + [ + -55.804443359375, + -78.50154876708984, + 0.11389827728271484 + ], + [ + -56.52992248535156, + -78.50154876708984, + 0.11389827728271484 + ], + [ + -56.52992248535156, + -77.87397003173828, + 0.11389827728271484 + ], + [ + -55.804443359375, + -77.87397003173828, + 0.11389827728271484 + ], + [ + -55.804443359375, + -78.50154876708984, + 1.858514666557312 + ], + [ + -56.52992248535156, + -78.50154876708984, + 1.858514666557312 + ], + [ + -56.52992248535156, + -77.87397003173828, + 1.858514666557312 + ], + [ + -55.804443359375, + -77.87397003173828, + 1.858514666557312 + ] + ], + "corners_2d": [ + [ + 984.7310313178216, + 371.67993296631033 + ], + [ + 1009.9105335542583, + 373.32730036031813 + ], + [ + 1006.1213186051813, + 358.50307915103383 + ], + [ + 981.3406071856218, + 356.9066902163511 + ], + [ + 1000.2633351042921, + 327.86577143743494 + ], + [ + 1026.607597083659, + 329.50793741354136 + ], + [ + 1022.3779594132591, + 314.73976963000354 + ], + [ + 996.4699016971285, + 313.1506570568307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 952, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -89.31512451171875, + "z": 0.9485356211662292 + }, + "extent": { + "x": 0.4621289372444153, + "y": 0.42433595657348633, + "z": 0.9115393757820129 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 784.6838226463577, + "ymin": 640.6278951009774, + "xmax": 838.8687692978366, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.81236267089844, + -89.7303695678711, + 0.03699624538421631 + ], + [ + -50.65638732910156, + -89.81907653808594, + 0.03699624538421631 + ], + [ + -50.75299835205078, + -88.8998794555664, + 0.03699624538421631 + ], + [ + -49.908973693847656, + -88.81117248535156, + 0.03699624538421631 + ], + [ + -49.81236267089844, + -89.7303695678711, + 1.8600749969482422 + ], + [ + -50.65638732910156, + -89.81907653808594, + 1.8600749969482422 + ], + [ + -50.75299835205078, + -88.8998794555664, + 1.8600749969482422 + ], + [ + -49.908973693847656, + -88.81117248535156, + 1.8600749969482422 + ] + ], + "corners_2d": [ + [ + 784.6838226463577, + 721.971974330372 + ], + [ + 824.3099687263508, + 729.5530769416191 + ], + [ + 826.950155452565, + 689.6783163765649 + ], + [ + 788.5121742106835, + 682.5518046068523 + ], + [ + 794.158502188845, + 681.2309179904948 + ], + [ + 836.4546954699406, + 689.0580182268604 + ], + [ + 838.8687692978366, + 647.9563114164162 + ], + [ + 797.9235876571662, + 640.6278951009774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 881, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -86.35797882080078, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.38697874546051025, + "y": 0.5048485994338989, + "z": 0.9308363795280457 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 153.27213781667308, + "ymin": 477.6172423184962, + "xmax": 232.9006084153554, + "ymax": 558.1628295872337 + }, + "corners_3d": [ + [ + -34.84757614135742, + -86.63153839111328, + 0.0109902024269104 + ], + [ + -35.835208892822266, + -86.84146881103516, + 0.0109902024269104 + ], + [ + -35.99612045288086, + -86.08441925048828, + 0.0109902024269104 + ], + [ + -35.008487701416016, + -85.8744888305664, + 0.0109902024269104 + ], + [ + -34.84757614135742, + -86.63153839111328, + 1.8726630210876465 + ], + [ + -35.835208892822266, + -86.84146881103516, + 1.8726630210876465 + ], + [ + -35.99612045288086, + -86.08441925048828, + 1.8726630210876465 + ], + [ + -35.008487701416016, + -85.8744888305664, + 1.8726630210876465 + ] + ], + "corners_2d": [ + [ + 179.6908237642594, + 547.9146857278645 + ], + [ + 214.46395183674917, + 558.1628295872337 + ], + [ + 232.9006084153554, + 533.4416581304948 + ], + [ + 198.71548474562246, + 523.6332849783037 + ], + [ + 153.27213781667308, + 502.2182880489179 + ], + [ + 189.8055135631654, + 512.6196503336071 + ], + [ + 209.85358457938065, + 487.54739877500276 + ], + [ + 173.96629705144306, + 477.6172423184962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 924.7684494658372, + "ymin": 177.13401353686467, + "xmax": 944.9839697635036, + "ymax": 214.769639079271 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 924.7684494658372, + 205.58728752290665 + ], + [ + 926.4982605269201, + 214.16916440004587 + ], + [ + 937.460533883327, + 214.769639079271 + ], + [ + 935.6103469820698, + 206.174792728733 + ], + [ + 931.8852022562619, + 177.13401353686467 + ], + [ + 933.7387981683028, + 185.61265820606545 + ], + [ + 944.9839697635036, + 186.2060838457748 + ], + [ + 943.0037422182554, + 177.7143033029392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2618456511093177771, + "instance_id": 43901, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -39.78401565551758, + "y": -86.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 309.5293701518996, + "ymin": 356.16851307845513, + "xmax": 338.34384389659635, + "ymax": 399.7470921330034 + }, + "corners_3d": [ + [ + -39.64543151855469, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -85.91574096679688, + 6.416468620300293 + ], + [ + -39.64543151855469, + -85.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 319.5779046344605, + 398.8332052251939 + ], + [ + 332.5342318736208, + 399.7470921330034 + ], + [ + 338.34384389659635, + 386.6970633677634 + ], + [ + 325.55518867392703, + 385.80743538570954 + ], + [ + 309.5293701518996, + 369.18899292201064 + ], + [ + 322.8826931974168, + 370.10291814968525 + ], + [ + 329.005173503395, + 357.05743288647983 + ], + [ + 315.8298764620699, + 356.16851307845513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1042.9908929165504, + "ymin": 183.4627980339627, + "xmax": 1067.8290356128252, + "ymax": 221.3278735766848 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1042.9908929165504, + 211.99357395651418 + ], + [ + 1046.0430689608875, + 220.71740746638602 + ], + [ + 1057.1877460096403, + 221.3278735766848 + ], + [ + 1054.0112082086623, + 212.590747338228 + ], + [ + 1053.1467640753472, + 183.4627980339627 + ], + [ + 1056.3919621322789, + 192.08526128477388 + ], + [ + 1067.8290356128252, + 192.6888138930322 + ], + [ + 1064.4529064981725, + 184.05287899460802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 432.9906362334132, + "ymin": 237.43568247981742, + "xmax": 450.14151811155716, + "ymax": 270.273417833409 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 437.53449811191535, + 269.6969051771095 + ], + [ + 447.0355226390576, + 270.273417833409 + ], + [ + 450.14151811155716, + 262.0570804335501 + ], + [ + 440.7305289650885, + 261.49169796736703 + ], + [ + 432.9906362334132, + 245.5841992690668 + ], + [ + 442.70187211444977, + 246.1568621055091 + ], + [ + 445.9199169435189, + 237.99704492715887 + ], + [ + 436.3027234904725, + 237.43568247981742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 354.9671773266554, + "ymin": 264.71105652030855, + "xmax": 379.2848650302648, + "ymax": 305.3954952629826 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 362.7971530545954, + 304.6496572290499 + ], + [ + 374.5378436378956, + 305.3954952629826 + ], + [ + 379.2848650302648, + 294.7323405263872 + ], + [ + 367.6820516823494, + 294.00442254681724 + ], + [ + 354.9671773266554, + 275.28863019562596 + ], + [ + 367.0329734017099, + 276.02999831888957 + ], + [ + 372.0058080363787, + 265.4341179848885 + ], + [ + 360.08557871146127, + 264.71105652030855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.7073957375728, + "ymin": 171.94016060064556, + "xmax": 844.1838772978192, + "ymax": 209.3864191701764 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 827.7073957375728, + 200.32787066116416 + ], + [ + 828.3676045811067, + 208.7940842330153 + ], + [ + 839.1812763465495, + 209.3864191701764 + ], + [ + 838.4039032011717, + 200.90749753593008 + ], + [ + 832.3661296237797, + 171.94016060064556 + ], + [ + 833.09495588616, + 180.3016911452585 + ], + [ + 844.1838772978192, + 180.88687134427036 + ], + [ + 843.331880615531, + 172.51247625585435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15348604559986913947, + "instance_id": 39922, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -39.78401184082031, + "y": -88.60569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 263.23746635773017, + "ymin": 449.0882202408953, + "xmax": 296.98684453781016, + "ymax": 495.30544037862614 + }, + "corners_3d": [ + [ + -39.64542770385742, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.41574096679688, + 6.416468620300293 + ], + [ + -39.64542770385742, + -88.41574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 275.8138216064927, + 494.20398550751895 + ], + [ + 289.99336269974725, + 495.30544037862614 + ], + [ + 296.98684453781016, + 479.5961124345385 + ], + [ + 283.007843035368, + 478.52669324139816 + ], + [ + 263.23746635773017, + 464.85433328348915 + ], + [ + 277.89380228405236, + 465.96262799021247 + ], + [ + 285.30876432797214, + 450.1631918313134 + ], + [ + 270.8665658288509, + 449.0882202408953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1195.4766759554532, + "ymin": 286.6418206924309, + "xmax": 1224.1369141525056, + "ymax": 320.84174010949647 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1195.4766759554532, + 310.98591069418234 + ], + [ + 1199.9212362134617, + 320.19433862788 + ], + [ + 1210.5401105548503, + 320.84174010949647 + ], + [ + 1205.9832453858755, + 311.62007871754105 + ], + [ + 1208.5656706821314, + 286.6418206924309 + ], + [ + 1213.2551199981144, + 295.81092479687015 + ], + [ + 1224.1369141525056, + 296.4557303413309 + ], + [ + 1219.329566858359, + 287.2731367934906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 761.4912326645892, + "ymin": 91.03807174499377, + "xmax": 1280.0, + "ymax": 382.6000865065737 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1175.060678268703, + 382.6000865065737 + ], + [ + 1170.7649902571436, + 372.19360351154745 + ], + [ + 761.6771463560133, + 343.34909162495825 + ], + [ + 761.4912326645892, + 353.12911251996024 + ], + [ + 1317.2456515963315, + 127.09175403062252 + ], + [ + 1309.8769422006167, + 117.45678878500667 + ], + [ + 792.3542455774659, + 91.03807174499377 + ], + [ + 792.5303382216813, + 99.948669644944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 248.9478793171229, + "ymin": 183.96448284742422, + "xmax": 383.37934248452854, + "ymax": 365.13761042601874 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 361.2382248670223, + 365.13761042601874 + ], + [ + 383.37934248452854, + 313.7731448906462 + ], + [ + 319.45818596037003, + 309.67652905801646 + ], + [ + 293.7547208805316, + 360.55585295525947 + ], + [ + 324.9649349197769, + 237.75070304643037 + ], + [ + 352.0311511670766, + 187.90938425905497 + ], + [ + 280.5036145918373, + 183.96448284742422 + ], + [ + 248.9478793171229, + 233.27608740847495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 6.160797943364571, + "xmax": 34.47916030695569, + "ymax": 154.3691598444414 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 1.595136361194136, + 154.3691598444414 + ], + [ + 34.47916030695569, + 122.9751401713574 + ], + [ + -14.640246381522275, + 120.43809900885859 + ], + [ + -49.595961601867316, + 151.59971561867485 + ], + [ + -61.21299563154764, + 37.318848279388305 + ], + [ + -22.294824663158806, + 8.480695715724153 + ], + [ + -75.77627014087284, + 6.160797943364571 + ], + [ + -117.15814863833077, + 34.76507254255557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 178.6830914928658, + "ymin": 75.30392174303631, + "xmax": 456.0763379673003, + "ymax": 691.924469254693 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 456.0763379673003, + 326.9183161788897 + ], + [ + 442.43075549179724, + 325.9507401058843 + ], + [ + 306.57896102600677, + 690.0178921163397 + ], + [ + 325.5333543889091, + 691.924469254693 + ], + [ + 410.7382158441573, + 76.17502336538274 + ], + [ + 393.79393020726553, + 75.30392174303631 + ], + [ + 178.6830914928658, + 439.1163314447717 + ], + [ + 204.65674914835512, + 441.23287984895757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 437.0547539088616, + "ymin": 0.0, + "xmax": 507.7506609015425, + "ymax": 47.22003671170779 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 497.81806804471023, + 47.22003671170779 + ], + [ + 507.7506609015425, + 24.217212030260384 + ], + [ + 464.08089649196404, + 22.3455290000295 + ], + [ + 452.5135710290132, + 45.20250286621746 + ], + [ + 486.0535487712804, + -60.08827827338922 + ], + [ + 497.2436347204567, + -80.64654739232867 + ], + [ + 450.15136531195105, + -82.31382103424829 + ], + [ + 437.0547539088616, + -61.89642338029381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 263.2093916877255, + "ymin": 216.65929723938407, + "xmax": 359.4602443063724, + "ymax": 277.5040539121061 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 335.2736518352024, + 277.5040539121061 + ], + [ + 359.4602443063724, + 229.67597237331552 + ], + [ + 294.38537865962456, + 225.8928718235925 + ], + [ + 266.47738792714995, + 273.2599274948677 + ], + [ + 332.59412954955786, + 268.12515315745657 + ], + [ + 357.1327033164508, + 220.4298883311749 + ], + [ + 291.53150146232537, + 216.65929723938407 + ], + [ + 263.2093916877255, + 263.8909134112888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 263.2684768906818, + "ymin": 216.68553317760822, + "xmax": 359.3920207691578, + "ymax": 277.41155486523064 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 335.2273472844351, + 277.41155486523064 + ], + [ + 359.3920207691578, + 229.6371056241079 + ], + [ + 294.39214520361844, + 225.85836617676074 + ], + [ + 266.51434840442784, + 273.1728280915248 + ], + [ + 332.5653142523083, + 268.09447795379356 + ], + [ + 357.0793129343629, + 220.45185914928638 + ], + [ + 291.55718476520474, + 216.68553317760822 + ], + [ + 263.2684768906818, + 263.8655655061835 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00026/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b61d6c7e048114b5635fe55509ce8379e2c2941e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00026/meta.json @@ -0,0 +1,2828 @@ +{ + "frame_id": 26, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 13.0, + "sim_timestamp": 15613.502268214943 + }, + "drone_pose": { + "x": -47.66726540721016, + "y": -97.83901005170509, + "z": 20.059332025677065, + "pitch": -42.04592858375678, + "yaw": 90.94318140027254, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.012223958969116211, + -0.7425075769424438, + 0.6697260737419128, + 58.6292724609375 + ], + [ + 0.9998644590377808, + -0.016460895538330078, + 2.9802322387695312e-08, + -49.27132797241211 + ], + [ + 0.011024296283721924, + 0.6696352958679199, + 0.7426082491874695, + -79.88719177246094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.69603852109397, + "y": -97.31661911779683, + "z": 20.026240271397693 + }, + "t1_image_uv": [ + 687.1825221972734, + -401.5431480529396 + ], + "t1_depth": 0.4103933684014197 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -76.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 594.5245409430472, + 360.1027296323691 + ], + "depth": 28.45909617611532, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 750, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -76.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5156421065330505, + "y": 0.3276660144329071, + "z": 0.8762264847755432 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 581.7668884810771, + "ymin": 326.14577578721196, + "xmax": 606.4380938624349, + "ymax": 393.5856653575718 + }, + "corners_3d": [ + [ + -46.339515686035156, + -77.20339965820312, + 0.12104445695877075 + ], + [ + -46.994850158691406, + -77.20339965820312, + 0.12104445695877075 + ], + [ + -46.994850158691406, + -76.172119140625, + 0.12104445695877075 + ], + [ + -46.339515686035156, + -76.172119140625, + 0.12104445695877075 + ], + [ + -46.339515686035156, + -77.20339965820312, + 1.873497486114502 + ], + [ + -46.994850158691406, + -77.20339965820312, + 1.873497486114502 + ], + [ + -46.994850158691406, + -76.172119140625, + 1.873497486114502 + ], + [ + -46.339515686035156, + -76.172119140625, + 1.873497486114502 + ] + ], + "corners_2d": [ + [ + 584.1516869621645, + 393.5856653575718 + ], + [ + 606.1100963024692, + 393.3343437289786 + ], + [ + 606.4380938624349, + 369.94262492386946 + ], + [ + 585.0512066441681, + 370.1810379910998 + ], + [ + 581.7668884810771, + 349.56547604664655 + ], + [ + 604.6633732477611, + 349.3162520039685 + ], + [ + 605.0441948949899, + 326.14577578721196 + ], + [ + 582.7684166117633, + 326.38167458477943 + ] + ], + "center_offset_px": [ + -45.475459056952786, + 0.10272963236911892 + ] + }, + "trace_timestep_index": 26, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 101, + "semantic_pixel_counts": { + "1": 452614, + "2": 181235, + "3": 95099, + "4": 24002, + "5": 549, + "6": 18962, + "7": 4378, + "9": 25140, + "10": 54445, + "12": 4253, + "14": 9846, + "20": 3848, + "21": 14764, + "24": 27369, + "25": 5096 + }, + "instance_pixel_counts": { + "143": 11610, + "339": 2814, + "883": 4027, + "1167": 6692, + "1679": 24721, + "2703": 27552, + "3727": 5032, + "3749": 136, + "4261": 135, + "5202": 485, + "5714": 367, + "6565": 1597, + "7539": 375, + "8018": 3352, + "8530": 2138, + "8556": 3645, + "8579": 1451, + "8810": 99, + "9042": 1661, + "9068": 4667, + "9320": 3449, + "9580": 3731, + "10092": 1131, + "11368": 2880, + "11370": 82, + "11596": 1058, + "12675": 9, + "15186": 6678, + "15698": 12455, + "19796": 256, + "22381": 7103, + "22784": 11286, + "22893": 5699, + "23441": 7601, + "23552": 9299, + "23953": 8133, + "24429": 3852, + "24465": 7168, + "24941": 8314, + "24977": 140, + "25928": 549, + "25965": 5526, + "26696": 22944, + "26987": 1931, + "26989": 258, + "27243": 8, + "27719": 60248, + "28231": 48756, + "28523": 185, + "28779": 1444, + "30339": 536, + "30548": 2679, + "30630": 1338, + "30863": 811, + "31142": 1259, + "31572": 2782, + "31633": 6049, + "31654": 1250, + "32084": 4129, + "32145": 8036, + "32657": 43, + "32911": 1226, + "37286": 2, + "37798": 15, + "39239": 5096, + "40358": 3087, + "42391": 301, + "42918": 3652, + "44951": 287, + "51815": 158554, + "52327": 61188, + "53351": 20338, + "53863": 152881, + "54375": 53324, + "54889": 12269, + "55401": 1729, + "55913": 780, + "56173": 25140, + "56320": 750, + "56425": 10928, + "56576": 633, + "56742": 21, + "56832": 489, + "56937": 1482, + "57088": 553, + "57344": 695, + "57600": 1133, + "58790": 20, + "59522": 768, + "59762": 4039, + "60274": 3490, + "60582": 528, + "61094": 2866, + "61803": 461, + "62059": 482, + "62827": 193, + "63083": 114, + "63339": 462, + "64594": 190, + "64654": 12003, + "64850": 101 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 750, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -76.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.502124011516571, + "y": 0.3959033191204071, + "z": 0.8875591158866882 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 579.3796311300553, + "ymin": 326.1217397690169, + "xmax": 608.6690060037955, + "ymax": 393.56984539784895 + }, + "corners_3d": [ + [ + -46.271278381347656, + -77.18988037109375, + 0.10971182584762573 + ], + [ + -47.063087463378906, + -77.18988037109375, + 0.10971182584762573 + ], + [ + -47.063087463378906, + -76.18563842773438, + 0.10971182584762573 + ], + [ + -46.271278381347656, + -76.18563842773438, + 0.10971182584762573 + ], + [ + -46.271278381347656, + -77.18988037109375, + 1.8848299980163574 + ], + [ + -47.063087463378906, + -77.18988037109375, + 1.8848299980163574 + ], + [ + -47.063087463378906, + -76.18563842773438, + 1.8848299980163574 + ], + [ + -46.271278381347656, + -76.18563842773438, + 1.8848299980163574 + ] + ], + "corners_2d": [ + [ + 581.8928292882409, + 393.56984539784895 + ], + [ + 608.4078043587187, + 393.26638635182655 + ], + [ + 608.6690060037955, + 370.4884344598436 + ], + [ + 582.8261110642087, + 370.7767091858535 + ], + [ + 579.3796311300553, + 348.9822607934661 + ], + [ + 607.0418886142111, + 348.6813766311673 + ], + [ + 607.3501484163573, + 326.1217397690169 + ], + [ + 580.4185887171303, + 326.4069430692259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 633, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -73.69005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.45142337679862976, + "y": 0.4912573993206024, + "z": 0.923002302646637 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 446.39753715988417, + "ymin": 264.94239786847936, + "xmax": 486.9641522196872, + "ymax": 331.830430251492 + }, + "corners_3d": [ + [ + -42.1545295715332, + -74.23374938964844, + 0.074268639087677 + ], + [ + -43.11557388305664, + -74.02947235107422, + 0.074268639087677 + ], + [ + -42.927860260009766, + -73.1463623046875, + 0.074268639087677 + ], + [ + -41.96681594848633, + -73.35063934326172, + 0.074268639087677 + ], + [ + -42.1545295715332, + -74.23374938964844, + 1.9202733039855957 + ], + [ + -43.11557388305664, + -74.02947235107422, + 1.9202733039855957 + ], + [ + -42.927860260009766, + -73.1463623046875, + 1.9202733039855957 + ], + [ + -41.96681594848633, + -73.35063934326172, + 1.9202733039855957 + ] + ], + "corners_2d": [ + [ + 456.35033008942935, + 331.830430251492 + ], + [ + 486.9641522196872, + 327.4158120409204 + ], + [ + 483.99081315607543, + 310.2202612214669 + ], + [ + 453.99665037543394, + 314.45407891353824 + ], + [ + 448.6817919182666, + 286.2057666356118 + ], + [ + 480.6090133330681, + 281.85827149875723 + ], + [ + 477.65133888791206, + 264.94239786847936 + ], + [ + 446.39753715988417, + 269.1046656824846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 489, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -69.74504852294922, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4831225574016571, + "y": 0.3897949159145355, + "z": 0.9283398389816284 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 649.6537570515886, + "ymin": 195.84705170033595, + "xmax": 676.3597855905193, + "ymax": 257.154050692654 + }, + "corners_3d": [ + [ + -48.58584976196289, + -70.26626586914062, + 0.0689360499382019 + ], + [ + -49.361167907714844, + -70.18477630615234, + 0.0689360499382019 + ], + [ + -49.26016616821289, + -69.22383117675781, + 0.0689360499382019 + ], + [ + -48.48484802246094, + -69.3053207397461, + 0.0689360499382019 + ], + [ + -48.58584976196289, + -70.26626586914062, + 1.9256157875061035 + ], + [ + -49.361167907714844, + -70.18477630615234, + 1.9256157875061035 + ], + [ + -49.26016616821289, + -69.22383117675781, + 1.9256157875061035 + ], + [ + -48.48484802246094, + -69.3053207397461, + 1.9256157875061035 + ] + ], + "corners_2d": [ + [ + 653.1672465330045, + 257.154050692654 + ], + [ + 675.0277537944548, + 255.58098549133214 + ], + [ + 671.0720484437229, + 239.9322579012674 + ], + [ + 649.6537570515886, + 241.44125937574552 + ], + [ + 653.6690431989532, + 212.66823861282143 + ], + [ + 676.3597855905193, + 211.13056445147186 + ], + [ + 672.2284630385285, + 195.84705170033595 + ], + [ + 650.0137969971252, + 197.31979552390098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 553, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -76.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.31776121258735657, + "y": 0.5148510336875916, + "z": 0.8830852508544922 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 889.1933505506657, + "ymin": 326.80728829083677, + "xmax": 939.9113307347063, + "ymax": 385.6412512868546 + }, + "corners_3d": [ + [ + -55.6523323059082, + -77.00552368164062, + 0.11418569087982178 + ], + [ + -56.68203353881836, + -77.00552368164062, + 0.11418569087982178 + ], + [ + -56.68203353881836, + -76.3699951171875, + 0.11418569087982178 + ], + [ + -55.6523323059082, + -76.3699951171875, + 0.11418569087982178 + ], + [ + -55.6523323059082, + -77.00552368164062, + 1.8803561925888062 + ], + [ + -56.68203353881836, + -77.00552368164062, + 1.8803561925888062 + ], + [ + -56.68203353881836, + -76.3699951171875, + 1.8803561925888062 + ], + [ + -55.6523323059082, + -76.3699951171875, + 1.8803561925888062 + ] + ], + "corners_2d": [ + [ + 893.6060050058752, + 385.6412512868546 + ], + [ + 927.651931963508, + 385.2534988656512 + ], + [ + 922.694877033686, + 370.9562481868058 + ], + [ + 889.1933505506657, + 371.3316543377202 + ], + [ + 904.419309066692, + 341.34742701509197 + ], + [ + 939.9113307347063, + 340.96323713982946 + ], + [ + 934.5415902290816, + 326.80728829083677 + ], + [ + 899.6407956356531, + 327.178736903098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 695, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -87.81512451171875, + "z": 0.9496782422065735 + }, + "extent": { + "x": 0.4858594536781311, + "y": 0.3723974823951721, + "z": 0.9498641490936279 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 735.0141808055719, + "ymin": 666.8025642873945, + "xmax": 778.5260790223638, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.86153793334961, + -88.2593994140625, + -0.00018590688705444336 + ], + [ + -50.60225296020508, + -88.33724975585938, + -0.00018590688705444336 + ], + [ + -50.70382308959961, + -87.370849609375, + -0.00018590688705444336 + ], + [ + -49.96310806274414, + -87.29299926757812, + -0.00018590688705444336 + ], + [ + -49.86153793334961, + -88.2593994140625, + 1.8995423316955566 + ], + [ + -50.60225296020508, + -88.33724975585938, + 1.8995423316955566 + ], + [ + -50.70382308959961, + -87.370849609375, + 1.8995423316955566 + ], + [ + -49.96310806274414, + -87.29299926757812, + 1.8995423316955566 + ] + ], + "corners_2d": [ + [ + 735.0141808055719, + 754.6232353214264 + ], + [ + 769.9393285002158, + 757.6168325671218 + ], + [ + 769.4131661153223, + 714.8694925058653 + ], + [ + 735.668216301412, + 712.0748218926096 + ], + [ + 741.2771227445887, + 710.4696532501916 + ], + [ + 778.5260790223638, + 713.5492761713016 + ], + [ + 777.6573551953794, + 669.6647613462188 + ], + [ + 741.7478633548639, + 666.8025642873945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 1133, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -84.85797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.40364134311676025, + "y": 0.5017529129981995, + "z": 0.9381631016731262 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 56.72363502509472, + "ymin": 561.0156412258973, + "xmax": 146.8959451170952, + "ymax": 643.7098447299488 + }, + "corners_3d": [ + [ + -34.847137451171875, + -85.14847564697266, + 0.0036586523056030273 + ], + [ + -35.82871627807617, + -85.35711669921875, + 0.0036586523056030273 + ], + [ + -35.996559143066406, + -84.5674819946289, + 0.0036586523056030273 + ], + [ + -35.01498031616211, + -84.35884094238281, + 0.0036586523056030273 + ], + [ + -34.847137451171875, + -85.14847564697266, + 1.8799848556518555 + ], + [ + -35.82871627807617, + -85.35711669921875, + 1.8799848556518555 + ], + [ + -35.996559143066406, + -84.5674819946289, + 1.8799848556518555 + ], + [ + -35.01498031616211, + -84.35884094238281, + 1.8799848556518555 + ] + ], + "corners_2d": [ + [ + 89.0155662373636, + 636.4719987862629 + ], + [ + 127.44337579255455, + 643.7098447299488 + ], + [ + 146.8959451170952, + 614.4869045404437 + ], + [ + 109.31968033955343, + 607.6112881216426 + ], + [ + 56.72363502509472, + 590.289200050938 + ], + [ + 97.2020338903344, + 597.6441848678651 + ], + [ + 118.58442169458272, + 567.9817543351536 + ], + [ + 79.04838850643364, + 561.0156412258973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.8479631548265, + "ymin": 233.1936345482788, + "xmax": 855.5777855109799, + "ymax": 270.67959561549173 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 836.8479631548265, + 261.7199125424147 + ], + [ + 839.3943793555108, + 270.67959561549173 + ], + [ + 850.3747849172746, + 270.5707419437428 + ], + [ + 847.7020349836116, + 261.6135563546264 + ], + [ + 841.6595580716528, + 233.29855532424813 + ], + [ + 844.3265205102906, + 242.13986886441796 + ], + [ + 855.5777855109799, + 242.03242301020475 + ], + [ + 852.7782174691297, + 233.1936345482788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2618456511093177771, + "instance_id": 43901, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -39.78401565551758, + "y": -86.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 192.39342831079648, + "ymin": 479.7591620284484, + "xmax": 227.50986941666974, + "ymax": 525.5117707964057 + }, + "corners_3d": [ + [ + -39.64543151855469, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -85.91574096679688, + 6.416468620300293 + ], + [ + -39.64543151855469, + -85.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 206.74401255701758, + 525.5117707964057 + ], + [ + 221.44527471446088, + 525.3197501876168 + ], + [ + 227.50986941666974, + 509.5793679997341 + ], + [ + 213.03418402301747, + 509.765570211263 + ], + [ + 192.39342831079648, + 495.73586991413106 + ], + [ + 207.5843019632128, + 495.5432179873164 + ], + [ + 214.06506036920842, + 479.7591620284484 + ], + [ + 199.1149154724269, + 479.9457876520871 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.1700060953551, + "ymin": 232.05990159498265, + "xmax": 977.1521262175474, + "ymax": 269.50301113117524 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 954.1700060953551, + 260.5703047797685 + ], + [ + 958.080084742412, + 269.50301113117524 + ], + [ + 969.0272402933913, + 269.39448708165565 + ], + [ + 964.9915888506353, + 260.4642669438446 + ], + [ + 961.8375443951263, + 232.16450065733852 + ], + [ + 965.9357721478269, + 240.9785407896088 + ], + [ + 977.1521262175474, + 240.87142832322354 + ], + [ + 972.9221111731254, + 232.05990159498265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 328.7644220495993, + "ymin": 326.2254061175048, + "xmax": 348.98261642861536, + "ymax": 359.9448130474625 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 335.73152221459, + 359.9448130474625 + ], + [ + 346.05683671895895, + 359.83141513154345 + ], + [ + 348.98261642861536, + 350.5429634264017 + ], + [ + 338.768491046277, + 350.65394061495726 + ], + [ + 328.7644220495993, + 335.5694348925107 + ], + [ + 339.3270660738518, + 335.45670668000207 + ], + [ + 342.3929447243936, + 326.2254061175048 + ], + [ + 331.94663111231995, + 326.3356737057694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 240.26495363291951, + "ymin": 370.66402653109714, + "xmax": 269.59513068519277, + "ymax": 413.01690010698997 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 251.68278023281732, + 413.01690010698997 + ], + [ + 264.7732212851931, + 412.8644833067777 + ], + [ + 269.59513068519277, + 400.3494284659231 + ], + [ + 256.6838437151645, + 400.49772036141735 + ], + [ + 240.26495363291951, + 383.2767683290052 + ], + [ + 253.74218151098245, + 383.12494926616904 + ], + [ + 258.8584956654011, + 370.66402653109714 + ], + [ + 245.57108830691493, + 370.8116186001036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 738.8104039035785, + "ymin": 234.14125272319532, + "xmax": 753.9766821560524, + "ymax": 271.66299663280006 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 738.8104039035785, + 262.6807353045539 + ], + [ + 740.2141228436533, + 271.66299663280006 + ], + [ + 751.2223551829223, + 271.55386707610353 + ], + [ + 749.6916643762199, + 262.57411267763746 + ], + [ + 741.2287443637525, + 234.24644277899284 + ], + [ + 742.6961973465783, + 243.11058521563166 + ], + [ + 753.9766821560524, + 243.00286029596907 + ], + [ + 752.3759372163823, + 234.14125272319532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15348604559986913947, + "instance_id": 39922, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -39.78401184082031, + "y": -88.60569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 142.15909508101345, + "ymin": 593.8193836314923, + "xmax": 183.82254921721892, + "ymax": 642.6913403177739 + }, + "corners_3d": [ + [ + -39.64542770385742, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.41574096679688, + 6.416468620300293 + ], + [ + -39.64542770385742, + -88.41574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 159.93379248037763, + 642.6913403177739 + ], + [ + 176.3148276767019, + 642.4532094609524 + ], + [ + 183.82254921721892, + 622.9672664858268 + ], + [ + 167.72109295646516, + 623.1973827912053 + ], + [ + 142.15909508101345, + 613.7455549637519 + ], + [ + 159.1503380201964, + 613.5048330355064 + ], + [ + 167.23296941479282, + 593.8193836314923 + ], + [ + 150.54233062636877, + 594.0517117529243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1109.3815838889454, + "ymin": 322.17682550201437, + "xmax": 1135.898953193625, + "ymax": 355.7799709794997 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1109.3815838889454, + 346.5778015235521 + ], + [ + 1114.6788452765777, + 355.7799709794997 + ], + [ + 1124.8529529985212, + 355.6676614382566 + ], + [ + 1119.447721228491, + 346.46787812724375 + ], + [ + 1119.959733750704, + 322.2860224984143 + ], + [ + 1125.4944992683688, + 331.4296330861851 + ], + [ + 1135.898953193625, + 331.31801141059873 + ], + [ + 1130.2513002807775, + 322.17682550201437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.1880316161421, + "ymin": 153.79675104011423, + "xmax": 1210.4217735393127, + "ymax": 419.4208474268624 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1095.569200034535, + 417.18845531628995 + ], + [ + 1090.3056207626528, + 406.7490664254134 + ], + [ + 683.1880316161421, + 408.9311848698234 + ], + [ + 683.7956384235896, + 419.4208474268624 + ], + [ + 1210.4217735393127, + 163.24466373774806 + ], + [ + 1202.228010946871, + 153.79675104011423 + ], + [ + 693.9543817025798, + 155.7671795608954 + ], + [ + 694.8703213497614, + 165.2720327554289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 122.99101865645935, + "ymin": 280.75146268469115, + "xmax": 281.15232652461157, + "ymax": 468.03431867904845 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 259.3662443381532, + 467.10929435586183 + ], + [ + 281.15232652461157, + 408.12661867522877 + ], + [ + 210.70216974190635, + 408.94283457191074 + ], + [ + 184.3442748163389, + 468.03431867904845 + ], + [ + 208.1697986306719, + 338.34113909424383 + ], + [ + 236.17909890219772, + 280.75146268469115 + ], + [ + 156.8455705774038, + 281.5420444195659 + ], + [ + 122.99101865645935, + 339.2517983759309 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 34.860724413219714, + "ymin": 162.42132281931842, + "xmax": 360.90924058058374, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 360.90924058058374, + 416.2810738550881 + ], + [ + 346.10919850143677, + 416.360937770432 + ], + [ + 213.44046240891493, + 846.9758130758288 + ], + [ + 235.1676832685967, + 846.8039523857077 + ], + [ + 290.63485810103407, + 162.42132281931842 + ], + [ + 272.1001773639383, + 162.4937734617405 + ], + [ + 34.860724413219714, + 605.2067396626878 + ], + [ + 65.71462097248502, + 605.0065144491184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.1274673196767, + "ymin": 0.0, + "xmax": 398.43095299369327, + "ymax": 114.25699037666487 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 389.3573942869547, + 113.88109811678149 + ], + [ + 398.43095299369327, + 89.36701283354347 + ], + [ + 352.54276943908366, + 89.71374421241586 + ], + [ + 341.5724347197083, + 114.25699037666487 + ], + [ + 368.84008093192693, + 6.59774300898448 + ], + [ + 379.49998406514965, + -15.260664837408797 + ], + [ + 330.00154169803443, + -14.95247970949606 + ], + [ + 317.1274673196767, + 6.9340159420563054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.78350448168555, + "ymin": 314.042148016414, + "xmax": 247.81888947099372, + "ymax": 379.4443446175367 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 223.14028048839737, + 378.58318237568506 + ], + [ + 247.81888947099372, + 323.4110095283374 + ], + [ + 175.77216847282182, + 324.1680283853193 + ], + [ + 146.2710912780006, + 379.4443446175367 + ], + [ + 219.35509032585975, + 369.0862620667837 + ], + [ + 244.4818404470887, + 314.042148016414 + ], + [ + 171.81844060075775, + 314.79698801267904 + ], + [ + 141.78350448168555, + 369.9459197578123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.84898682983214, + "ymin": 314.07052504181445, + "xmax": 247.73974226898923, + "ymax": 379.3484249123508 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 223.08232392844428, + 378.48860401459706 + ], + [ + 247.73974226898923, + 323.3777631391602 + ], + [ + 175.7754757689383, + 324.13370405906517 + ], + [ + 146.30628027110498, + 379.3484249123508 + ], + [ + 219.32188931034585, + 369.05425306189915 + ], + [ + 244.42407367459242, + 314.07052504181445 + ], + [ + 171.84790520339527, + 314.8243044474212 + ], + [ + 141.84898682983214, + 369.9125805029055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 324.95017284167034, + "ymin": 10.64734113472042, + "xmax": 383.7172837902182, + "ymax": 40.01493749740138 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 374.0589037030204, + 39.68705398892138 + ], + [ + 383.7172837902182, + 18.153656784717555 + ], + [ + 338.2275331479611, + 18.456156562592298 + ], + [ + 326.69263726152997, + 40.01493749740138 + ], + [ + 372.5807610669017, + 31.990207089061357 + ], + [ + 382.34935695562984, + 10.64734113472042 + ], + [ + 336.61586666435863, + 10.947099469877116 + ], + [ + 324.95017284167034, + 32.31526179548524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 324.9140461810538, + "ymin": 10.636271752765708, + "xmax": 383.75953770215926, + "ymax": 40.079019839211924 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 374.0924419571867, + 39.7506974769538 + ], + [ + 383.75953770215926, + 18.192406379940337 + ], + [ + 338.2161952593633, + 18.495285140928047 + ], + [ + 326.6683388782849, + 40.079019839211924 + ], + [ + 372.60456952396333, + 32.00256542206773 + ], + [ + 382.382721110624, + 10.636271752765708 + ], + [ + 336.5937254376851, + 10.93638763415413 + ], + [ + 324.9140461810538, + 32.328036781110484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1175.3403734101976, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 110.14259350509602 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1190.0267804212735, + 34.3514776211494 + ], + [ + 1175.3403734101976, + 34.453212534559896 + ], + [ + 1253.3260492624856, + 110.14259350509602 + ], + [ + 1270.0529018592333, + 110.01035808061226 + ], + [ + 1290.368682830324, + -219.24929736232798 + ], + [ + 1273.0247722202544, + -219.1854807046907 + ], + [ + 1384.2678787463192, + -170.45944617836938 + ], + [ + 1404.5307818043343, + -170.54680387621625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1188.9124472617777, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 379.58918186199475 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1188.9124472617777, + 216.32513488739067 + ], + [ + 1420.9230368268154, + 379.58918186199475 + ], + [ + 1636.8976705318446, + 309.306847251244 + ], + [ + 1382.9221253538956, + 168.8787632239255 + ], + [ + 1393.158679050813, + -233.21686690775402 + ], + [ + 1809.921654256243, + -140.89425528939375 + ], + [ + 2076.6699761679934, + -182.63755073826644 + ], + [ + 1635.0309034800036, + -257.20327741281744 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00027/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6361fab17cbebd310fa38aa725c1d1ccaa43709e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00027/meta.json @@ -0,0 +1,2829 @@ +{ + "frame_id": 27, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 13.5, + "sim_timestamp": 15624.236639098497 + }, + "drone_pose": { + "x": -47.69603852109397, + "y": -97.31661911779683, + "z": 20.026240271397693, + "pitch": -41.97293014992202, + "yaw": 87.21222209879807, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.036159515380859375, + -0.7425810098648071, + 0.6687794923782349, + 60.597007751464844 + ], + [ + 0.9988166093826294, + 0.04863673448562622, + -2.9802322387695312e-08, + -42.90642547607422 + ], + [ + -0.03252729773521423, + 0.6679879426956177, + 0.7434608936309814, + -81.44647979736328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.69973035820319, + "y": -96.80971325961565, + "z": 20.180870521062968 + }, + "t1_image_uv": [ + 739.7100010720737, + -1235.2940967270615 + ], + "t1_depth": 0.2728716438701486 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -76.18776321411133, + "z": 0.997280754595995 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.45326687629776, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 732, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -76.18775939941406, + "z": 0.9972807765007019 + }, + "extent": { + "x": 0.5124560594558716, + "y": 0.578369140625, + "z": 0.9100155234336853 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.9520261308569, + "ymin": 324.73198265650706, + "xmax": 660.511227586891, + "ymax": 394.75804436474175 + }, + "corners_3d": [ + [ + -46.08881378173828, + -76.7002182006836, + 0.0872652530670166 + ], + [ + -47.24555206298828, + -76.7002182006836, + 0.0872652530670166 + ], + [ + -47.24555206298828, + -75.67530059814453, + 0.0872652530670166 + ], + [ + -46.08881378173828, + -75.67530059814453, + 0.0872652530670166 + ], + [ + -46.08881378173828, + -76.7002182006836, + 1.9072962999343872 + ], + [ + -47.24555206298828, + -76.7002182006836, + 1.9072962999343872 + ], + [ + -47.24555206298828, + -75.67530059814453, + 1.9072962999343872 + ], + [ + -46.08881378173828, + -75.67530059814453, + 1.9072962999343872 + ] + ], + "corners_2d": [ + [ + 619.8446247176072, + 393.44893755622667 + ], + [ + 658.515089238784, + 394.75804436474175 + ], + [ + 659.6626558288342, + 371.5198969492645 + ], + [ + 621.9894815399238, + 370.27759605024767 + ], + [ + 618.9520261308569, + 347.66829039724433 + ], + [ + 659.3362960324569, + 348.9656847946312 + ], + [ + 660.511227586891, + 325.96035264562096 + ], + [ + 621.2133612666365, + 324.73198265650706 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 27, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 102, + "semantic_pixel_counts": { + "1": 446753, + "2": 185837, + "3": 116442, + "4": 21662, + "5": 516, + "6": 19674, + "7": 4474, + "9": 27003, + "10": 38864, + "12": 4008, + "14": 8353, + "20": 4112, + "21": 13154, + "24": 26367, + "25": 4381 + }, + "instance_pixel_counts": { + "143": 11696, + "339": 2678, + "883": 6473, + "1167": 8234, + "1679": 25354, + "1875": 14, + "2703": 29873, + "3727": 122, + "3749": 148, + "4261": 143, + "5714": 390, + "6565": 1576, + "7539": 1744, + "8018": 2705, + "8530": 1520, + "8556": 3487, + "8579": 1413, + "8810": 140, + "9042": 1264, + "9068": 4581, + "9320": 4107, + "9554": 1883, + "9580": 3528, + "10092": 3402, + "11368": 4013, + "11370": 120, + "11596": 1673, + "12396": 527, + "12675": 8, + "15186": 10843, + "15698": 11802, + "16210": 1484, + "22381": 6977, + "22784": 11207, + "22893": 5760, + "23441": 7231, + "23552": 10307, + "23953": 7858, + "24429": 4776, + "24465": 7340, + "24941": 7901, + "24977": 5095, + "25928": 516, + "25965": 5941, + "26696": 19989, + "26987": 1945, + "27243": 7, + "27719": 63389, + "28231": 38732, + "28523": 165, + "28779": 1696, + "30339": 480, + "30548": 2918, + "30630": 1297, + "30863": 862, + "31142": 1221, + "31572": 3069, + "31633": 6074, + "31654": 1201, + "32084": 2366, + "32145": 7818, + "32657": 3499, + "32911": 2036, + "37286": 1, + "37798": 17, + "39239": 4381, + "40358": 1974, + "42391": 331, + "42918": 4140, + "44951": 427, + "51815": 156727, + "52327": 62705, + "53351": 28459, + "53863": 134499, + "54375": 56243, + "54889": 12495, + "55401": 1787, + "55913": 1124, + "56173": 27003, + "56320": 732, + "56425": 9130, + "56576": 629, + "56742": 53, + "56832": 505, + "56937": 1571, + "57088": 553, + "57344": 556, + "57600": 1033, + "58022": 22, + "58790": 19, + "59522": 741, + "59762": 4407, + "60274": 3733, + "60582": 2502, + "61094": 2588, + "61803": 521, + "62827": 185, + "63083": 135, + "63339": 496, + "64594": 167, + "64654": 12158, + "64850": 101 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 732, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -76.18775939941406, + "z": 0.9972807765007019 + }, + "extent": { + "x": 0.49388670921325684, + "y": 0.47904783487319946, + "z": 0.8876008987426758 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.4647092686956, + "ymin": 325.82685020488424, + "xmax": 657.1008785635244, + "ymax": 393.6733425203423 + }, + "corners_3d": [ + [ + -46.18813705444336, + -76.68164825439453, + 0.10967987775802612 + ], + [ + -47.14623260498047, + -76.68164825439453, + 0.10967987775802612 + ], + [ + -47.1462287902832, + -75.6938705444336, + 0.10967987775802612 + ], + [ + -46.188133239746094, + -75.6938705444336, + 0.10967987775802612 + ], + [ + -46.18813705444336, + -76.68164825439453, + 1.8848817348480225 + ], + [ + -47.14623260498047, + -76.68164825439453, + 1.8848817348480225 + ], + [ + -47.1462287902832, + -75.6938705444336, + 1.8848817348480225 + ], + [ + -46.188133239746094, + -75.6938705444336, + 1.8848817348480225 + ] + ], + "corners_2d": [ + [ + 623.1901473241367, + 392.59017258091075 + ], + [ + 655.221236772053, + 393.6733425203423 + ], + [ + 656.4102313524863, + 371.2851459789422 + ], + [ + 625.1760503733148, + 370.2553257507565 + ], + [ + 622.4647092686956, + 347.9409729192305 + ], + [ + 655.8789455378545, + 349.0146479390619 + ], + [ + 657.1008785635244, + 326.8454481848317 + ], + [ + 624.5529292853086, + 325.82685020488424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 629, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -73.19005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.44016605615615845, + "y": 0.43775394558906555, + "z": 0.855449914932251 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 499.1830154865622, + "ymin": 262.5295730236914, + "xmax": 532.9053721012083, + "ymax": 324.0081246895328 + }, + "corners_3d": [ + [ + -42.204524993896484, + -73.71161651611328, + 0.141821026802063 + ], + [ + -43.06089782714844, + -73.52958679199219, + 0.141821026802063 + ], + [ + -42.877864837646484, + -72.66849517822266, + 0.141821026802063 + ], + [ + -42.02149200439453, + -72.85052490234375, + 0.141821026802063 + ], + [ + -42.204524993896484, + -73.71161651611328, + 1.852720856666565 + ], + [ + -43.06089782714844, + -73.52958679199219, + 1.852720856666565 + ], + [ + -42.877864837646484, + -72.66849517822266, + 1.852720856666565 + ], + [ + -42.02149200439453, + -72.85052490234375, + 1.852720856666565 + ] + ], + "corners_2d": [ + [ + 505.8049424088846, + 324.0081246895328 + ], + [ + 532.9053721012083, + 321.2378393063532 + ], + [ + 530.8248559390776, + 304.4683162773793 + ], + [ + 504.2703863289224, + 307.12691712054425 + ], + [ + 500.6663412302606, + 281.7646087510013 + ], + [ + 528.8187527747133, + 279.0354172236756 + ], + [ + 526.7467114750934, + 262.5295730236914 + ], + [ + 499.1830154865622, + 265.1446636318332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 505, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -69.24504852294922, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.45845702290534973, + "y": 0.4314501881599426, + "z": 0.931247889995575 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 699.4386141477021, + "ymin": 198.98624751108616, + "xmax": 729.7854124862332, + "ymax": 259.15747332251175 + }, + "corners_3d": [ + [ + -48.54184341430664, + -69.74609375, + 0.06602799892425537 + ], + [ + -49.40001678466797, + -69.65589904785156, + 0.06602799892425537 + ], + [ + -49.30417251586914, + -68.74400329589844, + 0.06602799892425537 + ], + [ + -48.44599914550781, + -68.83419799804688, + 0.06602799892425537 + ], + [ + -48.54184341430664, + -69.74609375, + 1.9285237789154053 + ], + [ + -49.40001678466797, + -69.65589904785156, + 1.9285237789154053 + ], + [ + -49.30417251586914, + -68.74400329589844, + 1.9285237789154053 + ], + [ + -48.44599914550781, + -68.83419799804688, + 1.9285237789154053 + ] + ], + "corners_2d": [ + [ + 702.0954554516778, + 259.15747332251175 + ], + [ + 726.4793455517852, + 258.3469919784982 + ], + [ + 723.344337898169, + 243.31943823402196 + ], + [ + 699.4386141477021, + 244.09824758800767 + ], + [ + 704.4719589541027, + 214.4543492749521 + ], + [ + 729.7854124862332, + 213.6622017223909 + ], + [ + 726.4653584623399, + 198.98624751108616 + ], + [ + 701.6668378203332, + 199.7462916835816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 553, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -76.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.31361082196235657, + "y": 0.435004860162735, + "z": 0.8837130069732666 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 940.7573284676964, + "ymin": 340.2369748673907, + "xmax": 988.7945111341011, + "ymax": 400.140117351227 + }, + "corners_3d": [ + [ + -55.732177734375, + -76.50137329101562, + 0.11355793476104736 + ], + [ + -56.60218811035156, + -76.50137329101562, + 0.11355793476104736 + ], + [ + -56.60218811035156, + -75.8741455078125, + 0.11355793476104736 + ], + [ + -55.732177734375, + -75.8741455078125, + 0.11355793476104736 + ], + [ + -55.732177734375, + -76.50137329101562, + 1.8809839487075806 + ], + [ + -56.60218811035156, + -76.50137329101562, + 1.8809839487075806 + ], + [ + -56.60218811035156, + -75.8741455078125, + 1.8809839487075806 + ], + [ + -55.732177734375, + -75.8741455078125, + 1.8809839487075806 + ] + ], + "corners_2d": [ + [ + 944.6471762381939, + 399.14200534438777 + ], + [ + 974.3041705102871, + 400.140117351227 + ], + [ + 969.9324197670178, + 385.5845312818556 + ], + [ + 940.7573284676964, + 384.61829540004 + ], + [ + 957.8368252550725, + 354.6323375449909 + ], + [ + 988.7945111341011, + 355.6223656564185 + ], + [ + 983.993114515339, + 341.19404972115854 + ], + [ + 953.5601500091461, + 340.2369748673907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 556, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -87.31512451171875, + "z": 0.9500541687011719 + }, + "extent": { + "x": 0.46573978662490845, + "y": 0.355766624212265, + "z": 0.9403042197227478 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 764.4666050674302, + "ymin": 676.4900586563253, + "xmax": 809.653894206928, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.88018035888672, + -87.74112701416016, + 0.009749948978424072 + ], + [ + -50.58781433105469, + -87.81549835205078, + 0.009749948978424072 + ], + [ + -50.6851806640625, + -86.88912200927734, + 0.009749948978424072 + ], + [ + -49.97754669189453, + -86.81475067138672, + 0.009749948978424072 + ], + [ + -49.88018035888672, + -87.74112701416016, + 1.8903584480285645 + ], + [ + -50.58781433105469, + -87.81549835205078, + 1.8903584480285645 + ], + [ + -50.6851806640625, + -86.88912200927734, + 1.8903584480285645 + ], + [ + -49.97754669189453, + -86.81475067138672, + 1.8903584480285645 + ] + ], + "corners_2d": [ + [ + 764.4666050674302, + 762.2858328402374 + ], + [ + 798.1538381205773, + 767.3159325147759 + ], + [ + 799.5036758023157, + 725.9408699164486 + ], + [ + 766.9038002384395, + 721.2323535293019 + ], + [ + 772.6367013012499, + 718.6401864974396 + ], + [ + 808.5791651712649, + 723.816998198902 + ], + [ + 809.653894206928, + 681.315258233874 + ], + [ + 774.9465976436668, + 676.4900586563253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 1033, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -84.35797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3854309022426605, + "y": 0.44825682044029236, + "z": 0.9375619292259216 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 109.59315270104162, + "ymin": 534.8660162585841, + "xmax": 189.50629718717448, + "ymax": 615.8846094291497 + }, + "corners_3d": [ + [ + -34.90325164794922, + -84.64179229736328, + 0.004259824752807617 + ], + [ + -35.780174255371094, + -84.82818603515625, + 0.004259824752807617 + ], + [ + -35.94044494628906, + -84.07416534423828, + 0.004259824752807617 + ], + [ + -35.06352233886719, + -83.88777160644531, + 0.004259824752807617 + ], + [ + -34.90325164794922, + -84.64179229736328, + 1.8793836832046509 + ], + [ + -35.780174255371094, + -84.82818603515625, + 1.8793836832046509 + ], + [ + -35.94044494628906, + -84.07416534423828, + 1.8793836832046509 + ], + [ + -35.06352233886719, + -83.88777160644531, + 1.8793836832046509 + ] + ], + "corners_2d": [ + [ + 138.183522220037, + 607.6987862548511 + ], + [ + 170.51874852994985, + 615.8846094291497 + ], + [ + 189.50629718717448, + 589.6543907670743 + ], + [ + 157.7877027062703, + 581.8463446942886 + ], + [ + 109.59315270104162, + 561.0086356148139 + ], + [ + 143.5622928411409, + 569.3007912520702 + ], + [ + 164.28007814255403, + 542.7544051318673 + ], + [ + 130.98891816808958, + 534.8660162585841 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 891.9821797121151, + "ymin": 254.43651801516305, + "xmax": 912.4439255801724, + "ymax": 292.96909305891774 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 891.9821797121151, + 283.17812414249664 + ], + [ + 894.2538696929903, + 292.6291639004437 + ], + [ + 905.6838966733392, + 292.96909305891774 + ], + [ + 903.2755139195366, + 283.51002943383486 + ], + [ + 898.3127953041524, + 254.43651801516305 + ], + [ + 900.7202433691675, + 263.7738743288545 + ], + [ + 912.4439255801724, + 264.1098196269981 + ], + [ + 909.8927154987116, + 254.76433543687176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2618456511093177771, + "instance_id": 43901, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -39.78401565551758, + "y": -86.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 230.09765353025472, + "ymin": 480.45314784429684, + "xmax": 264.4838153036895, + "ymax": 526.6758877184803 + }, + "corners_3d": [ + [ + -39.64543151855469, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -85.91574096679688, + 6.416468620300293 + ], + [ + -39.64543151855469, + -85.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 243.24524630842848, + 526.1072935719278 + ], + [ + 257.6693958984792, + 526.6758877184803 + ], + [ + 264.4838153036895, + 510.9068232087927 + ], + [ + 250.2766207431166, + 510.3554971843601 + ], + [ + 230.09765353025472, + 496.24698244569686 + ], + [ + 244.99255995173803, + 496.8173934986315 + ], + [ + 252.22971764274968, + 481.00567494826834 + ], + [ + 237.56604130553814, + 480.45314784429684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1014.7271006479144, + "ymin": 257.99987070016596, + "xmax": 1039.9981206980608, + "ymax": 296.6670607156997 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1014.7271006479144, + 286.7855343187322 + ], + [ + 1018.4906897788826, + 296.32396862626746 + ], + [ + 1030.0270694662236, + 296.6670607156997 + ], + [ + 1026.12425949331, + 287.12049096284903 + ], + [ + 1024.185726347062, + 257.99987070016596 + ], + [ + 1028.1625586428192, + 267.42576848890957 + ], + [ + 1039.9981206980608, + 267.7649197343785 + ], + [ + 1035.8747999602058, + 258.3307781597721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 374.41660585149793, + "ymin": 327.2236975554743, + "xmax": 393.9166075202849, + "ymax": 361.2141500438857 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 380.36268172031663, + 360.8785069456485 + ], + [ + 390.5580191774621, + 361.2141500438857 + ], + [ + 393.9166075202849, + 351.9145420341288 + ], + [ + 383.8295761630609, + 351.58607756961686 + ], + [ + 374.41660585149793, + 336.4581432695503 + ], + [ + 384.84316263289026, + 336.79177707463725 + ], + [ + 388.34070034701904, + 327.55003494212104 + ], + [ + 378.02739001682147, + 327.2236975554743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 283.2785712298314, + "ymin": 371.31992091376725, + "xmax": 311.756996873892, + "ymax": 414.0442248342819 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 293.4701234406501, + 413.59313112579053 + ], + [ + 306.34205026178836, + 414.0442248342819 + ], + [ + 311.756996873892, + 401.51363695721625 + ], + [ + 299.05813386875485, + 401.0747761501183 + ], + [ + 283.2785712298314, + 383.7825899341275 + ], + [ + 296.5240970392128, + 384.23186379488106 + ], + [ + 302.23410086620913, + 371.7566603459162 + ], + [ + 289.1717571623354, + 371.31992091376725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 790.547453481824, + "ymin": 251.49261469927, + "xmax": 807.0686054295566, + "ymax": 289.91365170582696 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 790.547453481824, + 280.1971951541506 + ], + [ + 791.5965865647762, + 289.57632486930925 + ], + [ + 802.9391084490652, + 289.91365170582696 + ], + [ + 801.755349744109, + 280.5265895461335 + ], + [ + 794.3150080327719, + 251.49261469927 + ], + [ + 795.4369461691981, + 260.7571405293575 + ], + [ + 807.0686054295566, + 261.0904489666985 + ], + [ + 805.8051335540824, + 251.81789019115143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15348604559986913947, + "instance_id": 39922, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -39.78401184082031, + "y": -88.60569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.2665238304354, + "ymin": 594.6082940463585, + "xmax": 215.38248901907133, + "ymax": 644.0636035238593 + }, + "corners_3d": [ + [ + -39.64542770385742, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.41574096679688, + 6.416468620300293 + ], + [ + -39.64542770385742, + -88.41574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 190.90595529173498, + 643.3580985658832 + ], + [ + 206.94142300100498, + 644.0636035238593 + ], + [ + 215.38248901907133, + 624.5303687379859 + ], + [ + 199.61468703090424, + 623.8486683449257 + ], + [ + 174.2665238304354, + 614.3158309146586 + ], + [ + 190.88588754153153, + 615.0289652659583 + ], + [ + 199.91760923706101, + 595.2964981182394 + ], + [ + 183.58557750429827, + 594.6082940463585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1174.9564415940367, + "ymin": 357.3541511081019, + "xmax": 1204.243251256249, + "ymax": 392.21547871454925 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1174.9564415940367, + 381.88884560414687 + ], + [ + 1180.2700660370408, + 391.85534450458306 + ], + [ + 1191.1526122837577, + 392.21547871454925 + ], + [ + 1185.7156981578605, + 382.2410059055323 + ], + [ + 1187.512486079464, + 357.3541511081019 + ], + [ + 1193.0969480058202, + 367.2745571240521 + ], + [ + 1204.243251256249, + 367.63312394318825 + ], + [ + 1198.5294885962512, + 357.7045934105758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.0688357694972, + "ymin": 170.0715298926877, + "xmax": 1280.0, + "ymax": 453.8770353976096 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1156.6449208668087, + 453.8770353976096 + ], + [ + 1151.4460884320229, + 442.62223982926554 + ], + [ + 727.0688357694972, + 425.10754086649774 + ], + [ + 727.216930550399, + 435.9471361184559 + ], + [ + 1293.2833087074032, + 196.4594403608384 + ], + [ + 1284.7052129120243, + 186.08654563530672 + ], + [ + 749.2281224949694, + 170.0715298926877 + ], + [ + 749.7399000058199, + 179.96480760318178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 172.58043599812044, + "ymin": 275.8121722905143, + "xmax": 325.11192665905224, + "ymax": 464.14232630333106 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 300.7906072014753, + 464.14232630333106 + ], + [ + 325.11192665905224, + 405.607719676337 + ], + [ + 256.29529104917333, + 403.2199410124411 + ], + [ + 227.6237691732042, + 461.4376469082248 + ], + [ + 255.3695754395444, + 335.1861573944917 + ], + [ + 285.81628615963405, + 278.1205665120996 + ], + [ + 208.55326110160524, + 275.8121722905143 + ], + [ + 172.58043599812044, + 332.52899380817286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 67.42704171834953, + "ymin": 162.56900610227333, + "xmax": 403.1957150086365, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 403.1957150086365, + 417.45088281130063 + ], + [ + 388.586300094101, + 416.84421932404973 + ], + [ + 236.3470573454589, + 846.9265217389658 + ], + [ + 257.64236807649195, + 848.233001995458 + ], + [ + 343.55033756070117, + 163.11866119756638 + ], + [ + 325.31336686584723, + 162.56900610227333 + ], + [ + 67.42704171834953, + 604.0939864152701 + ], + [ + 97.41431849913135, + 605.6145891526453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 379.4050794948582, + "ymin": 0.0, + "xmax": 456.2158160230324, + "ymax": 113.33504243465782 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 446.0716663134898, + 113.33504243465782 + ], + [ + 456.2158160230324, + 88.96659545133679 + ], + [ + 411.0093272145239, + 87.9494115564957 + ], + [ + 399.02747376977527, + 112.23255086803098 + ], + [ + 430.24950191431407, + 6.139711336899325 + ], + [ + 441.8598597206194, + -15.567114502913341 + ], + [ + 393.1552514460516, + -16.47016556809342 + ], + [ + 379.4050794948582, + 5.154616983943697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 189.7608926160068, + "ymin": 309.1174459066572, + "xmax": 295.6030603300359, + "ymax": 375.3827134304386 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 268.58274177841986, + 375.3827134304386 + ], + [ + 295.6030603300359, + 320.69756617174403 + ], + [ + 225.37207734278786, + 318.48580605634413 + ], + [ + 193.7829876106029, + 372.86819150306786 + ], + [ + 265.2251821666304, + 365.8744195140619 + ], + [ + 292.6850996616809, + 311.322526086063 + ], + [ + 221.86857906917072, + 309.1174459066572 + ], + [ + 189.7608926160068, + 363.3646790400325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 189.8261185761491, + "ymin": 309.1461421549137, + "xmax": 295.526443593395, + "ymax": 375.28626634973625 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 268.5300761163677, + 375.28626634973625 + ], + [ + 295.526443593395, + 320.6622009550449 + ], + [ + 225.37601203556602, + 318.45288402833137 + ], + [ + 193.821017312467, + 372.7748568308179 + ], + [ + 265.19447367866087, + 365.84062628326217 + ], + [ + 292.6271251547996, + 311.34883019381977 + ], + [ + 221.89569360426128, + 309.1461421549137 + ], + [ + 189.8261185761491, + 363.33396418001485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 386.0530649289996, + "ymin": 9.393229461702674, + "xmax": 444.63530629574615, + "ymax": 39.158510877309766 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 434.0408044584859, + 39.158510877309766 + ], + [ + 444.63530629574615, + 17.770443977022524 + ], + [ + 399.85906049801963, + 16.883571622398563 + ], + [ + 387.4496198762803, + 38.19744456703057 + ], + [ + 432.89985820898664, + 31.469208636579765 + ], + [ + 443.595927019455, + 10.271988350466415 + ], + [ + 398.5836475580983, + 9.393229461702674 + ], + [ + 386.0530649289996, + 30.516519440883997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 386.01698440277335, + "ymin": 9.381914197923095, + "xmax": 444.675476941306, + "ymax": 39.22281582132183 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 434.0711414719609, + 39.22281582132183 + ], + [ + 444.675476941306, + 17.809950982316536 + ], + [ + 399.8464380620402, + 16.921967081356172 + ], + [ + 387.42305614036184, + 38.260462929765936 + ], + [ + 432.92270769297096, + 31.482270477569386 + ], + [ + 443.62938415786596, + 10.261721187681474 + ], + [ + 398.56245822256466, + 9.381914197923095 + ], + [ + 386.01698440277335, + 30.528360454492827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.292474808823, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 137.86399902933397 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1271.9949923049473, + 55.98385210765451 + ], + [ + 1256.292474808823, + 55.660224906436724 + ], + [ + 1337.2215115270967, + 137.43876399553383 + ], + [ + 1355.2754959180634, + 137.86399902933397 + ], + [ + 1392.4240753068216, + -205.30696886618307 + ], + [ + 1373.648526727876, + -205.5123221592545 + ], + [ + 1493.7625340231089, + -152.14034756263538 + ], + [ + 1516.0004964370316, + -151.85483003096357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1264.1782133899665, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 430.5186885031891 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1264.1782133899665, + 246.8639318673225 + ], + [ + 1510.7358503711043, + 430.5186885031891 + ], + [ + 1753.6169720962575, + 365.31576414745075 + ], + [ + 1476.0399198580035, + 204.1945031844554 + ], + [ + 1509.6013521202917, + -217.23775845296575 + ], + [ + 1982.2667003412637, + -109.21643133294162 + ], + [ + 2294.1470643632756, + -150.10492191443615 + ], + [ + 1779.2946331965647, + -239.4238500611698 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00037/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00037/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6350ea200e33467135dd5d09ddb38e27e2e347e8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00037/meta.json @@ -0,0 +1,2513 @@ +{ + "frame_id": 37, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 18.5, + "sim_timestamp": 15746.33558361535 + }, + "drone_pose": { + "x": -47.88750298388717, + "y": -92.29040513226917, + "z": 20.008991317273093, + "pitch": -41.96851832276992, + "yaw": 86.69039509330246, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.04292398691177368, + -0.7422722578048706, + 0.6687221527099609, + 57.1796875 + ], + [ + 0.998332142829895, + 0.05773138999938965, + 2.9802322387695312e-08, + -42.47957992553711 + ], + [ + -0.03860625624656677, + 0.6676068305969238, + 0.7435123920440674, + -78.33939361572266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.90305744414884, + "y": -91.78695656042242, + "z": 20.007358784785268 + }, + "t1_image_uv": [ + 754.4273791033869, + -497.7990091583382 + ], + "t1_depth": 0.37411998440452787 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -71.18776321411133, + "z": 0.9973637652397156 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.429784718773103, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 747, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -71.18775939941406, + "z": 0.9973637461662292 + }, + "extent": { + "x": 0.4885619878768921, + "y": 0.4057543873786926, + "z": 0.8658257126808167 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.877556458958, + "ymin": 326.484749212812, + "xmax": 654.75214173659, + "ymax": 393.0493044745007 + }, + "corners_3d": [ + [ + -46.26142883300781, + -71.67632293701172, + 0.1315380334854126 + ], + [ + -47.07293701171875, + -71.67632293701172, + 0.1315380334854126 + ], + [ + -47.07293701171875, + -70.6991958618164, + 0.1315380334854126 + ], + [ + -46.26142883300781, + -70.6991958618164, + 0.1315380334854126 + ], + [ + -46.26142883300781, + -71.67632293701172, + 1.863189458847046 + ], + [ + -47.07293701171875, + -71.67632293701172, + 1.863189458847046 + ], + [ + -47.07293701171875, + -70.6991958618164, + 1.863189458847046 + ], + [ + -46.26142883300781, + -70.6991958618164, + 1.863189458847046 + ] + ], + "corners_2d": [ + [ + 625.4884958646118, + 391.9598605542629 + ], + [ + 652.6375622350989, + 393.0493044745007 + ], + [ + 654.1701808918417, + 370.89854469144694 + ], + [ + 627.6893162441663, + 369.86224163801575 + ], + [ + 624.877556458958, + 348.3688641239736 + ], + [ + 653.1702826703228, + 349.4489583220176 + ], + [ + 654.75214173659, + 327.51002434748557 + ], + [ + 627.1843476682179, + 326.484749212812 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 37, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 98, + "semantic_pixel_counts": { + "1": 343253, + "2": 251054, + "3": 129865, + "4": 25038, + "5": 707, + "6": 20882, + "7": 3664, + "9": 30021, + "10": 38691, + "12": 3556, + "14": 8135, + "20": 5223, + "21": 12036, + "24": 25783, + "25": 23692 + }, + "instance_pixel_counts": { + "143": 16218, + "339": 3200, + "883": 14527, + "1167": 6922, + "1679": 26767, + "2703": 41578, + "3749": 184, + "4261": 176, + "5228": 191, + "5714": 471, + "6508": 108, + "6565": 1907, + "7539": 6047, + "8018": 4234, + "8530": 2564, + "8556": 4575, + "8579": 2340, + "8810": 318, + "9042": 2167, + "9068": 6080, + "9320": 10601, + "9580": 4624, + "10092": 1614, + "10624": 112, + "11368": 10377, + "11370": 291, + "11596": 4095, + "12675": 9, + "15186": 3451, + "15698": 15750, + "22381": 11082, + "22784": 11520, + "22893": 8084, + "23441": 8838, + "23552": 9700, + "23953": 9886, + "24429": 3575, + "24465": 7988, + "24941": 8672, + "24977": 62, + "25928": 707, + "25965": 8265, + "26696": 20943, + "26987": 2916, + "27243": 43, + "27460": 193, + "27719": 90170, + "28231": 38570, + "28523": 312, + "28779": 1583, + "30548": 3666, + "30630": 1523, + "30863": 2633, + "31142": 1437, + "31572": 3868, + "31633": 6380, + "31654": 1247, + "32145": 11502, + "32911": 5423, + "37798": 8, + "39239": 23692, + "42391": 933, + "42918": 4147, + "44951": 1110, + "51815": 85069, + "52327": 86467, + "53351": 1943, + "53863": 70774, + "54375": 78022, + "54438": 130, + "54889": 10533, + "55401": 2439, + "55913": 120, + "56173": 30021, + "56320": 747, + "56425": 9254, + "56576": 613, + "56742": 69, + "56832": 502, + "56937": 2094, + "57088": 542, + "57344": 487, + "57600": 665, + "58278": 2, + "58368": 601, + "58790": 22, + "59522": 986, + "59762": 6168, + "60274": 4575, + "60582": 1756, + "61094": 3166, + "61803": 28, + "62827": 469, + "63083": 201, + "63339": 598, + "64594": 488, + "64654": 19622, + "64850": 130 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 747, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -71.18775939941406, + "z": 0.9973637461662292 + }, + "extent": { + "x": 0.5051684379577637, + "y": 0.3418261706829071, + "z": 0.878131628036499 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.0605965891713, + "ymin": 325.8822755734578, + "xmax": 652.6088111925825, + "ymax": 393.6465983671805 + }, + "corners_3d": [ + [ + -46.325355529785156, + -71.69292449951172, + 0.11923211812973022 + ], + [ + -47.009010314941406, + -71.69292449951172, + 0.11923211812973022 + ], + [ + -47.009010314941406, + -70.6825942993164, + 0.11923211812973022 + ], + [ + -46.325355529785156, + -70.6825942993164, + 0.11923211812973022 + ], + [ + -46.325355529785156, + -71.69292449951172, + 1.875495433807373 + ], + [ + -47.009010314941406, + -71.69292449951172, + 1.875495433807373 + ], + [ + -47.009010314941406, + -70.6825942993164, + 1.875495433807373 + ], + [ + -46.325355529785156, + -70.6825942993164, + 1.875495433807373 + ] + ], + "corners_2d": [ + [ + 627.590898493957, + 392.72796607660143 + ], + [ + 650.4658535094778, + 393.6465983671805 + ], + [ + 652.1047335269534, + 370.74606261954216 + ], + [ + 629.8115091673068, + 369.8737103259168 + ], + [ + 627.0605965891713, + 348.5127611620907 + ], + [ + 650.9135889612445, + 349.4234302126156 + ], + [ + 652.6088111925825, + 326.7451819719245 + ], + [ + 629.3876706411874, + 325.8822755734578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 613, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -68.19005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.45353275537490845, + "y": 0.4961743950843811, + "z": 0.9171847105026245 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 498.18457159438145, + "ymin": 259.8721785193972, + "xmax": 535.6757962467975, + "ymax": 325.11221535437863 + }, + "corners_3d": [ + [ + -42.1501579284668, + -68.7368392944336, + 0.08008623123168945 + ], + [ + -43.12082290649414, + -68.530517578125, + 0.08008623123168945 + ], + [ + -42.93223190307617, + -67.64327239990234, + 0.08008623123168945 + ], + [ + -41.96156692504883, + -67.84959411621094, + 0.08008623123168945 + ], + [ + -42.1501579284668, + -68.7368392944336, + 1.9144556522369385 + ], + [ + -43.12082290649414, + -68.530517578125, + 1.9144556522369385 + ], + [ + -42.93223190307617, + -67.64327239990234, + 1.9144556522369385 + ], + [ + -41.96156692504883, + -67.84959411621094, + 1.9144556522369385 + ] + ], + "corners_2d": [ + [ + 504.9783740562084, + 325.11221535437863 + ], + [ + 535.6757962467975, + 322.1486462905284 + ], + [ + 533.7275223050881, + 304.8594448905227 + ], + [ + 503.66837300784925, + 307.6999749612139 + ], + [ + 499.42588448471076, + 279.7842371974535 + ], + [ + 531.4016494185623, + 276.86802425342734 + ], + [ + 529.4683893314445, + 259.8721785193972 + ], + [ + 498.18457159438145, + 262.66251098052066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 502, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -64.24504852294922, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4679882824420929, + "y": 0.4315136671066284, + "z": 0.9428513646125793 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 701.3036240063906, + "ymin": 198.8843706278126, + "xmax": 731.6770067681631, + "ymax": 259.8690428425497 + }, + "corners_3d": [ + [ + -48.54277801513672, + -64.75557708740234, + 0.05442452430725098 + ], + [ + -49.40107727050781, + -64.66536712646484, + 0.05442452430725098 + ], + [ + -49.30323791503906, + -63.734519958496094, + 0.05442452430725098 + ], + [ + -48.44493865966797, + -63.824729919433594, + 0.05442452430725098 + ], + [ + -48.54277801513672, + -64.75557708740234, + 1.9401272535324097 + ], + [ + -49.40107727050781, + -64.66536712646484, + 1.9401272535324097 + ], + [ + -49.30323791503906, + -63.734519958496094, + 1.9401272535324097 + ], + [ + -48.44493865966797, + -63.824729919433594, + 1.9401272535324097 + ] + ], + "corners_2d": [ + [ + 703.8157295919431, + 259.8690428425497 + ], + [ + 728.2551387427837, + 259.18856039094953 + ], + [ + 725.2525047399262, + 243.8133463442791 + ], + [ + 701.3036240063906, + 244.4666552294845 + ], + [ + 706.2923153040567, + 214.56033316867087 + ], + [ + 731.6770067681631, + 213.89542548983252 + ], + [ + 728.4887823851732, + 198.8843706278126 + ], + [ + 703.6328880433081, + 199.52172896173585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 542, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -71.18775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.3030761778354645, + "y": 0.4499487280845642, + "z": 0.8954269289970398 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 941.0675046723787, + "ymin": 342.00443354939574, + "xmax": 990.2417350733986, + "ymax": 402.36612949489415 + }, + "corners_3d": [ + [ + -55.71723556518555, + -71.49083709716797, + 0.10183912515640259 + ], + [ + -56.617130279541016, + -71.49083709716797, + 0.10183912515640259 + ], + [ + -56.617130279541016, + -70.88468170166016, + 0.10183912515640259 + ], + [ + -55.71723556518555, + -70.88468170166016, + 0.10183912515640259 + ], + [ + -55.71723556518555, + -71.49083709716797, + 1.892693042755127 + ], + [ + -56.617130279541016, + -71.49083709716797, + 1.892693042755127 + ], + [ + -56.617130279541016, + -70.88468170166016, + 1.892693042755127 + ], + [ + -55.71723556518555, + -70.88468170166016, + 1.892693042755127 + ] + ], + "corners_2d": [ + [ + 944.652400803222, + 401.13480375557185 + ], + [ + 975.460401298193, + 402.36612949489415 + ], + [ + 971.3898415883319, + 388.2281601279199 + ], + [ + 941.0675046723787, + 387.03494684988516 + ], + [ + 958.0571959355843, + 355.9802926631661 + ], + [ + 990.2417350733986, + 357.20170003857936 + ], + [ + 985.7540244212321, + 343.1864113444509 + ], + [ + 954.0991384766376, + 342.00443354939574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 487, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -82.31512451171875, + "z": 0.953862726688385 + }, + "extent": { + "x": 0.46564945578575134, + "y": 0.4576928913593292, + "z": 0.903959333896637 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 755.0411642176733, + "ymin": 678.0448436071476, + "xmax": 810.0423859766506, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.7788200378418, + -82.73038482666016, + 0.04990339279174805 + ], + [ + -50.68919372558594, + -82.82606506347656, + 0.04990339279174805 + ], + [ + -50.78654098510742, + -81.89986419677734, + 0.04990339279174805 + ], + [ + -49.87616729736328, + -81.80418395996094, + 0.04990339279174805 + ], + [ + -49.7788200378418, + -82.73038482666016, + 1.857822060585022 + ], + [ + -50.68919372558594, + -82.82606506347656, + 1.857822060585022 + ], + [ + -50.78654098510742, + -81.89986419677734, + 1.857822060585022 + ], + [ + -49.87616729736328, + -81.80418395996094, + 1.857822060585022 + ] + ], + "corners_2d": [ + [ + 755.0411642176733, + 762.1841599331343 + ], + [ + 798.4870742233736, + 769.0645629122157 + ], + [ + 800.2225664925079, + 727.5309688648892 + ], + [ + 758.178208342643, + 721.0912442496137 + ], + [ + 762.3028935529813, + 720.1959149603964 + ], + [ + 808.549073930507, + 727.270382805221 + ], + [ + 810.0423859766506, + 684.6389962867055 + ], + [ + 765.3809865927014, + 678.0448436071476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 665, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -79.35797882080078, + "z": 1.1804935932159424 + }, + "extent": { + "x": 0.34215208888053894, + "y": 0.5636425614356995, + "z": 0.9188094139099121 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 101.28687769445924, + "ymin": 525.82506575916, + "xmax": 187.52412422291644, + "ymax": 605.9131676850423 + }, + "corners_3d": [ + [ + -34.79938507080078, + -79.5754623413086, + 0.2616841793060303 + ], + [ + -35.902034759521484, + -79.80984497070312, + 0.2616841793060303 + ], + [ + -36.0443115234375, + -79.14049530029297, + 0.2616841793060303 + ], + [ + -34.9416618347168, + -78.90611267089844, + 0.2616841793060303 + ], + [ + -34.79938507080078, + -79.5754623413086, + 2.0993030071258545 + ], + [ + -35.902034759521484, + -79.80984497070312, + 2.0993030071258545 + ], + [ + -36.0443115234375, + -79.14049530029297, + 2.0993030071258545 + ], + [ + -34.9416618347168, + -78.90611267089844, + 2.0993030071258545 + ] + ], + "corners_2d": [ + [ + 129.8150057236847, + 595.3334355288256 + ], + [ + 170.3164552881314, + 605.9131676850423 + ], + [ + 187.52412422291644, + 582.7224972833678 + ], + [ + 147.70073282237132, + 572.5784537601651 + ], + [ + 101.28687769445924, + 548.8084381864497 + ], + [ + 143.7858881711589, + 559.5124963253489 + ], + [ + 162.5293618848167, + 536.0643531696561 + ], + [ + 120.77399983573764, + 525.82506575916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 601, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 670.0679937009371, + "ymin": 0.0, + "xmax": 713.8835156505555, + "ymax": 21.74844932285629 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 712.0241152223484, + -13.755359203696116 + ], + [ + 672.563194152797, + -14.530115910815312 + ], + [ + 670.0679937009371, + 20.857377203974465 + ], + [ + 712.3856904431316, + 21.74844932285629 + ], + [ + 713.4117659396351, + -41.52070207534632 + ], + [ + 673.1895603585839, + -42.265586869573724 + ], + [ + 670.6890916957781, + -8.196114561833156 + ], + [ + 713.8835156505555, + -7.3370045216670405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 924.748181274159, + "ymin": 400.8703081332275, + "xmax": 950.5994401079182, + "ymax": 444.7176843975342 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 924.748181274159, + 430.77772874988386 + ], + [ + 927.7542443656898, + 444.1453086724862 + ], + [ + 941.4149584473128, + 444.7176843975342 + ], + [ + 938.2142774563504, + 431.3340645260281 + ], + [ + 933.2934117271337, + 400.8703081332275 + ], + [ + 936.5170130428048, + 414.20398543977893 + ], + [ + 950.5994401079182, + 414.7751652872842 + ], + [ + 947.1691119966064, + 401.42500456425034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1071.3595377268327, + "ymin": 406.910601328479, + "xmax": 1104.1535057046367, + "ymax": 450.95747374825214 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1071.3595377268327, + 436.8348028773895 + ], + [ + 1076.4970242203158, + 450.3775419185849 + ], + [ + 1090.3380775096612, + 450.95747374825214 + ], + [ + 1085.0008709119286, + 437.39837836225865 + ], + [ + 1084.391008952547, + 406.910601328479 + ], + [ + 1089.8794515724858, + 420.42432898193874 + ], + [ + 1104.1535057046367, + 421.0032811770957 + ], + [ + 1098.4527513188345, + 407.4727349976317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 315.76396671919946, + "ymin": 465.6720706222009, + "xmax": 340.78665050480686, + "ymax": 503.57456174536475 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 324.2240936224993, + 503.0338005744547 + ], + [ + 336.05086241130823, + 503.57456174536475 + ], + [ + 340.78665050480686, + 490.97870544878197 + ], + [ + 329.10522356029827, + 490.4513840303552 + ], + [ + 315.76396671919946, + 478.26948302802674 + ], + [ + 327.9031004559528, + 478.811077816614 + ], + [ + 332.86881844837166, + 466.19985114358457 + ], + [ + 320.88275370049325, + 465.6720706222009 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 180.89955541304687, + "ymin": 566.57573693082, + "xmax": 220.8515241035975, + "ymax": 615.4544145933047 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 196.90844634925259, + 614.6574261599777 + ], + [ + 212.50813559361984, + 615.4544145933047 + ], + [ + 220.8515241035975, + 596.8639983915875 + ], + [ + 205.5049991486369, + 596.0932648843043 + ], + [ + 180.89955541304687, + 585.2942476690282 + ], + [ + 197.05145354047414, + 586.0983653493665 + ], + [ + 205.9572607303097, + 567.352432026454 + ], + [ + 190.07660263895258, + 566.57573693082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.0072808328547, + "ymin": 395.8978856669761, + "xmax": 824.2094510311995, + "ymax": 439.5801185325325 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 804.0072808328547, + 425.7897225988515 + ], + [ + 805.2787453611996, + 439.01392699832115 + ], + [ + 818.7918594298419, + 439.5801185325325 + ], + [ + 817.3299165112785, + 426.34013162908707 + ], + [ + 808.9020401144573, + 395.8978856669761 + ], + [ + 810.2837766508653, + 409.0842633461026 + ], + [ + 824.2094510311995, + 409.6490855081 + ], + [ + 822.6255152257586, + 396.44649688784773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.1915987515604, + "ymin": 513.8733428393532, + "xmax": 1280.0, + "ymax": 552.9830718135615 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1256.1915987515604, + 538.5497619294877 + ], + [ + 1263.3834104328685, + 552.3879599829905 + ], + [ + 1276.3198113506123, + 552.9830718135615 + ], + [ + 1268.9543529719163, + 539.1293719539457 + ], + [ + 1273.299058201304, + 513.8733428393532 + ], + [ + 1280.9268558688532, + 527.764038345298 + ], + [ + 1294.2376946689124, + 528.3616376478573 + ], + [ + 1286.4261305682448, + 514.4549461699811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.499701617297, + "ymin": 305.95460097762657, + "xmax": 1280.0, + "ymax": 611.3407141892221 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1229.0479024374813, + 611.3407141892221 + ], + [ + 1222.175655948412, + 596.1060713506128 + ], + [ + 728.499701617297, + 568.8634224296634 + ], + [ + 728.5310248613484, + 583.3475252823148 + ], + [ + 1418.887300683584, + 348.3503730998291 + ], + [ + 1406.4246568543335, + 333.0257370030625 + ], + [ + 755.6019259767571, + 305.95460097762657 + ], + [ + 756.123192730935, + 320.2948534273569 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 70.9373960694619, + "ymin": 407.2801291776206, + "xmax": 266.4183739593121, + "ymax": 618.6096817053801 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 232.9392734067241, + 618.6096817053801 + ], + [ + 266.4183739593121, + 540.6297301328955 + ], + [ + 187.8200006195986, + 536.8918782643128 + ], + [ + 148.6218278848349, + 614.2937801542308 + ], + [ + 168.29705449399955, + 490.17710667824934 + ], + [ + 211.81833446293678, + 411.03052643437417 + ], + [ + 122.00361823444541, + 407.2801291776206 + ], + [ + 70.9373960694619, + 485.75099517709504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 292.2823780063809, + "xmax": 355.5326355164436, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 355.5326355164436, + 555.8716472352596 + ], + [ + 338.7975795191391, + 554.9415555439123 + ], + [ + 114.81587272573995, + 1166.869544361431 + ], + [ + 140.92938390089552, + 1169.1872480922307 + ], + [ + 269.7907180695063, + 293.1924149246561 + ], + [ + 248.11522379633936, + 292.2823780063809 + ], + [ + -187.31052001625005, + 1017.0114197019235 + ], + [ + -146.80257070779078, + 1020.3375334837691 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 348.3015127019338, + "ymin": 31.879324857767244, + "xmax": 436.37312915211197, + "ymax": 172.75135720911365 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 423.82172278541265, + 172.75135720911365 + ], + [ + 436.37312915211197, + 143.57051054513698 + ], + [ + 387.12253205079753, + 142.13021683458024 + ], + [ + 372.38421448683624, + 171.17837281207423 + ], + [ + 404.3184214868569, + 59.56170605375178 + ], + [ + 418.8631716332036, + 33.176341506520885 + ], + [ + 365.43005465951273, + 31.879324857767244 + ], + [ + 348.3015127019338, + 58.134173285585916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 94.9301473388025, + "ymin": 442.1367841298221, + "xmax": 226.15046608245962, + "ymax": 530.1377207065859 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 188.0123932559979, + 530.1377207065859 + ], + [ + 226.15046608245962, + 455.2908657705364 + ], + [ + 144.95465787079917, + 451.7385922781816 + ], + [ + 100.65531872113274, + 526.010344989628 + ], + [ + 183.19508043259617, + 520.5749953574293 + ], + [ + 222.0621998982811, + 445.68808744070753 + ], + [ + 140.08258655847362, + 442.1367841298221 + ], + [ + 94.9301473388025, + 516.4423996798101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 95.01107575223409, + "ymin": 442.176153303989, + "xmax": 226.053786773894, + "ymax": 530.0277906887484 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 187.94901355936486, + 530.0277906887484 + ], + [ + 226.053786773894, + 455.26322557699666 + ], + [ + 144.95000712255228, + 451.7148172720705 + ], + [ + 100.69754210771873, + 525.9055427246744 + ], + [ + 183.16324597522276, + 520.527853147213 + ], + [ + 221.99157352875972, + 445.7235992821203 + ], + [ + 140.110048390514, + 442.176153303989 + ], + [ + 95.01107575223409, + 516.4004324367529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 356.30848012395506, + "ymin": 59.430383032574184, + "xmax": 422.4478138899085, + "ymax": 94.50779633339056 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 409.23057766383823, + 94.50779633339056 + ], + [ + 422.4478138899085, + 68.63287667011923 + ], + [ + 373.42686786906324, + 67.36449739188186 + ], + [ + 358.02815907576036, + 93.1222222131255 + ], + [ + 407.81988117943496, + 86.36001163628225 + ], + [ + 421.1757999709905, + 60.68844483031336 + ], + [ + 371.87170752239365, + 59.430383032574184 + ], + [ + 356.30848012395506, + 84.98498276687496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 356.267777494789, + "ymin": 59.416574255411206, + "xmax": 422.4935268335047, + "ymax": 94.57802545597389 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 409.2640497400588, + 94.57802545597389 + ], + [ + 422.4935268335047, + 68.673269126518 + ], + [ + 373.41504634668854, + 67.40331420529543 + ], + [ + 357.99917439494806, + 93.19060043572034 + ], + [ + 407.8440885172671, + 86.37597270493313 + ], + [ + 421.21330491996014, + 60.67613111680254 + ], + [ + 371.84945678627207, + 59.416574255411206 + ], + [ + 356.267777494789, + 84.99917545875218 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00039/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00039/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99a343576100e6ca594094f4a83096e05f3c18f3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00039/meta.json @@ -0,0 +1,2616 @@ +{ + "frame_id": 39, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 19.5, + "sim_timestamp": 15769.28621674073 + }, + "drone_pose": { + "x": -47.91799692808552, + "y": -91.28364320034058, + "z": 20.005991279279602, + "pitch": -41.970857445329194, + "yaw": 86.60679911897385, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.04400527477264404, + -0.742181658744812, + 0.6687525510787964, + 56.4786376953125 + ], + [ + 0.9982469081878662, + 0.059187889099121094, + 2.9802322387695312e-08, + -42.43109893798828 + ], + [ + -0.03958207368850708, + 0.6675801277160645, + 0.7434850931167603, + -77.70999908447266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.82065976649882, + "y": -90.83047090106116, + "z": 20.13434207028601 + }, + "t1_image_uv": [ + 374.95091365491913, + -1153.9697715076722 + ], + "t1_depth": 0.25478459662555186 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -70.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.42414704231551, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 706, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -70.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.49531981348991394, + "y": 0.46595457196235657, + "z": 0.8840062022209167 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.730181022738, + "ymin": 325.7665689445632, + "xmax": 656.8443836263668, + "ymax": 393.747618289649 + }, + "corners_3d": [ + [ + -46.201229095458984, + -70.6830825805664, + 0.11326473951339722 + ], + [ + -47.13313674926758, + -70.6830825805664, + 0.11326473951339722 + ], + [ + -47.13313674926758, + -69.69243621826172, + 0.11326473951339722 + ], + [ + -46.201229095458984, + -69.69243621826172, + 0.11326473951339722 + ], + [ + -46.201229095458984, + -70.6830825805664, + 1.881277084350586 + ], + [ + -47.13313674926758, + -70.6830825805664, + 1.881277084350586 + ], + [ + -47.13313674926758, + -69.69243621826172, + 1.881277084350586 + ], + [ + -46.201229095458984, + -69.69243621826172, + 1.881277084350586 + ] + ], + "corners_2d": [ + [ + 623.4424398654874, + 392.4641302713101 + ], + [ + 654.6150206493218, + 393.747618289649 + ], + [ + 656.1660964353916, + 371.2803160638357 + ], + [ + 625.7708292565806, + 370.060257005415 + ], + [ + 622.730181022738, + 347.94934789143 + ], + [ + 655.2446564205734, + 349.2216150743175 + ], + [ + 656.8443836263668, + 326.9733603602649 + ], + [ + 625.1746779553879, + 325.7665689445632 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 39, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 97, + "semantic_pixel_counts": { + "1": 327031, + "2": 258139, + "3": 131421, + "4": 26245, + "5": 741, + "6": 21376, + "7": 3430, + "9": 30983, + "10": 37240, + "12": 3686, + "14": 8622, + "20": 5436, + "21": 11595, + "24": 27422, + "25": 28233 + }, + "instance_pixel_counts": { + "143": 17409, + "339": 3320, + "620": 179, + "883": 16841, + "1167": 6286, + "1679": 26234, + "2703": 44604, + "3749": 214, + "4261": 188, + "5228": 199, + "5714": 493, + "6508": 148, + "6565": 1986, + "7539": 6235, + "8018": 4445, + "8530": 2660, + "8556": 4838, + "8579": 2572, + "8810": 373, + "9042": 2094, + "9068": 6461, + "9320": 11926, + "9580": 4899, + "10092": 869, + "10624": 152, + "11368": 11829, + "11370": 342, + "11596": 4659, + "12675": 10, + "15186": 1282, + "15698": 16646, + "20308": 43, + "22381": 9117, + "22784": 11888, + "22893": 8707, + "23441": 9229, + "23552": 9336, + "23953": 10394, + "24429": 799, + "24465": 6956, + "24941": 7014, + "25928": 741, + "25965": 8876, + "26696": 21586, + "26987": 3173, + "27243": 47, + "27460": 205, + "27719": 95902, + "28231": 37099, + "28523": 294, + "28779": 1510, + "30548": 3861, + "30630": 1573, + "30863": 3039, + "31142": 1494, + "31572": 3819, + "31633": 5290, + "31654": 1256, + "32145": 12473, + "32911": 6207, + "34884": 179, + "37798": 10, + "39239": 28233, + "42391": 1075, + "42918": 3446, + "44951": 1265, + "51815": 68661, + "52327": 92811, + "53863": 58055, + "54375": 83749, + "54438": 117, + "54889": 10522, + "55401": 2632, + "56173": 30983, + "56320": 706, + "56425": 10087, + "56576": 626, + "56742": 4, + "56832": 493, + "56937": 2287, + "57088": 560, + "57344": 442, + "57600": 859, + "58278": 7, + "58368": 899, + "58790": 21, + "59522": 1010, + "59762": 6583, + "60274": 4781, + "60582": 1040, + "61094": 3286, + "62827": 508, + "63083": 213, + "63339": 616, + "64594": 629, + "64654": 21605, + "64850": 138 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 706, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -70.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5042455792427063, + "y": 0.5721582174301147, + "z": 0.9110296368598938 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.9935200860496, + "ymin": 324.72909883471027, + "xmax": 660.485791182749, + "ymax": 394.753785272303 + }, + "corners_3d": [ + [ + -46.09502410888672, + -70.69200134277344, + 0.08624130487442017 + ], + [ + -47.239341735839844, + -70.69200134277344, + 0.08624130487442017 + ], + [ + -47.239341735839844, + -69.68351745605469, + 0.08624130487442017 + ], + [ + -46.09502410888672, + -69.68351745605469, + 0.08624130487442017 + ], + [ + -46.09502410888672, + -70.69200134277344, + 1.9083006381988525 + ], + [ + -47.239341735839844, + -70.69200134277344, + 1.9083006381988525 + ], + [ + -47.239341735839844, + -69.68351745605469, + 1.9083006381988525 + ], + [ + -46.09502410888672, + -69.68351745605469, + 1.9083006381988525 + ] + ], + "corners_2d": [ + [ + 619.8858723755374, + 393.1768711590258 + ], + [ + 658.1483114110581, + 394.753785272303 + ], + [ + 659.6362342706431, + 371.87188947432827 + ], + [ + 622.344265477736, + 370.37422459121075 + ], + [ + 618.9935200860496, + 347.2994858420082 + ], + [ + 658.9549301987562, + 348.8622209380268 + ], + [ + 660.485791182749, + 326.20994809102126 + ], + [ + 621.5817577413836, + 324.72909883471027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 626, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -67.19005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4416455328464508, + "y": 0.4391699433326721, + "z": 0.8809753060340881 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 500.2761798265234, + "ymin": 261.052396364678, + "xmax": 533.9321635331419, + "ymax": 323.7116593981726 + }, + "corners_3d": [ + [ + -42.20344543457031, + -67.7133560180664, + 0.11629563570022583 + ], + [ + -43.062591552734375, + -67.5307388305664, + 0.11629563570022583 + ], + [ + -42.878944396972656, + -66.66675567626953, + 0.11629563570022583 + ], + [ + -42.019798278808594, + -66.84937286376953, + 0.11629563570022583 + ], + [ + -42.20344543457031, + -67.7133560180664, + 1.8782463073730469 + ], + [ + -43.062591552734375, + -67.5307388305664, + 1.8782463073730469 + ], + [ + -42.878944396972656, + -66.66675567626953, + 1.8782463073730469 + ], + [ + -42.019798278808594, + -66.84937286376953, + 1.8782463073730469 + ] + ], + "corners_2d": [ + [ + 506.7443983027269, + 323.7116593981726 + ], + [ + 533.9321635331419, + 321.1158960753147 + ], + [ + 532.1069636443186, + 304.2746625606089 + ], + [ + 505.4705390884769, + 306.7653217894808 + ], + [ + 501.48737072180927, + 280.1751405577459 + ], + [ + 529.7613594164746, + 277.6192940164699 + ], + [ + 527.9543699812394, + 261.052396364678 + ], + [ + 500.2761798265234, + 263.5008084453782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 493, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -63.245052337646484, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4693286120891571, + "y": 0.4166259765625, + "z": 0.944384753704071 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 702.0213721496591, + "ymin": 198.87003225249944, + "xmax": 731.5465239297596, + "ymax": 259.9454319872305 + }, + "corners_3d": [ + [ + -48.55772399902344, + -63.7553596496582, + 0.05289113521575928 + ], + [ + -49.386409759521484, + -63.66826248168945, + 0.05289113521575928 + ], + [ + -49.288291931152344, + -62.734745025634766, + 0.05289113521575928 + ], + [ + -48.4596061706543, + -62.821842193603516, + 0.05289113521575928 + ], + [ + -48.55772399902344, + -63.7553596496582, + 1.9416606426239014 + ], + [ + -49.386409759521484, + -63.66826248168945, + 1.9416606426239014 + ], + [ + -49.288291931152344, + -62.734745025634766, + 1.9416606426239014 + ], + [ + -48.4596061706543, + -62.821842193603516, + 1.9416606426239014 + ] + ], + "corners_2d": [ + [ + 704.5171492437569, + 259.9454319872305 + ], + [ + 728.1228310273995, + 259.3085516177456 + ], + [ + 725.1516935939159, + 243.88146229302174 + ], + [ + 702.0213721496591, + 244.4928323489795 + ], + [ + 707.0259031659505, + 214.5535755466927 + ], + [ + 731.5465239297596, + 213.93128919291152 + ], + [ + 728.3905028017898, + 198.87003225249944 + ], + [ + 704.3824052236031, + 199.46645444696819 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 560, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -70.18775939941406, + "z": 0.9972953796386719 + }, + "extent": { + "x": 0.3350537121295929, + "y": 0.47285887598991394, + "z": 0.8989899754524231 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 940.2379861230868, + "ymin": 341.44936268383105, + "xmax": 991.5010262365731, + "ymax": 403.5924443616566 + }, + "corners_3d": [ + [ + -55.6943244934082, + -70.52281188964844, + 0.09830540418624878 + ], + [ + -56.64004135131836, + -70.52281188964844, + 0.09830540418624878 + ], + [ + -56.64004135131836, + -69.85270690917969, + 0.09830540418624878 + ], + [ + -55.6943244934082, + -69.85270690917969, + 0.09830540418624878 + ], + [ + -55.6943244934082, + -70.52281188964844, + 1.8962852954864502 + ], + [ + -56.64004135131836, + -70.52281188964844, + 1.8962852954864502 + ], + [ + -56.64004135131836, + -69.85270690917969, + 1.8962852954864502 + ], + [ + -55.6943244934082, + -69.85270690917969, + 1.8962852954864502 + ] + ], + "corners_2d": [ + [ + 944.1578900094787, + 402.26224606529433 + ], + [ + 976.58645976924, + 403.5924443616566 + ], + [ + 972.1015805867369, + 387.9471254829899 + ], + [ + 940.2379861230868, + 386.6623846720191 + ], + [ + 957.6148675652987, + 356.9120163448853 + ], + [ + 991.5010262365731, + 358.2316053866061 + ], + [ + 986.5525579074356, + 342.72191380621035 + ], + [ + 953.2828134118345, + 341.44936268383105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 442, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -81.31512451171875, + "z": 0.9546245336532593 + }, + "extent": { + "x": 0.46702152490615845, + "y": 0.44664308428764343, + "z": 0.9037703275680542 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 754.8012598071002, + "ymin": 678.3181918882376, + "xmax": 808.8083687643407, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.78966522216797, + -81.73290252685547, + 0.05085420608520508 + ], + [ + -50.67805862426758, + -81.8262710571289, + 0.05085420608520508 + ], + [ + -50.77569580078125, + -80.89734649658203, + 0.05085420608520508 + ], + [ + -49.88730239868164, + -80.8039779663086, + 0.05085420608520508 + ], + [ + -49.78966522216797, + -81.73290252685547, + 1.8583948612213135 + ], + [ + -50.67805862426758, + -81.8262710571289, + 1.8583948612213135 + ], + [ + -50.77569580078125, + -80.89734649658203, + 1.8583948612213135 + ], + [ + -49.88730239868164, + -80.8039779663086, + 1.8583948612213135 + ] + ], + "corners_2d": [ + [ + 754.8012598071002, + 762.5913554300679 + ], + [ + 797.2116844329199, + 769.3707281420604 + ], + [ + 799.0579417122416, + 727.6993845805357 + ], + [ + 758.0192814988781, + 721.3555256196594 + ], + [ + 762.050736933692, + 720.6176057076792 + ], + [ + 807.1958315487059, + 727.5884965925901 + ], + [ + 808.8083687643407, + 684.8143710266377 + ], + [ + 765.2144434798159, + 678.3181918882376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 859, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -78.35797882080078, + "z": 1.1166703701019287 + }, + "extent": { + "x": 0.33701780438423157, + "y": 0.5128320455551147, + "z": 0.9168477654457092 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 104.1064265522217, + "ymin": 527.6593766720833, + "xmax": 186.07749211503744, + "ymax": 606.2048378715763 + }, + "corners_3d": [ + [ + -34.85015106201172, + -78.58100891113281, + 0.19982260465621948 + ], + [ + -35.8534049987793, + -78.79425811767578, + 0.19982260465621948 + ], + [ + -35.99354553222656, + -78.13494873046875, + 0.19982260465621948 + ], + [ + -34.990291595458984, + -77.92169952392578, + 0.19982260465621948 + ], + [ + -34.85015106201172, + -78.58100891113281, + 2.033518075942993 + ], + [ + -35.8534049987793, + -78.79425811767578, + 2.033518075942993 + ], + [ + -35.99354553222656, + -78.13494873046875, + 2.033518075942993 + ], + [ + -34.990291595458984, + -77.92169952392578, + 2.033518075942993 + ] + ], + "corners_2d": [ + [ + 132.37363660949177, + 596.5427645329687 + ], + [ + 169.10780827751182, + 606.2048378715763 + ], + [ + 186.07749211503744, + 583.4172119416529 + ], + [ + 149.94646999293815, + 574.146223775982 + ], + [ + 104.1064265522217, + 550.2831470255742 + ], + [ + 142.64288567394385, + 560.0590960103002 + ], + [ + 161.11896501370973, + 537.018207691716 + ], + [ + 123.24366506318802, + 527.6593766720833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 899, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 670.1420969091084, + "ymin": 0.0, + "xmax": 714.6543159069394, + "ymax": 29.797154267573603 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 712.8299926945946, + -6.774736029499763 + ], + [ + 672.7974889047215, + -7.5943770313635355 + ], + [ + 670.1420969091084, + 28.85249409124799 + ], + [ + 713.1172212630997, + 29.797154267573603 + ], + [ + 714.254001858942, + -34.814090088568264 + ], + [ + 673.4376833323422, + -35.60256000281828 + ], + [ + 670.7746081582542, + -0.49253213999304535 + ], + [ + 714.6543159069394, + 0.41881993275751483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 932.4304985083431, + "ymin": 437.1933450226208, + "xmax": 959.685385832667, + "ymax": 482.24701951089526 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 932.4304985083431, + 467.1723870573366 + ], + [ + 935.6419215195764, + 481.6126784828145 + ], + [ + 949.855229012622, + 482.24701951089526 + ], + [ + 946.4332910848312, + 467.7882616531465 + ], + [ + 941.5615514931242, + 437.1933450226208 + ], + [ + 945.014934183218, + 451.6313271781539 + ], + [ + 959.685385832667, + 452.2658744682521 + ], + [ + 956.0078375594502, + 437.8088472854989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1084.9438304143591, + "ymin": 443.8984861784366, + "xmax": 1119.7310285211088, + "ymax": 489.16560948211406 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1084.9438304143591, + 473.8802695122232 + ], + [ + 1090.4625605264725, + 488.522335743365 + ], + [ + 1104.876018030089, + 489.16560948211406 + ], + [ + 1099.140887188978, + 474.50468828833505 + ], + [ + 1098.9360943568108, + 443.8984861784366 + ], + [ + 1104.8473663572252, + 458.5446274043015 + ], + [ + 1119.7310285211088, + 459.18839677953974 + ], + [ + 1113.5891243543706, + 444.52279702761336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 301.1507206324821, + "ymin": 499.21874821029417, + "xmax": 327.6117475255172, + "ymax": 537.9890089629707 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 310.29628394172795, + 537.3959433030755 + ], + [ + 322.51631246379935, + 537.9890089629707 + ], + [ + 327.6117475255172, + 524.5212654724154 + ], + [ + 315.54678563453825, + 523.9434344747953 + ], + [ + 301.1507206324821, + 512.7117092692989 + ], + [ + 313.7045603300299, + 513.3067809554 + ], + [ + 319.05660719720044, + 499.79811799010287 + ], + [ + 306.66636241584064, + 499.21874821029417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 154.07266133142411, + "ymin": 616.8110388864172, + "xmax": 197.27608996245624, + "ymax": 667.0656119035633 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 171.80259210111888, + 666.1712147473131 + ], + [ + 188.0966812465801, + 667.0656119035633 + ], + [ + 197.27608996245624, + 646.7327602772722 + ], + [ + 181.25792544007925, + 645.8691532446527 + ], + [ + 154.07266133142411, + 637.3492014009572 + ], + [ + 170.97020172640356, + 638.2546207959431 + ], + [ + 180.79978800070734, + 617.6841396964617 + ], + [ + 164.19879026715563, + 616.8110388864172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 806.9261335200936, + "ymin": 431.67808510135023, + "xmax": 828.0618285893053, + "ymax": 476.5550637343253 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 806.9261335200936, + 461.6527015966818 + ], + [ + 808.2627303254598, + 475.92802489071767 + ], + [ + 822.3124178967121, + 476.5550637343253 + ], + [ + 820.7700730608799, + 462.26158965296173 + ], + [ + 812.1077920891914, + 431.67808510135023 + ], + [ + 813.5655676137146, + 445.94598138346873 + ], + [ + 828.0618285893053, + 446.57299452146043 + ], + [ + 826.3851200406349, + 432.2863888731331 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1275.570902679135, + "ymin": 552.1144803374312, + "xmax": 1280.0, + "ymax": 592.1592052110916 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1275.570902679135, + 576.6254514649485 + ], + [ + 1283.2705853273926, + 591.5028614725657 + ], + [ + 1296.7094003479046, + 592.1592052110916 + ], + [ + 1288.8224696639018, + 577.2640762153999 + ], + [ + 1293.8844174526412, + 552.1144803374312 + ], + [ + 1302.0687226811433, + 567.0791759775836 + ], + [ + 1315.9120961658914, + 567.7396441697762 + ], + [ + 1307.5291910205908, + 552.7566078887676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.5053729977972, + "ymin": 340.01788559957095, + "xmax": 1280.0, + "ymax": 649.0935201544976 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1246.069299669228, + 649.0935201544976 + ], + [ + 1238.7537080768102, + 632.8154321932044 + ], + [ + 728.5053729977972, + 603.1228103688699 + ], + [ + 728.5113550784113, + 618.5555263675963 + ], + [ + 1450.297701211791, + 386.8667117870893 + ], + [ + 1436.725310869669, + 370.134359930902 + ], + [ + 756.7599612212574, + 340.01788559957095 + ], + [ + 757.29003465541, + 355.6062185162591 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 45.446721394501196, + "ymin": 439.26123704428403, + "xmax": 252.1283900584885, + "ymax": 655.7831697376059 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 216.28946832522234, + 655.7831697376059 + ], + [ + 252.1283900584885, + 572.7326616897577 + ], + [ + 171.21100276436658, + 568.6611971820539 + ], + [ + 129.29932617321396, + 651.0604695536566 + ], + [ + 146.38836919310023, + 528.5066055114711 + ], + [ + 193.41774699772816, + 443.3832180152938 + ], + [ + 100.56110123955443, + 439.26123704428403 + ], + [ + 45.446721394501196, + 523.6121108388538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 324.68322971873766, + "xmax": 343.8558864193482, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 343.8558864193482, + 588.8165849655363 + ], + [ + 326.6162504339739, + 587.8059658326729 + ], + [ + 82.89563078784897, + 1250.3082925584838 + ], + [ + 110.25360808103767, + 1252.9198625880595 + ], + [ + 250.9201594231286, + 325.6908654640477 + ], + [ + 228.38990325215894, + 324.68322971873766 + ], + [ + -263.6717049073761, + 1140.217005716585 + ], + [ + -220.09142363497722, + 1144.190963812593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 340.8243441813709, + "ymin": 42.74459269881305, + "xmax": 431.5483198524513, + "ymax": 186.06011924957463 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 418.43967424650384, + 186.06011924957463 + ], + [ + 431.5483198524513, + 155.73915628231583 + ], + [ + 381.392461645122, + 154.2061618768665 + ], + [ + 366.0144599248151, + 184.3830454793578 + ], + [ + 398.01527002085675, + 71.63909097215713 + ], + [ + 413.2514438706519, + 44.1295471709833 + ], + [ + 358.7505541533973, + 42.74459269881305 + ], + [ + 340.8243441813709, + 70.11169358497858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 71.30517276596743, + "ymin": 474.31872939735024, + "xmax": 208.99736545234725, + "ymax": 568.0523048561125 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 167.91518059796766, + 568.0523048561125 + ], + [ + 208.99736545234725, + 487.81476669103125 + ], + [ + 125.1622828684765, + 483.92147652890344 + ], + [ + 77.4976358596424, + 563.5047077667194 + ], + [ + 162.69570923071848, + 558.5525073445551 + ], + [ + 204.59257312755892, + 478.2135591656714 + ], + [ + 119.92158119942042, + 474.31872939735024 + ], + [ + 71.30517276596743, + 553.9956069634047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.11505106837234, + "ymin": 0.0, + "xmax": 319.9665052424798, + "ymax": 1.1855444833811362 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 319.9665052424798, + -37.50305312691887 + ], + [ + 311.6560268660702, + -37.68351264471721 + ], + [ + 278.0542968727342, + 0.9738834908100102 + ], + [ + 287.04063426527824, + 1.1855444833811362 + ], + [ + 284.40774404074926, + -200.25427545140235 + ], + [ + 275.1895893828966, + -200.38475175599672 + ], + [ + 234.11505106837234, + -172.17578918809625 + ], + [ + 244.17214482742264, + -172.01989180909925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 71.39012336952135, + "ymin": 474.3609222806168, + "xmax": 208.89551114499733, + "ymax": 567.9392548725854 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 167.84904663714065, + 567.9392548725854 + ], + [ + 208.89551114499733, + 487.78958806174643 + ], + [ + 125.15517525324992, + 483.9005130268673 + ], + [ + 77.54072395283015, + 563.3973060423048 + ], + [ + 162.66376370177687, + 558.5017630350001 + ], + [ + 204.51877149391817, + 478.25152581562344 + ], + [ + 119.94898501560397, + 474.3609222806168 + ], + [ + 71.39012336952135, + 553.9505910082764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 349.16555699901846, + "ymin": 70.65456010011195, + "xmax": 417.0433121133959, + "ymax": 106.98287795589923 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 403.2114403704521, + 106.98287795589923 + ], + [ + 417.0433121133959, + 80.03464303441717 + ], + [ + 367.0663561591234, + 78.68157533229174 + ], + [ + 350.96567235107364, + 105.50211224921946 + ], + [ + 401.73310528416266, + 98.73991053973936 + ], + [ + 415.7131444441003, + 71.99693322975452 + ], + [ + 365.4418222940102, + 70.65456010011195 + ], + [ + 349.16555699901846, + 97.2700408121375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 349.1237910370034, + "ymin": 70.64015973861564, + "xmax": 417.0903225828228, + "ymax": 107.05442543611682 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 403.2456517974223, + 107.05442543611682 + ], + [ + 417.0903225828228, + 80.0751554265654 + ], + [ + 367.05477063593963, + 78.72041027030582 + ], + [ + 350.93617193099567, + 105.57168265192414 + ], + [ + 401.75760603954245, + 98.75656356135022 + ], + [ + 415.7515732079347, + 71.98412682083784 + ], + [ + 365.4193463247014, + 70.64015973861564 + ], + [ + 349.1237910370034, + 97.28480195417029 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00042/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00042/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88309c78bf0f18626d2807f7098bf90446a2b764 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00042/meta.json @@ -0,0 +1,2295 @@ +{ + "frame_id": 42, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 21.0, + "sim_timestamp": 15805.30048598093 + }, + "drone_pose": { + "x": -47.9594577307127, + "y": -89.77448470478708, + "z": 20.0031284257947, + "pitch": -44.41414649017502, + "yaw": 83.27214045922045, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.0836828351020813, + -0.7093811631202698, + 0.69983971118927, + 53.69871520996094 + ], + [ + 0.9931138157844543, + 0.11715364456176758, + -2.9802322387695312e-08, + -37.11179733276367 + ], + [ + -0.08198875188827515, + 0.6950204372406006, + 0.7142999172210693, + -80.61547088623047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.149407622285324, + "y": -89.28625231287374, + "z": 20.01167612576497 + }, + "t1_image_uv": [ + 1367.3704943988932, + -615.9714769613711 + ], + "t1_depth": 0.32446526471252785 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -68.68776321411133, + "z": 0.9972661067545414 + }, + "image_uv": [ + 680.1699493119831, + 319.8720308772143 + ], + "depth": 28.367720324919734, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 712, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -68.68775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.47957029938697815, + "y": 0.5433886647224426, + "z": 0.9107287526130676 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 659.7675601764146, + "ymin": 284.3989657281708, + "xmax": 701.07124754183, + "ymax": 354.7209902233031 + }, + "corners_3d": [ + [ + -46.12379455566406, + -69.16732788085938, + 0.08653730154037476 + ], + [ + -47.2105712890625, + -69.16732788085938, + 0.08653730154037476 + ], + [ + -47.2105712890625, + -68.20819091796875, + 0.08653730154037476 + ], + [ + -46.12379455566406, + -68.20819091796875, + 0.08653730154037476 + ], + [ + -46.12379455566406, + -69.16732788085938, + 1.9079947471618652 + ], + [ + -47.2105712890625, + -69.16732788085938, + 1.9079947471618652 + ], + [ + -47.2105712890625, + -68.20819091796875, + 1.9079947471618652 + ], + [ + -46.12379455566406, + -68.20819091796875, + 1.9079947471618652 + ] + ], + "corners_2d": [ + [ + 659.7675601764146, + 351.75832286088854 + ], + [ + 696.0338113653448, + 354.7209902233031 + ], + [ + 698.4142596137362, + 333.0019686667571 + ], + [ + 662.9802033261076, + 330.17509253143015 + ], + [ + 660.6860105225244, + 305.84977589470793 + ], + [ + 698.645941332597, + 308.79786870015363 + ], + [ + 701.07124754183, + 287.2058743667432 + ], + [ + 664.0220828882466, + 284.3989657281708 + ] + ], + "center_offset_px": [ + 40.169949311983146, + -40.127969122785714 + ] + }, + "trace_timestep_index": 42, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 88, + "semantic_pixel_counts": { + "1": 343949, + "2": 281257, + "3": 139692, + "4": 19103, + "5": 743, + "6": 20651, + "7": 3746, + "9": 33517, + "10": 22250, + "12": 4314, + "14": 3605, + "20": 5891, + "21": 8787, + "24": 24613, + "25": 9482 + }, + "instance_pixel_counts": { + "143": 19108, + "339": 3434, + "883": 10892, + "1167": 7313, + "1679": 22262, + "2703": 52995, + "3749": 254, + "4261": 220, + "5714": 579, + "6565": 2126, + "7539": 2635, + "8018": 4709, + "8530": 2528, + "8556": 5125, + "8579": 2743, + "8810": 251, + "9042": 1867, + "9068": 6941, + "9320": 8967, + "9554": 311, + "9580": 5120, + "10092": 2865, + "11368": 9321, + "11370": 269, + "11596": 4339, + "12675": 14, + "15186": 3450, + "15698": 17673, + "22381": 10524, + "22784": 12639, + "22893": 9619, + "23441": 9383, + "23552": 7938, + "23953": 10815, + "24429": 2467, + "24465": 9180, + "24941": 5937, + "24977": 823, + "25928": 743, + "25965": 10425, + "26696": 14764, + "26987": 3542, + "27243": 57, + "27719": 109309, + "28231": 22118, + "28523": 346, + "28779": 1458, + "30548": 3605, + "30630": 1644, + "30863": 1854, + "31142": 1570, + "31633": 7644, + "31654": 1295, + "32145": 13188, + "32911": 5201, + "37798": 8, + "39239": 9482, + "42391": 688, + "44951": 1040, + "51815": 69357, + "52327": 104266, + "53863": 55200, + "54375": 96838, + "54889": 11622, + "55401": 2909, + "56173": 33517, + "56320": 712, + "56425": 6901, + "56576": 609, + "56742": 281, + "56832": 495, + "56937": 2661, + "57088": 583, + "57344": 1061, + "57600": 854, + "58278": 15, + "58790": 25, + "59522": 1077, + "59762": 7556, + "60274": 5599, + "60582": 3284, + "61094": 3357, + "62827": 604, + "63083": 249, + "63339": 712, + "64594": 843, + "64654": 22515, + "64850": 149 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 712, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -68.68775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4867309331893921, + "y": 0.598010241985321, + "z": 0.8941430449485779 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 657.9332035639479, + "ymin": 284.5376154788397, + "xmax": 702.9310011138153, + "ymax": 354.6368502886516 + }, + "corners_3d": [ + [ + -46.06917190551758, + -69.17449188232422, + 0.1031230092048645 + ], + [ + -47.265193939208984, + -69.17449188232422, + 0.1031230092048645 + ], + [ + -47.265193939208984, + -68.2010269165039, + 0.1031230092048645 + ], + [ + -46.06917190551758, + -68.2010269165039, + 0.1031230092048645 + ], + [ + -46.06917190551758, + -69.17449188232422, + 1.891409158706665 + ], + [ + -47.265193939208984, + -69.17449188232422, + 1.891409158706665 + ], + [ + -47.265193939208984, + -68.2010269165039, + 1.891409158706665 + ], + [ + -46.06917190551758, + -68.2010269165039, + 1.891409158706665 + ] + ], + "corners_2d": [ + [ + 657.9332035639479, + 351.3752854226847 + ], + [ + 697.8682731302353, + 354.6368502886516 + ], + [ + 700.2419446646876, + 332.5870130310333 + ], + [ + 661.2371578357968, + 329.477179085071 + ], + [ + 658.7509202528096, + 306.3035538160516 + ], + [ + 700.516603049501, + 309.54942463404245 + ], + [ + 702.9310011138153, + 287.62584082640933 + ], + [ + 662.1817617869013, + 284.5376154788397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 609, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -65.69005584716797, + "z": 0.9973050951957703 + }, + "extent": { + "x": 0.4629834294319153, + "y": 0.4388720989227295, + "z": 0.8948624730110168 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 544.3913922942703, + "ymin": 215.6258359420139, + "xmax": 575.9343596249587, + "ymax": 279.2228650433723 + }, + "corners_3d": [ + [ + -42.20817184448242, + -66.23416900634766, + 0.10244262218475342 + ], + [ + -43.06673812866211, + -66.05167388916016, + 0.10244262218475342 + ], + [ + -42.87421798706055, + -65.14594268798828, + 0.10244262218475342 + ], + [ + -42.01565170288086, + -65.32843780517578, + 0.10244262218475342 + ], + [ + -42.20817184448242, + -66.23416900634766, + 1.892167568206787 + ], + [ + -43.06673812866211, + -66.05167388916016, + 1.892167568206787 + ], + [ + -42.87421798706055, + -65.14594268798828, + 1.892167568206787 + ], + [ + -42.01565170288086, + -65.32843780517578, + 1.892167568206787 + ] + ], + "corners_2d": [ + [ + 548.842499600832, + 279.2228650433723 + ], + [ + 575.9343596249587, + 277.63347993685676 + ], + [ + 574.6935783576811, + 259.8723846097778 + ], + [ + 548.1611717659731, + 261.39660496109803 + ], + [ + 545.0181407908976, + 234.72664874436856 + ], + [ + 573.2517705833113, + 233.15641095531163 + ], + [ + 572.0179468327506, + 215.6258359420139 + ], + [ + 544.3913922942703, + 217.12908262325436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 495, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -61.745052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4854736328125, + "y": 0.29191893339157104, + "z": 0.9532157182693481 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 751.274586033526, + "ymin": 159.4472236695343, + "xmax": 775.4215688223132, + "ymax": 222.04085287223552 + }, + "corners_3d": [ + [ + -48.683433532714844, + -62.25838088989258, + 0.04405522346496582 + ], + [ + -49.26407241821289, + -62.19735336303711, + 0.04405522346496582 + ], + [ + -49.16258239746094, + -61.23172378540039, + 0.04405522346496582 + ], + [ + -48.58194351196289, + -61.29275131225586, + 0.04405522346496582 + ], + [ + -48.683433532714844, + -62.25838088989258, + 1.950486660003662 + ], + [ + -49.26407241821289, + -62.19735336303711, + 1.950486660003662 + ], + [ + -49.16258239746094, + -61.23172378540039, + 1.950486660003662 + ], + [ + -48.58194351196289, + -61.29275131225586, + 1.950486660003662 + ] + ], + "corners_2d": [ + [ + 753.2288649382251, + 221.91365026735593 + ], + [ + 770.0155267517679, + 222.04085287223552 + ], + [ + 767.7197054808826, + 205.7254807459016 + ], + [ + 751.274586033526, + 205.603396727619 + ], + [ + 757.936140881741, + 175.43815704832022 + ], + [ + 775.4215688223132, + 175.56297549620984 + ], + [ + 772.9179402362086, + 159.5668172456301 + ], + [ + 755.80276712419, + 159.4472236695343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 583, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -68.68775939941406, + "z": 0.9972367882728577 + }, + "extent": { + "x": 0.33949461579322815, + "y": 0.5502001643180847, + "z": 0.907487154006958 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 980.7772562575428, + "ymin": 312.88458212914963, + "xmax": 1040.8550157497189, + "ymax": 377.96239381527323 + }, + "corners_3d": [ + [ + -55.616981506347656, + -69.02725219726562, + 0.08974963426589966 + ], + [ + -56.717384338378906, + -69.02725219726562, + 0.08974963426589966 + ], + [ + -56.717384338378906, + -68.3482666015625, + 0.08974963426589966 + ], + [ + -55.616981506347656, + -68.3482666015625, + 0.08974963426589966 + ], + [ + -55.616981506347656, + -69.02725219726562, + 1.904723882675171 + ], + [ + -56.717384338378906, + -69.02725219726562, + 1.904723882675171 + ], + [ + -56.717384338378906, + -68.3482666015625, + 1.904723882675171 + ], + [ + -55.616981506347656, + -68.3482666015625, + 1.904723882675171 + ] + ], + "corners_2d": [ + [ + 983.9106088167888, + 374.81150989827455 + ], + [ + 1022.6191778561549, + 377.96239381527323 + ], + [ + 1018.8192363313681, + 361.70741500169396 + ], + [ + 980.7772562575428, + 358.66232225694773 + ], + [ + 1000.2451355945673, + 328.9763065538508 + ], + [ + 1040.8550157497189, + 332.1189917531805 + ], + [ + 1036.5534564928134, + 315.91686416840014 + ], + [ + 996.6766006530638, + 312.88458212914963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 1061, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -79.81512451171875, + "z": 0.9721488952636719 + }, + "extent": { + "x": 0.47716066241264343, + "y": 0.4766260087490082, + "z": 0.930963397026062 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 775.4400268334094, + "ymin": 639.075989334459, + "xmax": 836.1229953916269, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.7587890625, + -80.23985290527344, + 0.04118549823760986 + ], + [ + -50.706817626953125, + -80.33949279785156, + 0.04118549823760986 + ], + [ + -50.80657196044922, + -79.39039611816406, + 0.04118549823760986 + ], + [ + -49.858543395996094, + -79.29075622558594, + 0.04118549823760986 + ], + [ + -49.7587890625, + -80.23985290527344, + 1.9031122922897339 + ], + [ + -50.706817626953125, + -80.33949279785156, + 1.9031122922897339 + ], + [ + -50.80657196044922, + -79.39039611816406, + 1.9031122922897339 + ], + [ + -49.858543395996094, + -79.29075622558594, + 1.9031122922897339 + ] + ], + "corners_2d": [ + [ + 775.4400268334094, + 722.8378631601264 + ], + [ + 820.1197437792749, + 732.407159557815 + ], + [ + 824.0101919185659, + 691.027923283893 + ], + [ + 780.7011776980746, + 682.0502258990509 + ], + [ + 784.5937153781886, + 681.1381845477163 + ], + [ + 832.3885642758605, + 691.0322887096308 + ], + [ + 836.1229953916269, + 648.3189818626587 + ], + [ + 789.8934240705885, + 639.075989334459 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 854, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -76.85797882080078, + "z": 1.1460405588150024 + }, + "extent": { + "x": 0.3438464403152466, + "y": 0.39458250999450684, + "z": 0.9116978049278259 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 155.42656216662868, + "ymin": 463.78427377508314, + "xmax": 225.10869047700947, + "ymax": 539.3530702347425 + }, + "corners_3d": [ + [ + -34.96439743041992, + -77.11227416992188, + 0.2343427538871765 + ], + [ + -35.7363166809082, + -77.27635192871094, + 0.2343427538871765 + ], + [ + -35.87929916381836, + -76.60368347167969, + 0.2343427538871765 + ], + [ + -35.10737991333008, + -76.43960571289062, + 0.2343427538871765 + ], + [ + -34.96439743041992, + -77.11227416992188, + 2.0577383041381836 + ], + [ + -35.7363166809082, + -77.27635192871094, + 2.0577383041381836 + ], + [ + -35.87929916381836, + -76.60368347167969, + 2.0577383041381836 + ], + [ + -35.10737991333008, + -76.43960571289062, + 2.0577383041381836 + ] + ], + "corners_2d": [ + [ + 181.29405713945232, + 530.8738367027862 + ], + [ + 208.03788459219112, + 539.3530702347425 + ], + [ + 225.10869047700947, + 517.8143143574048 + ], + [ + 198.7486109324687, + 509.65690906022473 + ], + [ + 155.42656216662868, + 485.2545984708747 + ], + [ + 183.48213309346977, + 493.8480348362019 + ], + [ + 202.0022285535203, + 472.0336380732682 + ], + [ + 174.36667605845594, + 463.78427377508314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 980.6107105217216, + "ymin": 470.5535096802311, + "xmax": 1011.5735016934505, + "ymax": 517.8996934472941 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 980.6107105217216, + 500.0192673183169 + ], + [ + 983.3810146037566, + 516.4612359369901 + ], + [ + 998.7699916593654, + 517.8996934472941 + ], + [ + 995.7651655428068, + 501.4149020419528 + ], + [ + 992.5613616764086, + 470.5535096802311 + ], + [ + 995.6187154291605, + 487.1171273802184 + ], + [ + 1011.5735016934505, + 488.5670693843788 + ], + [ + 1008.2642132324875, + 471.95878337023396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.7466550416264, + "ymin": 485.96626633136987, + "xmax": 1187.0783675083633, + "ymax": 533.7140572017611 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1146.7466550416264, + 515.3193947523571 + ], + [ + 1152.1210261753918, + 532.233911148404 + ], + [ + 1167.9559976576195, + 533.7140572017611 + ], + [ + 1162.3335805587135, + 516.754857423638 + ], + [ + 1164.7870508674705, + 485.96626633136987 + ], + [ + 1170.644328840553, + 503.0231373063508 + ], + [ + 1187.0783675083633, + 504.51663289869146 + ], + [ + 1180.9541031949611, + 487.41308210235167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.2265879028916, + "ymin": 496.80248709614455, + "xmax": 344.8436706883272, + "ymax": 536.462330475531 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 326.6170117391225, + 535.2164051658337 + ], + [ + 338.98881277524305, + 536.462330475531 + ], + [ + 344.8436706883272, + 522.2310603903841 + ], + [ + 332.6228691278281, + 521.016662505083 + ], + [ + 317.2265879028916, + 511.106239534951 + ], + [ + 329.95873221726623, + 512.3618115654064 + ], + [ + 336.10537884728075, + 498.02535371571315 + ], + [ + 323.53308999378174, + 496.80248709614455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 153.6654235851372, + "ymin": 631.14514823526, + "xmax": 199.85817280298403, + "ymax": 682.2693290176757 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 172.90189931885914, + 680.3685465941202 + ], + [ + 189.37186802331092, + 682.2693290176757 + ], + [ + 199.85817280298403, + 660.5308197147913 + ], + [ + 183.6557871890912, + 658.694866804021 + ], + [ + 153.6654235851372, + 653.2097485849544 + ], + [ + 170.7845448460697, + 655.146304765324 + ], + [ + 182.0285615425081, + 633.0130053754237 + ], + [ + 165.19828925328676, + 631.14514823526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 845.6670231488495, + "ymin": 458.04610447804555, + "xmax": 869.2130388572153, + "ymax": 505.06027860617303 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 845.6670231488495, + 487.5920768285753 + ], + [ + 846.3756808330411, + 503.6552298868942 + ], + [ + 861.4072377926353, + 505.06027860617303 + ], + [ + 860.4746927646135, + 488.9557750933274 + ], + [ + 852.7971821288493, + 458.04610447804555 + ], + [ + 853.6417901549942, + 474.2148504094418 + ], + [ + 869.2130388572153, + 475.62993765670535 + ], + [ + 868.1283079444962, + 459.4181122481669 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 755.390479808075, + "ymin": 361.4355375852885, + "xmax": 1280.0, + "ymax": 699.1400099863386 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1307.8235136817184, + 699.1400099863386 + ], + [ + 1300.6694746049372, + 680.7253346183015 + ], + [ + 756.147309364103, + 619.6445106280157 + ], + [ + 755.390479808075, + 636.3070481301436 + ], + [ + 1569.3259053904944, + 448.2601902968451 + ], + [ + 1554.2192138527512, + 427.77396409834734 + ], + [ + 797.7894176285104, + 361.4355375852885 + ], + [ + 797.5454183528333, + 379.29100051208763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 56.22716794620112, + "ymin": 427.0268734451137, + "xmax": 269.7504180236125, + "ymax": 648.5307195619197 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 230.01706650757484, + 648.5307195619197 + ], + [ + 269.7504180236125, + 562.6311779946279 + ], + [ + 189.1011364282253, + 554.2667544252354 + ], + [ + 143.66785189929112, + 638.867381887786 + ], + [ + 157.1146990161314, + 525.6042216445322 + ], + [ + 209.26626314417166, + 435.666670656327 + ], + [ + 116.06830897640339, + 427.0268734451137 + ], + [ + 56.22716794620112, + 515.3751898409306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 321.7740338950907, + "xmax": 361.48368215209956, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 361.48368215209956, + 583.991147065017 + ], + [ + 344.12646643715715, + 582.0296938398511 + ], + [ + 70.82690151820282, + 1263.070622182694 + ], + [ + 97.64717020285684, + 1268.00804872347 + ], + [ + 265.6150306933414, + 323.820418314616 + ], + [ + 242.51369746020754, + 321.7740338950907 + ], + [ + -317.2204407451618, + 1210.7342313572046 + ], + [ + -273.7832472987818, + 1218.8169038810265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 379.29153716181895, + "ymin": 7.818442496779369, + "xmax": 470.9792204070565, + "ymax": 158.41587512034818 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 456.15087242962124, + 158.41587512034818 + ], + [ + 470.9792204070565, + 126.41200021009357 + ], + [ + 419.94850207003776, + 123.19763684834447 + ], + [ + 402.8914994019557, + 154.90462819587452 + ], + [ + 437.7558369888393, + 40.20884879377337 + ], + [ + 454.8700397980573, + 10.761955250590518 + ], + [ + 399.08003977099713, + 7.818442496779369 + ], + [ + 379.29153716181895, + 36.96567896309091 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 83.2808391003573, + "ymin": 461.99418349884684, + "xmax": 225.43685763903363, + "ymax": 563.7378169053096 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 179.94024072912606, + 563.7378169053096 + ], + [ + 225.43685763903363, + 479.57742904007733 + ], + [ + 141.4945921820019, + 471.47138120388115 + ], + [ + 89.76439288239396, + 554.2994036894788 + ], + [ + 174.47362902681778, + 554.5159160087733 + ], + [ + 220.87713255030366, + 470.1155627997347 + ], + [ + 136.05397875882602, + 461.99418349884684 + ], + [ + 83.2808391003573, + 545.0432478780201 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 83.36784386168779, + "ymin": 462.04074415573893, + "xmax": 225.33146074191825, + "ymax": 563.6213646940961 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 179.87499356662698, + 563.6213646940961 + ], + [ + 225.33146074191825, + 479.5526579719284 + ], + [ + 141.48395847338736, + 471.4555874395671 + ], + [ + 89.80757801805476, + 554.194870500467 + ], + [ + 174.4441887326958, + 554.4597928522064 + ], + [ + 220.8007075401618, + 470.15303017338056 + ], + [ + 136.07912411805648, + 462.04074415573893 + ], + [ + 83.36784386168779, + 544.9993280466603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 387.3567658977778, + "ymin": 36.9178658747565, + "xmax": 457.9098116065021, + "ymax": 76.82839088198466 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 442.3518994323598, + 76.82839088198466 + ], + [ + 457.9098116065021, + 48.11444653592707 + ], + [ + 406.8508311269433, + 45.25110627020473 + ], + [ + 389.0460791462168, + 73.69817260457882 + ], + [ + 441.0150093845159, + 68.28542066039768 + ], + [ + 456.7322995799316, + 39.761348175068974 + ], + [ + 405.3500499853045, + 36.9178658747565 + ], + [ + 387.3567658977778, + 65.17508274526614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 387.3134186958621, + "ymin": 36.9016868360701, + "xmax": 457.95744398698497, + "ymax": 76.903944809942 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 442.3849048781237, + 76.903944809942 + ], + [ + 457.95744398698497, + 48.157045452678574 + ], + [ + 406.83871318184543, + 45.29017244122815 + ], + [ + 389.01428134075286, + 73.76957027961453 + ], + [ + 441.039261985615, + 68.30412062032894 + ], + [ + 456.7723933530497, + 39.748546995830395 + ], + [ + 405.32785850017524, + 36.9016868360701 + ], + [ + 387.3134186958621, + 65.1897812957688 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00045/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00045/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..afbdb042ac54ca012d7e97d4388b984712a1b753 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00045/meta.json @@ -0,0 +1,2404 @@ +{ + "frame_id": 45, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 22.5, + "sim_timestamp": 15841.959417966427 + }, + "drone_pose": { + "x": -47.99354643324305, + "y": -88.30945607164698, + "z": 20.03886803540016, + "pitch": -41.979178591576975, + "yaw": 86.40675701245107, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.046590209007263184, + -0.7419264912605286, + 0.6688605546951294, + 54.351951599121094 + ], + [ + 0.9980341792106628, + 0.06267279386520386, + 0.0, + -42.364593505859375 + ], + [ + -0.04191938042640686, + 0.6675456762313843, + 0.7433878779411316, + -75.8591079711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.010983151892795, + "y": -87.76374964990136, + "z": 20.00120711082009 + }, + "t1_image_uv": [ + 755.4084566007015, + -390.4551175226992 + ], + "t1_depth": 0.42925159803798624 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -67.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.468712077423216, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 741, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -67.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4746362268924713, + "y": 0.562121570110321, + "z": 0.8678630590438843 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.4235613990332, + "ymin": 326.52789944373956, + "xmax": 660.1010157642744, + "ymax": 392.9999336550612 + }, + "corners_3d": [ + [ + -46.10506057739258, + -67.66239929199219, + 0.1294078826904297 + ], + [ + -47.229305267333984, + -67.66239166259766, + 0.1294078826904297 + ], + [ + -47.229305267333984, + -66.71311950683594, + 0.1294078826904297 + ], + [ + -46.10506057739258, + -66.71312713623047, + 0.1294078826904297 + ], + [ + -46.10506057739258, + -67.66239929199219, + 1.8651340007781982 + ], + [ + -47.229305267333984, + -67.66239166259766, + 1.8651340007781982 + ], + [ + -47.229305267333984, + -66.71311950683594, + 1.8651340007781982 + ], + [ + -46.10506057739258, + -66.71312713623047, + 1.8651340007781982 + ] + ], + "corners_2d": [ + [ + 620.2552362995249, + 391.3648132468447 + ], + [ + 657.7887965379651, + 392.9999336550612 + ], + [ + 659.3065876250275, + 371.4995624671446 + ], + [ + 622.6686183784896, + 369.9418403880867 + ], + [ + 619.4235613990332, + 347.7438927546262 + ], + [ + 658.5395100670398, + 349.3649724875354 + ], + [ + 660.1010157642744, + 328.0691307552114 + ], + [ + 621.9567874345859, + 326.52789944373956 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 45, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 93, + "semantic_pixel_counts": { + "1": 320932, + "2": 263080, + "3": 134957, + "4": 26039, + "5": 936, + "6": 20299, + "7": 3047, + "9": 27047, + "10": 34538, + "12": 3782, + "14": 10498, + "20": 4749, + "21": 9796, + "24": 20106, + "25": 41794 + }, + "instance_pixel_counts": { + "143": 21641, + "339": 3724, + "620": 200, + "883": 23184, + "1679": 16525, + "2703": 55665, + "3749": 260, + "4261": 221, + "5228": 226, + "5714": 573, + "6508": 260, + "6565": 2222, + "7539": 8110, + "8018": 5176, + "8530": 3022, + "8556": 5824, + "8579": 3093, + "8810": 543, + "9042": 422, + "9068": 7804, + "9320": 16345, + "9580": 4121, + "10624": 189, + "11116": 179, + "11368": 16712, + "11370": 486, + "11596": 6544, + "12419": 1, + "12675": 11, + "15698": 13499, + "20308": 2106, + "22381": 3411, + "22784": 10044, + "22893": 10857, + "23441": 10525, + "23552": 9094, + "23953": 12098, + "24465": 2591, + "24941": 3383, + "25928": 936, + "25965": 11055, + "26696": 19495, + "26987": 4145, + "27243": 111, + "27460": 234, + "27559": 52, + "27719": 114611, + "28231": 34393, + "29095": 123, + "30548": 4472, + "30630": 1742, + "30863": 4405, + "31142": 1659, + "31572": 1985, + "31633": 760, + "31654": 1333, + "32145": 15733, + "32911": 8829, + "34372": 37, + "34884": 204, + "37798": 7, + "39239": 41794, + "42391": 1546, + "42918": 696, + "44951": 1788, + "51815": 37720, + "52327": 115534, + "53863": 30282, + "54375": 104339, + "54438": 63, + "54889": 6161, + "55401": 3227, + "56173": 27047, + "56320": 741, + "56425": 5104, + "56576": 609, + "56832": 490, + "56937": 2818, + "57088": 580, + "57344": 469, + "57600": 893, + "58368": 1935, + "58790": 34, + "59522": 1115, + "59762": 7975, + "60274": 5456, + "61094": 3532, + "62827": 625, + "63083": 251, + "63339": 688, + "64594": 1198, + "64654": 9364, + "64850": 169 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 741, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -67.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4789086878299713, + "y": 0.5003442168235779, + "z": 0.8834037780761719 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.55077524982, + "ymin": 326.11435265272866, + "xmax": 658.0149766565619, + "ymax": 393.3839577781887 + }, + "corners_3d": [ + [ + -46.166839599609375, + -67.66667175292969, + 0.11386716365814209 + ], + [ + -47.16752624511719, + -67.66667175292969, + 0.11386716365814209 + ], + [ + -47.16752624511719, + -66.70884704589844, + 0.11386716365814209 + ], + [ + -46.166839599609375, + -66.70884704589844, + 0.11386716365814209 + ], + [ + -46.166839599609375, + -67.66667175292969, + 1.8806747198104858 + ], + [ + -47.16752624511719, + -67.66667175292969, + 1.8806747198104858 + ], + [ + -47.16752624511719, + -66.70884704589844, + 1.8806747198104858 + ], + [ + -46.166839599609375, + -66.70884704589844, + 1.8806747198104858 + ] + ], + "corners_2d": [ + [ + 622.309708961314, + 391.9279819596453 + ], + [ + 655.7097725073986, + 393.3839577781887 + ], + [ + 657.2906485466567, + 371.6927285451587 + ], + [ + 624.6943554359138, + 370.3062528996794 + ], + [ + 621.55077524982, + 347.5236029258052 + ], + [ + 656.3848823546004, + 348.9668644146963 + ], + [ + 658.0149766565619, + 327.48587396388973 + ], + [ + 624.054239679817, + 326.11435265272866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 609, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -64.19005584716797, + "z": 0.9973050951957703 + }, + "extent": { + "x": 0.4506787359714508, + "y": 0.47223880887031555, + "z": 0.9036436080932617 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 499.80242921316176, + "ymin": 260.1211376718177, + "xmax": 535.5097330583068, + "ymax": 324.2638521776029 + }, + "corners_3d": [ + [ + -42.172977447509766, + -64.72907257080078, + 0.09366148710250854 + ], + [ + -43.09681701660156, + -64.53269958496094, + 0.09366148710250854 + ], + [ + -42.9094123840332, + -63.65104293823242, + 0.09366148710250854 + ], + [ + -41.985572814941406, + -63.847408294677734, + 0.09366148710250854 + ], + [ + -42.172977447509766, + -64.72907257080078, + 1.9009487628936768 + ], + [ + -43.09681701660156, + -64.53269958496094, + 1.9009487628936768 + ], + [ + -42.9094123840332, + -63.65104293823242, + 1.9009487628936768 + ], + [ + -41.985572814941406, + -63.847408294677734, + 1.9009487628936768 + ] + ], + "corners_2d": [ + [ + 506.33000828662136, + 324.2638521776029 + ], + [ + 535.5097330583068, + 321.54036014420734 + ], + [ + 533.713584752554, + 304.37639661900937 + ], + [ + 505.1369158539827, + 306.98746028727055 + ], + [ + 500.9254902352835, + 279.6795611715703 + ], + [ + 531.2994594593216, + 276.9988839910227 + ], + [ + 529.5235169846567, + 260.1211376718177 + ], + [ + 499.80242921316176, + 262.68683764804916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 490, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -60.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4747045934200287, + "y": 0.3015991151332855, + "z": 0.9207486510276794 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 705.8658049515835, + "ymin": 199.8056346781546, + "xmax": 728.693446315995, + "ymax": 259.6506265845339 + }, + "corners_3d": [ + [ + -48.67267990112305, + -60.74868392944336, + 0.07652229070663452 + ], + [ + -49.27257537841797, + -60.685630798339844, + 0.07652229070663452 + ], + [ + -49.173336029052734, + -59.74142074584961, + 0.07652229070663452 + ], + [ + -48.57344055175781, + -59.804473876953125, + 0.07652229070663452 + ], + [ + -48.67267990112305, + -60.74868392944336, + 1.9180195331573486 + ], + [ + -49.27257537841797, + -60.685630798339844, + 1.9180195331573486 + ], + [ + -49.173336029052734, + -59.74142074584961, + 1.9180195331573486 + ], + [ + -48.57344055175781, + -59.804473876953125, + 1.9180195331573486 + ] + ], + "corners_2d": [ + [ + 708.3746270244799, + 259.6506265845339 + ], + [ + 725.4601546667483, + 259.22513745123626 + ], + [ + 722.6034084592652, + 243.62686253309093 + ], + [ + 705.8658049515835, + 244.03512757879056 + ], + [ + 710.9630036157816, + 215.4609056290708 + ], + [ + 728.693446315995, + 215.04487979093054 + ], + [ + 725.6623609255147, + 199.8056346781546 + ], + [ + 708.3063156862905, + 200.20420236294757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 580, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -67.18775939941406, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3030664026737213, + "y": 0.5317358374595642, + "z": 0.9013941884040833 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 938.1735060264992, + "ymin": 342.77741721778773, + "xmax": 993.037809846485, + "ymax": 403.73579009872753 + }, + "corners_3d": [ + [ + -55.63544845581055, + -67.49082946777344, + 0.09588170051574707 + ], + [ + -56.698917388916016, + -67.4908218383789, + 0.09588170051574707 + ], + [ + -56.698917388916016, + -66.88468933105469, + 0.09588170051574707 + ], + [ + -55.63544845581055, + -66.88469696044922, + 0.09588170051574707 + ], + [ + -55.63544845581055, + -67.49082946777344, + 1.8986700773239136 + ], + [ + -56.698917388916016, + -67.4908218383789, + 1.8986700773239136 + ], + [ + -56.698917388916016, + -66.88468933105469, + 1.8986700773239136 + ], + [ + -55.63544845581055, + -66.88469696044922, + 1.8986700773239136 + ] + ], + "corners_2d": [ + [ + 941.6073968554083, + 402.15435155381596 + ], + [ + 978.0375598656318, + 403.73579009872753 + ], + [ + 974.0294929681226, + 389.57979574364253 + ], + [ + 938.1735060264992, + 388.04726853121133 + ], + [ + 954.966720228284, + 356.7615313279888 + ], + [ + 993.037809846485, + 358.3303873609792 + ], + [ + 988.6105790290236, + 344.29565222042123 + ], + [ + 951.1661013960604, + 342.77741721778773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 469, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -78.31512451171875, + "z": 0.991265058517456 + }, + "extent": { + "x": 0.47251954674720764, + "y": 0.2903149724006653, + "z": 0.9585579633712769 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 759.933425127849, + "ymin": 676.64722170243, + "xmax": 799.4985664212679, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.94456481933594, + -78.75470733642578, + 0.0327070951461792 + ], + [ + -50.52201461791992, + -78.81539916992188, + 0.0327070951461792 + ], + [ + -50.62079620361328, + -77.87554168701172, + 0.0327070951461792 + ], + [ + -50.0433464050293, + -77.81484985351562, + 0.0327070951461792 + ], + [ + -49.94456481933594, + -78.75470733642578, + 1.949823021888733 + ], + [ + -50.52201461791992, + -78.81539916992188, + 1.949823021888733 + ], + [ + -50.62079620361328, + -77.87554168701172, + 1.949823021888733 + ], + [ + -50.0433464050293, + -77.81484985351562, + 1.949823021888733 + ] + ], + "corners_2d": [ + [ + 759.933425127849, + 763.980318284526 + ], + [ + 787.422761242233, + 768.4708605800229 + ], + [ + 789.7594661501112, + 726.5056064958995 + ], + [ + 763.1658119036632, + 722.3059362810613 + ], + [ + 767.986419589553, + 719.4636861985286 + ], + [ + 797.3589684200588, + 724.0885748836613 + ], + [ + 799.4985664212679, + 680.9534363171772 + ], + [ + 771.1463700651002, + 676.64722170243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 893, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -75.35797882080078, + "z": 1.1458353996276855 + }, + "extent": { + "x": 0.36952391266822815, + "y": 0.4001782238483429, + "z": 0.9311856627464294 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 107.34492170197575, + "ymin": 524.7260179487058, + "xmax": 183.10800945908437, + "ymax": 604.0267703997895 + }, + "corners_3d": [ + [ + -34.95358657836914, + -75.63622283935547, + 0.2146497368812561 + ], + [ + -35.736454010009766, + -75.80262756347656, + 0.2146497368812561 + ], + [ + -35.89011001586914, + -75.0797348022461, + 0.2146497368812561 + ], + [ + -35.107242584228516, + -74.913330078125, + 0.2146497368812561 + ], + [ + -34.95358657836914, + -75.63622283935547, + 2.0770211219787598 + ], + [ + -35.736454010009766, + -75.80262756347656, + 2.0770211219787598 + ], + [ + -35.89011001586914, + -75.0797348022461, + 2.0770211219787598 + ], + [ + -35.107242584228516, + -74.913330078125, + 2.0770211219787598 + ] + ], + "corners_2d": [ + [ + 135.8587579075014, + 596.4129361746009 + ], + [ + 164.39352454447243, + 604.0267703997895 + ], + [ + 183.10800945908437, + 579.2283414625093 + ], + [ + 155.0819536865776, + 571.9504530831241 + ], + [ + 107.34492170197575, + 549.4374161750923 + ], + [ + 137.29682250285396, + 557.1414122388713 + ], + [ + 157.69264975705232, + 532.0714722701622 + ], + [ + 128.29888461093373, + 524.7260179487058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 1935, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 669.5504213702919, + "ymin": 0.0, + "xmax": 716.2067683620008, + "ymax": 55.89670987502308 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 714.4839083294625, + 15.835483506195203 + ], + [ + 672.687742375344, + 14.882003604192164 + ], + [ + 669.5504213702919, + 54.7906913902649 + ], + [ + 714.5628356783209, + 55.89670987502308 + ], + [ + 716.0061465986464, + -13.004023142288133 + ], + [ + 673.35453552852, + -13.922951315731211 + ], + [ + 670.2006217853287, + 24.598569118264436 + ], + [ + 716.2067683620008, + 25.667868991995704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 957.898051062097, + "ymin": 565.1950048290424, + "xmax": 990.1706390956281, + "ymax": 613.9934206216816 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 957.898051062097, + 594.6565651195369 + ], + [ + 961.8811403109437, + 613.1320924930575 + ], + [ + 977.9885492480373, + 613.9934206216816 + ], + [ + 973.7357889151278, + 595.4896221965208 + ], + [ + 969.1507838126595, + 565.1950048290424 + ], + [ + 973.4734103104099, + 583.8225161248268 + ], + [ + 990.1706390956281, + 584.6914712225889 + ], + [ + 985.5584116811517, + 566.0344372860586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1130.608542570747, + "ymin": 574.3514485138817, + "xmax": 1172.6194725015516, + "ymax": 623.4019442933233 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1130.608542570747, + 603.7410504517098 + ], + [ + 1137.5545919310534, + 622.5260605684825 + ], + [ + 1153.9342001993796, + 623.4019442933233 + ], + [ + 1146.709438532786, + 604.5879495133958 + ], + [ + 1148.1235163106035, + 574.3514485138817 + ], + [ + 1155.6297777912769, + 593.3022750805438 + ], + [ + 1172.6194725015516, + 594.1864506534979 + ], + [ + 1164.8135498543247, + 575.2053291587611 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 251.18611829146602, + "ymin": 614.9709684710001, + "xmax": 282.7718946364555, + "ymax": 656.3893786348949 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 262.8528639610177, + 655.6119109652782 + ], + [ + 276.3905390220508, + 656.3893786348949 + ], + [ + 282.7718946364555, + 639.7416555269327 + ], + [ + 269.4241374758941, + 638.986333330879 + ], + [ + 251.18611829146602, + 631.7506411765063 + ], + [ + 265.13479419164105, + 632.5356792160396 + ], + [ + 271.87720961977874, + 615.7329687434576 + ], + [ + 258.1300674639385, + 614.9709684710001 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 816.1223732656028, + "ymin": 557.6829722692132, + "xmax": 840.5232853189724, + "ymax": 606.272510636665 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 816.1223732656028, + 587.1995937915377 + ], + [ + 817.7097344919302, + 605.4230362188455 + ], + [ + 833.5954658481564, + 606.272510636665 + ], + [ + 831.7457151278644, + 588.0213740167064 + ], + [ + 822.3128186847978, + 557.6829722692132 + ], + [ + 824.0640419485458, + 576.0473457234192 + ], + [ + 840.5232853189724, + 576.9039159100433 + ], + [ + 838.4905535820667, + 558.5106434279018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.8200857887502, + "ymin": 461.58010008093714, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1302.1677535493136, + 777.6370053555672 + ], + [ + 1293.258145507711, + 757.5918248332962 + ], + [ + 727.8928777120219, + 719.3708486534555 + ], + [ + 727.8200857887502, + 738.210556742466 + ], + [ + 1559.3635142276098, + 525.4274232955858 + ], + [ + 1541.5156042533986, + 503.2092243020094 + ], + [ + 759.9139033387979, + 461.58010008093714 + ], + [ + 760.4907336730001, + 481.9806110868802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 550.1869975480638, + "xmax": 204.16943702977755, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 159.99120758913705, + 782.8975956547148 + ], + [ + 204.16943702977755, + 681.5933787842432 + ], + [ + 115.58740862852574, + 676.376950195983 + ], + [ + 64.0857466201428, + 776.7537477196438 + ], + [ + 70.65193085957912, + 663.0232496461031 + ], + [ + 130.518604696618, + 555.6329032503253 + ], + [ + 27.42269692541913, + 550.1869975480638 + ], + [ + -42.49690416376177, + 656.4207195573571 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 440.08177852667666, + "xmax": 304.526538792024, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 304.526538792024, + 700.5745806236379 + ], + [ + 285.61769021599895, + 699.2858394607887 + ], + [ + -32.18782603414081, + 1554.5972360081118 + ], + [ + -0.39386906678294054, + 1558.3727390071715 + ], + [ + 184.85544270433883, + 441.45352403896015 + ], + [ + 159.3848360980253, + 440.08177852667666 + ], + [ + -580.7842377554964, + 1658.7604006664592 + ], + [ + -524.7857664097194, + 1665.9750164651696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 316.14188862394025, + "ymin": 78.8421320536736, + "xmax": 415.55905726309595, + "ymax": 229.7156121729695 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 400.6434277654578, + 229.7156121729695 + ], + [ + 415.55905726309595, + 195.57558503508096 + ], + [ + 362.5464268642971, + 193.75292041823116 + ], + [ + 345.0906643307859, + 227.71090095973736 + ], + [ + 377.0770670427913, + 111.83762882458655 + ], + [ + 394.5859213751839, + 80.50678429949897 + ], + [ + 336.6933359561694, + 78.8421320536736 + ], + [ + 316.14188862394025, + 109.98993959110317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 585.3165718618354, + "xmax": 150.7089474084397, + "ymax": 699.9189030769292 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 98.97674901120922, + 699.9189030769292 + ], + [ + 150.7089474084397, + 599.8273967777222 + ], + [ + 58.040660904608444, + 594.733237102071 + ], + [ + -1.7935904250018666, + 693.8613287200603 + ], + [ + 92.26166332815285, + 690.8949033428984 + ], + [ + 145.1466916998179, + 590.4244764153929 + ], + [ + 51.45583680398306, + 585.3165718618354 + ], + [ + -9.718836290548893, + 684.808501148412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 212.07747157767545, + "ymin": 0.0, + "xmax": 305.7928908999881, + "ymax": 24.08567330227936 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 305.7928908999881, + -18.00298799647544 + ], + [ + 297.1614761101418, + -18.210210136129433 + ], + [ + 260.44659571747286, + 23.84099447446863 + ], + [ + 269.80886244504126, + 24.08567330227936 + ], + [ + 266.9727758958248, + -185.84478213317868 + ], + [ + 257.3577323772349, + -185.99614871798758 + ], + [ + 212.07747157767545, + -154.96915375865296 + ], + [ + 222.60816897315158, + -154.78677583472097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 585.3690749024638, + "xmax": 150.58878950851408, + "ymax": 699.7958865367018 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 98.90089835971298, + 699.7958865367018 + ], + [ + 150.58878950851408, + 599.8125024735732 + ], + [ + 58.02422183067597, + 594.7237536253012 + ], + [ + -1.7480171159128304, + 693.7458145371561 + ], + [ + 92.22983621552328, + 690.8307874322657 + ], + [ + 145.0618832394805, + 590.4714655631527 + ], + [ + 51.48263301696147, + 585.3690749024638 + ], + [ + -9.61969216030002, + 684.752124261691 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 325.61162095588116, + "ymin": 107.80562640708754, + "xmax": 399.0944218856256, + "ymax": 148.29992139684168 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 383.25069966223293, + 148.29992139684168 + ], + [ + 399.0944218856256, + 117.72075534429968 + ], + [ + 346.0867295731563, + 116.09979033887566 + ], + [ + 327.68531710552975, + 146.51574538902753 + ], + [ + 381.5412360607212, + 139.78641934001337 + ], + [ + 397.5661451036683, + 109.4150472386149 + ], + [ + 344.2270721759013, + 107.80562640708754 + ], + [ + 325.61162095588116, + 138.0138463945479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 325.56642573759507, + "ymin": 107.78923621939074, + "xmax": 399.14566613252236, + "ymax": 148.37557840825633 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 383.2873323190987, + 148.37557840825633 + ], + [ + 399.14566613252236, + 117.7613485813666 + ], + [ + 346.0760279141505, + 116.13838743745504 + ], + [ + 327.65424917181286, + 146.5890245951742 + ], + [ + 381.5666335491024, + 139.8054070208196 + ], + [ + 397.6075344966044, + 109.40056312938435 + ], + [ + 344.20391838256046, + 107.78923621939074 + ], + [ + 325.56642573759507, + 138.03054671049844 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00048/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00048/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d6bcd07f6798c889e1c327c9e6ade56e04a9fdf --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00048/meta.json @@ -0,0 +1,2404 @@ +{ + "frame_id": 48, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 24.0, + "sim_timestamp": 15875.820644458057 + }, + "drone_pose": { + "x": -48.041066440833006, + "y": -86.75868881685668, + "z": 20.000720246828923, + "pitch": -41.98623428289103, + "yaw": 86.26943501912116, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.04836297035217285, + -0.7417305707931519, + 0.6689520478248596, + 53.29545593261719 + ], + [ + 0.9978810548782349, + 0.06506478786468506, + -2.9802322387695312e-08, + -42.294334411621094 + ], + [ + -0.04352521896362305, + 0.667534589767456, + 0.7433055639266968, + -74.87206268310547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.07715393808406, + "y": -86.38153942421579, + "z": 19.9259144138556 + }, + "t1_image_uv": [ + 817.1985606251594, + -209.4513817598904 + ], + "t1_depth": 0.32803944107674154 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -65.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0000000000001, + 360.0000000000001 + ], + "depth": 28.407790222268876, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 708, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -65.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5237329006195068, + "y": 0.5391601324081421, + "z": 0.9084618091583252 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.9833013623236, + "ymin": 324.33013501209905, + "xmax": 659.5015655499151, + "ymax": 395.18786605964186 + }, + "corners_3d": [ + [ + -46.128021240234375, + -66.21149444580078, + 0.08880913257598877 + ], + [ + -47.20634460449219, + -66.21149444580078, + 0.08880913257598877 + ], + [ + -47.20634460449219, + -65.16402435302734, + 0.08880913257598877 + ], + [ + -46.128021240234375, + -65.16402435302734, + 0.08880913257598877 + ], + [ + -46.128021240234375, + -66.21149444580078, + 1.9057327508926392 + ], + [ + -47.20634460449219, + -66.21149444580078, + 1.9057327508926392 + ], + [ + -47.20634460449219, + -65.16402435302734, + 1.9057327508926392 + ], + [ + -46.128021240234375, + -65.16402435302734, + 1.9057327508926392 + ] + ], + "corners_2d": [ + [ + 620.8323884806252, + 393.5513294165125 + ], + [ + 656.9149932182386, + 395.18786605964186 + ], + [ + 658.6947387713267, + 371.4083464938406 + ], + [ + 623.561545194956, + 369.8571516550155 + ], + [ + 619.9833013623236, + 347.78474958214395 + ], + [ + 657.6657207295318, + 349.40676530924515 + ], + [ + 659.5015655499151, + 325.86396997655817 + ], + [ + 622.8534063497718, + 324.33013501209905 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 48, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 93, + "semantic_pixel_counts": { + "1": 329353, + "2": 260708, + "3": 134407, + "4": 24839, + "5": 1037, + "6": 16843, + "7": 3442, + "9": 30214, + "10": 31734, + "12": 2950, + "14": 11003, + "20": 5461, + "21": 9704, + "24": 11074, + "25": 48831 + }, + "instance_pixel_counts": { + "143": 24451, + "339": 3971, + "620": 216, + "883": 25039, + "1679": 6877, + "2703": 63748, + "3749": 292, + "4261": 236, + "5228": 247, + "5714": 612, + "6508": 272, + "6565": 2355, + "7539": 10219, + "8018": 5637, + "8530": 3180, + "8556": 6442, + "8579": 1403, + "8810": 613, + "9042": 86, + "9068": 8671, + "9320": 19131, + "9580": 2845, + "10624": 200, + "11116": 191, + "11368": 19474, + "11370": 534, + "11596": 7639, + "12419": 2, + "12675": 15, + "15698": 10014, + "20308": 3126, + "20820": 143, + "22381": 1671, + "22784": 7800, + "22893": 12291, + "23441": 10436, + "23552": 9893, + "23953": 13205, + "24465": 497, + "24941": 1555, + "25928": 1037, + "25965": 12513, + "26696": 17200, + "26987": 4803, + "27243": 113, + "27460": 247, + "27559": 143, + "27719": 113986, + "28231": 31641, + "29095": 99, + "30548": 4852, + "30630": 1846, + "30863": 5160, + "31142": 1736, + "31572": 673, + "31633": 3, + "31654": 1432, + "32145": 15159, + "32911": 10322, + "34372": 39, + "34884": 221, + "37798": 5, + "39239": 48831, + "42391": 1807, + "44951": 2072, + "51815": 24855, + "52327": 130535, + "53863": 16636, + "54375": 118722, + "54438": 33, + "54889": 862, + "55401": 3625, + "56173": 30214, + "56320": 708, + "56425": 334, + "56576": 617, + "56832": 493, + "56937": 3198, + "57088": 585, + "57344": 428, + "57600": 119, + "58368": 2209, + "58790": 55, + "59522": 1189, + "59762": 8926, + "60274": 5899, + "61094": 2295, + "62827": 708, + "63083": 277, + "63339": 733, + "64594": 1638, + "64654": 4255, + "64850": 190 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 708, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -65.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4809936285018921, + "y": 0.541369616985321, + "z": 0.9103744029998779 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.0257081550573, + "ymin": 325.20869823664765, + "xmax": 659.5048187482757, + "ymax": 394.2418235242918 + }, + "corners_3d": [ + [ + -46.12581253051758, + -66.16875457763672, + 0.08689653873443604 + ], + [ + -47.208553314208984, + -66.16875457763672, + 0.08689653873443604 + ], + [ + -47.208553314208984, + -65.2067642211914, + 0.08689653873443604 + ], + [ + -46.12581253051758, + -65.2067642211914, + 0.08689653873443604 + ], + [ + -46.12581253051758, + -66.16875457763672, + 1.907645344734192 + ], + [ + -47.208553314208984, + -66.16875457763672, + 1.907645344734192 + ], + [ + -47.208553314208984, + -65.2067642211914, + 1.907645344734192 + ], + [ + -46.12581253051758, + -65.2067642211914, + 1.907645344734192 + ] + ], + "corners_2d": [ + [ + 620.8738008759104, + 392.6022050094181 + ], + [ + 657.0627004057923, + 394.2418235242918 + ], + [ + 658.6953172575327, + 372.40313642012853 + ], + [ + 623.3818217107041, + 370.84220912325065 + ], + [ + 620.0257081550573, + 346.74815952077194 + ], + [ + 657.8207386955049, + 348.37303914167137 + ], + [ + 659.5048187482757, + 326.7522637429445 + ], + [ + 622.6635967168628, + 325.20869823664765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 617, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -62.69005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.44406741857528687, + "y": 0.4376806914806366, + "z": 0.857887327671051 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 501.07149405968426, + "ymin": 261.1362955306883, + "xmax": 534.3547668761995, + "ymax": 322.6627635473644 + }, + "corners_3d": [ + [ + -42.205406188964844, + -63.21541976928711, + 0.13937872648239136 + ], + [ + -43.06163787841797, + -63.03342056274414, + 0.13937872648239136 + ], + [ + -42.876983642578125, + -62.16469192504883, + 0.13937872648239136 + ], + [ + -42.020751953125, + -62.3466911315918, + 0.13937872648239136 + ], + [ + -42.205406188964844, + -63.21541976928711, + 1.8551533222198486 + ], + [ + -43.06163787841797, + -63.03342056274414, + 1.8551533222198486 + ], + [ + -42.876983642578125, + -62.16469192504883, + 1.8551533222198486 + ], + [ + -42.020751953125, + -62.3466911315918, + 1.8551533222198486 + ] + ], + "corners_2d": [ + [ + 507.2371104415604, + 322.6627635473644 + ], + [ + 534.3547668761995, + 320.17728885222186 + ], + [ + 532.6676778492393, + 303.2345217611745 + ], + [ + 506.10416779030993, + 305.61870665454103 + ], + [ + 502.13793006217134, + 280.2585810200875 + ], + [ + 530.3097936254499, + 277.8103220483408 + ], + [ + 528.6457588616406, + 261.1362955306883 + ], + [ + 501.07149405968426, + 263.4810773474686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 493, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -58.745052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.48344969749450684, + "y": 0.4551098644733429, + "z": 0.9034271836280823 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 702.2041222573824, + "ymin": 199.7984860305414, + "xmax": 733.8387923514396, + "ymax": 259.3948414157835 + }, + "corners_3d": [ + [ + -48.52092361450195, + -59.2734260559082, + 0.09384375810623169 + ], + [ + -49.4261589050293, + -59.178279876708984, + 0.09384375810623169 + ], + [ + -49.32509231567383, + -58.216678619384766, + 0.09384375810623169 + ], + [ + -48.419857025146484, + -58.311824798583984, + 0.09384375810623169 + ], + [ + -48.52092361450195, + -59.2734260559082, + 1.900698184967041 + ], + [ + -49.4261589050293, + -59.178279876708984, + 1.900698184967041 + ], + [ + -49.32509231567383, + -58.216678619384766, + 1.900698184967041 + ], + [ + -48.419857025146484, + -58.311824798583984, + 1.900698184967041 + ] + ], + "corners_2d": [ + [ + 704.6217392215237, + 259.3948414157835 + ], + [ + 730.4738271081678, + 258.78805775057583 + ], + [ + 727.5187956313492, + 242.87628080254314 + ], + [ + 702.2041222573824, + 243.45800284296533 + ], + [ + 707.0271788554874, + 215.94367395465787 + ], + [ + 733.8387923514396, + 215.35014541086193 + ], + [ + 730.703481130706, + 199.7984860305414 + ], + [ + 704.4694697801438, + 200.366617774602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 585, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -65.68775939941406, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.31522947549819946, + "y": 0.414619117975235, + "z": 0.8803325295448303 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 942.9815034123849, + "ymin": 343.6827316868717, + "xmax": 989.6763081463016, + "ymax": 403.99971107586066 + }, + "corners_3d": [ + [ + -55.7525634765625, + -66.00299072265625, + 0.116943359375 + ], + [ + -56.58180236816406, + -66.00299072265625, + 0.116943359375 + ], + [ + -56.58180236816406, + -65.37252807617188, + 0.116943359375 + ], + [ + -55.7525634765625, + -65.37252807617188, + 0.116943359375 + ], + [ + -55.7525634765625, + -66.00299072265625, + 1.8776084184646606 + ], + [ + -56.58180236816406, + -66.00299072265625, + 1.8776084184646606 + ], + [ + -56.58180236816406, + -65.37252807617188, + 1.8776084184646606 + ], + [ + -55.7525634765625, + -65.37252807617188, + 1.8776084184646606 + ] + ], + "corners_2d": [ + [ + 946.5934989064726, + 402.7140779155971 + ], + [ + 975.114787525919, + 403.99971107586066 + ], + [ + 971.0338566590065, + 389.23163280686913 + ], + [ + 942.9815034123849, + 387.9874523731405 + ], + [ + 959.8960209646525, + 358.28508917723326 + ], + [ + 989.6763081463016, + 359.5608506041374 + ], + [ + 985.1740996229998, + 344.91561788338396 + ], + [ + 955.9046825604077, + 343.6827316868717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 428, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -76.81512451171875, + "z": 0.9947709441184998 + }, + "extent": { + "x": 0.481687068939209, + "y": 0.30643314123153687, + "z": 0.9348058700561523 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 758.2918238569054, + "ymin": 677.941516619685, + "xmax": 799.459176359707, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.927574157714844, + -77.26213836669922, + 0.05996507406234741 + ], + [ + -50.537086486816406, + -77.32620239257812, + 0.05996507406234741 + ], + [ + -50.637786865234375, + -76.36811065673828, + 0.05996507406234741 + ], + [ + -50.02827453613281, + -76.30404663085938, + 0.05996507406234741 + ], + [ + -49.927574157714844, + -77.26213836669922, + 1.9295768737792969 + ], + [ + -50.537086486816406, + -77.32620239257812, + 1.9295768737792969 + ], + [ + -50.637786865234375, + -76.36811065673828, + 1.9295768737792969 + ], + [ + -50.02827453613281, + -76.30404663085938, + 1.9295768737792969 + ] + ], + "corners_2d": [ + [ + 758.2918238569054, + 765.1986574002167 + ], + [ + 787.4284417910557, + 770.032726432257 + ], + [ + 789.9264535246172, + 727.0535368856615 + ], + [ + 761.760011169448, + 722.5395483662628 + ], + [ + 766.0614996465611, + 721.7495298268847 + ], + [ + 797.1511919420341, + 726.7259956226436 + ], + [ + 799.459176359707, + 682.5679438357186 + ], + [ + 769.4716505306876, + 677.941516619685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 119, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -73.85797882080078, + "z": 1.1456890106201172 + }, + "extent": { + "x": 0.3876049816608429, + "y": 0.5019384622573853, + "z": 0.9309439659118652 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 101.30658840381625, + "ymin": 522.705315090858, + "xmax": 185.6658965695267, + "ymax": 605.3165710395208 + }, + "corners_3d": [ + [ + -34.85029220581055, + -74.13275146484375, + 0.21474504470825195 + ], + [ + -35.83222961425781, + -74.34147644042969, + 0.21474504470825195 + ], + [ + -35.993404388427734, + -73.58320617675781, + 0.21474504470825195 + ], + [ + -35.01146697998047, + -73.37448120117188, + 0.21474504470825195 + ], + [ + -34.85029220581055, + -74.13275146484375, + 2.0766329765319824 + ], + [ + -35.83222961425781, + -74.34147644042969, + 2.0766329765319824 + ], + [ + -35.993404388427734, + -73.58320617675781, + 2.0766329765319824 + ], + [ + -35.01146697998047, + -73.37448120117188, + 2.0766329765319824 + ] + ], + "corners_2d": [ + [ + 130.17849321311968, + 595.6596174821934 + ], + [ + 165.96877530403117, + 605.3165710395208 + ], + [ + 185.6658965695267, + 579.2368344029738 + ], + [ + 150.54242535258334, + 570.0267349985863 + ], + [ + 101.30658840381625, + 548.5964521409667 + ], + [ + 138.87449590448472, + 558.3684373335695 + ], + [ + 160.34200620293745, + 532.0003458712579 + ], + [ + 123.50558487576438, + 522.705315090858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2209, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 669.4190255928225, + "ymin": 0.0, + "xmax": 717.3228965960006, + "ymax": 69.36541852388376 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 715.681424627019, + 27.334521972144728 + ], + [ + 672.8691002475483, + 26.293940445688236 + ], + [ + 669.4190255928225, + 68.15387654420033 + ], + [ + 715.6107947461112, + 69.36541852388376 + ], + [ + 717.2668635865195, + -1.9806472115673728 + ], + [ + 673.5562933758996, + -2.9843688523159813 + ], + [ + 670.0837392455024, + 37.457878759770665 + ], + [ + 717.3228965960006, + 38.630380065084864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 974.0690986286904, + "ymin": 644.683633114206, + "xmax": 1009.7889442463941, + "ymax": 695.7522727983592 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 974.0690986286904, + 673.4172641493747 + ], + [ + 978.5897707918191, + 694.7197107556196 + ], + [ + 995.9440976459099, + 695.7522727983592 + ], + [ + 991.1109283014914, + 674.4134368241344 + ], + [ + 986.811958396402, + 644.683633114206 + ], + [ + 991.7478259720015, + 666.2738414875506 + ], + [ + 1009.7889442463941, + 667.3211095825058 + ], + [ + 1004.515602339606, + 645.692598250155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1160.0716023410664, + "ymin": 655.6994756505187, + "xmax": 1207.1479271358994, + "ymax": 707.0433675536258 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1160.0716023410664, + 684.289958877154 + ], + [ + 1168.03176759906, + 705.9912868212639 + ], + [ + 1185.7141461395895, + 707.0433675536258 + ], + [ + 1177.4297696321196, + 685.3046229285649 + ], + [ + 1180.0996618549095, + 655.6994756505187 + ], + [ + 1188.7523208918049, + 677.7097468984202 + ], + [ + 1207.1479271358994, + 678.7775926502072 + ], + [ + 1198.144649680317, + 656.7278946388847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 218.9089150330185, + "ymin": 684.5360693381838, + "xmax": 253.9952215561417, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 232.35012875028877, + 726.612990158397 + ], + [ + 246.71528705898976, + 727.5241929022591 + ], + [ + 253.9952215561417, + 708.7487475240649 + ], + [ + 239.84361132255344, + 707.8651075219707 + ], + [ + 218.9089150330185, + 703.5292998775822 + ], + [ + 233.73780890488763, + 704.4529135257798 + ], + [ + 241.45846435877934, + 685.4308449803284 + ], + [ + 226.85701173713414, + 684.5360693381838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 821.6475571497231, + "ymin": 635.6627955872133, + "xmax": 848.2204130530847, + "ymax": 686.5030527253693 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 821.6475571497231, + 664.5079416712599 + ], + [ + 823.3968903782156, + 685.4863435681941 + ], + [ + 840.4847707852714, + 686.5030527253693 + ], + [ + 838.4323373236371, + 665.4890889761807 + ], + [ + 828.5219763104473, + 635.6627955872133 + ], + [ + 830.46692570287, + 656.912085852299 + ], + [ + 848.2204130530847, + 657.9426576560074 + ], + [ + 845.9485180074896, + 636.6559684898311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.0001429816225, + "ymin": 537.3108109397489, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1337.506449701883, + 855.7325839935145 + ], + [ + 1327.5122990368563, + 833.1505739023546 + ], + [ + 727.1404970280724, + 788.8204397683644 + ], + [ + 727.0001429816225, + 809.9181161728422 + ], + [ + 1632.7852467296884, + 614.0207777080357 + ], + [ + 1611.7282305122512, + 587.7773072086679 + ], + [ + 761.498959526951, + 537.3108109397489 + ], + [ + 762.0888558164595, + 561.1576293483051 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 616.6916826016655, + "xmax": 173.9684470710834, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 124.07060211805617, + 859.1610023296449 + ], + [ + 173.9684470710834, + 745.8253774308307 + ], + [ + 80.67838577809516, + 739.7973267874245 + ], + [ + 22.627551482974013, + 851.993228017116 + ], + [ + 20.959842712318505, + 745.7351794511465 + ], + [ + 89.9696320940385, + 623.1020604707761 + ], + [ + -19.56189614440268, + 616.6916826016655 + ], + [ + -99.97940531678944, + 737.8587988257725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 511.04921645065247, + "xmax": 279.62421298908833, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 279.62421298908833, + 766.752966578086 + ], + [ + 259.6843876635899, + 765.2679235387013 + ], + [ + -112.9401481350485, + 1758.720561224724 + ], + [ + -78.13846804566776, + 1763.444465615053 + ], + [ + 140.89150047407264, + 512.694003415858 + ], + [ + 113.5123686932742, + 511.04921645065247 + ], + [ + -850.8122839378987, + 2084.09342390947 + ], + [ + -784.8205046682942, + 2094.813621901985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 301.5465686704963, + "ymin": 97.91115142143718, + "xmax": 406.2638187195713, + "ymax": 253.26491405067242 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 390.2145498676298, + 253.26491405067242 + ], + [ + 406.2638187195713, + 216.87811188921347 + ], + [ + 351.5887301422348, + 214.8646141730971 + ], + [ + 332.8347688127433, + 251.04332553472727 + ], + [ + 364.6886029091793, + 133.34949950822684 + ], + [ + 383.63684771609934, + 99.76026079792626 + ], + [ + 323.75441744165624, + 97.91115142143718 + ], + [ + 301.5465686704963, + 131.28926289672626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 651.6054544532282, + "xmax": 113.41372090802281, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 54.19337790348675, + 780.2949949643714 + ], + [ + 113.41372090802281, + 666.7838145502844 + ], + [ + 15.233557661139912, + 660.8223392892371 + ], + [ + -53.12211319349274, + 773.1250238272842 + ], + [ + 46.41086917964651, + 771.7073859778316 + ], + [ + 107.04376749392304, + 657.5913006865467 + ], + [ + 7.7148952284735515, + 651.6054544532282 + ], + [ + -62.27823268604686, + 764.4912771772777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 199.62951189803192, + "ymin": 0.0, + "xmax": 297.9955355814204, + "ymax": 35.6149734485175 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 297.9955355814204, + -8.35193035474498 + ], + [ + 289.18351832754973, + -8.576264580451777 + ], + [ + 250.61093430902469, + 35.34908254427762 + ], + [ + 260.1856594518599, + 35.6149734485175 + ], + [ + 257.2783091637944, + -179.2019469395491 + ], + [ + 247.43833464402263, + -179.36644082528505 + ], + [ + 199.62951189803192, + -146.81632202143544 + ], + [ + 210.43009607516422, + -146.61717425195883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 651.6648853251955, + "xmax": 113.28120801742693, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 54.11109923940501, + 780.1658355883894 + ], + [ + 113.28120801742693, + 666.7762573264533 + ], + [ + 15.210265778781604, + 660.8210394387748 + ], + [ + -53.07528645166565, + 773.0047311031506 + ], + [ + 46.379639525284915, + 771.6340503081675 + ], + [ + 106.95168179441646, + 657.6442913363776 + ], + [ + 7.740878579129003, + 651.6648853251955 + ], + [ + -62.16951825612432, + 764.4271835250725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 311.71858485439554, + "ymin": 127.50150587494983, + "xmax": 388.59304069560477, + "ymax": 170.4745140867354 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 371.47923216749655, + 170.4745140867354 + ], + [ + 388.59304069560477, + 137.75196639412943 + ], + [ + 333.81162247334044, + 135.95432235574853 + ], + [ + 313.96302647207875, + 168.4891498532751 + ], + [ + 369.62523747831773, + 161.80091501359968 + ], + [ + 386.9419792897654, + 129.28705438887417 + ], + [ + 331.8064656037389, + 127.50150587494983 + ], + [ + 311.71858485439554, + 159.8275917653932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 311.67131544098237, + "ymin": 127.48393634088336, + "xmax": 388.6468547897688, + "ymax": 170.55261831369927 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 371.5172929338596, + 170.55261831369927 + ], + [ + 388.6468547897688, + 137.79262999456975 + ], + [ + 333.8015409326449, + 135.99278020875852 + ], + [ + 313.93104633525985, + 168.56461013687343 + ], + [ + 369.65110934546135, + 161.8213007634836 + ], + [ + 386.98515030868276, + 129.27159628603258 + ], + [ + 331.78296677785886, + 127.48393634088336 + ], + [ + 311.67131544098237, + 159.84542722430658 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00049/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00049/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04b1d7b62bb0ad5d0aa7603d806c7bc9ab5c1ecc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00049/meta.json @@ -0,0 +1,2397 @@ +{ + "frame_id": 49, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 24.5, + "sim_timestamp": 15888.069107392104 + }, + "drone_pose": { + "x": -48.07715393808406, + "y": -86.38153942421579, + "z": 19.9259144138556, + "pitch": -42.83740346207875, + "yaw": 89.9374309694083, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.0008007287979125977, + -0.7332857847213745, + 0.6799201965332031, + 49.83281707763672 + ], + [ + 0.9999994039535522, + 0.0010919570922851562, + 2.9802322387695312e-08, + -47.982791900634766 + ], + [ + -0.0007424652576446533, + 0.6799197196960449, + 0.7332861423492432, + -73.37960815429688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.08280552844416, + "y": -85.7533696903137, + "z": 20.000417101197122 + }, + "t1_image_uv": [ + 654.8403662227965, + -768.0486888250678 + ], + "t1_depth": 0.40996749327495297 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -65.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 593.1414912462421, + 342.058352784218 + ], + "depth": 28.41218861111781, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 749, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -65.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4849853515625, + "y": 0.5483251810073853, + "z": 0.874793529510498 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 572.3341913212105, + "ymin": 308.7982602614067, + "xmax": 612.6024021566551, + "ymax": 374.76403485364654 + }, + "corners_3d": [ + [ + -46.118858337402344, + -65.67274475097656, + 0.12247741222381592 + ], + [ + -47.21550750732422, + -65.67274475097656, + 0.12247741222381592 + ], + [ + -47.21550750732422, + -64.70277404785156, + 0.12247741222381592 + ], + [ + -46.118858337402344, + -64.70277404785156, + 0.12247741222381592 + ], + [ + -46.118858337402344, + -65.67274475097656, + 1.872064471244812 + ], + [ + -47.21550750732422, + -65.67274475097656, + 1.872064471244812 + ], + [ + -47.21550750732422, + -64.70277404785156, + 1.872064471244812 + ], + [ + -46.118858337402344, + -64.70277404785156, + 1.872064471244812 + ] + ], + "corners_2d": [ + [ + 575.1435748029636, + 374.7362999861046 + ], + [ + 611.8867584344168, + 374.76403485364654 + ], + [ + 612.6024021566551, + 352.84388437869626 + ], + [ + 576.7492328058144, + 352.8174769087871 + ], + [ + 572.3341913212105, + 330.5264513581802 + ], + [ + 610.668939198886, + 330.5539738954467 + ], + [ + 611.4455467081184, + 308.8244106549059 + ], + [ + 574.0785711552462, + 308.7982602614067 + ] + ], + "center_offset_px": [ + -46.85850875375786, + -17.941647215781984 + ] + }, + "trace_timestep_index": 49, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 86, + "semantic_pixel_counts": { + "1": 335224, + "2": 259981, + "3": 103317, + "4": 30658, + "5": 1095, + "6": 16131, + "7": 2766, + "9": 32461, + "10": 47188, + "12": 4245, + "14": 14351, + "20": 5858, + "21": 13474, + "24": 11116, + "25": 43735 + }, + "instance_pixel_counts": { + "143": 26042, + "339": 2950, + "620": 206, + "883": 23194, + "1679": 12179, + "2703": 61832, + "3749": 283, + "4261": 231, + "5228": 218, + "5714": 598, + "6508": 308, + "6565": 2519, + "7539": 11227, + "8018": 6246, + "8530": 52, + "8556": 4981, + "8579": 695, + "8810": 585, + "9068": 9659, + "9320": 17827, + "10624": 220, + "11116": 202, + "11368": 17252, + "11370": 481, + "11596": 6576, + "12419": 3, + "12675": 14, + "15698": 1966, + "20308": 2963, + "20820": 11, + "22381": 1301, + "22784": 6329, + "22893": 13036, + "23441": 3448, + "23552": 10598, + "23953": 14588, + "24941": 2437, + "25928": 1095, + "25965": 12232, + "26696": 24082, + "26987": 5214, + "27243": 113, + "27460": 220, + "27719": 110860, + "28231": 47113, + "30548": 4597, + "30630": 2004, + "30863": 4977, + "31142": 1871, + "31572": 4801, + "31654": 1534, + "32145": 9164, + "32911": 8768, + "34372": 39, + "34884": 208, + "37798": 4, + "39239": 43735, + "42391": 1725, + "42918": 3215, + "44951": 1791, + "51815": 24737, + "52327": 135283, + "53863": 21353, + "54375": 118772, + "54889": 845, + "55401": 3842, + "56173": 32461, + "56320": 749, + "56425": 567, + "56576": 634, + "56832": 489, + "56937": 3175, + "57088": 565, + "57344": 928, + "57600": 880, + "58368": 1979, + "59522": 1275, + "59762": 8529, + "60274": 5712, + "61803": 69, + "62827": 678, + "63083": 267, + "63339": 715, + "64594": 1395, + "64654": 2801, + "64850": 206 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 749, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -65.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.48085203766822815, + "y": 0.50286865234375, + "z": 0.8863220810890198 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 573.9117031710794, + "ymin": 308.5872500234205, + "xmax": 611.1208309708516, + "ymax": 374.94626505922736 + }, + "corners_3d": [ + [ + -46.16431427001953, + -65.66860961914062, + 0.11094886064529419 + ], + [ + -47.17005157470703, + -65.66860961914062, + 0.11094886064529419 + ], + [ + -47.17005157470703, + -64.7069091796875, + 0.11094886064529419 + ], + [ + -46.16431427001953, + -64.7069091796875, + 0.11094886064529419 + ], + [ + -46.16431427001953, + -65.66860961914062, + 1.8835930824279785 + ], + [ + -47.17005157470703, + -65.66860961914062, + 1.8835930824279785 + ], + [ + -47.17005157470703, + -64.7069091796875, + 1.8835930824279785 + ], + [ + -46.16431427001953, + -64.7069091796875, + 1.8835930824279785 + ] + ], + "corners_2d": [ + [ + 576.690700550902, + 374.9208338975348 + ], + [ + 610.3751061756165, + 374.94626505922736 + ], + [ + 611.1208309708516, + 353.21222029980584 + ], + [ + 578.2452589720455, + 353.18799583312466 + ], + [ + 573.9117031710794, + 330.12856007096724 + ], + [ + 609.0746666209084, + 330.1537937125583 + ], + [ + 609.8848710914268, + 308.61123574974613 + ], + [ + 575.602378233963, + 308.5872500234205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 634, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -62.19005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4513550102710724, + "y": 0.48313483595848083, + "z": 0.917242169380188 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 447.1278988938774, + "ymin": 245.85502014474974, + "xmax": 486.8459207498733, + "ymax": 312.32830213091455 + }, + "corners_3d": [ + [ + -42.16246032714844, + -62.731998443603516, + 0.0800238847732544 + ], + [ + -43.10761260986328, + -62.531097412109375, + 0.0800238847732544 + ], + [ + -42.91992950439453, + -61.64811325073242, + 0.0800238847732544 + ], + [ + -41.97477722167969, + -61.84901428222656, + 0.0800238847732544 + ], + [ + -42.16246032714844, + -62.731998443603516, + 1.9145082235336304 + ], + [ + -43.10761260986328, + -62.531097412109375, + 1.9145082235336304 + ], + [ + -42.91992950439453, + -61.64811325073242, + 1.9145082235336304 + ], + [ + -41.97477722167969, + -61.84901428222656, + 1.9145082235336304 + ] + ], + "corners_2d": [ + [ + 456.6904146313459, + 312.32830213091455 + ], + [ + 486.8459207498733, + 308.34362978237414 + ], + [ + 484.315043785291, + 291.17803563033317 + ], + [ + 454.76798431758994, + 295.0008551157059 + ], + [ + 448.9641567370734, + 266.6804001442228 + ], + [ + 480.4224902543252, + 262.7535670307993 + ], + [ + 477.9246284668483, + 245.85502014474974 + ], + [ + 447.1278988938774, + 249.61585753446542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 489, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -58.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4832128882408142, + "y": 0.4167138636112213, + "z": 0.9094677567481995 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 651.4874207630377, + "ymin": 178.98325656784675, + "xmax": 679.5366461090689, + "ymax": 239.7194661340362 + }, + "corners_3d": [ + [ + -48.559085845947266, + -58.7691764831543, + 0.0878031849861145 + ], + [ + -49.38794708251953, + -58.68206024169922, + 0.0878031849861145 + ], + [ + -49.286930084228516, + -57.72092819213867, + 0.0878031849861145 + ], + [ + -48.45806884765625, + -57.80804443359375, + 0.0878031849861145 + ], + [ + -48.559085845947266, + -58.7691764831543, + 1.9067387580871582 + ], + [ + -49.38794708251953, + -58.68206024169922, + 1.9067387580871582 + ], + [ + -49.286930084228516, + -57.72092819213867, + 1.9067387580871582 + ], + [ + -48.45806884765625, + -57.80804443359375, + 1.9067387580871582 + ] + ], + "corners_2d": [ + [ + 654.572157322011, + 239.7194661340362 + ], + [ + 678.0899666983428, + 238.2795340263247 + ], + [ + 674.5304450875838, + 222.58187931017633 + ], + [ + 651.4874207630377, + 223.96352774281615 + ], + [ + 655.1266930507212, + 195.74259251445068 + ], + [ + 679.5366461090689, + 194.333349180478 + ], + [ + 675.8141438663768, + 178.98325656784675 + ], + [ + 651.9152885150421, + 180.3333585602949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 565, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -65.18775939941406, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.2995288074016571, + "y": 0.5258007645606995, + "z": 0.8884238004684448 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 889.213463392287, + "ymin": 312.7386425545267, + "xmax": 940.6874280274951, + "ymax": 371.0564415562236 + }, + "corners_3d": [ + [ + -55.64138412475586, + -65.48728942871094, + 0.1088520884513855 + ], + [ + -56.69298553466797, + -65.48728942871094, + 0.1088520884513855 + ], + [ + -56.6929817199707, + -64.88822937011719, + 0.1088520884513855 + ], + [ + -55.641380310058594, + -64.88822937011719, + 0.1088520884513855 + ], + [ + -55.64138412475586, + -65.48728942871094, + 1.88569974899292 + ], + [ + -56.69298553466797, + -65.48728942871094, + 1.88569974899292 + ], + [ + -56.6929817199707, + -64.88822937011719, + 1.88569974899292 + ], + [ + -55.641380310058594, + -64.88822937011719, + 1.88569974899292 + ] + ], + "corners_2d": [ + [ + 892.994389830112, + 371.0300815619985 + ], + [ + 928.0690598422989, + 371.0564415562236 + ], + [ + 923.7608671989221, + 357.5119269020355 + ], + [ + 889.213463392287, + 357.486353301013 + ], + [ + 904.0760342584547, + 326.1629240462091 + ], + [ + 940.6874280274951, + 326.1890687960174 + ], + [ + 935.9956553368706, + 312.7639739689006 + ], + [ + 899.9583639234446, + 312.7386425545267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 928, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -76.31512451171875, + "z": 0.9959380030632019 + }, + "extent": { + "x": 0.4785132110118866, + "y": 0.2887597978115082, + "z": 0.9289674758911133 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 727.745956669698, + "ymin": 648.7592885749762, + "xmax": 762.9360162960164, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.94548416137695, + -76.76083374023438, + 0.06697052717208862 + ], + [ + -50.519840240478516, + -76.82119750976562, + 0.06697052717208862 + ], + [ + -50.619876861572266, + -75.86941528320312, + 0.06697052717208862 + ], + [ + -50.0455207824707, + -75.80905151367188, + 0.06697052717208862 + ], + [ + -49.94548416137695, + -76.76083374023438, + 1.92490553855896 + ], + [ + -50.519840240478516, + -76.82119750976562, + 1.92490553855896 + ], + [ + -50.619876861572266, + -75.86941528320312, + 1.92490553855896 + ], + [ + -50.0455207824707, + -75.80905151367188, + 1.92490553855896 + ] + ], + "corners_2d": [ + [ + 727.745956669698, + 734.6631685830516 + ], + [ + 754.816430941999, + 737.4210340736253 + ], + [ + 755.6136671132654, + 695.7138517585508 + ], + [ + 729.4303578106801, + 693.1343033812207 + ], + [ + 733.4914525178365, + 691.4022775098892 + ], + [ + 762.3519365036506, + 694.2406237761891 + ], + [ + 762.9360162960164, + 651.4027100640467 + ], + [ + 735.0817247048685, + 648.7592885749762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 880, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -73.35797882080078, + "z": 1.145645022392273 + }, + "extent": { + "x": 0.3491857945919037, + "y": 0.4661620855331421, + "z": 0.9323647618293762 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 52.39357447512191, + "ymin": 531.132444350222, + "xmax": 137.55034723647537, + "ymax": 609.6976523073879 + }, + "corners_3d": [ + [ + -34.893272399902344, + -73.60261535644531, + 0.21328026056289673 + ], + [ + -35.80522537231445, + -73.79645538330078, + 0.21328026056289673 + ], + [ + -35.95042419433594, + -73.11334228515625, + 0.21328026056289673 + ], + [ + -35.03847122192383, + -72.91950225830078, + 0.21328026056289673 + ], + [ + -34.893272399902344, + -73.60261535644531, + 2.078009843826294 + ], + [ + -35.80522537231445, + -73.79645538330078, + 2.078009843826294 + ], + [ + -35.95042419433594, + -73.11334228515625, + 2.078009843826294 + ], + [ + -35.03847122192383, + -72.91950225830078, + 2.078009843826294 + ] + ], + "corners_2d": [ + [ + 85.09200907186437, + 602.5502239139198 + ], + [ + 120.24860180252654, + 609.6976523073879 + ], + [ + 137.55034723647537, + 585.0314074713065 + ], + [ + 103.04372475997525, + 578.1890476104313 + ], + [ + 52.39357447512191, + 555.8338626271973 + ], + [ + 89.41707558415851, + 563.093000006697 + ], + [ + 108.42753266818238, + 538.0640511211509 + ], + [ + 72.12280743118538, + 531.132444350222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 1979, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 609.3890331561848, + "ymin": 0.0, + "xmax": 657.1380121677289, + "ymax": 54.578873769928066 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 655.0636072089575, + 11.707065019292145 + ], + [ + 611.8140285270041, + 11.792973266495267 + ], + [ + 610.0847507175586, + 54.578873769928066 + ], + [ + 656.7485708024492, + 54.478866099828394 + ], + [ + 655.3876920348869, + -18.061195776832108 + ], + [ + 611.2075253846019, + -17.978260239391545 + ], + [ + 609.3890331561848, + 23.39753935843578 + ], + [ + 657.1380121677289, + 23.30066346047198 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 939.048283573167, + "ymin": 628.9741212321406, + "xmax": 974.1723092558806, + "ymax": 678.8712101196863 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 939.048283573167, + 657.605242160465 + ], + [ + 944.3726984614275, + 678.8539781026706 + ], + [ + 961.4643867553141, + 678.8712101196863 + ], + [ + 955.8394959008928, + 657.6218737691942 + ], + [ + 950.6540563410671, + 628.9741212321406 + ], + [ + 956.4047851041948, + 650.5303754123204 + ], + [ + 974.1723092558806, + 650.547868971938 + ], + [ + 968.0970975719847, + 628.9909818334145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1120.8171656665945, + "ymin": 629.1566422406866, + "xmax": 1166.5172382782703, + "ymax": 679.0577565949839 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1120.8171656665945, + 657.7852832955014 + ], + [ + 1129.394760020985, + 679.040519259884 + ], + [ + 1146.4917230911828, + 679.0577565949839 + ], + [ + 1137.613468939755, + 657.8019199467856 + ], + [ + 1139.4801501358934, + 629.1566422406866 + ], + [ + 1148.744013961391, + 650.7197488859733 + ], + [ + 1166.5172382782703, + 650.7372480578631 + ], + [ + 1156.928685235328, + 629.1735081523832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 170.54749853119216, + "ymin": 711.7780341057611, + "xmax": 208.33345204369152, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 186.2989130499302, + 754.3576791234733 + ], + [ + 201.4828605642379, + 754.37395407805 + ], + [ + 208.33345204369152, + 734.3723473739667 + ], + [ + 193.38585158469937, + 734.3565753180458 + ], + [ + 170.54749853119216, + 732.1039930351305 + ], + [ + 186.25839672374246, + 732.1205412735789 + ], + [ + 193.58816173429858, + 711.7940536759287 + ], + [ + 178.1301632289289, + 711.7780341057611 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.6163500233318, + "ymin": 628.8224891651732, + "xmax": 813.9320535668232, + "ymax": 678.7162329367395 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 787.6163500233318, + 657.4556686747246 + ], + [ + 790.2313033120762, + 678.6990053372036 + ], + [ + 807.3186039624834, + 678.7162329367395 + ], + [ + 804.4033275894767, + 657.4722960948116 + ], + [ + 793.3444474309019, + 628.8224891651732 + ], + [ + 796.1692708244015, + 650.3730514005938 + ], + [ + 813.9320535668232, + 650.3905402984417 + ], + [ + 810.7829188137698, + 628.8393453553695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 698.2747871162137, + "ymin": 534.7325878957174, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1294.2178652330256, + 811.0519558350533 + ], + [ + 1283.923958235755, + 789.5189355960166 + ], + [ + 698.2747871162137, + 783.6555644574682 + ], + [ + 699.009221345818, + 804.9961152785681 + ], + [ + 1568.3233907404692, + 566.241955747475 + ], + [ + 1547.6111657063389, + 541.431157365003 + ], + [ + 721.9891679850924, + 534.7325878957174 + ], + [ + 723.5749153565557, + 559.2306155739043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 657.1538259870822, + "xmax": 126.84678764040063, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 79.01155345853681, + 897.2168136071816 + ], + [ + 126.84678764040063, + 775.8165867269811 + ], + [ + 27.350484674655036, + 775.7081543376854 + ], + [ + -29.72867014164592, + 897.0872856223842 + ], + [ + -40.434734183460364, + 791.153929988747 + ], + [ + 28.656774289162968, + 657.2712785312166 + ], + [ + -89.86619114173709, + 657.1538259870822 + ], + [ + -172.312352368662, + 791.008499812852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 542.2008413874872, + "xmax": 239.08044053445656, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 239.08044053445656, + 790.4029100519926 + ], + [ + 218.1147237981051, + 790.1912891557909 + ], + [ + -133.99649301051363, + 1859.0388220904083 + ], + [ + -96.15554669149549, + 1859.7318456373393 + ], + [ + 74.74861366847256, + 542.4431631714839 + ], + [ + 45.228384489589416, + 542.2008413874872 + ], + [ + -992.8674614756299, + 2373.575573376092 + ], + [ + -913.5360742034372, + 2375.3530558924076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 232.5492377821646, + "ymin": 96.43616802351642, + "xmax": 346.87717716584206, + "ymax": 254.06169876932353 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 331.80306119505764, + 254.06169876932353 + ], + [ + 346.87717716584206, + 215.88324469567166 + ], + [ + 289.9123119983635, + 215.84778772078295 + ], + [ + 271.92384193569245, + 254.02251991147727 + ], + [ + 298.832157289425, + 131.9667896910423 + ], + [ + 317.2001409399063, + 96.46896448064774 + ], + [ + 254.46975891324763, + 96.43616802351642 + ], + [ + 232.5492377821646, + 131.93017217131404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 691.2101077855652, + "xmax": 56.84545983627186, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + -1.6784472479242822, + 823.4000910246336 + ], + [ + 56.84545983627186, + 700.2263802855364 + ], + [ + -48.89755530957541, + 700.1178040580583 + ], + [ + -118.00085864436892, + 823.2686882577021 + ], + [ + -10.73549347464052, + 815.3272491951548 + ], + [ + 49.37308642773121, + 691.3192790529174 + ], + [ + -57.72410012262412, + 691.2101077855652 + ], + [ + -128.6986979643615, + 815.1947866929577 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 111.79324460797, + "ymin": 0.0, + "xmax": 223.96720833279352, + "ymax": 32.801599067851555 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 223.96720833279352, + -13.966095558709583 + ], + [ + 214.69897614069185, + -13.970058576346219 + ], + [ + 176.03539666078058, + 32.79688537737792 + ], + [ + 186.14305781139507, + 32.801599067851555 + ], + [ + 171.74780446696292, + -190.85984245658983 + ], + [ + 161.31670806779658, + -190.86277428041308 + ], + [ + 111.79324460797, + -155.86683141520075 + ], + [ + 123.29984859049375, + -155.86326355742665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 691.2712434926509, + "xmax": 56.70177607907033, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + -1.7745858904581837, + 823.2727243911526 + ], + [ + 56.70177607907033, + 700.2290379726769 + ], + [ + -48.92472008032519, + 700.1201888213222 + ], + [ + -117.95761695605529, + 823.1410166855561 + ], + [ + -10.772322295781578, + 815.2521630585057 + ], + [ + 49.276830845762106, + 691.3806853178639 + ], + [ + -57.69342501911649, + 691.2712434926509 + ], + [ + -128.58320108863813, + 815.1194004495457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 244.8282775451139, + "ymin": 126.72031787881872, + "xmax": 324.3626471095509, + "ymax": 169.90871384982125 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 307.9214397007556, + 169.90871384982125 + ], + [ + 324.3626471095509, + 135.39824465536412 + ], + [ + 267.0720832354711, + 135.36637401946632 + ], + [ + 247.6611276731665, + 169.8734523811431 + ], + [ + 305.52357247962965, + 161.06007475130951 + ], + [ + 322.1966254598327, + 126.75199032454478 + ], + [ + 264.5130356872058, + 126.72031787881872 + ], + [ + 244.8282775451139, + 161.02500760795823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 244.77942412449136, + "ymin": 126.70282666400675, + "xmax": 324.42099620969987, + "ymax": 169.9878124825578 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 307.96510017306025, + 169.9878124825578 + ], + [ + 324.42099620969987, + 135.43809523831493 + ], + [ + 267.06381539794506, + 135.40618570562208 + ], + [ + 247.63151405394626, + 169.95250422824117 + ], + [ + 305.55144684491876, + 161.08032308799298 + ], + [ + 322.240953017466, + 126.73453646255186 + ], + [ + 264.48766890876664, + 126.70282666400675 + ], + [ + 244.77942412449136, + 161.04521066507527 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00052/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00052/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f63bbf27181f08d002751b4f8c130d0c5aafb2c0 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00052/meta.json @@ -0,0 +1,1771 @@ +{ + "frame_id": 52, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 26.0, + "sim_timestamp": 15921.735209209146 + }, + "drone_pose": { + "x": -48.14600979307981, + "y": -84.74740607185379, + "z": 20.00023378010573, + "pitch": -41.991128213987395, + "yaw": 85.98323288418175, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.05206334590911865, + -0.7414227724075317, + 0.6690155267715454, + 51.959835052490234 + ], + [ + 0.9975435733795166, + 0.07004845142364502, + 2.9802322387695312e-08, + -42.0913200378418 + ], + [ + -0.04686349630355835, + 0.6673721075057983, + 0.743248462677002, + -73.67948913574219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.15114370725214, + "y": -84.24955196268327, + "z": 20.003921907607705 + }, + "t1_image_uv": [ + 744.7949898260474, + -517.120595777182 + ], + "t1_depth": 0.36638563743521496 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -63.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.404367287235445, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 727, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -63.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.49418210983276367, + "y": 0.4066503942012787, + "z": 0.8826550245285034 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.6130805452593, + "ymin": 325.792618937751, + "xmax": 655.0096363139007, + "ymax": 393.72204943318854 + }, + "corners_3d": [ + [ + -46.26053237915039, + -64.18194580078125, + 0.11461591720581055 + ], + [ + -47.07383346557617, + -64.18194580078125, + 0.11461591720581055 + ], + [ + -47.07383346557617, + -63.193580627441406, + 0.11461591720581055 + ], + [ + -46.26053237915039, + -63.193580627441406, + 0.11461591720581055 + ], + [ + -46.26053237915039, + -64.18194580078125, + 1.8799259662628174 + ], + [ + -47.07383346557617, + -64.18194580078125, + 1.8799259662628174 + ], + [ + -47.07383346557617, + -63.193580627441406, + 1.8799259662628174 + ], + [ + -46.26053237915039, + -63.193580627441406, + 1.8799259662628174 + ] + ], + "corners_2d": [ + [ + 625.2473729946486, + 392.39507188076715 + ], + [ + 652.4511385067289, + 393.72204943318854 + ], + [ + 654.4054571907715, + 371.29764020254726 + ], + [ + 627.8773355018833, + 370.0360733135662 + ], + [ + 624.6130805452593, + 347.9326396278029 + ], + [ + 652.9873044564683, + 349.24811382333354 + ], + [ + 655.0096363139007, + 327.04056771884444 + ], + [ + 627.3696623570746, + 325.792618937751 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 52, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 85, + "semantic_pixel_counts": { + "1": 334017, + "2": 267121, + "3": 129049, + "4": 22766, + "5": 1192, + "6": 5250, + "9": 30995, + "10": 28489, + "12": 3754, + "14": 12375, + "20": 5777, + "21": 10558, + "24": 11769, + "25": 58488 + }, + "instance_pixel_counts": { + "143": 27291, + "339": 4303, + "620": 234, + "883": 26226, + "1132": 172, + "2470": 163, + "2703": 71360, + "3749": 332, + "4261": 264, + "5228": 271, + "5714": 681, + "6508": 328, + "6565": 2555, + "7539": 14325, + "8018": 6290, + "8530": 3049, + "8556": 7350, + "8810": 755, + "9068": 9983, + "9320": 23426, + "9580": 700, + "10624": 223, + "11116": 208, + "11368": 23540, + "11370": 676, + "11596": 9254, + "12419": 6, + "12675": 15, + "15698": 3494, + "20308": 3730, + "20820": 1085, + "20866": 40, + "22356": 62, + "22784": 2858, + "22893": 13623, + "23441": 7592, + "23552": 1076, + "23953": 14805, + "25928": 1192, + "25965": 13976, + "26696": 13512, + "26987": 5160, + "27460": 271, + "27559": 119, + "27719": 117335, + "28231": 28403, + "29095": 61, + "30548": 5081, + "30630": 1986, + "30863": 6270, + "31142": 1811, + "31654": 1574, + "32145": 12380, + "32911": 12561, + "34372": 43, + "34884": 239, + "37798": 2, + "39239": 58488, + "41796": 58, + "42391": 2191, + "44951": 2514, + "51815": 97, + "52327": 151241, + "54375": 135713, + "54889": 11, + "55401": 4280, + "56173": 30995, + "56320": 727, + "56576": 610, + "56832": 484, + "56937": 3657, + "57088": 554, + "57344": 420, + "57600": 959, + "58368": 2417, + "58790": 101, + "59522": 1276, + "59762": 9004, + "60274": 6536, + "61094": 446, + "62827": 829, + "63083": 318, + "63339": 802, + "64594": 2210, + "64850": 255 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 727, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -63.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.48863035440444946, + "y": 0.43940916657447815, + "z": 0.8665040135383606 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.4946656577011, + "ymin": 326.28520215964494, + "xmax": 656.1075326084962, + "ymax": 393.25610156364706 + }, + "corners_3d": [ + [ + -46.22777557373047, + -64.1763916015625, + 0.13076692819595337 + ], + [ + -47.10659408569336, + -64.1763916015625, + 0.13076692819595337 + ], + [ + -47.106590270996094, + -63.19913101196289, + 0.13076692819595337 + ], + [ + -46.2277717590332, + -63.199134826660156, + 0.13076692819595337 + ], + [ + -46.22777557373047, + -64.1763916015625, + 1.8637750148773193 + ], + [ + -47.10659408569336, + -64.1763916015625, + 1.8637750148773193 + ], + [ + -47.106590270996094, + -63.19913101196289, + 1.8637750148773193 + ], + [ + -46.2277717590332, + -63.199134826660156, + 1.8637750148773193 + ] + ], + "corners_2d": [ + [ + 624.162728486821, + 391.82272102519676 + ], + [ + 653.5648500834461, + 393.25610156364706 + ], + [ + 655.4706632890959, + 371.08257318658167 + ], + [ + 626.7909374231606, + 369.71918356976704 + ], + [ + 623.4946656577011, + 348.17613465136577 + ], + [ + 654.1380096024449, + 349.5973013425252 + ], + [ + 656.1075326084962, + 327.63416063603836 + ], + [ + 626.2480516391544, + 326.28520215964494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 610, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -60.69005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4545508027076721, + "y": 0.5616163015365601, + "z": 0.9129865765571594 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 497.6035388547002, + "ymin": 258.87435183619937, + "xmax": 538.7969963237493, + "ymax": 324.08417861157153 + }, + "corners_3d": [ + [ + -42.08635711669922, + -61.251441955566406, + 0.08427947759628296 + ], + [ + -43.1850471496582, + -61.017906188964844, + 0.08427947759628296 + ], + [ + -42.99603271484375, + -60.12866973876953, + 0.08427947759628296 + ], + [ + -41.897342681884766, + -60.362205505371094, + 0.08427947759628296 + ], + [ + -42.08635711669922, + -61.251441955566406, + 1.910252571105957 + ], + [ + -43.1850471496582, + -61.017906188964844, + 1.910252571105957 + ], + [ + -42.99603271484375, + -60.12866973876953, + 1.910252571105957 + ], + [ + -41.897342681884766, + -60.362205505371094, + 1.910252571105957 + ] + ], + "corners_2d": [ + [ + 504.0387904641776, + 324.08417861157153 + ], + [ + 538.7969963237493, + 321.0039899270328 + ], + [ + 537.1172694854747, + 303.66620953343283 + ], + [ + 503.0859464537129, + 306.61808254040227 + ], + [ + 498.4724472696589, + 278.9497130612214 + ], + [ + 534.6697153586175, + 275.91861387051506 + ], + [ + 533.0131658419593, + 258.87435183619937 + ], + [ + 497.6035388547002, + 261.7741895022147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 484, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -56.745052337646484, + "z": 0.9976029992103577 + }, + "extent": { + "x": 0.4776049554347992, + "y": 0.3309619128704071, + "z": 0.9516127705574036 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 706.6455897825354, + "ymin": 198.97574378192508, + "xmax": 731.2304033271951, + "ymax": 260.50069611257413 + }, + "corners_3d": [ + [ + -48.64378356933594, + -57.254634857177734, + 0.0459902286529541 + ], + [ + -49.30207824707031, + -57.185447692871094, + 0.0459902286529541 + ], + [ + -49.202232360839844, + -56.235469818115234, + 0.0459902286529541 + ], + [ + -48.54393768310547, + -56.304656982421875, + 0.0459902286529541 + ], + [ + -48.64378356933594, + -57.254634857177734, + 1.9492157697677612 + ], + [ + -49.30207824707031, + -57.185447692871094, + 1.9492157697677612 + ], + [ + -49.202232360839844, + -56.235469818115234, + 1.9492157697677612 + ], + [ + -48.54393768310547, + -56.304656982421875, + 1.9492157697677612 + ] + ], + "corners_2d": [ + [ + 708.9899081671415, + 260.50069611257413 + ], + [ + 727.7859555320583, + 260.1147221899465 + ], + [ + 725.055493370765, + 244.36727537845707 + ], + [ + 706.6455897825354, + 244.73750292279402 + ], + [ + 711.6982783450746, + 214.72570979620366 + ], + [ + 731.2304033271951, + 214.34860495392343 + ], + [ + 728.3213986991768, + 198.97574378192508 + ], + [ + 709.2059180528626, + 199.33687958438748 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 554, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -63.68776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.31767332553863525, + "y": 0.5139794945716858, + "z": 0.8830687403678894 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 939.9269516840425, + "ymin": 344.43350223743937, + "xmax": 993.6444017079158, + "ymax": 405.47478986851365 + }, + "corners_3d": [ + [ + -55.653202056884766, + -64.00543975830078, + 0.11420714855194092 + ], + [ + -56.6811637878418, + -64.00543975830078, + 0.11420714855194092 + ], + [ + -56.6811637878418, + -63.37009048461914, + 0.11420714855194092 + ], + [ + -55.653202056884766, + -63.37009048461914, + 0.11420714855194092 + ], + [ + -55.653202056884766, + -64.00543975830078, + 1.8803446292877197 + ], + [ + -56.6811637878418, + -64.00543975830078, + 1.8803446292877197 + ], + [ + -56.6811637878418, + -63.37009048461914, + 1.8803446292877197 + ], + [ + -55.653202056884766, + -63.37009048461914, + 1.8803446292877197 + ] + ], + "corners_2d": [ + [ + 943.4106252550173, + 403.7541248676177 + ], + [ + 978.846858639648, + 405.47478986851365 + ], + [ + 974.7752533380639, + 390.55018297520775 + ], + [ + 939.9269516840425, + 388.8854683895439 + ], + [ + 956.634500149449, + 359.1778055349595 + ], + [ + 993.6444017079158, + 360.8854388399069 + ], + [ + 989.144811255397, + 346.0832483356099 + ], + [ + 952.7757355127032, + 344.43350223743937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 420, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -74.81512451171875, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4751904606819153, + "y": 0.3740820586681366, + "z": 0.9098501205444336 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 752.5055331528453, + "ymin": 678.9396521762098, + "xmax": 800.1007870158596, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.86097717285156, + -75.24861145019531, + 0.08742576837539673 + ], + [ + -50.60504150390625, + -75.32681274414062, + 0.08742576837539673 + ], + [ + -50.704383850097656, + -74.38163757324219, + 0.08742576837539673 + ], + [ + -49.96031951904297, + -74.30343627929688, + 0.08742576837539673 + ], + [ + -49.86097717285156, + -75.24861145019531, + 1.9071259498596191 + ], + [ + -50.60504150390625, + -75.32681274414062, + 1.9071259498596191 + ], + [ + -50.704383850097656, + -74.38163757324219, + 1.9071259498596191 + ], + [ + -49.96031951904297, + -74.30343627929688, + 1.9071259498596191 + ] + ], + "corners_2d": [ + [ + 752.5055331528453, + 764.4154341861237 + ], + [ + 788.0962074968604, + 770.4956885846586 + ], + [ + 790.7635208435845, + 728.0210157804624 + ], + [ + 756.3410822921833, + 722.3383374497967 + ], + [ + 759.6923198916749, + 722.1205826219441 + ], + [ + 797.6047612355951, + 728.3754803684006 + ], + [ + 800.1007870158596, + 684.7607392571172 + ], + [ + 763.5111774152954, + 678.9396521762098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 959, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -71.85797882080078, + "z": 1.145527720451355 + }, + "extent": { + "x": 0.40444090962409973, + "y": 0.46550047397613525, + "z": 0.9268870949745178 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 101.60967830306788, + "ymin": 520.6054326637603, + "xmax": 184.0468978976835, + "ymax": 603.4583079036533 + }, + "corners_3d": [ + [ + -34.88243103027344, + -72.15679931640625, + 0.21864062547683716 + ], + [ + -35.793087005615234, + -72.3503646850586, + 0.21864062547683716 + ], + [ + -35.961265563964844, + -71.55915832519531, + 0.21864062547683716 + ], + [ + -35.05060958862305, + -71.36559295654297, + 0.21864062547683716 + ], + [ + -34.88243103027344, + -72.15679931640625, + 2.0724148750305176 + ], + [ + -35.793087005615234, + -72.3503646850586, + 2.0724148750305176 + ], + [ + -35.961265563964844, + -71.55915832519531, + 2.0724148750305176 + ], + [ + -35.05060958862305, + -71.36559295654297, + 2.0724148750305176 + ] + ], + "corners_2d": [ + [ + 130.31656898969328, + 594.366841837632 + ], + [ + 163.33757093894081, + 603.4583079036533 + ], + [ + 184.0468978976835, + 576.3920010251206 + ], + [ + 151.66051013130834, + 567.7377133065102 + ], + [ + 101.60967830306788, + 547.4974905192375 + ], + [ + 136.25570141197886, + 556.6955468244432 + ], + [ + 158.80973865262206, + 529.3371232620071 + ], + [ + 124.85912829751749, + 520.6054326637603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2417, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 669.7086502394789, + "ymin": 13.129604507823899, + "xmax": 719.5942163147157, + "ymax": 89.05408744613675 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 717.9086625135072, + 44.19637788900718 + ], + [ + 673.7340904744038, + 42.99517436411378 + ], + [ + 669.7086502394789, + 87.64855786780697 + ], + [ + 717.4875026809336, + 89.05408744613675 + ], + [ + 719.5942163147157, + 14.289806776721662 + ], + [ + 674.4622940925116, + 13.129604507823899 + ], + [ + 670.4035237720287, + 56.3328848034094 + ], + [ + 719.3043102367556, + 57.695246073949534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.3977881869519, + "ymin": 658.27084547488, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1387.4502326534875, + 975.3121135898072 + ], + [ + 1375.813832532413, + 948.6305808280033 + ], + [ + 723.7245792742054, + 893.0777947282724 + ], + [ + 723.3977881869519, + 917.7404314511575 + ], + [ + 1745.0873599020383, + 759.4198565621477 + ], + [ + 1718.575846886615, + 726.0167115192328 + ], + [ + 760.5778882540471, + 658.27084547488 + ], + [ + 761.0477600347309, + 688.051616809146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 717.2325148604754, + "xmax": 128.67852883998114, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 69.5597250767064, + 972.7011410144125 + ], + [ + 128.67852883998114, + 840.6445536727118 + ], + [ + 28.853956737085923, + 833.1377307824306 + ], + [ + -39.64539280184238, + 963.652538114858 + ], + [ + -56.053752952649916, + 872.7682002327779 + ], + [ + 28.131325016061055, + 725.4369036978867 + ], + [ + -90.52103857715701, + 717.2325148604754 + ], + [ + -188.18891996829313, + 862.488053370045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 622.5173065727589, + "xmax": 241.6862403613141, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 241.6862403613141, + 864.7927763493999 + ], + [ + 220.30044005465055, + 862.9538211378747 + ], + [ + -247.52412088637652, + 2088.269060608375 + ], + [ + -208.11594589012657, + 2094.8898823024238 + ], + [ + 71.42575029888803, + 624.6806481978175 + ], + [ + 41.24234466542839, + 622.5173065727589 + ], + [ + -1410.1310346626697, + 2955.1231913200554 + ], + [ + -1325.6765823843803, + 2975.5994069301883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.35749595243254, + "ymin": 125.86447542426515, + "xmax": 393.5771409280834, + "ymax": 287.1891355874158 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 375.80258366752054, + 287.1891355874158 + ], + [ + 393.5771409280834, + 247.55746280940957 + ], + [ + 336.69764036160376, + 245.20147366236284 + ], + [ + 315.99267818353275, + 284.5785923242013 + ], + [ + 347.4573511048745, + 164.95251123495896 + ], + [ + 368.59725919691704, + 128.04603991048214 + ], + [ + 306.0579863056123, + 125.86447542426515 + ], + [ + 281.35749595243254, + 162.5092792123645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.85349237934724, + "ymin": 0.0, + "xmax": 288.55365519383884, + "ymax": 52.14141049945391 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 288.55365519383884, + 5.552411226574463 + ], + [ + 279.51272388350765, + 5.297046689706519 + ], + [ + 238.2925950872674, + 51.8372404232702 + ], + [ + 248.1374051591041, + 52.14141049945391 + ], + [ + 245.3781554063757, + -169.0147447757122 + ], + [ + 235.25145101358999, + -169.20325960000434 + ], + [ + 183.85349237934724, + -134.4588021665121 + ], + [ + 194.99946992373498, + -134.22913167909962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 292.5350775776455, + "ymin": 156.22142673564147, + "xmax": 374.1947556215815, + "ymax": 202.83042578953064 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 355.1486223504552, + 202.83042578953064 + ], + [ + 374.1947556215815, + 166.97742358193557 + ], + [ + 317.0500205864761, + 164.86186898122705 + ], + [ + 295.02434356667237, + 200.48318378323668 + ], + [ + 353.086302693695, + 193.97093130408453 + ], + [ + 372.36859726955043, + 158.32400392866612 + ], + [ + 314.83830378355935, + 156.22142673564147 + ], + [ + 292.5350775776455, + 191.63638005036756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 292.48489190379445, + "ymin": 156.20210147621555, + "xmax": 374.25219516670654, + "ymax": 202.91183058687943 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 355.1885572151338, + 202.91183058687943 + ], + [ + 374.25219516670654, + 167.01793673269464 + ], + [ + 317.0409787483352, + 164.8997998503178 + ], + [ + 294.9911132407727, + 200.5614668775778 + ], + [ + 353.11267256917574, + 193.993405349208 + ], + [ + 372.41427065676424, + 158.3071598189466 + ], + [ + 314.8144766716946, + 156.20210147621555 + ], + [ + 292.48489190379445, + 191.65583073234657 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00055/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00055/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9fda267b2dfe56b77e49b7dc916ea1f2ee14ff2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00055/meta.json @@ -0,0 +1,1652 @@ +{ + "frame_id": 55, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 27.5, + "sim_timestamp": 15955.741073956015 + }, + "drone_pose": { + "x": -48.205525816813484, + "y": -83.24497693866728, + "z": 20.14771728011402, + "pitch": -45.34088927231397, + "yaw": 87.65856489868919, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.028716087341308594, + -0.7023004293441772, + 0.7113012075424194, + 45.51616287231445 + ], + [ + 0.9991650581359863, + 0.04085451364517212, + 2.9802322387695312e-08, + -44.76435089111328 + ], + [ + -0.02905985713005066, + 0.710707426071167, + 0.7028872966766357, + -74.7252426147461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.374170346238586, + "y": -82.7289296043137, + "z": 20.000065781643684 + }, + "t1_image_uv": [ + 1033.4332284366074, + -175.5628162307379 + ], + "t1_depth": 0.4626021621394051 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -62.18776321411133, + "z": 0.997275874465704 + }, + "image_uv": [ + 617.1666934436706, + 307.7186028840021 + ], + "depth": 28.454398620954848, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 715, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -62.18776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.5180395245552063, + "y": 0.5620092749595642, + "z": 0.9113920331001282 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 595.9660847205355, + "ymin": 272.3062396217747, + "xmax": 636.9333732849398, + "ymax": 342.4693490072983 + }, + "corners_3d": [ + [ + -46.10517501831055, + -62.70580291748047, + 0.08588385581970215 + ], + [ + -47.229190826416016, + -62.70580291748047, + 0.08588385581970215 + ], + [ + -47.229190826416016, + -61.66972351074219, + 0.08588385581970215 + ], + [ + -46.10517501831055, + -61.66972351074219, + 0.08588385581970215 + ], + [ + -46.10517501831055, + -62.70580291748047, + 1.9086679220199585 + ], + [ + -47.229190826416016, + -62.70580291748047, + 1.9086679220199585 + ], + [ + -47.229190826416016, + -61.66972351074219, + 1.9086679220199585 + ], + [ + -46.10517501831055, + -61.66972351074219, + 1.9086679220199585 + ] + ], + "corners_2d": [ + [ + 597.951552573146, + 341.39853475981243 + ], + [ + 635.4409432553077, + 342.4693490072983 + ], + [ + 636.9333732849398, + 318.8995350998002 + ], + [ + 600.367596628806, + 317.8809528017497 + ], + [ + 595.9660847205355, + 295.7265746022931 + ], + [ + 635.2254177341845, + 296.7942603368173 + ], + [ + 636.7921479469418, + 273.31948035013687 + ], + [ + 598.5445217753754, + 272.3062396217747 + ] + ], + "center_offset_px": [ + -22.833306556329376, + -52.28139711599789 + ] + }, + "trace_timestep_index": 55, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 70, + "semantic_pixel_counts": { + "1": 352369, + "2": 287558, + "3": 100138, + "4": 24303, + "5": 1211, + "6": 1635, + "9": 33436, + "10": 34581, + "12": 4287, + "14": 8685, + "20": 6272, + "21": 11685, + "24": 11696, + "25": 43744 + }, + "instance_pixel_counts": { + "143": 29737, + "339": 2729, + "620": 279, + "883": 24048, + "2703": 79687, + "3749": 361, + "4261": 282, + "5228": 313, + "5714": 728, + "6508": 294, + "6565": 2851, + "7539": 6873, + "8018": 7163, + "8530": 13, + "8556": 4689, + "8810": 633, + "9068": 11578, + "9320": 19516, + "10624": 259, + "11368": 19238, + "11370": 552, + "11596": 7854, + "12419": 11, + "12675": 18, + "15698": 48, + "20308": 1001, + "22784": 221, + "22893": 14852, + "23441": 1470, + "23953": 16548, + "25928": 1211, + "25965": 15318, + "26696": 16449, + "26987": 5600, + "27460": 327, + "27719": 128926, + "28231": 34497, + "30548": 5772, + "30630": 2231, + "30863": 5158, + "31142": 1953, + "31572": 194, + "31654": 1856, + "32145": 6053, + "32911": 10039, + "34884": 278, + "37798": 2, + "39239": 43744, + "42391": 1810, + "44951": 2031, + "52327": 165402, + "54375": 148213, + "55401": 4734, + "56173": 33436, + "56320": 715, + "56576": 623, + "56832": 502, + "56937": 4027, + "57088": 557, + "57344": 965, + "57600": 925, + "58368": 1718, + "59522": 1414, + "59762": 10217, + "60274": 6991, + "62827": 889, + "63083": 342, + "63339": 833, + "64594": 1272, + "64850": 446 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 715, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -62.18776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4800341725349426, + "y": 0.5431298613548279, + "z": 0.9107940196990967 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 596.7217486340405, + "ymin": 273.17664219619576, + "xmax": 636.2645013805178, + "ymax": 341.55139247763356 + }, + "corners_3d": [ + [ + -46.124053955078125, + -62.66779708862305, + 0.08648186922073364 + ], + [ + -47.21031188964844, + -62.66779708862305, + 0.08648186922073364 + ], + [ + -47.21031188964844, + -61.70772933959961, + 0.08648186922073364 + ], + [ + -46.124053955078125, + -61.70772933959961, + 0.08648186922073364 + ], + [ + -46.124053955078125, + -62.66779708862305, + 1.9080698490142822 + ], + [ + -47.21031188964844, + -62.66779708862305, + 1.9080698490142822 + ], + [ + -47.21031188964844, + -61.70772933959961, + 1.9080698490142822 + ], + [ + -46.124053955078125, + -61.70772933959961, + 1.9080698490142822 + ] + ], + "corners_2d": [ + [ + 598.6701204886315, + 340.5184687924417 + ], + [ + 634.8671656948251, + 341.55139247763356 + ], + [ + 636.2645013805178, + 319.7120804005801 + ], + [ + 600.8945656830534, + 318.7259294228862 + ], + [ + 596.7217486340405, + 294.8791203766463 + ], + [ + 634.6249188563811, + 295.90893806444797 + ], + [ + 636.0924285865805, + 274.1577069568251 + ], + [ + 599.0952001634203, + 273.17664219619576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 623, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -59.19005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4466577470302582, + "y": 0.43771976232528687, + "z": 0.8636181354522705 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 475.89433609268394, + "ymin": 209.41412196709388, + "xmax": 510.9960738218633, + "ymax": 272.2431891863589 + }, + "corners_3d": [ + [ + -42.20590591430664, + -59.717960357666016, + 0.13364791870117188 + ], + [ + -43.06221389770508, + -59.535945892333984, + 0.13364791870117188 + ], + [ + -42.87648391723633, + -58.66215133666992, + 0.13364791870117188 + ], + [ + -42.02017593383789, + -58.84416580200195, + 0.13364791870117188 + ], + [ + -42.20590591430664, + -59.717960357666016, + 1.860884189605713 + ], + [ + -43.06221389770508, + -59.535945892333984, + 1.860884189605713 + ], + [ + -42.87648391723633, + -58.66215133666992, + 1.860884189605713 + ], + [ + -42.02017593383789, + -58.84416580200195, + 1.860884189605713 + ] + ], + "corners_2d": [ + [ + 483.7801205904458, + 272.2431891863589 + ], + [ + 510.9960738218633, + 269.30337319716176 + ], + [ + 508.9732977443565, + 252.0790407062003 + ], + [ + 482.2846868997467, + 254.9048177301065 + ], + [ + 477.31845126194014, + 229.37489269565305 + ], + [ + 505.67861075490896, + 226.462382227722 + ], + [ + 503.68233771488235, + 209.41412196709388 + ], + [ + 475.89433609268394, + 212.20912972171357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 502, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -55.245052337646484, + "z": 0.9972611665725708 + }, + "extent": { + "x": 0.47349852323532104, + "y": 0.2848754823207855, + "z": 0.9224876165390015 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 683.3527100740382, + "ymin": 143.9698300600575, + "xmax": 704.6733220165864, + "ymax": 205.01151309579745 + }, + "corners_3d": [ + [ + -48.689186096191406, + -55.74573516845703, + 0.07477355003356934 + ], + [ + -49.25581741333008, + -55.686180114746094, + 0.07477355003356934 + ], + [ + -49.156829833984375, + -54.74436950683594, + 0.07477355003356934 + ], + [ + -48.5901985168457, + -54.803924560546875, + 0.07477355003356934 + ], + [ + -48.689186096191406, + -55.74573516845703, + 1.9197487831115723 + ], + [ + -49.25581741333008, + -55.686180114746094, + 1.9197487831115723 + ], + [ + -49.156829833984375, + -54.74436950683594, + 1.9197487831115723 + ], + [ + -48.5901985168457, + -54.803924560546875, + 1.9197487831115723 + ] + ], + "corners_2d": [ + [ + 685.9380978839057, + 205.01151309579745 + ], + [ + 702.147514647199, + 204.39057229219407 + ], + [ + 699.2498264225687, + 188.5742436205985 + ], + [ + 683.3527100740382, + 189.17133440645733 + ], + [ + 687.8065987534035, + 160.12200784723294 + ], + [ + 704.6733220165864, + 159.51135604468084 + ], + [ + 701.6093254290967, + 143.9698300600575 + ], + [ + 685.0804798360736, + 144.55610215237385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 557, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -62.18776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3145458996295929, + "y": 0.4242504835128784, + "z": 0.881134569644928 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 917.8124606025656, + "ymin": 286.4566316276, + "xmax": 964.1842352140293, + "ymax": 345.9457764378354 + }, + "corners_3d": [ + [ + -55.7429313659668, + -62.5023078918457, + 0.11614131927490234 + ], + [ + -56.591434478759766, + -62.5023078918457, + 0.11614131927490234 + ], + [ + -56.591434478759766, + -61.87321853637695, + 0.11614131927490234 + ], + [ + -55.7429313659668, + -61.87321853637695, + 0.11614131927490234 + ], + [ + -55.7429313659668, + -62.5023078918457, + 1.8784104585647583 + ], + [ + -56.591434478759766, + -62.5023078918457, + 1.8784104585647583 + ], + [ + -56.591434478759766, + -61.87321853637695, + 1.8784104585647583 + ], + [ + -55.7429313659668, + -61.87321853637695, + 1.8784104585647583 + ] + ], + "corners_2d": [ + [ + 921.2414296482127, + 345.1300813775613 + ], + [ + 949.9633212382769, + 345.9457764378354 + ], + [ + 946.094157516864, + 331.36797000988906 + ], + [ + 917.8124606025656, + 330.57691489856785 + ], + [ + 934.1331052275376, + 300.96407631646224 + ], + [ + 964.1842352140293, + 301.77780754002686 + ], + [ + 959.9140800914312, + 287.24468180401107 + ], + [ + 930.3444874315601, + 286.4566316276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 965, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -73.31512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4723413288593292, + "y": 0.29154300689697266, + "z": 0.9586582779884338 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 737.4787000386098, + "ymin": 617.7812487844194, + "xmax": 775.1956025214794, + "ymax": 705.1702057607052 + }, + "corners_3d": [ + [ + -49.943363189697266, + -73.75440216064453, + 0.03861266374588013 + ], + [ + -50.52325439453125, + -73.81535339355469, + 0.03861266374588013 + ], + [ + -50.62199783325195, + -72.87584686279297, + 0.03861266374588013 + ], + [ + -50.04210662841797, + -72.81489562988281, + 0.03861266374588013 + ], + [ + -49.943363189697266, + -73.75440216064453, + 1.9559292793273926 + ], + [ + -50.52325439453125, + -73.81535339355469, + 1.9559292793273926 + ], + [ + -50.62199783325195, + -72.87584686279297, + 1.9559292793273926 + ], + [ + -50.04210662841797, + -72.81489562988281, + 1.9559292793273926 + ] + ], + "corners_2d": [ + [ + 737.4787000386098, + 701.4278397946499 + ], + [ + 764.3075335502491, + 705.1702057607052 + ], + [ + 766.6264343184941, + 664.9674938622552 + ], + [ + 740.6081395567662, + 661.4498709589452 + ], + [ + 744.2769243478897, + 659.0802040841953 + ], + [ + 773.0032568353543, + 662.955208646043 + ], + [ + 775.1956025214794, + 621.4080798306636 + ], + [ + 747.3965478882947, + 617.7812487844194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 925, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -70.35797882080078, + "z": 1.1455180644989014 + }, + "extent": { + "x": 0.3861096203327179, + "y": 0.47334471344947815, + "z": 0.9351752996444702 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 83.65276051731394, + "ymin": 479.6800093273728, + "xmax": 167.97483954402452, + "ymax": 559.5168575590949 + }, + "corners_3d": [ + [ + -34.878570556640625, + -70.63723754882812, + 0.21034276485443115 + ], + [ + -35.80457305908203, + -70.83406829833984, + 0.21034276485443115 + ], + [ + -35.965126037597656, + -70.07872009277344, + 0.21034276485443115 + ], + [ + -35.03912353515625, + -69.88188934326172, + 0.21034276485443115 + ], + [ + -34.878570556640625, + -70.63723754882812, + 2.080693244934082 + ], + [ + -35.80457305908203, + -70.83406829833984, + 2.080693244934082 + ], + [ + -35.965126037597656, + -70.07872009277344, + 2.080693244934082 + ], + [ + -35.03912353515625, + -69.88188934326172, + 2.080693244934082 + ] + ], + "corners_2d": [ + [ + 115.25818526540684, + 551.2750316530115 + ], + [ + 149.40359919463623, + 559.5168575590949 + ], + [ + 167.97483954402452, + 533.6207830099518 + ], + [ + 134.45149278027827, + 525.7382245526198 + ], + [ + 83.65276051731394, + 505.65836634455854 + ], + [ + 119.63261200981628, + 514.057375792253 + ], + [ + 140.00179812436755, + 487.6915365841929 + ], + [ + 104.71016361112208, + 479.6800093273728 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 1718, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 640.8794359590173, + "ymin": 0.0, + "xmax": 691.8940707895903, + "ymax": 45.78587199944258 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 690.3711197519351, + -3.236627829799829 + ], + [ + 644.3739298890707, + -3.9524461234557293 + ], + [ + 640.8794359590173, + 44.95010186955261 + ], + [ + 690.5792456607566, + 45.78587199944258 + ], + [ + 691.5805281288132, + -34.73482707577665 + ], + [ + 644.4788212010571, + -35.42985418606645 + ], + [ + 640.9022673792431, + 12.142790689521291 + ], + [ + 691.8940707895903, + 12.95743145511318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.2696118265635, + "ymin": 705.8113328205509, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1373.6233605017505, + 968.6525705098885 + ], + [ + 1362.2085964142916, + 941.5545366752607 + ], + [ + 708.2696118265635, + 905.476851096451 + ], + [ + 708.2741364670255, + 931.3200440010296 + ], + [ + 1760.0455429110493, + 789.5684740596447 + ], + [ + 1732.7475279039577, + 753.2142389647363 + ], + [ + 742.0796169307856, + 705.8113328205509 + ], + [ + 742.9550124292628, + 739.652596223312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 686.3177637270132, + "xmax": 211.92580227462776, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 211.92580227462776, + 891.6309874688927 + ], + [ + 189.62857846396196, + 890.3897955944851 + ], + [ + -255.30188168932034, + 2179.454671717662 + ], + [ + -214.52132548131556, + 2183.743895505139 + ], + [ + 2.8055873889790064, + 687.9142570512773 + ], + [ + -30.1138262659681, + 686.3177637270132 + ], + [ + -1651.9437606451506, + 3537.8908703831953 + ], + [ + -1552.8039157042558, + 3554.254799110657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 230.72411566476296, + "ymin": 99.51453490569082, + "xmax": 355.2798883456604, + "ymax": 267.843420307292 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 337.53757110867963, + 267.843420307292 + ], + [ + 355.2798883456604, + 224.30139784853048 + ], + [ + 295.44160001321836, + 222.79127770982345 + ], + [ + 274.6215579865553, + 266.17201455290945 + ], + [ + 301.1214751670647, + 142.53232535892127 + ], + [ + 322.89048279714245, + 100.9479192857093 + ], + [ + 256.323926243618, + 99.51453490569082 + ], + [ + 230.72411566476296, + 140.9269155820382 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 116.4602852876294, + "ymin": 0.0, + "xmax": 238.52198603398438, + "ymax": 12.118936444645215 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 238.52198603398438, + -39.95922203696398 + ], + [ + 228.9187824822448, + -40.125501806501916 + ], + [ + 186.38610384235443, + 11.920978432252639 + ], + [ + 196.85084733013707, + 12.118936444645215 + ], + [ + 182.50208491346905, + -228.135468948347 + ], + [ + 171.57792220875075, + -228.26255877622248 + ], + [ + 116.4602852876294, + -187.97242849009444 + ], + [ + 128.51316046530428, + -187.81720579837372 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 244.42765872299992, + "ymin": 131.19331541003655, + "xmax": 330.80572848406575, + "ymax": 181.61270057140632 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 311.3801022289524, + 181.61270057140632 + ], + [ + 330.80572848406575, + 141.54011961653316 + ], + [ + 270.2071652341915, + 140.16116022295643 + ], + [ + 247.60048174089076, + 180.08322296626554 + ], + [ + 308.71780613210774, + 172.48211727448447 + ], + [ + 328.42834485334924, + 132.56629894113834 + ], + [ + 267.36908811320336, + 131.19331541003655 + ], + [ + 244.42765872299992, + 170.95802320080531 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 244.3747719068548, + "ymin": 131.17218910230534, + "xmax": 330.8691255979592, + "ymax": 181.69779259708588 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 311.4260196744303, + 181.69779259708588 + ], + [ + 330.8691255979592, + 141.58006879395634 + ], + [ + 270.20041786517686, + 140.19944270557704 + ], + [ + 247.56915603884335, + 180.1663005725605 + ], + [ + 308.7462136419962, + 172.50656703481218 + ], + [ + 328.47639960387204, + 132.54679284544864 + ], + [ + 267.3433937591334, + 131.17218910230534 + ], + [ + 244.3747719068548, + 170.98049956853225 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00069/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00069/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac7b4b0283d6c826527aa9e32636fa7c961495f1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00069/meta.json @@ -0,0 +1,2450 @@ +{ + "frame_id": 69, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 34.5, + "sim_timestamp": 16122.60602969979 + }, + "drone_pose": { + "x": -49.77285592486149, + "y": -75.96116133832075, + "z": 20.000000222023687, + "pitch": -37.2012988218591, + "yaw": 77.5492338558881, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.1717294454574585, + -0.7777834534645081, + 0.604617178440094, + 55.53645706176758 + ], + [ + 0.9764816164970398, + 0.21560066938400269, + 0.0, + -32.22500228881836 + ], + [ + -0.1303558498620987, + 0.5903975367546082, + 0.7965161800384521, + -67.26579284667969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.787756601096135, + "y": -75.41924217858234, + "z": 20.000000121413137 + }, + "t1_image_uv": [ + 941.0782653981489, + -368.7136716624617 + ], + "t1_depth": 0.4189369309706945 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.16718292236328, + "y": -55.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 672.5329228825879, + 441.5594603456101 + ], + "depth": 28.265781658340565, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 732, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -55.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5120337009429932, + "y": 0.5391210913658142, + "z": 0.9108171463012695 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 650.8101560776302, + "ymin": 404.3595499909908, + "xmax": 694.6355963666555, + "ymax": 478.6021446209656 + }, + "corners_3d": [ + [ + -45.6280632019043, + -55.699798583984375, + 0.08645379543304443 + ], + [ + -46.706302642822266, + -55.699798583984375, + 0.08645379543304443 + ], + [ + -46.706302642822266, + -54.67572784423828, + 0.08645379543304443 + ], + [ + -45.6280632019043, + -54.67572784423828, + 0.08645379543304443 + ], + [ + -45.6280632019043, + -55.699798583984375, + 1.9080880880355835 + ], + [ + -46.706302642822266, + -55.699798583984375, + 1.9080880880355835 + ], + [ + -46.706302642822266, + -54.67572784423828, + 1.9080880880355835 + ], + [ + -45.6280632019043, + -54.67572784423828, + 1.9080880880355835 + ] + ], + "corners_2d": [ + [ + 650.8101560776302, + 473.099192128305 + ], + [ + 686.5645948850587, + 478.6021446209656 + ], + [ + 692.569293568809, + 455.42762594960146 + ], + [ + 657.7486400236578, + 450.22064905870667 + ], + [ + 651.244540108806, + 426.8247176977295 + ], + [ + 688.4484242583692, + 432.235563824383 + ], + [ + 694.6355963666555, + 409.46813663983687 + ], + [ + 658.4416930449052, + 404.3595499909908 + ] + ], + "center_offset_px": [ + 32.532922882587854, + 81.55946034561009 + ] + }, + "trace_timestep_index": 69, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 139, + "semantic_pixel_counts": { + "1": 303870, + "2": 238217, + "3": 108793, + "4": 23656, + "5": 2036, + "6": 3115, + "9": 21765, + "10": 2403, + "12": 3365, + "14": 27531, + "15": 4828, + "20": 3895, + "21": 13145, + "24": 17449, + "25": 147532 + }, + "instance_pixel_counts": { + "70": 141, + "143": 18879, + "339": 4487, + "620": 291, + "883": 11151, + "1132": 210, + "2214": 170, + "2470": 194, + "2703": 42755, + "3180": 59, + "4166": 179, + "4261": 376, + "4678": 205, + "4979": 12722, + "5228": 341, + "5714": 1291, + "6053": 24, + "6508": 893, + "6565": 3647, + "7539": 32546, + "7786": 280, + "7825": 106, + "8018": 8965, + "8064": 51, + "8296": 1210, + "8298": 248, + "8337": 117, + "8530": 1079, + "8556": 1370, + "8780": 152, + "8808": 7232, + "8810": 1536, + "9068": 17336, + "9320": 49307, + "9834": 441, + "10344": 2630, + "10346": 229, + "10624": 700, + "10856": 6249, + "11116": 244, + "11136": 117, + "11368": 50786, + "11370": 1484, + "11596": 23656, + "11880": 48, + "11882": 4, + "12652": 91, + "12675": 44, + "17516": 50, + "20308": 4363, + "20820": 2147, + "20866": 703, + "21332": 2186, + "21844": 1182, + "22356": 3142, + "22868": 996, + "22893": 9106, + "23380": 1745, + "23953": 11488, + "24916": 3201, + "25428": 1575, + "25698": 133, + "25928": 1884, + "25940": 811, + "25965": 8305, + "26210": 13, + "26368": 103, + "26987": 3475, + "27234": 105, + "27460": 376, + "27476": 2395, + "27559": 228, + "27719": 97854, + "27746": 59, + "27988": 922, + "28002": 19, + "28231": 2174, + "28258": 145, + "29012": 745, + "29095": 188, + "29839": 176, + "30050": 14, + "30351": 2000, + "30562": 23, + "30630": 2408, + "30863": 12753, + "31142": 2159, + "31654": 2254, + "31812": 89, + "31887": 962, + "32324": 99, + "32399": 4371, + "32911": 29206, + "34372": 65, + "34447": 4, + "34884": 319, + "35399": 1509, + "36753": 123, + "37798": 12, + "39239": 146023, + "41367": 80, + "41796": 78, + "41879": 705, + "42391": 4523, + "43927": 187, + "44439": 805, + "44951": 5545, + "45463": 1, + "46672": 215, + "46917": 22, + "47184": 312, + "48708": 160, + "50756": 23, + "52327": 101937, + "53926": 30, + "54375": 84471, + "54438": 70, + "54950": 556, + "55401": 2987, + "55462": 17, + "56173": 21765, + "56320": 732, + "56576": 609, + "56832": 514, + "56937": 2344, + "57088": 641, + "57600": 869, + "58368": 3565, + "58624": 1567, + "58880": 1372, + "59522": 1782, + "59553": 78, + "60274": 5895, + "60833": 495, + "61440": 445, + "62113": 63, + "63339": 1374, + "64837": 123, + "64850": 1754 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 732, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -55.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4963696300983429, + "y": 0.5047582983970642, + "z": 0.8949129581451416 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 652.0551333449424, + "ymin": 405.2715807358794, + "xmax": 693.3639344156403, + "ymax": 477.6723175268312 + }, + "corners_3d": [ + [ + -45.66242599487305, + -55.68413162231445, + 0.10235798358917236 + ], + [ + -46.671939849853516, + -55.68413162231445, + 0.10235798358917236 + ], + [ + -46.671939849853516, + -54.6913948059082, + 0.10235798358917236 + ], + [ + -45.66242599487305, + -54.6913948059082, + 0.10235798358917236 + ], + [ + -45.66242599487305, + -55.68413162231445, + 1.8921838998794556 + ], + [ + -46.671939849853516, + -55.68413162231445, + 1.8921838998794556 + ], + [ + -46.671939849853516, + -54.6913948059082, + 1.8921838998794556 + ], + [ + -45.66242599487305, + -54.6913948059082, + 1.8921838998794556 + ] + ], + "corners_2d": [ + [ + 652.0551333449424, + 472.52516856575375 + ], + [ + 685.5282402405985, + 477.6723175268312 + ], + [ + 691.3798830985523, + 455.2192733637594 + ], + [ + 658.7548501097112, + 450.3408035756301 + ], + [ + 652.5308097843052, + 427.062423542431 + ], + [ + 687.3361406316428, + 432.1247517784293 + ], + [ + 693.3639344156403, + 410.0596261029858 + ], + [ + 659.4746222308146, + 405.2715807358794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 609, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.041194915771484, + "y": -52.19005584716797, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4391479790210724, + "y": 0.4379590153694153, + "z": 0.8604530692100525 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 549.6044881673905, + "ymin": 333.50913494342177, + "xmax": 580.8195025549956, + "ymax": 391.9250481837602 + }, + "corners_3d": [ + [ + -41.70410919189453, + -52.710662841796875, + 0.13682281970977783 + ], + [ + -42.56088638305664, + -52.52854919433594, + 0.13682281970977783 + ], + [ + -42.37828063964844, + -51.66944885253906, + 0.13682281970977783 + ], + [ + -41.52150344848633, + -51.8515625, + 0.13682281970977783 + ], + [ + -41.70410919189453, + -52.710662841796875, + 1.8577289581298828 + ], + [ + -42.56088638305664, + -52.52854919433594, + 1.8577289581298828 + ], + [ + -42.37828063964844, + -51.66944885253906, + 1.8577289581298828 + ], + [ + -41.52150344848633, + -51.8515625, + 1.8577289581298828 + ] + ], + "corners_2d": [ + [ + 552.5923606357168, + 391.79241983748244 + ], + [ + 579.293309344347, + 391.9250481837602 + ], + [ + 580.8195025549956, + 375.3862038469935 + ], + [ + 554.6987627063764, + 375.2592798868926 + ], + [ + 549.6044881673905, + 349.64791165131317 + ], + [ + 577.2177863710524, + 349.7774734092446 + ], + [ + 578.8416237655321, + 333.6329401025976 + ], + [ + 551.8484019428721, + 333.50913494342177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 514, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.42300796508789, + "y": -48.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4703320264816284, + "y": 0.4049365222454071, + "z": 0.9455286860466003 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 760.3737528554947, + "ymin": 288.4907247353129, + "xmax": 788.8246088399433, + "ymax": 350.23115682869246 + }, + "corners_3d": [ + [ + -48.069454193115234, + -48.75513458251953, + 0.05174225568771362 + ], + [ + -48.8748893737793, + -48.67047882080078, + 0.05174225568771362 + ], + [ + -48.77656173706055, + -47.73497009277344, + 0.05174225568771362 + ], + [ + -47.971126556396484, + -47.81962585449219, + 0.05174225568771362 + ], + [ + -48.069454193115234, + -48.75513458251953, + 1.9427995681762695 + ], + [ + -48.8748893737793, + -48.67047882080078, + 1.9427995681762695 + ], + [ + -48.77656173706055, + -47.73497009277344, + 1.9427995681762695 + ], + [ + -47.971126556396484, + -47.81962585449219, + 1.9427995681762695 + ] + ], + "corners_2d": [ + [ + 760.3737528554947, + 348.67645836428596 + ], + [ + 783.736292916999, + 350.23115682869246 + ], + [ + 783.5736802228178, + 334.57384641384715 + ], + [ + 760.7192012391807, + 333.0860574875035 + ], + [ + 764.6254861823227, + 303.6061239971105 + ], + [ + 788.8246088399433, + 305.1147270863856 + ], + [ + 788.5417206106222, + 289.9321834735123 + ], + [ + 764.8872725004286, + 288.4907247353129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 641, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -55.66718292236328, + "y": -55.18776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.31268310546875, + "y": 0.40095457434654236, + "z": 0.8762281537055969 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 986.2610894194304, + "ymin": 458.30065790479637, + "xmax": 1032.991092962162, + "ymax": 523.5476967816036 + }, + "corners_3d": [ + [ + -55.26622772216797, + -55.50044631958008, + 0.1210477352142334 + ], + [ + -56.068138122558594, + -55.50044631958008, + 0.1210477352142334 + ], + [ + -56.068138122558594, + -54.87508010864258, + 0.1210477352142334 + ], + [ + -55.26622772216797, + -54.87508010864258, + 0.1210477352142334 + ], + [ + -55.26622772216797, + -55.50044631958008, + 1.8735040426254272 + ], + [ + -56.068138122558594, + -55.50044631958008, + 1.8735040426254272 + ], + [ + -56.068138122558594, + -54.87508010864258, + 1.8735040426254272 + ], + [ + -55.26622772216797, + -54.87508010864258, + 1.8735040426254272 + ] + ], + "corners_2d": [ + [ + 987.705526618489, + 518.9950578757166 + ], + [ + 1017.4839244888119, + 523.5476967816036 + ], + [ + 1015.5024012728918, + 507.6727953061877 + ], + [ + 986.2610894194304, + 503.28031540789084 + ], + [ + 1001.9135288667817, + 473.8138097967019 + ], + [ + 1032.991092962162, + 478.3122405933955 + ], + [ + 1030.6426507425576, + 462.6345318421616 + ], + [ + 1000.1495489106271, + 458.30065790479637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 869, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -34.92184829711914, + "y": -63.35797882080078, + "z": 1.1450444459915161 + }, + "extent": { + "x": 0.3863928020000458, + "y": 0.4967993199825287, + "z": 0.9316796660423279 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 124.21666651285705, + "ymin": 545.3246842722667, + "xmax": 201.0207962026991, + "ymax": 630.2609057387666 + }, + "corners_3d": [ + [ + -34.355567932128906, + -63.63263702392578, + 0.21336477994918823 + ], + [ + -35.327457427978516, + -63.83921813964844, + 0.21336477994918823 + ], + [ + -35.488128662109375, + -63.08332061767578, + 0.21336477994918823 + ], + [ + -34.516239166259766, + -62.876739501953125, + 0.21336477994918823 + ], + [ + -34.355567932128906, + -63.63263702392578, + 2.076724052429199 + ], + [ + -35.327457427978516, + -63.83921813964844, + 2.076724052429199 + ], + [ + -35.488128662109375, + -63.08332061767578, + 2.076724052429199 + ], + [ + -34.516239166259766, + -62.876739501953125, + 2.076724052429199 + ] + ], + "corners_2d": [ + [ + 148.22883997960326, + 616.7384513515917 + ], + [ + 177.85400492111359, + 630.2609057387666 + ], + [ + 201.0207962026991, + 607.3506229061763 + ], + [ + 171.7595633540614, + 594.437289796925 + ], + [ + 124.21666651285705, + 567.5220683994598 + ], + [ + 154.9633826552469, + 581.0055035594146 + ], + [ + 179.80040953383832, + 558.1719498083538 + ], + [ + 149.43841468506741, + 545.3246842722667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3565, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 737.8783647272514, + "ymin": 184.8881941277178, + "xmax": 807.0170425852984, + "ymax": 281.1278511826095 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 803.3291260377348, + 221.59508425077362 + ], + [ + 752.4794271252977, + 216.40091064991827 + ], + [ + 737.8783647272514, + 274.8387744821693 + ], + [ + 793.7134778117882, + 281.1278511826095 + ], + [ + 807.0170425852984, + 189.91358963609989 + ], + [ + 754.996327144557, + 184.8881941277178 + ], + [ + 740.2926814433293, + 241.54257601433983 + ], + [ + 797.5430273856265, + 247.6548445880449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 1567, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 916.5363898405511, + "ymin": 40.92726127390074, + "xmax": 961.968978022075, + "ymax": 107.75625476205934 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 917.9712117624331, + 104.72962750316628 + ], + [ + 955.6477261031457, + 107.75625476205934 + ], + [ + 951.3864745871958, + 72.11870476826175 + ], + [ + 916.5363898405511, + 69.52667348823343 + ], + [ + 923.5018785260825, + 74.4875925079798 + ], + [ + 961.968978022075, + 77.37762907353567 + ], + [ + 957.1473457246079, + 43.394962542082624 + ], + [ + 921.6218743971714, + 40.92726127390074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 1372, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 786.6198441867118, + "ymin": 37.94883056511833, + "xmax": 828.4362615381119, + "ymax": 95.63685809276421 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 825.4715192743078, + 65.13618037941296 + ], + [ + 793.9401047156724, + 62.778021706268646 + ], + [ + 786.6198441867118, + 92.936513967049 + ], + [ + 820.3251011859271, + 95.63685809276421 + ], + [ + 828.4362615381119, + 40.20682039197004 + ], + [ + 796.3872330649751, + 37.94883056511833 + ], + [ + 789.1162838873765, + 66.85587240110078 + ], + [ + 823.413694279924, + 69.44730068303687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 445, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 748.7181449698251, + "ymin": 0.0, + "xmax": 785.5314622230591, + "ymax": 22.891373887012264 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 782.8358726704639, + 1.998966725970547 + ], + [ + 756.619759252668, + 0.31883079745352916 + ], + [ + 748.7181449698251, + 21.017002111899444 + ], + [ + 776.3735860846984, + 22.891373887012264 + ], + [ + 785.5314622230591, + -28.62695470305323 + ], + [ + 758.81037987104, + -30.197227920513342 + ], + [ + 750.8771211678968, + -10.833361227410364 + ], + [ + 779.0951274859223, + -9.07783202884707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 233.0924062279468, + "ymin": 0.0, + "xmax": 307.9453138411899, + "ymax": 12.317161492959372 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 307.9453138411899, + -26.331503702979433 + ], + [ + 301.8100457015794, + -26.741245441431943 + ], + [ + 233.68672014440415, + 11.809762697135511 + ], + [ + 240.42370975255892, + 12.317161492959372 + ], + [ + 307.50836499670595, + -28.504078316723223 + ], + [ + 301.3655567676641, + -28.91175516831646 + ], + [ + 233.0924062279468, + 9.45059932934197 + ], + [ + 239.838469549161, + 9.955590919470126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 222.74285819560464, + "ymin": 332.36973139401533, + "xmax": 369.61627518971324, + "ymax": 525.6873326291536 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 333.67260911839, + 525.6873326291536 + ], + [ + 369.61627518971324, + 469.5274514729494 + ], + [ + 306.09772706995795, + 459.26522306390234 + ], + [ + 266.4231757839614, + 514.0135334563035 + ], + [ + 297.32552936487383, + 395.28543099658947 + ], + [ + 339.7708840418259, + 342.01833321558485 + ], + [ + 269.74140686459646, + 332.36973139401533 + ], + [ + 222.74285819560464, + 384.1477015225647 + ] + ], + "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": 19.22524393538413, + "ymin": 0.0, + "xmax": 151.28542583196452, + "ymax": 94.10617614364207 + }, + "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": [ + [ + 151.28542583196452, + 57.65034656745354 + ], + [ + 143.92814119867217, + 57.0191833820964 + ], + [ + 78.86339632575186, + 93.36258536029635 + ], + [ + 86.74509705680214, + 94.10617614364207 + ], + [ + 103.7491635417324, + -94.77274595913246 + ], + [ + 95.75461652459057, + -95.21765205742759 + ], + [ + 19.22524393538413, + -69.38880423174896 + ], + [ + 27.839921055906984, + -68.85583391232717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.04786940603816, + "ymin": 0.0, + "xmax": 344.76169426949264, + "ymax": 195.38271735902134 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 344.76169426949264, + 142.14398137467012 + ], + [ + 335.60584382029134, + 141.23816722868094 + ], + [ + 276.267681958679, + 194.2784718534728 + ], + [ + 286.2613185036976, + 195.38271735902134 + ], + [ + 309.67722827399376, + -34.03392749449739 + ], + [ + 299.5050928745984, + -34.697736381950904 + ], + [ + 228.04786940603816, + 4.649028214261932 + ], + [ + 239.262157535656, + 5.4786347228979935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 237.08166270482428, + "ymin": 365.3533501963244, + "xmax": 346.22546484189536, + "ymax": 435.29815945258497 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 307.9805289139186, + 435.29815945258497 + ], + [ + 346.22546484189536, + 383.88902849854236 + ], + [ + 282.2794490666519, + 374.5711270788355 + ], + [ + 240.2296249357346, + 424.6727861809216 + ], + [ + 305.3307727261122, + 425.80591990404406 + ], + [ + 344.0319610664891, + 374.6244070319297 + ], + [ + 279.6417972587904, + 365.3533501963244 + ], + [ + 237.08166270482428, + 415.22330983169076 + ] + ], + "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": 686.4573429818327, + "ymin": 0.0, + "xmax": 886.2408362641826, + "ymax": 12.111064402789168 + }, + "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": [ + [ + 687.6366003305983, + -2.299427824518773 + ], + [ + 686.4573429818327, + -0.418503773942291 + ], + [ + 866.2079780751735, + 12.111064402789168 + ], + [ + 866.4780707910704, + 10.100333073973388 + ], + [ + 691.6459130506485, + -139.2345667970514 + ], + [ + 690.3891743740196, + -137.9568778484845 + ], + [ + 886.0611453696386, + -129.41742773735945 + ], + [ + 886.2408362641826, + -130.79114986052696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 233.0084448953221, + "ymin": 0.0, + "xmax": 308.0169792738262, + "ymax": 12.356220612256607 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 308.0169792738262, + -26.331602400186625 + ], + [ + 301.80262642733396, + -26.746619861998454 + ], + [ + 233.61060308636587, + 11.842183985541283 + ], + [ + 240.43504224346913, + 12.356220612256607 + ], + [ + 307.57448037214823, + -28.53224780742852 + ], + [ + 301.3523915795432, + -28.94514671793695 + ], + [ + 233.0084448953221, + 9.452378062277035 + ], + [ + 239.84219511536378, + 9.963944558862408 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 237.01512940297772, + "ymin": 365.3224981202888, + "xmax": 346.2996449839534, + "ymax": 435.39834129698846 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 308.0181026346924, + 435.39834129698846 + ], + [ + 346.2996449839534, + 383.93036761338203 + ], + [ + 282.2795503677293, + 374.60129347989164 + ], + [ + 240.18459052848294, + 424.75876514211893 + ], + [ + 305.3508068839624, + 425.84299311720264 + ], + [ + 344.0920919940735, + 374.6043627533023 + ], + [ + 279.62437490275767, + 365.3224981202888 + ], + [ + 237.01512940297772, + 415.2465071558923 + ] + ], + "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": 8.801280813248923, + "ymax": 24.087761832042645 + }, + "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": [ + [ + 8.801280813248923, + -2.4886175294014947 + ], + [ + 2.661631557591363, + -2.954383640351921 + ], + [ + -62.81060900476564, + 23.55199258242112 + ], + [ + -56.31483941536021, + 24.087761832042645 + ], + [ + -43.220535767017964, + -136.5969112461094 + ], + [ + -49.79389620714608, + -136.9164148903609 + ], + [ + -125.21893450965399, + -118.62653370612117 + ], + [ + -118.23831392096952, + -118.25457981862331 + ] + ], + "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": 1010.3129379353838, + "ymin": 0.0, + "xmax": 1066.7257047808384, + "ymax": 21.75400824651973 + }, + "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": [ + [ + 1024.3831909967964, + 21.265570804828712 + ], + [ + 1031.4240145800215, + 21.75400824651973 + ], + [ + 1016.4117334800828, + -29.640024491572035 + ], + [ + 1010.3129379353838, + -30.008405648222606 + ], + [ + 1059.0026141649212, + -123.14698502000721 + ], + [ + 1066.7257047808384, + -122.81168125190948 + ], + [ + 1045.5454017695029, + -157.68282298264148 + ], + [ + 1038.941022939689, + -157.92981865910053 + ] + ], + "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": 400.22287876285566, + "ymin": 0.0, + "xmax": 465.03340419001563, + "ymax": 64.8417412388535 + }, + "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": [ + [ + 465.03340419001563, + 32.690273817754246 + ], + [ + 457.66892583506205, + 32.13079774845045 + ], + [ + 421.80403102286607, + 64.18912340360515 + ], + [ + 429.7043178402772, + 64.8417412388535 + ], + [ + 449.10178070102756, + -112.26996862049134 + ], + [ + 441.0919719997678, + -112.65989598625464 + ], + [ + 400.22287876285566, + -90.15602027268147 + ], + [ + 408.8700978875359, + -89.69448002253148 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00074/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00074/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81e1f7644063839693b1b9ab18698c4de62b9759 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00074/meta.json @@ -0,0 +1,1784 @@ +{ + "frame_id": 74, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 37.0, + "sim_timestamp": 16181.323423135327 + }, + "drone_pose": { + "x": -49.794889329177565, + "y": -73.30579796619237, + "z": 20.1310464962842, + "pitch": -41.110594884926414, + "yaw": 74.56361827674142, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.20054221153259277, + -0.726262629032135, + 0.6575145721435547, + 49.988792419433594 + ], + [ + 0.9639266133308411, + 0.2661682367324829, + 2.9802322387695312e-08, + -28.486940383911133 + ], + [ + -0.17500948905944824, + 0.6337957382202148, + 0.7534418106079102, + -70.34306335449219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.725086038768424, + "y": -72.82574230820295, + "z": 19.97482393154936 + }, + "t1_image_uv": [ + 764.7856780735, + -50.04093201000143 + ], + "t1_depth": 0.4653635970839327 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -45.16718292236328, + "y": -52.68776321411133, + "z": 0.997280754595995 + }, + "image_uv": [ + 674.6177331677092, + 378.1553443778881 + ], + "depth": 28.482888354520625, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 709, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -45.16718292236328, + "y": -52.68776321411133, + "z": 0.9972807765007019 + }, + "extent": { + "x": 0.49296873807907104, + "y": 0.4136596620082855, + "z": 0.882991373538971 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 656.5782779094108, + "ymin": 342.6767692028158, + "xmax": 693.048370348347, + "ymax": 413.2878441723659 + }, + "corners_3d": [ + [ + -44.75352478027344, + -53.18073272705078, + 0.11428940296173096 + ], + [ + -45.580841064453125, + -53.18073272705078, + 0.11428940296173096 + ], + [ + -45.580841064453125, + -52.194793701171875, + 0.11428940296173096 + ], + [ + -44.75352478027344, + -52.194793701171875, + 0.11428940296173096 + ], + [ + -44.75352478027344, + -53.18073272705078, + 1.8802721500396729 + ], + [ + -45.580841064453125, + -53.18073272705078, + 1.8802721500396729 + ], + [ + -45.580841064453125, + -52.194793701171875, + 1.8802721500396729 + ], + [ + -44.75352478027344, + -52.194793701171875, + 1.8802721500396729 + ] + ], + "corners_2d": [ + [ + 656.5782779094108, + 408.1525196244637 + ], + [ + 683.4216411469489, + 413.2878441723659 + ], + [ + 690.9488241692158, + 391.5401535813435 + ], + [ + 664.7146015418901, + 386.6517529140001 + ], + [ + 657.2750548519257, + 363.94144653006873 + ], + [ + 685.2576575312949, + 369.02680216193505 + ], + [ + 693.048370348347, + 347.5076854332191 + ], + [ + 665.727101929203, + 342.6767692028158 + ] + ], + "center_offset_px": [ + 34.61773316770916, + 18.155344377888127 + ] + }, + "trace_timestep_index": 74, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 97, + "semantic_pixel_counts": { + "1": 332453, + "2": 262669, + "3": 67955, + "4": 26185, + "5": 2235, + "6": 2501, + "9": 23862, + "10": 235, + "12": 3211, + "14": 24089, + "15": 1833, + "20": 3897, + "21": 13072, + "24": 16925, + "25": 140478 + }, + "instance_pixel_counts": { + "70": 163, + "143": 21081, + "339": 4159, + "620": 335, + "883": 6215, + "1132": 240, + "2214": 194, + "2470": 223, + "2703": 39424, + "3180": 71, + "4166": 211, + "4678": 242, + "4979": 1110, + "5228": 385, + "5714": 1374, + "6053": 25, + "6508": 906, + "6565": 4037, + "7539": 15753, + "8018": 10003, + "8064": 60, + "8298": 127, + "8530": 1007, + "8556": 485, + "8780": 31, + "8808": 3091, + "8810": 1873, + "9068": 18240, + "9320": 60447, + "10346": 181, + "10624": 725, + "10856": 4106, + "11116": 279, + "11368": 63511, + "11370": 1846, + "11596": 26185, + "17516": 60, + "20308": 4876, + "20820": 2517, + "20866": 386, + "22356": 3457, + "22868": 1217, + "22893": 10681, + "23380": 1972, + "23953": 8044, + "24916": 1833, + "25698": 88, + "25928": 2204, + "25965": 8625, + "26987": 3897, + "27460": 431, + "27476": 2368, + "27559": 253, + "27719": 113054, + "28002": 23, + "28258": 179, + "29095": 245, + "30351": 526, + "30630": 2576, + "30863": 14726, + "31142": 2381, + "31654": 2681, + "32399": 3840, + "32911": 37329, + "34372": 73, + "34884": 369, + "36753": 112, + "37798": 23, + "39239": 140478, + "41796": 96, + "41879": 243, + "42391": 5440, + "44439": 677, + "44951": 7023, + "47184": 81, + "48708": 184, + "52327": 111561, + "54375": 89737, + "54438": 107, + "54950": 406, + "55401": 3361, + "56173": 23862, + "56320": 709, + "56576": 604, + "56832": 504, + "56937": 2336, + "57088": 640, + "57600": 754, + "58368": 4193, + "58624": 1924, + "58880": 1565, + "59522": 2034, + "59553": 124, + "60065": 18, + "60274": 345, + "60833": 374, + "64850": 2594 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 709, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -45.16718292236328, + "y": -52.68776321411133, + "z": 0.9972807765007019 + }, + "extent": { + "x": 0.48331785202026367, + "y": 0.5137377977371216, + "z": 0.8732577562332153 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 653.4373786298513, + "ymin": 342.5510980808131, + "xmax": 696.2888278464114, + "ymax": 413.46050292027354 + }, + "corners_3d": [ + [ + -44.653446197509766, + -53.17108154296875, + 0.12402302026748657 + ], + [ + -45.6809196472168, + -53.17108154296875, + 0.12402302026748657 + ], + [ + -45.6809196472168, + -52.204444885253906, + 0.12402302026748657 + ], + [ + -44.653446197509766, + -52.204444885253906, + 0.12402302026748657 + ], + [ + -44.653446197509766, + -53.17108154296875, + 1.8705384731292725 + ], + [ + -45.6809196472168, + -53.17108154296875, + 1.8705384731292725 + ], + [ + -45.6809196472168, + -52.204444885253906, + 1.8705384731292725 + ], + [ + -44.653446197509766, + -52.204444885253906, + 1.8705384731292725 + ] + ], + "corners_2d": [ + [ + 653.4373786298513, + 407.08610420358605 + ], + [ + 686.775159421846, + 413.46050292027354 + ], + [ + 694.08307200544, + 392.1100857469413 + ], + [ + 661.4873297757243, + 386.0363983807402 + ], + [ + 653.9952433749756, + 363.37103952945574 + ], + [ + 688.7316462152734, + 369.68397435762523 + ], + [ + 696.2888278464114, + 348.55427107639787 + ], + [ + 662.3573150921193, + 342.5510980808131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 604, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -41.041194915771484, + "y": -49.69005584716797, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.4715564250946045, + "y": 0.5484864115715027, + "z": 0.9297338724136353 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 553.9853547818919, + "ymin": 260.4793897030945, + "xmax": 593.1886677817241, + "ymax": 324.58156528708787 + }, + "corners_3d": [ + [ + -40.60273742675781, + -50.26534652709961, + 0.2199394702911377 + ], + [ + -41.67573928833008, + -50.037269592285156, + 0.2199394702911377 + ], + [ + -41.479652404785156, + -49.11476516723633, + 0.2199394702911377 + ], + [ + -40.40665054321289, + -49.34284210205078, + 0.2199394702911377 + ], + [ + -40.60273742675781, + -50.26534652709961, + 2.079407215118408 + ], + [ + -41.67573928833008, + -50.037269592285156, + 2.079407215118408 + ], + [ + -41.479652404785156, + -49.11476516723633, + 2.079407215118408 + ], + [ + -40.40665054321289, + -49.34284210205078, + 2.079407215118408 + ] + ], + "corners_2d": [ + [ + 557.3061074067741, + 323.32646095792023 + ], + [ + 590.4222932941962, + 324.58156528708787 + ], + [ + 593.1886677817241, + 306.9774327762494 + ], + [ + 560.7937253561571, + 305.77675843375056 + ], + [ + 553.9853547818919, + 277.6785419853499 + ], + [ + 588.4281482886846, + 278.90973551762886 + ], + [ + 591.3487286676894, + 261.6551173710615 + ], + [ + 557.6854395900675, + 260.4793897030945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 504, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -47.42300796508789, + "y": -45.745052337646484, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4645751714706421, + "y": 0.36186522245407104, + "z": 0.9316962957382202 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 772.7458077305001, + "ymin": 228.22727394002317, + "xmax": 800.6590482713852, + "ymax": 290.095447747985 + }, + "corners_3d": [ + [ + -47.11168670654297, + -46.24490737915039, + 0.06556975841522217 + ], + [ + -47.831451416015625, + -46.16925811767578, + 0.06556975841522217 + ], + [ + -47.73432922363281, + -45.24519729614258, + 0.06556975841522217 + ], + [ + -47.014564514160156, + -45.32084655761719, + 0.06556975841522217 + ], + [ + -47.11168670654297, + -46.24490737915039, + 1.9289623498916626 + ], + [ + -47.831451416015625, + -46.16925811767578, + 1.9289623498916626 + ], + [ + -47.73432922363281, + -45.24519729614258, + 1.9289623498916626 + ], + [ + -47.014564514160156, + -45.32084655761719, + 1.9289623498916626 + ] + ], + "corners_2d": [ + [ + 772.7458077305001, + 288.0391469374568 + ], + [ + 793.6870528979018, + 290.095447747985 + ], + [ + 794.8672199058526, + 274.49248286154574 + ], + [ + 774.3472841590863, + 272.51879291524415 + ], + [ + 777.8031306224899, + 243.38781162560267 + ], + [ + 799.5585134925924, + 245.3981966956083 + ], + [ + 800.6590482713852, + 230.15390841822529 + ], + [ + 779.358020184852, + 228.22727394002317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 640, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -54.66718292236328, + "y": -52.68776321411133, + "z": 0.9973881244659424 + }, + "extent": { + "x": 0.3200610280036926, + "y": 0.5414184331893921, + "z": 0.8809210658073425 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 980.1110793560745, + "ymin": 405.1888016371262, + "xmax": 1037.3998139636508, + "ymax": 473.2166623094639 + }, + "corners_3d": [ + [ + -54.125762939453125, + -53.0078239440918, + 0.11646705865859985 + ], + [ + -55.20860290527344, + -53.0078239440918, + 0.11646705865859985 + ], + [ + -55.20860290527344, + -52.36770248413086, + 0.11646705865859985 + ], + [ + -54.125762939453125, + -52.36770248413086, + 0.11646705865859985 + ], + [ + -54.125762939453125, + -53.0078239440918, + 1.8783092498779297 + ], + [ + -55.20860290527344, + -53.0078239440918, + 1.8783092498779297 + ], + [ + -55.20860290527344, + -52.36770248413086, + 1.8783092498779297 + ], + [ + -54.125762939453125, + -52.36770248413086, + 1.8783092498779297 + ] + ], + "corners_2d": [ + [ + 980.1110793560745, + 465.5773890728326 + ], + [ + 1020.2322630505946, + 473.2166623094639 + ], + [ + 1019.7482677352366, + 457.0106578675275 + ], + [ + 980.3092191885082, + 449.628520094583 + ], + [ + 995.3382745355889, + 421.05325953955196 + ], + [ + 1037.3998139636508, + 428.66061101034074 + ], + [ + 1036.58882590084, + 412.5288843703911 + ], + [ + 995.2763661209765, + 405.1888016371262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 754, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -33.92184829711914, + "y": -60.85797882080078, + "z": 1.144033670425415 + }, + "extent": { + "x": 0.4040502905845642, + "y": 0.455207496881485, + "z": 0.9238755702972412 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 136.65648803171177, + "ymin": 460.52665469712326, + "xmax": 209.7104063919922, + "ymax": 541.6106975802576 + }, + "corners_3d": [ + [ + -33.392581939697266, + -61.1585578918457, + 0.22015810012817383 + ], + [ + -34.28310012817383, + -61.347843170166016, + 0.22015810012817383 + ], + [ + -34.451114654541016, + -60.55739974975586, + 0.22015810012817383 + ], + [ + -33.56059646606445, + -60.36811447143555, + 0.22015810012817383 + ], + [ + -33.392581939697266, + -61.1585578918457, + 2.0679092407226562 + ], + [ + -34.28310012817383, + -61.347843170166016, + 2.0679092407226562 + ], + [ + -34.451114654541016, + -60.55739974975586, + 2.0679092407226562 + ], + [ + -33.56059646606445, + -60.36811447143555, + 2.0679092407226562 + ] + ], + "corners_2d": [ + [ + 160.92027909907875, + 528.8272095391961 + ], + [ + 186.00458546627897, + 541.6106975802576 + ], + [ + 209.7104063919922, + 519.947090009249 + ], + [ + 184.8615979352178, + 507.69790449541165 + ], + [ + 136.65648803171177, + 481.6634758755107 + ], + [ + 162.70423657940285, + 494.47334561760096 + ], + [ + 188.11957238657385, + 472.7747250758871 + ], + [ + 162.3181836701729, + 460.52665469712326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4193, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 769.6441403182404, + "ymin": 153.35809285158936, + "xmax": 848.6812722529789, + "ymax": 261.6037750632174 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 843.3226899463414, + 193.94682915802412 + ], + [ + 789.0213626836091, + 186.54205265888336 + ], + [ + 769.6441403182404, + 252.64219903706817 + ], + [ + 829.1769488232559, + 261.6037750632174 + ], + [ + 848.6812722529789, + 160.57839052101934 + ], + [ + 792.9044071606561, + 153.35809285158936 + ], + [ + 773.3680559186857, + 217.96022747434063 + ], + [ + 834.6795017733843, + 226.74457233830788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 1924, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 974.7947079305159, + "ymin": 0.0, + "xmax": 1024.4705076837317, + "ymax": 67.72912611228679 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 974.7947079305159, + 63.35886428568705 + ], + [ + 1015.6386982060676, + 67.72912611228679 + ], + [ + 1013.2438920304053, + 26.741075565456924 + ], + [ + 975.4637674838241, + 23.00064090576643 + ], + [ + 982.6016834993459, + 30.789664541700176 + ], + [ + 1024.4705076837317, + 34.99346003671326 + ], + [ + 1021.3457090704637, + -4.371211613472042 + ], + [ + 982.6903611662268, + -7.956590094133048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 1565, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 833.5402881832953, + "ymin": 0.0, + "xmax": 881.55987844734, + "ymax": 50.67544048256491 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 877.1393873890916, + 15.998449207185786 + ], + [ + 843.3309359775415, + 12.632595822939493 + ], + [ + 833.5402881832953, + 46.82208050338983 + ], + [ + 869.651070392721, + 50.67544048256491 + ], + [ + 881.55987844734, + -10.920116386284064 + ], + [ + 847.0948920828384, + -14.161386654808553 + ], + [ + 837.3777322121917, + 18.800971113713217 + ], + [ + 874.2386202941352, + 22.5213690620821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.49077638247428, + "ymin": 318.05363315610816, + "xmax": 368.6129816197365, + "ymax": 521.536253154138 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 327.67815150017134, + 521.536253154138 + ], + [ + 368.6129816197365, + 459.9440872501351 + ], + [ + 303.5241338530802, + 445.8902747684745 + ], + [ + 259.03544048198404, + 505.5913112764023 + ], + [ + 284.6412706945023, + 392.2111770597661 + ], + [ + 333.8172050998469, + 331.7148926041664 + ], + [ + 261.11108387527145, + 318.05363315610816 + ], + [ + 207.49077638247428, + 376.45157487823366 + ] + ], + "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": 29.183124897196876, + "ymin": 0.0, + "xmax": 171.14916128027374, + "ymax": 32.726902045285044 + }, + "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": [ + [ + 171.14916128027374, + -6.290809529128296 + ], + [ + 163.70465672140546, + -7.137503898562613 + ], + [ + 95.30629028710848, + 31.734448160259888 + ], + [ + 103.23368198738353, + 32.726902045285044 + ], + [ + 118.95356485039451, + -169.5345157774268 + ], + [ + 110.7860897473488, + -170.1495562025059 + ], + [ + 29.183124897196876, + -141.657074648675 + ], + [ + 37.930497192623875, + -140.9227117644324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 236.37914306650362, + "ymin": 0.0, + "xmax": 364.19287009435874, + "ymax": 150.09813977792453 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 364.19287009435874, + 92.0957342598931 + ], + [ + 354.7793269843114, + 90.85929718347239 + ], + [ + 290.09429692488493, + 148.59753142839338 + ], + [ + 300.3110010056956, + 150.09813977792453 + ], + [ + 326.1982437461494, + -96.35194523367988 + ], + [ + 315.58487499918414, + -97.2932328322309 + ], + [ + 236.37914306650362, + -52.728991891921396 + ], + [ + 248.02008631275214, + -51.55395199907832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.17782554513093, + "ymin": 351.9139578823863, + "xmax": 341.74431225862185, + "ymax": 432.02592150886653 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 297.7101570675258, + 432.02592150886653 + ], + [ + 341.74431225862185, + 374.3093934983635 + ], + [ + 275.6372853979785, + 361.2583935137126 + ], + [ + 227.91787964484087, + 417.1624264148504 + ], + [ + 294.55146489782857, + 422.5391172210693 + ], + [ + 339.16808508157675, + 364.9310812684462 + ], + [ + 272.5386639228089, + 351.9139578823863 + ], + [ + 224.17782554513093, + 407.69711471458174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.106778971609, + "ymin": 351.87778666065145, + "xmax": 341.8254859992652, + "ymax": 432.13234170206374 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 297.74913749012086, + 432.13234170206374 + ], + [ + 341.8254859992652, + 374.35051670831774 + ], + [ + 275.6421743807208, + 361.28407169823436 + ], + [ + 227.87235835793763, + 417.2492457327051 + ], + [ + 294.56953387904707, + 422.58263309562153 + ], + [ + 339.23280391267383, + 364.9100913639191 + ], + [ + 272.5230125581576, + 351.87778666065145 + ], + [ + 224.106778971609, + 407.7211806361899 + ] + ], + "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": 427.3861738859796, + "ymin": 0.0, + "xmax": 496.41856843828737, + "ymax": 7.4193079706953995 + }, + "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": [ + [ + 496.41856843828737, + -27.95981359505862 + ], + [ + 488.7582990064966, + -28.730533170685476 + ], + [ + 449.2634997831981, + 6.522702945615208 + ], + [ + 457.45315151909404, + 7.4193079706953995 + ], + [ + 481.2463884568517, + -185.19792738330682 + ], + [ + 472.80693339015363, + -185.75210474153164 + ], + [ + 427.3861738859796, + -160.1966427565634 + ], + [ + 436.47195324626375, + -159.54111795168603 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00078/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00078/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e93f60de682f91e552c0286895225077e0e2c76 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00078/meta.json @@ -0,0 +1,2323 @@ +{ + "frame_id": 78, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 39.0, + "sim_timestamp": 16230.527184919687 + }, + "drone_pose": { + "x": -49.49957889603513, + "y": -71.07787941506486, + "z": 19.956200762278762, + "pitch": -38.931497089266614, + "yaw": 80.34431051409777, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.1304745078086853, + -0.7668777704238892, + 0.6283907890319824, + 48.426185607910156 + ], + [ + 0.9858335256576538, + 0.1677270531654358, + -2.9802322387695312e-08, + -36.87665939331055 + ], + [ + -0.10539814829826355, + 0.6194885969161987, + 0.777897834777832, + -64.77298736572266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.231120487932955, + "y": -70.48458401536988, + "z": 20.08037791749841 + }, + "t1_image_uv": [ + 255.18085991113946, + -787.4693108406918 + ], + "t1_depth": 0.41198021315913125 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -44.16718292236328, + "y": -50.68776321411133, + "z": 0.9972661067545414 + }, + "image_uv": [ + 577.5699096784971, + 412.83768064528755 + ], + "depth": 28.24608717317931, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 717, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -44.16718292236328, + "y": -50.68776321411133, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.5026708841323853, + "y": 0.41780027747154236, + "z": 0.8749992847442627 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 558.1535053923529, + "ymin": 377.69274909714113, + "xmax": 595.8119856759947, + "ymax": 447.71033269424134 + }, + "corners_3d": [ + [ + -43.74938201904297, + -51.190433502197266, + 0.12226676940917969 + ], + [ + -44.584983825683594, + -51.190433502197266, + 0.12226676940917969 + ], + [ + -44.584983825683594, + -50.18509292602539, + 0.12226676940917969 + ], + [ + -43.74938201904297, + -50.18509292602539, + 0.12226676940917969 + ], + [ + -43.74938201904297, + -51.190433502197266, + 1.872265338897705 + ], + [ + -44.584983825683594, + -51.190433502197266, + 1.872265338897705 + ], + [ + -44.584983825683594, + -50.18509292602539, + 1.872265338897705 + ], + [ + -43.74938201904297, + -50.18509292602539, + 1.872265338897705 + ] + ], + "corners_2d": [ + [ + 561.3154706404791, + 444.4041403353526 + ], + [ + 588.901767965238, + 447.71033269424134 + ], + [ + 595.8119856759947, + 424.8617813366268 + ], + [ + 568.9273905154489, + 421.7279810713159 + ], + [ + 558.1535053923529, + 400.03953464463405 + ], + [ + 586.8401541133233, + 403.30166095660655 + ], + [ + 594.0782137565593, + 380.77821271610804 + ], + [ + 566.1495735262329, + 377.69274909714113 + ] + ], + "center_offset_px": [ + -62.43009032150292, + 52.83768064528755 + ] + }, + "trace_timestep_index": 78, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 116, + "semantic_pixel_counts": { + "1": 312148, + "2": 236116, + "3": 74920, + "4": 32277, + "5": 2202, + "6": 4111, + "9": 17625, + "10": 1230, + "12": 3378, + "14": 34485, + "15": 1303, + "20": 3199, + "21": 17678, + "24": 17812, + "25": 163116 + }, + "instance_pixel_counts": { + "70": 181, + "143": 16876, + "620": 421, + "883": 18314, + "1132": 290, + "2214": 149, + "2470": 61, + "2703": 33560, + "3180": 83, + "4166": 241, + "4261": 196, + "4678": 274, + "4979": 15784, + "5228": 468, + "5714": 1742, + "6053": 34, + "6508": 1236, + "6565": 5030, + "7539": 34783, + "7786": 170, + "7825": 135, + "8018": 397, + "8064": 69, + "8296": 306, + "8298": 315, + "8337": 160, + "8780": 141, + "8808": 9041, + "8810": 2097, + "9068": 100, + "9320": 66645, + "9834": 230, + "10344": 1054, + "10346": 263, + "10624": 980, + "10856": 7767, + "11116": 341, + "11136": 155, + "11368": 67394, + "11370": 1951, + "11596": 32277, + "12652": 114, + "12675": 64, + "17516": 70, + "20308": 5733, + "20820": 2985, + "20866": 1104, + "21332": 2659, + "21844": 1117, + "22356": 4016, + "22868": 1485, + "22893": 8375, + "23380": 2337, + "25428": 1979, + "25698": 172, + "25928": 2061, + "25940": 1091, + "25965": 6950, + "26210": 15, + "26368": 27, + "26987": 2939, + "27234": 102, + "27460": 534, + "27476": 2938, + "27719": 90740, + "27746": 12, + "27988": 1008, + "28231": 936, + "30351": 2374, + "30630": 3290, + "30863": 17021, + "31142": 3145, + "31654": 3579, + "31812": 112, + "31887": 872, + "32324": 127, + "32399": 5331, + "32911": 38499, + "34372": 91, + "34884": 444, + "36753": 184, + "37286": 2, + "37798": 41, + "39239": 163116, + "41796": 116, + "41879": 871, + "42391": 6164, + "43927": 139, + "44439": 984, + "44951": 7360, + "46672": 252, + "46917": 28, + "48708": 209, + "50756": 31, + "52327": 88390, + "54375": 71551, + "54950": 277, + "55401": 2504, + "55462": 25, + "56173": 17625, + "56320": 717, + "56576": 626, + "56832": 505, + "56937": 1891, + "57088": 594, + "57600": 936, + "58368": 4684, + "58624": 1892, + "58880": 1678, + "59522": 2728, + "60274": 4985, + "60833": 290, + "61440": 186, + "63339": 849, + "64837": 160, + "64850": 557 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 717, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -44.16718292236328, + "y": -50.68776321411133, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.5279687643051147, + "y": 0.4317724406719208, + "z": 0.8866368532180786 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 557.446305094883, + "ymin": 376.79057683398537, + "xmax": 596.4430879900466, + "ymax": 448.6407653796701 + }, + "corners_3d": [ + [ + -43.735408782958984, + -51.21573257446289, + 0.11062920093536377 + ], + [ + -44.59895706176758, + -51.21573257446289, + 0.11062920093536377 + ], + [ + -44.59895706176758, + -50.159793853759766, + 0.11062920093536377 + ], + [ + -43.735408782958984, + -50.159793853759766, + 0.11062920093536377 + ], + [ + -43.735408782958984, + -51.21573257446289, + 1.883902907371521 + ], + [ + -44.59895706176758, + -51.21573257446289, + 1.883902907371521 + ], + [ + -44.59895706176758, + -50.159793853759766, + 1.883902907371521 + ], + [ + -43.735408782958984, + -50.159793853759766, + 1.883902907371521 + ] + ], + "corners_2d": [ + [ + 560.6791751732349, + 445.2190815076918 + ], + [ + 589.19955250215, + 448.6407653796701 + ], + [ + 596.4430879900466, + 424.63690663407954 + ], + [ + 568.6840086006762, + 421.40232121750864 + ], + [ + 557.446305094883, + 400.2567096910851 + ], + [ + 587.1205164789942, + 403.63236899723057 + ], + [ + 594.7119822068087, + 379.97444003325904 + ], + [ + 565.8610032804265, + 376.79057683398537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 626, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -40.04119110107422, + "y": -47.69005584716797, + "z": 1.149678111076355 + }, + "extent": { + "x": 0.4478125274181366, + "y": 0.4403711259365082, + "z": 0.8860422968864441 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 454.079620511563, + "ymin": 302.7116874823399, + "xmax": 490.1634370928414, + "ymax": 363.8760992502804 + }, + "corners_3d": [ + [ + -39.703548431396484, + -48.219642639160156, + 0.2636358141899109 + ], + [ + -40.56504440307617, + -48.036521911621094, + 0.2636358141899109 + ], + [ + -40.37883377075195, + -47.16046905517578, + 0.2636358141899109 + ], + [ + -39.517337799072266, + -47.343589782714844, + 0.2636358141899109 + ], + [ + -39.703548431396484, + -48.219642639160156, + 2.0357203483581543 + ], + [ + -40.56504440307617, + -48.036521911621094, + 2.0357203483581543 + ], + [ + -40.37883377075195, + -47.16046905517578, + 2.0357203483581543 + ], + [ + -39.517337799072266, + -47.343589782714844, + 2.0357203483581543 + ] + ], + "corners_2d": [ + [ + 460.7191003851877, + 363.8760992502804 + ], + [ + 487.94830458137733, + 363.176196115612 + ], + [ + 490.1634370928414, + 346.1874669818675 + ], + [ + 463.5307791241895, + 346.85714970749245 + ], + [ + 454.079620511563, + 320.0083647377406 + ], + [ + 482.3224737104763, + 319.3234179937798 + ], + [ + 484.7448930729528, + 302.7116874823399 + ], + [ + 457.14330356230914, + 303.36600184228297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 505, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -45.62451171875, + "y": -45.01852798461914, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4830297827720642, + "y": 0.4829980432987213, + "z": 0.9040465950965881 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 641.1145292269847, + "ymin": 275.7379152069967, + "xmax": 671.7201888227612, + "ymax": 337.0625478976159 + }, + "corners_3d": [ + [ + -45.19464874267578, + -45.549400329589844, + 0.09322434663772583 + ], + [ + -46.15535354614258, + -45.44842529296875, + 0.09322434663772583 + ], + [ + -46.05437469482422, + -44.48765563964844, + 0.09322434663772583 + ], + [ + -45.09366989135742, + -44.58863067626953, + 0.09322434663772583 + ], + [ + -45.19464874267578, + -45.549400329589844, + 1.9013175964355469 + ], + [ + -46.15535354614258, + -45.44842529296875, + 1.9013175964355469 + ], + [ + -46.05437469482422, + -44.48765563964844, + 1.9013175964355469 + ], + [ + -45.09366989135742, + -44.58863067626953, + 1.9013175964355469 + ] + ], + "corners_2d": [ + [ + 641.1145292269847, + 335.9572204803654 + ], + [ + 669.5286066357023, + 337.0625478976159 + ], + [ + 670.6386389026397, + 320.1253294152875 + ], + [ + 642.8615435921516, + 319.06916072643537 + ], + [ + 641.1547496185087, + 292.20325749046316 + ], + [ + 670.5958394865119, + 293.281849213578 + ], + [ + 671.7201888227612, + 276.7668650959369 + ], + [ + 642.9624064963539, + 275.7379152069967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 594, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -53.66718292236328, + "y": -50.68776321411133, + "z": 0.9973881244659424 + }, + "extent": { + "x": 0.33040037751197815, + "y": 0.32993894815444946, + "z": 0.8869135975837708 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 890.1175790655196, + "ymin": 418.3793721042477, + "xmax": 926.2586663219306, + "ymax": 482.70340221729185 + }, + "corners_3d": [ + [ + -53.33724594116211, + -51.018165588378906, + 0.11047452688217163 + ], + [ + -53.99712371826172, + -51.01816177368164, + 0.11047452688217163 + ], + [ + -53.99711990356445, + -50.35736083984375, + 0.11047452688217163 + ], + [ + -53.337242126464844, + -50.357364654541016, + 0.11047452688217163 + ], + [ + -53.33724594116211, + -51.018165588378906, + 1.8843016624450684 + ], + [ + -53.99712371826172, + -51.01816177368164, + 1.8843016624450684 + ], + [ + -53.99711990356445, + -50.35736083984375, + 1.8843016624450684 + ], + [ + -53.337242126464844, + -50.357364654541016, + 1.8843016624450684 + ] + ], + "corners_2d": [ + [ + 890.8615748802928, + 479.8763538292952 + ], + [ + 914.556779224393, + 482.70340221729185 + ], + [ + 913.3781458509923, + 466.31532225930215 + ], + [ + 890.1175790655196, + 463.59033819665956 + ], + [ + 901.5184661930666, + 434.4840717109204 + ], + [ + 926.2586663219306, + 437.28218134658226 + ], + [ + 924.8083193575857, + 421.072285639401 + ], + [ + 900.5415452412856, + 418.3793721042477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 936, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.92184829711914, + "y": -58.85797882080078, + "z": 1.1430131196975708 + }, + "extent": { + "x": 0.3274816870689392, + "y": 0.5765331983566284, + "z": 0.9093211889266968 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 8.130546767108399, + "ymin": 537.4124419467953, + "xmax": 94.51049622271398, + "ymax": 619.112932236345 + }, + "corners_3d": [ + [ + -32.289825439453125, + -59.05843734741211, + 0.23369193077087402 + ], + [ + -33.417694091796875, + -59.29817199707031, + 0.23369193077087402 + ], + [ + -33.553871154785156, + -58.65752029418945, + 0.23369193077087402 + ], + [ + -32.426002502441406, + -58.41778564453125, + 0.23369193077087402 + ], + [ + -32.289825439453125, + -59.05843734741211, + 2.0523343086242676 + ], + [ + -33.417694091796875, + -59.29817199707031, + 2.0523343086242676 + ], + [ + -33.553871154785156, + -58.65752029418945, + 2.0523343086242676 + ], + [ + -32.426002502441406, + -58.41778564453125, + 2.0523343086242676 + ] + ], + "corners_2d": [ + [ + 38.399753903546525, + 604.7578112322909 + ], + [ + 73.66732358880893, + 619.112932236345 + ], + [ + 94.51049622271398, + 598.6985571302378 + ], + [ + 59.64577278276943, + 584.900566558744 + ], + [ + 8.130546767108399, + 557.2787553606433 + ], + [ + 44.75118949252783, + 571.6646806113584 + ], + [ + 67.2356237774328, + 551.212610296438 + ], + [ + 31.041885557305704, + 537.4124419467953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4684, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 688.8194306554655, + "ymin": 210.75593116144245, + "xmax": 763.0366478035212, + "ymax": 322.6688233793185 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 759.9246961165932, + 249.20604622099364 + ], + [ + 704.0011996159122, + 244.34128597483235 + ], + [ + 688.8194306554655, + 316.6741928713201 + ], + [ + 750.7991918268598, + 322.6688233793185 + ], + [ + 763.0366478035212, + 215.4928883762759 + ], + [ + 705.6495126401829, + 210.75593116144245 + ], + [ + 690.2185264979737, + 281.3745682110558 + ], + [ + 754.0012894958172, + 287.2450752246152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 1892, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 877.0935229980673, + "ymin": 34.91892994854055, + "xmax": 926.656784086845, + "ymax": 109.23337877814771 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 880.0501047598326, + 106.5226980237303 + ], + [ + 920.3518393433161, + 109.23337877814771 + ], + [ + 914.1934009771271, + 67.72843090062258 + ], + [ + 877.0935229980673, + 65.42867954912077 + ], + [ + 885.4201753302123, + 74.2669215298431 + ], + [ + 926.656784086845, + 76.86730217740796 + ], + [ + 919.8620082927416, + 37.117313299893226 + ], + [ + 881.9713288329476, + 34.91892994854055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 1678, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 738.7638563474993, + "ymin": 33.48424960597646, + "xmax": 782.3264994484039, + "ymax": 97.99804002395928 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 779.818516415183, + 62.17173021620499 + ], + [ + 745.969051054273, + 60.061204008549225 + ], + [ + 738.7638563474993, + 95.55986341107723 + ], + [ + 775.1176773072029, + 97.99804002395928 + ], + [ + 782.3264994484039, + 35.51256831144042 + ], + [ + 747.8613135670446, + 33.48424960597646 + ], + [ + 740.6616342706129, + 67.64302229949647 + ], + [ + 777.7266310378083, + 69.99251749181167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 186, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 696.6931603547329, + "ymin": 0.0, + "xmax": 734.7386017500986, + "ymax": 14.082144734115218 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 732.7865887647199, + -10.095935549631804 + ], + [ + 704.8030867979177, + -11.57719797660576 + ], + [ + 696.6931603547329, + 12.419284857682555 + ], + [ + 726.3139409917942, + 14.082144734115218 + ], + [ + 734.7386017500986, + -42.887125329302876 + ], + [ + 706.1612151890511, + -44.2770940479586 + ], + [ + 697.9534321799623, + -21.73274046686447 + ], + [ + 728.2404658669042, + -20.168451653332795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 102.1453600939401, + "ymin": 0.0, + "xmax": 194.66723960795048, + "ymax": 30.966635802075643 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 194.66723960795048, + -19.637012411052126 + ], + [ + 187.65040955065876, + -20.045000466405668 + ], + [ + 103.08326988762622, + 30.44774027081263 + ], + [ + 110.89868143054957, + 30.966635802075643 + ], + [ + 193.9768189416174, + -22.068020823222184 + ], + [ + 186.94983426710849, + -22.474131362281298 + ], + [ + 102.1453600939401, + 27.79610800681678 + ], + [ + 109.9733466000306, + 28.312820202943442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 64.75017389791606, + "ymin": 439.7535967773189, + "xmax": 263.97178508733157, + "ymax": 660.2599828685925 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 218.4009706279257, + 660.2599828685925 + ], + [ + 263.97178508733157, + 582.6384912726464 + ], + [ + 189.3095374825803, + 571.8027458840932 + ], + [ + 138.533102800336, + 647.6840029987874 + ], + [ + 155.52615728311417, + 527.8074293532743 + ], + [ + 212.49346507434677, + 450.4250921061823 + ], + [ + 128.37032357112503, + 439.7535967773189 + ], + [ + 64.75017389791606, + 515.1573399729883 + ] + ], + "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": 37.00524665751732, + "ymax": 113.08236774320014 + }, + "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": [ + [ + 37.00524665751732, + 67.5590679970527 + ], + [ + 28.708587610301038, + 66.95645043769969 + ], + [ + -48.58148081034881, + 112.36093411306405 + ], + [ + -39.6085205611987, + 113.08236774320014 + ], + [ + -31.611182366811818, + -100.9503052004979 + ], + [ + -40.755302020884415, + -101.3872943928227 + ], + [ + -135.11762514689724, + -68.11095508209047 + ], + [ + -125.14842796312246, + -67.57641863412522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 95.56674724424568, + "ymin": 0.0, + "xmax": 250.6398608404195, + "ymax": 232.39376153556915 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 250.6398608404195, + 165.30401240280386 + ], + [ + 240.34646147679183, + 164.43310038315752 + ], + [ + 170.04557196620704, + 231.31021301550203 + ], + [ + 181.41022267708786, + 232.39376153556915 + ], + [ + 196.112657978499, + -28.389556980689065 + ], + [ + 184.47339773022156, + -29.051175159403613 + ], + [ + 95.56674724424568, + 22.575990674181583 + ], + [ + 108.59139351697365, + 23.42639070191069 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.85567286706896, + "ymin": 475.18038058711676, + "xmax": 225.4289595020265, + "ymax": 568.5171445428186 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 175.01884896939669, + 568.5171445428186 + ], + [ + 225.4289595020265, + 495.02384567129076 + ], + [ + 149.1229130536816, + 484.86456001658445 + ], + [ + 93.2352218318232, + 556.662317236784 + ], + [ + 170.38761516889707, + 558.7574294519058 + ], + [ + 221.61104749391995, + 485.3229475042085 + ], + [ + 144.65317444001903, + 475.18038058711676 + ], + [ + 87.85567286706896, + 546.9047005552202 + ] + ], + "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": 628.733958449531, + "ymin": 0.0, + "xmax": 839.5950930615841, + "ymax": 0.0010214403974373454 + }, + "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": [ + [ + 630.9680838388134, + -13.471319497644686 + ], + [ + 629.715409344705, + -11.284551709585514 + ], + [ + 821.6005660887581, + 0.0010214403974373454 + ], + [ + 821.8211023546057, + -2.3092116301232863 + ], + [ + 630.1112800048909, + -161.63705174170752 + ], + [ + 628.733958449531, + -160.12444666321358 + ], + [ + 839.462019717914, + -152.29322821641938 + ], + [ + 839.5950930615841, + -153.89973569112692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 102.0427028014143, + "ymin": 0.0, + "xmax": 194.7527582964379, + "ymax": 31.014385503678568 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 194.7527582964379, + -19.640337898536472 + ], + [ + 187.64553378497754, + -20.053573205951352 + ], + [ + 102.9929833813029, + 30.488696010639046 + ], + [ + 110.9098895212469, + 31.014385503678568 + ], + [ + 194.05355506765892, + -22.102748272733095 + ], + [ + 186.93591229790502, + -22.514057269296814 + ], + [ + 102.0427028014143, + 27.80261357833467 + ], + [ + 109.97251303680434, + 28.326062670508293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.7717152277429, + "ymin": 475.13821264216887, + "xmax": 225.52755132342395, + "ymax": 568.6331883175989 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 175.0708243961525, + 568.6331883175989 + ], + [ + 225.52755132342395, + 495.05759726660165 + ], + [ + 149.13437065137197, + 484.8864804466891 + ], + [ + 93.18790303132278, + 556.7626593043648 + ], + [ + 170.4088999768009, + 558.8088620918564 + ], + [ + 221.68515579557862, + 485.29247966145516 + ], + [ + 144.6350642956141, + 475.13821264216887 + ], + [ + 87.7717152277429, + 546.9404298220687 + ] + ], + "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": 971.0734845335915, + "ymin": 0.0, + "xmax": 1031.6348106500527, + "ymax": 8.118048852185666 + }, + "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": [ + [ + 988.4883626784685, + 7.685523734392348 + ], + [ + 995.879516611194, + 8.118048852185666 + ], + [ + 977.4366191384042, + -49.92083216665753 + ], + [ + 971.0734845335915, + -50.24300046051246 + ], + [ + 1023.4617287410529, + -146.93685449225154 + ], + [ + 1031.6348106500527, + -146.63478856473273 + ], + [ + 1006.296739625845, + -186.6215778505001 + ], + [ + 999.3622957146238, + -186.84051028907572 + ] + ], + "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": 305.65931222615495, + "ymin": 0.0, + "xmax": 388.6544049963786, + "ymax": 70.2744449424302 + }, + "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": [ + [ + 388.6544049963786, + 31.556104787554318 + ], + [ + 380.5693692728701, + 31.039920371909602 + ], + [ + 339.96678333782387, + 69.66503765067318 + ], + [ + 348.70105096004283, + 70.2744449424302 + ], + [ + 362.4074209295177, + -126.84203083541433 + ], + [ + 353.5126414351431, + -127.21008137991237 + ], + [ + 305.65931222615495, + -99.42218267213553 + ], + [ + 315.3456748650285, + -98.97970475004263 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00086/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00086/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85a871fe43450f392feb8fe17fbdbc79803666e1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00086/meta.json @@ -0,0 +1,2452 @@ +{ + "frame_id": 86, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 43.0, + "sim_timestamp": 16326.552442466142 + }, + "drone_pose": { + "x": -48.18577819294252, + "y": -66.88035769769286, + "z": 20.071636467108462, + "pitch": -37.770306617500914, + "yaw": 74.72198546396345, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.20829176902770996, + -0.7625361680984497, + 0.6124974489212036, + 48.7415657043457 + ], + [ + 0.9646586179733276, + 0.26350289583206177, + 2.9802322387695312e-08, + -28.859655380249023 + ], + [ + -0.1613948792219162, + 0.5908509492874146, + 0.7904725670814514, + -63.15933609008789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.03118039795417, + "y": -66.52053654809299, + "z": 20.0 + }, + "t1_image_uv": [ + 491.2010693720669, + -135.60762422541688 + ], + "t1_depth": 0.35045524056125377 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -42.66718292236328, + "y": -46.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 639.9063824486824, + 436.7275834377722 + ], + "depth": 28.23006194781656, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 696, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": -46.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3957616984844208, + "y": 0.4816381633281708, + "z": 0.8834899067878723 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.6635684091966, + "ymin": 400.96303163451216, + "xmax": 661.273146796864, + "ymax": 472.2882554818624 + }, + "corners_3d": [ + [ + -42.60646057128906, + -47.30817794799805, + 0.11378103494644165 + ], + [ + -43.28759765625, + -46.62704086303711, + 0.11378103494644165 + ], + [ + -42.7279052734375, + -46.06734848022461, + 0.11378103494644165 + ], + [ + -42.04676818847656, + -46.74848556518555, + 0.11378103494644165 + ], + [ + -42.60646057128906, + -47.30817794799805, + 1.880760908126831 + ], + [ + -43.28759765625, + -46.62704086303711, + 1.880760908126831 + ], + [ + -42.7279052734375, + -46.06734848022461, + 1.880760908126831 + ], + [ + -42.04676818847656, + -46.74848556518555, + 1.880760908126831 + ] + ], + "corners_2d": [ + [ + 632.3768212160367, + 472.2882554818624 + ], + [ + 660.4706131715188, + 461.02203587437043 + ], + [ + 647.20220675753, + 445.31723520304445 + ], + [ + 619.4638629145866, + 456.1658198919214 + ], + [ + 632.0738171065046, + 427.5060070134399 + ], + [ + 661.273146796864, + 416.4105086830164 + ], + [ + 647.4791130678702, + 400.96303163451216 + ], + [ + 618.6635684091966, + 411.6314579297584 + ] + ], + "center_offset_px": [ + -0.09361755131760674, + 76.72758343777218 + ] + }, + "trace_timestep_index": 86, + "instance_stats": { + "semantic_tags_present": 16, + "instances_present": 140, + "semantic_pixel_counts": { + "1": 314912, + "2": 218076, + "3": 21409, + "4": 16953, + "5": 3260, + "6": 5417, + "7": 86, + "9": 9483, + "10": 413, + "12": 3201, + "14": 41196, + "15": 6150, + "20": 1714, + "21": 17762, + "24": 21976, + "25": 239592 + }, + "instance_pixel_counts": { + "70": 211, + "143": 12008, + "620": 482, + "883": 2685, + "1132": 327, + "2214": 263, + "2470": 298, + "2703": 3387, + "3180": 94, + "4166": 281, + "4678": 327, + "4979": 1231, + "5228": 583, + "6053": 36, + "6508": 1504, + "6565": 6241, + "7539": 13669, + "7786": 749, + "7825": 133, + "8018": 3824, + "8064": 78, + "8296": 8211, + "8298": 382, + "8337": 163, + "8780": 763, + "8808": 11293, + "8810": 2705, + "9320": 92522, + "9322": 111, + "9832": 1765, + "9834": 972, + "10344": 10156, + "10346": 364, + "10624": 1166, + "10856": 10028, + "11116": 388, + "11136": 170, + "11368": 99537, + "11370": 2939, + "11596": 16953, + "11880": 1025, + "11882": 19, + "12652": 126, + "17516": 84, + "20308": 6414, + "20820": 3516, + "20866": 1420, + "21332": 2887, + "21844": 2261, + "22356": 4219, + "22868": 1769, + "22893": 5309, + "23380": 2586, + "24916": 2274, + "25428": 1980, + "25698": 195, + "25928": 2497, + "25940": 1489, + "25965": 1812, + "26112": 174, + "26210": 15, + "26368": 548, + "26987": 1712, + "27234": 157, + "27243": 2, + "27460": 656, + "27476": 3154, + "27559": 184, + "27719": 84267, + "27746": 149, + "27988": 2079, + "28002": 30, + "28258": 79, + "29012": 180, + "29095": 3, + "29839": 867, + "30050": 16, + "30351": 3033, + "30630": 3148, + "30863": 23031, + "31142": 3696, + "31375": 2562, + "31654": 4391, + "31812": 128, + "31887": 1529, + "32324": 146, + "32360": 61, + "32399": 7136, + "32911": 50437, + "33634": 51, + "34372": 112, + "34447": 38, + "34884": 542, + "34920": 1864, + "35170": 11, + "35399": 4294, + "36456": 1209, + "36753": 198, + "37286": 140, + "37798": 146, + "39239": 235298, + "41367": 259, + "41796": 140, + "41879": 1057, + "42391": 8073, + "42903": 197, + "43927": 323, + "44439": 1320, + "44869": 35, + "44951": 11423, + "45463": 8, + "46672": 397, + "46917": 32, + "47184": 468, + "48708": 242, + "48744": 193, + "50756": 35, + "50792": 73, + "52327": 50031, + "53926": 106, + "54375": 27210, + "54950": 589, + "55401": 1326, + "55462": 24, + "56173": 9483, + "56320": 696, + "56576": 594, + "56832": 436, + "56937": 596, + "57088": 589, + "57600": 886, + "58368": 6344, + "58624": 2504, + "58880": 2075, + "59522": 2496, + "60833": 589, + "61440": 1615, + "61601": 96, + "62113": 87, + "64837": 186 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 696, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": -46.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4160180687904358, + "y": 0.44019773602485657, + "z": 0.8595984578132629 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.5933627335731, + "ymin": 401.65064284525073, + "xmax": 660.3823202585448, + "ymax": 471.63496264169515 + }, + "corners_3d": [ + [ + -42.65008544921875, + -47.29319763183594, + 0.13767248392105103 + ], + [ + -43.27261734008789, + -46.6706657409668, + 0.13767248392105103 + ], + [ + -42.68428039550781, + -46.08232879638672, + 0.13767248392105103 + ], + [ + -42.06174850463867, + -46.70486068725586, + 0.13767248392105103 + ], + [ + -42.65008544921875, + -47.29319763183594, + 1.8568694591522217 + ], + [ + -43.27261734008789, + -46.6706657409668, + 1.8568694591522217 + ], + [ + -42.68428039550781, + -46.08232879638672, + 1.8568694591522217 + ], + [ + -42.06174850463867, + -46.70486068725586, + 1.8568694591522217 + ] + ], + "corners_2d": [ + [ + 633.9350512180991, + 471.63496264169515 + ], + [ + 659.6330170961522, + 461.32986343737264 + ], + [ + 645.6938195460925, + 444.8056973800893 + ], + [ + 620.3376834667048, + 454.7094261959206 + ], + [ + 633.7006483058957, + 428.0656108081313 + ], + [ + 660.3823202585448, + 417.91207224307004 + ], + [ + 645.9067193794634, + 401.65064284525073 + ], + [ + 619.5933627335731, + 411.3939881061957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 594, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": -43.69005584716797, + "z": 1.1488871574401855 + }, + "extent": { + "x": 0.5027782917022705, + "y": 0.44859617948532104, + "z": 0.9133726358413696 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 519.5479764116287, + "ymin": 315.9127798366116, + "xmax": 563.7712428376025, + "ymax": 385.5726098544583 + }, + "corners_3d": [ + [ + -38.71853256225586, + -44.34011459350586, + 0.23551452159881592 + ], + [ + -39.20718002319336, + -43.58766555786133, + 0.23551452159881592 + ], + [ + -38.36384963989258, + -43.03999710083008, + 0.23551452159881592 + ], + [ + -37.87520217895508, + -43.79244613647461, + 0.23551452159881592 + ], + [ + -38.71853256225586, + -44.34011459350586, + 2.0622596740722656 + ], + [ + -39.20718002319336, + -43.58766555786133, + 2.0622596740722656 + ], + [ + -38.36384963989258, + -43.03999710083008, + 2.0622596740722656 + ], + [ + -37.87520217895508, + -43.79244613647461, + 2.0622596740722656 + ] + ], + "corners_2d": [ + [ + 542.0893749179108, + 385.5726098544583 + ], + [ + 563.7712428376025, + 374.1457129393828 + ], + [ + 545.3240161513658, + 360.2550453318159 + ], + [ + 523.7724341262282, + 371.26393383617426 + ], + [ + 538.4607401438387, + 340.60401974573404 + ], + [ + 560.989639739846, + 329.4523577479703 + ], + [ + 541.9348458152023, + 315.9127798366116 + ], + [ + 519.5479764116287, + 326.6419278061034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 436, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.48916244506836, + "y": -39.442466735839844, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.34058836102485657, + "y": 0.4077746570110321, + "z": 0.9456917643547058 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 728.5308568885617, + "ymin": 279.2372316664955, + "xmax": 762.8766928820891, + "ymax": 340.889398999786 + }, + "corners_3d": [ + [ + -44.497230529785156, + -39.97370529174805, + 0.05158412456512451 + ], + [ + -45.01047134399414, + -39.33990478515625, + 0.05158412456512451 + ], + [ + -44.48109436035156, + -38.91122817993164, + 0.05158412456512451 + ], + [ + -43.96785354614258, + -39.54502868652344, + 0.05158412456512451 + ], + [ + -44.497230529785156, + -39.97370529174805, + 1.9429676532745361 + ], + [ + -45.01047134399414, + -39.33990478515625, + 1.9429676532745361 + ], + [ + -44.48109436035156, + -38.91122817993164, + 1.9429676532745361 + ], + [ + -43.96785354614258, + -39.54502868652344, + 1.9429676532745361 + ] + ], + "corners_2d": [ + [ + 741.0652938162821, + 340.889398999786 + ], + [ + 758.6806139953927, + 332.84829154002296 + ], + [ + 746.0593757539006, + 323.7303595211662 + ], + [ + 728.5308568885617, + 331.5670514114945 + ], + [ + 744.6800888432906, + 295.8924429777382 + ], + [ + 762.8766928820891, + 288.08392990347244 + ], + [ + 749.7598473068344, + 279.2372316664955 + ], + [ + 731.6551660538773, + 286.8403226417888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 589, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": -46.68776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.35481444001197815, + "y": 0.40755125880241394, + "z": 0.8831419944763184 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 948.3186141616809, + "ymin": 462.16001729569507, + "xmax": 1003.0496788452162, + "ymax": 534.6230287678702 + }, + "corners_3d": [ + [ + -52.1298942565918, + -47.226837158203125, + 0.11413389444351196 + ], + [ + -52.70625686645508, + -46.65047073364258, + 0.11413389444351196 + ], + [ + -52.204471588134766, + -46.14868927001953, + 0.11413389444351196 + ], + [ + -51.628108978271484, + -46.72505569458008, + 0.11413389444351196 + ], + [ + -52.1298942565918, + -47.226837158203125, + 1.880417823791504 + ], + [ + -52.70625686645508, + -46.65047073364258, + 1.880417823791504 + ], + [ + -52.204471588134766, + -46.14868927001953, + 1.880417823791504 + ], + [ + -51.628108978271484, + -46.72505569458008, + 1.880417823791504 + ] + ], + "corners_2d": [ + [ + 966.8094492286189, + 534.6230287678702 + ], + [ + 988.3440487270582, + 523.6374508057152 + ], + [ + 969.684671652206, + 507.3818187767496 + ], + [ + 948.3186141616809, + 517.975062383287 + ], + [ + 980.7801307645409, + 489.1244338141374 + ], + [ + 1003.0496788452162, + 478.24225564357613 + ], + [ + 983.3429454852953, + 462.16001729569507 + ], + [ + 961.2499173926154, + 472.6375062554412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 886, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -31.421844482421875, + "y": -54.85797882080078, + "z": 1.141499400138855 + }, + "extent": { + "x": 0.3066357374191284, + "y": 0.47938475012779236, + "z": 0.9250384569168091 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 90.23390164396119, + "ymin": 525.9760732256535, + "xmax": 157.83098240060525, + "ymax": 601.3974763489914 + }, + "corners_3d": [ + [ + -31.186803817749023, + -55.37623596191406, + 0.2164609432220459 + ], + [ + -31.990896224975586, + -54.85405349731445, + 0.2164609432220459 + ], + [ + -31.656885147094727, + -54.3397216796875, + 0.2164609432220459 + ], + [ + -30.852792739868164, + -54.86190414428711, + 0.2164609432220459 + ], + [ + -31.186803817749023, + -55.37623596191406, + 2.066537857055664 + ], + [ + -31.990896224975586, + -54.85405349731445, + 2.066537857055664 + ], + [ + -31.656885147094727, + -54.3397216796875, + 2.066537857055664 + ], + [ + -30.852792739868164, + -54.86190414428711, + 2.066537857055664 + ] + ], + "corners_2d": [ + [ + 115.68823635964804, + 601.3974763489914 + ], + [ + 156.0726813347605, + 592.1971071327976 + ], + [ + 157.83098240060525, + 574.2881571881821 + ], + [ + 118.2106472122149, + 583.1524677070195 + ], + [ + 90.23390164396119, + 552.9682149674483 + ], + [ + 132.80886722108096, + 543.7995332709926 + ], + [ + 135.09704910962245, + 525.9760732256535 + ], + [ + 93.37020070114534, + 534.7941410158955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 6344, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 784.608951791555, + "ymin": 304.78040565455234, + "xmax": 873.267267740255, + "ymax": 440.48408279907017 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 866.857101732587, + 349.5008076669306 + ], + [ + 804.1555437135876, + 339.87739736771124 + ], + [ + 784.608951791555, + 428.34449409977617 + ], + [ + 854.79724816627, + 440.48408279907017 + ], + [ + 873.267267740255, + 314.19587088019915 + ], + [ + 808.7314248295258, + 304.78040565455234 + ], + [ + 789.1481729812889, + 391.5996282453926 + ], + [ + 861.6436416370952, + 403.55943697833453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 2504, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1000.3542560555369, + "ymin": 103.4415094812486, + "xmax": 1059.2350475787462, + "ymax": 189.29560873964058 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1003.7452918082154, + 184.03029671743704 + ], + [ + 1049.3167004852053, + 189.29560873964058 + ], + [ + 1041.9697322743264, + 139.90219546380212 + ], + [ + 1000.3542560555369, + 135.50181777885277 + ], + [ + 1012.4764614235327, + 150.0672387894716 + ], + [ + 1059.2350475787462, + 155.1376088129861 + ], + [ + 1050.8520954728072, + 107.66148191617515 + ], + [ + 1008.2486728489371, + 103.4415094812486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2075, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 846.8894884274603, + "ymin": 95.68329325732287, + "xmax": 897.4053181570087, + "ymax": 168.8004383516143 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 892.6252799921517, + 127.32209727102008 + ], + [ + 855.6159464678954, + 123.38401644873292 + ], + [ + 846.8894884274603, + 164.20022135318362 + ], + [ + 886.828526820605, + 168.8004383516143 + ], + [ + 897.4053181570087, + 99.47675765990908 + ], + [ + 859.6636938495236, + 95.68329325732287 + ], + [ + 851.0922921821052, + 135.05436634524884 + ], + [ + 891.8856114175533, + 139.49917993882218 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 1615, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 803.5843308302983, + "ymin": 6.491936798406812, + "xmax": 847.440197187728, + "ymax": 70.02485912203946 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 843.0083058674278, + 42.9854264300252 + ], + [ + 813.0129454043051, + 40.30221386383073 + ], + [ + 803.5843308302983, + 66.99213585465702 + ], + [ + 835.416243806273, + 70.02485912203946 + ], + [ + 847.440197187728, + 9.015159616512108 + ], + [ + 816.7656877542169, + 6.491936798406812 + ], + [ + 807.3609436276148, + 31.621676823003213 + ], + [ + 839.9588852785421, + 34.48143077589219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17449955051410433482, + "instance_id": 51749, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -60.41596984863281, + "y": -9.395050048828125, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1134.6188592785936, + "ymin": 5.814581665165804, + "xmax": 1146.2719827915294, + "ymax": 24.807922128107577 + }, + "corners_3d": [ + [ + -60.55530548095703, + -9.205093383789062, + 2.645533323287964 + ], + [ + -60.276634216308594, + -9.205094337463379, + 2.645533323287964 + ], + [ + -60.276634216308594, + -9.585006713867188, + 2.645533323287964 + ], + [ + -60.55530548095703, + -9.585005760192871, + 2.645533323287964 + ], + [ + -60.55530548095703, + -9.205093383789062, + 3.5146729946136475 + ], + [ + -60.276634216308594, + -9.205094337463379, + 3.5146729946136475 + ], + [ + -60.276634216308594, + -9.585006713867188, + 3.5146729946136475 + ], + [ + -60.55530548095703, + -9.585005760192871, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1140.125758338637, + 22.53456007647128 + ], + [ + 1134.6188592785936, + 22.082103184781772 + ], + [ + 1135.5289962150903, + 24.350391807274775 + ], + [ + 1141.067721174326, + 24.807922128107577 + ], + [ + 1145.2910415171784, + 6.253392533517513 + ], + [ + 1139.7215212282426, + 5.814581665165804 + ], + [ + 1140.6699087871098, + 8.014560609680416 + ], + [ + 1146.2719827915294, + 8.458343113508477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.38967856941008, + "ymin": 27.99335508941448, + "xmax": 278.6339957375793, + "ymax": 87.23353468079546 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 278.6339957375793, + 31.210206982220996 + ], + [ + 271.54738325130575, + 30.490096386684343 + ], + [ + 177.2257567854806, + 86.30612905361215 + ], + [ + 185.08282962872653, + 87.23353468079546 + ], + [ + 278.05775654685715, + 28.710267863354886 + ], + [ + 270.9608646139575, + 27.99335508941448 + ], + [ + 176.38967856941008, + 83.57328801151249 + ], + [ + 184.2593223955277, + 84.49697210875848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 64.16151125637612, + "ymin": 579.5215765843194, + "xmax": 291.028856541655, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 230.8883904780995, + 832.7586708238534 + ], + [ + 291.028856541655, + 733.9968111608912 + ], + [ + 211.38762986727824, + 712.2672988858939 + ], + [ + 145.62964670940636, + 807.0640846000822 + ], + [ + 161.76986631315452, + 703.312327194513 + ], + [ + 237.58990157127266, + 601.5440678129379 + ], + [ + 147.21983946415003, + 579.5215765843194 + ], + [ + 64.16151125637612, + 676.5678795794356 + ] + ], + "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": 125.64676270681935, + "ymax": 148.6908702221674 + }, + "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": [ + [ + 125.64676270681935, + 102.31950471764094 + ], + [ + 117.69129038466087, + 101.33576380203772 + ], + [ + 36.41300553580072, + 147.5107834003777 + ], + [ + 44.94681798751901, + 148.6908702221674 + ], + [ + 67.69834516515834, + -66.29488821576933 + ], + [ + 58.979040334512774, + -67.00967975902074 + ], + [ + -38.696233686201936, + -33.10358270010073 + ], + [ + -29.28545242984785, + -32.227438188234544 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 169.81092594793597, + "ymin": 21.076522252997563, + "xmax": 325.8924512661742, + "ymax": 294.2343426053559 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 325.8924512661742, + 220.8006167641816 + ], + [ + 315.4993374147192, + 219.27976331215945 + ], + [ + 236.0260625466944, + 292.3222353164067 + ], + [ + 247.45665340260132, + 294.2343426053559 + ], + [ + 280.63761844008854, + 22.24470048641291 + ], + [ + 268.8816099506314, + 21.076522252997563 + ], + [ + 169.81092594793597, + 78.15365539184415 + ], + [ + 182.90323141478143, + 79.67498244551126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 90.17293362903172, + "ymin": 616.2764527445698, + "xmax": 250.71277538289763, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 183.87717938536701, + 742.3798315492163 + ], + [ + 250.71277538289763, + 646.8395172304578 + ], + [ + 168.9234608628983, + 626.0591705704107 + ], + [ + 96.14279766359073, + 717.6147514832742 + ], + [ + 178.75653133240166, + 732.7635762675445 + ], + [ + 246.71700057896476, + 637.0667372664316 + ], + [ + 164.18663990243624, + 616.2764527445698 + ], + [ + 90.17293362903172, + 707.9404278720854 + ] + ], + "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": 733.1016266026295, + "ymin": 0.0, + "xmax": 970.1871326487565, + "ymax": 57.65308636471286 + }, + "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": [ + [ + 734.5189753884075, + 35.46325836879254 + ], + [ + 733.1016266026295, + 37.85160108061888 + ], + [ + 939.1683023984394, + 57.65308636471286 + ], + [ + 939.4302739098611, + 55.035882090423115 + ], + [ + 743.7525033460869, + -117.2732359669352 + ], + [ + 742.2535898973724, + -115.60558533509828 + ], + [ + 970.1004480151986, + -101.7074303018104 + ], + [ + 970.1871326487565, + -103.55176674320239 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.28185244741633, + "ymin": 27.948867633337102, + "xmax": 278.7231802204032, + "ymax": 87.28759119965048 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 278.7231802204032, + 31.207190738023826 + ], + [ + 271.5452613465005, + 30.477823211728207 + ], + [ + 177.12899175958677, + 86.34803770873026 + ], + [ + 185.08807969645164, + 87.28759119965048 + ], + [ + 278.1396416154421, + 28.674954233486517 + ], + [ + 270.9511763618414, + 27.948867633337102 + ], + [ + 176.28185244741633, + 83.57969746465159 + ], + [ + 184.25384029924936, + 84.51543215822818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 90.0751923541959, + "ymin": 616.2182320438816, + "xmax": 250.82437503456435, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 183.92646264157088, + 742.5167454524367 + ], + [ + 250.82437503456435, + 646.8697536531199 + ], + [ + 168.94197982138883, + 626.0657200573258 + ], + [ + 96.08582406130711, + 717.7189641927104 + ], + [ + 178.77179411641112, + 732.8371032650306 + ], + [ + 246.80317235160516, + 637.0322748841481 + ], + [ + 164.1739522926385, + 616.2182320438816 + ], + [ + 90.0751923541959, + 707.9807473865098 + ] + ], + "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": 1103.929618323138, + "ymin": 0.0, + "xmax": 1186.0428399691696, + "ymax": 73.81156627047312 + }, + "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": [ + [ + 1124.6489691720951, + 73.0131003886521 + ], + [ + 1133.003129259984, + 73.81156627047312 + ], + [ + 1111.025901475034, + 6.593503127113991 + ], + [ + 1103.929618323138, + 6.012208617948147 + ], + [ + 1176.6891630150594, + -90.83753817782724 + ], + [ + 1186.0428399691696, + -90.27033782853516 + ], + [ + 1153.5859663984093, + -137.28560912796593 + ], + [ + 1145.7804528206266, + -137.6858137252304 + ] + ], + "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": 401.8815114467463, + "ymin": 0.0, + "xmax": 479.8090925737314, + "ymax": 118.10520677061496 + }, + "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": [ + [ + 479.8090925737314, + 76.70029555987082 + ], + [ + 471.59310170871464, + 75.81740612037947 + ], + [ + 426.7230561276147, + 117.05661516425715 + ], + [ + 435.5837516678668, + 118.10520677061496 + ], + [ + 462.8134767944902, + -84.80430281850568 + ], + [ + 453.763680113779, + -85.43828093360128 + ], + [ + 401.8815114467463, + -55.54767943112853 + ], + [ + 411.7186003333686, + -54.78017425371223 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00088/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00088/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b3f744b04337d8efc8b4f0667290920b540ada1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00088/meta.json @@ -0,0 +1,2206 @@ +{ + "frame_id": 88, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 44.0, + "sim_timestamp": 16350.231939601945 + }, + "drone_pose": { + "x": -47.85846293327785, + "y": -66.07827964480269, + "z": 19.996314670828294, + "pitch": -41.90659138936932, + "yaw": 74.40483419194831, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.20007896423339844, + -0.7168359160423279, + 0.6679181456565857, + 43.58685302734375 + ], + [ + 0.9631852507591248, + 0.2688385844230652, + 0.0, + -28.332170486450195 + ], + [ + -0.17956216633319855, + 0.6433289051055908, + 0.7442347407341003, + -65.98558807373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.59201195343401, + "y": -65.59639289475166, + "z": 20.152244283172053 + }, + "t1_image_uv": [ + 225.84660658513712, + -1184.308519558359 + ], + "t1_depth": 0.29459674125903246 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -42.16718292236328, + "y": -45.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.445166359783666, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 691, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.16718292236328, + "y": -45.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.510388195514679, + "y": 0.46950194239616394, + "z": 0.8737245202064514 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 617.4018644724728, + "ymin": 322.7291252088621, + "xmax": 662.8581266995703, + "ymax": 397.05893812800747 + }, + "corners_3d": [ + [ + -42.19609451293945, + -46.38064956665039, + 0.12354642152786255 + ], + [ + -42.860069274902344, + -45.7166748046875, + 0.12354642152786255 + ], + [ + -42.13827133178711, + -44.994876861572266, + 0.12354642152786255 + ], + [ + -41.47429656982422, + -45.658851623535156, + 0.12354642152786255 + ], + [ + -42.19609451293945, + -46.38064956665039, + 1.8709955215454102 + ], + [ + -42.860069274902344, + -45.7166748046875, + 1.8709955215454102 + ], + [ + -42.13827133178711, + -44.994876861572266, + 1.8709955215454102 + ], + [ + -41.47429656982422, + -45.658851623535156, + 1.8709955215454102 + ] + ], + "corners_2d": [ + [ + 634.6684147229396, + 397.05893812800747 + ], + [ + 661.9340013454794, + 386.37884662442775 + ], + [ + 645.1501525784469, + 366.47919362427876 + ], + [ + 618.3055026786017, + 376.68319327572556 + ], + [ + 634.4409667649987, + 353.00641155494844 + ], + [ + 662.8581266995703, + 342.4219700204896 + ], + [ + 645.3620762617713, + 322.7291252088621 + ], + [ + 617.4018644724728, + 332.8224357993243 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 88, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 103, + "semantic_pixel_counts": { + "1": 336486, + "2": 241124, + "3": 9327, + "4": 13400, + "5": 2721, + "6": 4762, + "9": 12518, + "10": 427, + "12": 2569, + "14": 37363, + "15": 1779, + "20": 2363, + "21": 18575, + "24": 21070, + "25": 217116 + }, + "instance_pixel_counts": { + "70": 229, + "143": 15157, + "620": 527, + "883": 858, + "1132": 362, + "2214": 280, + "2470": 300, + "2703": 4709, + "3180": 108, + "4166": 307, + "4678": 359, + "5228": 631, + "6053": 40, + "6508": 1573, + "6565": 6317, + "7539": 4837, + "7825": 63, + "8018": 3566, + "8064": 85, + "8298": 362, + "8337": 161, + "8780": 137, + "8808": 10695, + "8810": 3060, + "9320": 99322, + "9834": 93, + "10344": 142, + "10346": 386, + "10624": 1274, + "10856": 10998, + "11116": 420, + "11136": 189, + "11368": 106213, + "11370": 3146, + "11596": 13400, + "17516": 88, + "20308": 6843, + "20820": 3807, + "20866": 1104, + "21332": 1977, + "22356": 4570, + "22868": 1958, + "22893": 6904, + "23380": 2838, + "24916": 1779, + "25428": 72, + "25698": 215, + "25928": 2584, + "25965": 3278, + "26987": 2359, + "27234": 180, + "27243": 4, + "27460": 699, + "27476": 3440, + "27559": 149, + "27719": 103356, + "27746": 170, + "28002": 36, + "28258": 45, + "30351": 2351, + "30630": 3733, + "30863": 24725, + "31142": 3742, + "31654": 4434, + "31887": 704, + "32324": 35, + "32399": 7951, + "32911": 49065, + "34372": 121, + "34884": 583, + "36753": 213, + "37286": 174, + "37798": 175, + "39239": 217116, + "41796": 155, + "41879": 879, + "42391": 8260, + "43927": 91, + "44439": 1473, + "44951": 12221, + "46672": 193, + "47184": 220, + "48708": 267, + "50756": 38, + "52327": 67321, + "54375": 41795, + "54950": 428, + "55401": 2112, + "56173": 12518, + "56320": 691, + "56576": 563, + "56832": 474, + "56937": 988, + "57088": 597, + "57344": 91, + "57600": 153, + "58368": 6777, + "58624": 2794, + "58880": 2287, + "59522": 3245, + "60833": 387, + "64837": 206, + "64850": 66 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 691, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -42.16718292236328, + "y": -45.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4441821277141571, + "y": 0.5545019507408142, + "z": 0.8912562131881714 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 615.9048452932867, + "ymin": 322.6168495333907, + "xmax": 664.2433351086547, + "ymax": 397.1090147566682 + }, + "corners_3d": [ + [ + -42.089176177978516, + -46.39393997192383, + 0.10601472854614258 + ], + [ + -42.87335968017578, + -45.60975646972656, + 0.10601472854614258 + ], + [ + -42.24518966674805, + -44.98158645629883, + 0.10601472854614258 + ], + [ + -41.46100616455078, + -45.765769958496094, + 0.10601472854614258 + ], + [ + -42.089176177978516, + -46.39393997192383, + 1.8885271549224854 + ], + [ + -42.87335968017578, + -45.60975646972656, + 1.8885271549224854 + ], + [ + -42.24518966674805, + -44.98158645629883, + 1.8885271549224854 + ], + [ + -41.46100616455078, + -45.765769958496094, + 1.8885271549224854 + ] + ], + "corners_2d": [ + [ + 631.0898582677922, + 397.1090147566682 + ], + [ + 663.2464997557673, + 384.5319849699843 + ], + [ + 648.614089817375, + 367.2495433499627 + ], + [ + 616.8897796843092, + 379.3374024349293 + ], + [ + 630.7021225052733, + 352.17498941844354 + ], + [ + 664.2433351086547, + 339.7144699261007 + ], + [ + 648.9759642824134, + 322.6168495333907 + ], + [ + 615.9048452932867, + 334.5724336477812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 563, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -38.04119110107422, + "y": -42.69005584716797, + "z": 1.1483745574951172 + }, + "extent": { + "x": 0.3951733410358429, + "y": 0.45551756024360657, + "z": 0.893364667892456 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 522.1430119719374, + "ymin": 241.53809719658858, + "xmax": 562.8493729468175, + "ymax": 307.5997814905161 + }, + "corners_3d": [ + [ + -38.12451934814453, + -43.28731155395508, + 0.25500988960266113 + ], + [ + -38.620704650878906, + -42.52325439453125, + 0.25500988960266113 + ], + [ + -37.957862854003906, + -42.09280014038086, + 0.25500988960266113 + ], + [ + -37.46167755126953, + -42.85685729980469, + 0.25500988960266113 + ], + [ + -38.12451934814453, + -43.28731155395508, + 2.0417392253875732 + ], + [ + -38.620704650878906, + -42.52325439453125, + 2.0417392253875732 + ], + [ + -37.957862854003906, + -42.09280014038086, + 2.0417392253875732 + ], + [ + -37.46167755126953, + -42.85685729980469, + 2.0417392253875732 + ] + ], + "corners_2d": [ + [ + 540.9053494993168, + 307.5997814905161 + ], + [ + 562.8493729468175, + 296.231970811734 + ], + [ + 548.3942301920487, + 285.3552029185508 + ], + [ + 526.550461801176, + 296.4130095732329 + ], + [ + 536.999481604539, + 263.3720081323973 + ], + [ + 559.8528215155943, + 252.20815545157262 + ], + [ + 544.8866028050329, + 241.53809719658858 + ], + [ + 522.1430119719374, + 252.38584923729138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 474, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.42300796508789, + "y": -38.74504852294922, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3676440417766571, + "y": 0.38262084126472473, + "z": 0.9289343953132629 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 740.2645011630962, + "ymin": 210.42204748340538, + "xmax": 775.6846326163682, + "ymax": 272.6295201362352 + }, + "corners_3d": [ + [ + -44.46792984008789, + -39.273765563964844, + 0.06834149360656738 + ], + [ + -44.94951248168945, + -38.67906188964844, + 0.06834149360656738 + ], + [ + -44.37808609008789, + -38.216331481933594, + 0.06834149360656738 + ], + [ + -43.89650344848633, + -38.81103515625, + 0.06834149360656738 + ], + [ + -44.46792984008789, + -39.273765563964844, + 1.9262102842330933 + ], + [ + -44.94951248168945, + -38.67906188964844, + 1.9262102842330933 + ], + [ + -44.37808609008789, + -38.216331481933594, + 1.9262102842330933 + ], + [ + -43.89650344848633, + -38.81103515625, + 1.9262102842330933 + ] + ], + "corners_2d": [ + [ + 753.9280369046653, + 272.6295201362352 + ], + [ + 770.6635621132984, + 265.0118491688256 + ], + [ + 756.9130229391848, + 254.9493293381535 + ], + [ + 740.2645011630962, + 262.3673557804682 + ], + [ + 758.3511978934896, + 227.70761641525664 + ], + [ + 775.6846326163682, + 220.256215087479 + ], + [ + 761.3444857522902, + 210.42204748340538 + ], + [ + 744.1036119617512, + 217.67077316259002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 597, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -51.66718292236328, + "y": -45.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4205664098262787, + "y": 0.3912646472454071, + "z": 0.8938999176025391 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 942.8397505913788, + "ymin": 384.30841711753095, + "xmax": 1000.5944231442268, + "ymax": 458.5702440655365 + }, + "corners_3d": [ + [ + -51.687904357910156, + -46.26181411743164, + 0.1033710241317749 + ], + [ + -52.241233825683594, + -45.70848083496094, + 0.1033710241317749 + ], + [ + -51.646461486816406, + -45.113712310791016, + 0.1033710241317749 + ], + [ + -51.09313201904297, + -45.66704559326172, + 0.1033710241317749 + ], + [ + -51.687904357910156, + -46.26181411743164, + 1.891170859336853 + ], + [ + -52.241233825683594, + -45.70848083496094, + 1.891170859336853 + ], + [ + -51.646461486816406, + -45.113712310791016, + 1.891170859336853 + ], + [ + -51.09313201904297, + -45.66704559326172, + 1.891170859336853 + ] + ], + "corners_2d": [ + [ + 963.8536822970292, + 458.5702440655365 + ], + [ + 984.6536912588037, + 448.40657211322673 + ], + [ + 963.4461750506041, + 429.6068543593801 + ], + [ + 942.8397505913788, + 439.3701632565916 + ], + [ + 979.0001359320147, + 413.1515270724742 + ], + [ + 1000.5944231442268, + 403.020798724527 + ], + [ + 978.0965647572264, + 384.30841711753095 + ], + [ + 956.7071885528717, + 394.022095859007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 91, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -45.78268051147461, + "y": -56.81512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3442651331424713, + "y": 0.39812010526657104, + "z": 0.9325028657913208 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 639.4419530327183, + "ymin": 695.0516690464187, + "xmax": 690.1616386773395, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -45.689937591552734, + -57.333213806152344, + 0.06476807594299316 + ], + [ + -46.30873107910156, + -56.832122802734375, + 0.06476807594299316 + ], + [ + -45.875423431396484, + -56.297035217285156, + 0.06476807594299316 + ], + [ + -45.256629943847656, + -56.798126220703125, + 0.06476807594299316 + ], + [ + -45.689937591552734, + -57.333213806152344, + 1.9297738075256348 + ], + [ + -46.30873107910156, + -56.832122802734375, + 1.9297738075256348 + ], + [ + -45.875423431396484, + -56.297035217285156, + 1.9297738075256348 + ], + [ + -45.256629943847656, + -56.798126220703125, + 1.9297738075256348 + ] + ], + "corners_2d": [ + [ + 652.581700954083, + 782.960197241596 + ], + [ + 687.0760689694193, + 768.0290549307879 + ], + [ + 673.3362821103331, + 739.2155478875162 + ], + [ + 639.4758863496733, + 753.4728455150041 + ], + [ + 653.4167023609499, + 740.0391162075928 + ], + [ + 690.1616386773395, + 724.660934249873 + ], + [ + 675.4685257390752, + 695.0516690464187 + ], + [ + 639.4419530327183, + 709.6917163581132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 153, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -30.921844482421875, + "y": -53.85797882080078, + "z": 1.1409868001937866 + }, + "extent": { + "x": 0.45512571930885315, + "y": 0.3900122046470642, + "z": 0.9320379495620728 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 102.95452320940547, + "ymin": 440.94456202405536, + "xmax": 163.56432463700645, + "ymax": 521.2476097781254 + }, + "corners_3d": [ + [ + -30.842632293701172, + -54.45209503173828, + 0.20894885063171387 + ], + [ + -31.496814727783203, + -54.02726364135742, + 0.20894885063171387 + ], + [ + -31.001056671142578, + -53.26386260986328, + 0.20894885063171387 + ], + [ + -30.346874237060547, + -53.68869400024414, + 0.20894885063171387 + ], + [ + -30.842632293701172, + -54.45209503173828, + 2.0730247497558594 + ], + [ + -31.496814727783203, + -54.02726364135742, + 2.0730247497558594 + ], + [ + -31.001056671142578, + -53.26386260986328, + 2.0730247497558594 + ], + [ + -30.346874237060547, + -53.68869400024414, + 2.0730247497558594 + ] + ], + "corners_2d": [ + [ + 129.74878346439834, + 521.2476097781254 + ], + [ + 161.7100499187107, + 514.179702502654 + ], + [ + 163.56432463700645, + 488.70549754500644 + ], + [ + 132.42264485258056, + 495.42215897902463 + ], + [ + 102.95452320940547, + 473.5435804950928 + ], + [ + 136.77674290801343, + 466.4540568803541 + ], + [ + 139.382187643085, + 440.94456202405536 + ], + [ + 106.47619614321786, + 447.6640594353659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 6777, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 795.0528361235616, + "ymin": 248.35091217105548, + "xmax": 887.6376672081283, + "ymax": 389.32600801688534 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 880.024957570939, + 294.49745259168446 + ], + [ + 815.7301294845515, + 284.19692769945505 + ], + [ + 795.0528361235616, + 376.44513332259953 + ], + [ + 866.703183333422, + 389.32600801688534 + ], + [ + 887.6376672081283, + 258.4933198463438 + ], + [ + 821.229268404352, + 248.35091217105548 + ], + [ + 800.4945485270882, + 339.4806042083968 + ], + [ + 874.7804096699697, + 352.2587977049494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 2794, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1020.987649918374, + "ymin": 34.561422551394514, + "xmax": 1082.5813532314794, + "ymax": 125.92082975981847 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1023.6354096746867, + 120.18890846799047 + ], + [ + 1070.7677081860147, + 125.92082975981847 + ], + [ + 1064.1375654009387, + 73.19934295854534 + ], + [ + 1020.987649918374, + 68.38647549610431 + ], + [ + 1034.0577496484502, + 84.6132965268938 + ], + [ + 1082.5813532314794, + 90.16544548428521 + ], + [ + 1074.7675688028748, + 39.2021204942327 + ], + [ + 1030.4542590958847, + 34.561422551394514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2287, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 861.3866619378314, + "ymin": 25.801069621820318, + "xmax": 915.0103763185557, + "ymax": 103.64597749510051 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 909.2351072247573, + 59.3633859956185 + ], + [ + 870.8598063385575, + 55.05663419279506 + ], + [ + 861.3866619378314, + 98.63542878000442 + ], + [ + 902.7123739874007, + 103.64597749510051 + ], + [ + 915.0103763185557, + 29.968986400094423 + ], + [ + 875.7730687856156, + 25.801069621820318 + ], + [ + 866.4756794800173, + 68.038465706377 + ], + [ + 908.8029295699537, + 72.90382381409137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.78340607146293, + "ymin": 0.0, + "xmax": 269.84497487472544, + "ymax": 18.289447316162978 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 269.84497487472544, + -42.59759384791016 + ], + [ + 262.4224253770349, + -43.39891341360334 + ], + [ + 164.7625625230188, + 17.26165224255874 + ], + [ + 172.97634243952206, + 18.289447316162978 + ], + [ + 269.1704768492591, + -45.280402227357285 + ], + [ + 261.7356053868035, + -46.07848685212048 + ], + [ + 163.78340607146293, + 14.351552751914255 + ], + [ + 172.01219912312956, + 15.375692766766974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 63.55614708760709, + "ymin": 537.4218086110402, + "xmax": 296.68431802527346, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 238.26083847234412, + 785.9044428729111 + ], + [ + 296.68431802527346, + 687.1636564752687 + ], + [ + 216.3484783007043, + 664.8416255122662 + ], + [ + 152.57379904626913, + 759.7608301194477 + ], + [ + 163.0867440595851, + 665.4382476950843 + ], + [ + 238.2086797847482, + 560.6920214843261 + ], + [ + 145.7702975192114, + 537.4218086110402 + ], + [ + 63.55614708760709, + 637.4130530000084 + ] + ], + "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": 114.97000806900962, + "ymax": 80.06665086761302 + }, + "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": [ + [ + 114.97000806900962, + 30.797417889105702 + ], + [ + 106.73034057660516, + 29.726624995372276 + ], + [ + 24.23742728087916, + 78.7887574837709 + ], + [ + 33.05808237603628, + 80.06665086761302 + ], + [ + 47.237416260408395, + -149.66963063652486 + ], + [ + 38.09096141497196, + -150.46853124068446 + ], + [ + -63.38053171744957, + -113.43338394830926 + ], + [ + -53.52206350059646, + -112.45684080129809 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 156.68178520205134, + "ymin": 0.0, + "xmax": 323.78563901481783, + "ymax": 234.53922028653196 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 323.78563901481783, + 157.36038288322464 + ], + [ + 313.07222146845186, + 155.72074794339957 + ], + [ + 232.83267011846317, + 232.49358740841254 + ], + [ + 244.57733648764872, + 234.53922028653196 + ], + [ + 271.6957305818968, + -52.23012241637434 + ], + [ + 259.37351681207633, + -53.531868010856044 + ], + [ + 156.68178520205134, + 8.586727911177661 + ], + [ + 170.37824365934767, + 10.275150660138195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 91.76305566383519, + "ymin": 573.2752974867132, + "xmax": 253.1489355509006, + "ymax": 701.868753412872 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 187.3743253259065, + 701.868753412872 + ], + [ + 253.1489355509006, + 604.466511001658 + ], + [ + 169.87402541291647, + 582.7160307068816 + ], + [ + 98.32742940301011, + 676.1631919151466 + ], + [ + 181.7678785710902, + 692.8535987343836 + ], + [ + 248.74944564658773, + 595.0816022511802 + ], + [ + 164.63380006336553, + 573.2752974867132 + ], + [ + 91.76305566383519, + 667.0314190327498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.6705869426495, + "ymin": 0.0, + "xmax": 269.93845198186676, + "ymax": 18.347866659976034 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 269.93845198186676, + -42.60102595067673 + ], + [ + 262.42027158025684, + -43.412645670305665 + ], + [ + 164.66269890910718, + 17.306614111390388 + ], + [ + 172.98310478983603, + 18.347866659976034 + ], + [ + 269.2554121352018, + -45.31850191979197 + ], + [ + 261.72458977551156, + -46.12680259096061 + ], + [ + 163.6705869426495, + 14.358723530449879 + ], + [ + 172.00639876247783, + 15.39622555583901 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 91.66530914383327, + "ymin": 573.2151940392516, + "xmax": 253.2637086398526, + "ymax": 702.0030448659038 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 187.4283940769222, + 702.0030448659038 + ], + [ + 253.2637086398526, + 604.4935531444835 + ], + [ + 169.8944624607824, + 582.7184913367184 + ], + [ + 98.27445057425223, + 676.2640436146962 + ], + [ + 181.78478040844158, + 692.9287163148211 + ], + [ + 248.83625832125017, + 595.0465064581188 + ], + [ + 164.61972393563389, + 573.2151940392516 + ], + [ + 91.66530914383327, + 667.0721234548166 + ] + ], + "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": 1131.6248759485466, + "ymin": 0.0, + "xmax": 1224.83781990964, + "ymax": 2.4788155143940003 + }, + "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": [ + [ + 1151.6674190842787, + 1.6002485322932216 + ], + [ + 1160.3619501515097, + 2.4788155143940003 + ], + [ + 1139.0361162071144, + -70.17939528959931 + ], + [ + 1131.6248759485466, + -70.82308401405771 + ], + [ + 1214.94181265012, + -175.00178409561988 + ], + [ + 1224.83781990964, + -174.3609314184456 + ], + [ + 1191.0275019383234, + -226.44119720062236 + ], + [ + 1182.7597548588337, + -226.89441636445338 + ] + ], + "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": 397.89018114064385, + "ymin": 0.0, + "xmax": 481.0112996881204, + "ymax": 48.421589040767344 + }, + "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": [ + [ + 481.0112996881204, + 4.163810877685705 + ], + [ + 472.48357316861336, + 3.197383538047063 + ], + [ + 426.4115822743835, + 47.27879927188769 + ], + [ + 435.5896735314644, + 48.421589040767344 + ], + [ + 461.6517238120464, + -169.41821290592407 + ], + [ + 452.12931824567397, + -170.13004912989254 + ], + [ + 397.89018114064385, + -137.32063626215046 + ], + [ + 408.22942048905384, + -136.4607061983029 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00094/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00094/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22482ff11c2f9ae4183ebf4a51035c71e570c572 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00094/meta.json @@ -0,0 +1,2218 @@ +{ + "frame_id": 94, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 47.0, + "sim_timestamp": 16421.55147301522 + }, + "drone_pose": { + "x": -46.97814077677442, + "y": -63.06898760811835, + "z": 20.0, + "pitch": -41.65123551630417, + "yaw": 74.08644506267144, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2048734426498413, + -0.7185686826705933, + 0.6645946502685547, + 41.652076721191406 + ], + [ + 0.9616764783859253, + 0.2741866707801819, + 0.0, + -27.885093688964844 + ], + [ + -0.18222299218177795, + 0.6391250491142273, + 0.747204065322876, + -63.81355285644531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.998440943969676, + "y": -62.52849233815459, + "z": 20.0624543325108 + }, + "t1_image_uv": [ + 1109.804553845785, + -727.9951543149414 + ], + "t1_depth": 0.3427171442441178 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.16718292236328, + "y": -42.68776321411133, + "z": 1.149673331975937 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.363644943410016, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 711, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -42.68776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.5228979587554932, + "y": 0.5433398485183716, + "z": 0.9092690348625183 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.7501564945318, + "ymin": 322.1859155577184, + "xmax": 662.811087003593, + "ymax": 397.5027652013872 + }, + "corners_3d": [ + [ + -40.623844146728516, + -43.210662841796875, + 0.24040430784225464 + ], + [ + -41.71052169799805, + -43.210662841796875, + 0.24040430784225464 + ], + [ + -41.71052169799805, + -42.16486358642578, + 0.24040430784225464 + ], + [ + -40.623844146728516, + -42.16486358642578, + 0.24040430784225464 + ], + [ + -40.623844146728516, + -43.210662841796875, + 2.0589423179626465 + ], + [ + -41.71052169799805, + -43.210662841796875, + 2.0589423179626465 + ], + [ + -41.71052169799805, + -42.16486358642578, + 2.0589423179626465 + ], + [ + -40.623844146728516, + -42.16486358642578, + 2.0589423179626465 + ] + ], + "corners_2d": [ + [ + 617.729114694013, + 390.589108143642 + ], + [ + 652.7797366285538, + 397.5027652013872 + ], + [ + 661.8679793506057, + 374.5883285459577 + ], + [ + 627.6429036609054, + 368.0242535278662 + ], + [ + 616.7501564945318, + 344.4898182635663 + ], + [ + 653.3460795098387, + 351.3335374061296 + ], + [ + 662.811087003593, + 328.6689246568364 + ], + [ + 627.1141754532641, + 322.1859155577184 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 94, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 115, + "semantic_pixel_counts": { + "1": 333090, + "2": 196659, + "3": 2163, + "4": 8674, + "5": 2998, + "6": 2572, + "9": 5396, + "10": 559, + "12": 3290, + "14": 47428, + "15": 2699, + "20": 854, + "21": 23185, + "24": 24447, + "25": 267586 + }, + "instance_pixel_counts": { + "70": 271, + "143": 10781, + "620": 633, + "883": 103, + "1132": 431, + "2214": 330, + "2470": 244, + "3180": 130, + "4166": 361, + "4678": 429, + "5228": 780, + "6053": 49, + "6508": 1956, + "6565": 7898, + "7539": 2060, + "7786": 371, + "7825": 169, + "8064": 105, + "8296": 1574, + "8298": 502, + "8337": 148, + "8780": 215, + "8808": 14638, + "8810": 3857, + "9320": 126297, + "9834": 827, + "10344": 4485, + "10346": 454, + "10624": 1568, + "10856": 13079, + "11116": 504, + "11136": 217, + "11368": 135287, + "11370": 3906, + "11596": 8674, + "11880": 201, + "11882": 14, + "12652": 166, + "17516": 109, + "20308": 7950, + "20820": 4538, + "20866": 1696, + "21332": 3497, + "21844": 1554, + "22356": 5118, + "22868": 2423, + "22893": 4079, + "23380": 3248, + "24916": 561, + "25428": 2104, + "25698": 252, + "25928": 2783, + "25940": 233, + "26210": 21, + "26368": 207, + "26987": 829, + "27234": 199, + "27243": 25, + "27460": 873, + "27476": 3824, + "27559": 39, + "27719": 73013, + "27746": 197, + "27988": 118, + "28002": 48, + "29839": 8, + "30351": 3881, + "30630": 4572, + "30863": 30210, + "31142": 4506, + "31654": 5402, + "31812": 164, + "31887": 2000, + "32324": 183, + "32399": 9339, + "32911": 34083, + "34372": 150, + "34447": 84, + "34884": 722, + "35399": 2, + "36753": 247, + "37286": 443, + "37798": 364, + "39239": 267584, + "41367": 50, + "41796": 190, + "41879": 1341, + "42391": 10725, + "43927": 455, + "44439": 1744, + "44951": 14847, + "45463": 19, + "46672": 310, + "46917": 38, + "47184": 359, + "48708": 317, + "50756": 43, + "52327": 32258, + "54375": 5271, + "54950": 531, + "55401": 911, + "56173": 5396, + "56320": 711, + "56576": 583, + "56832": 512, + "56937": 76, + "57088": 655, + "57344": 36, + "57600": 793, + "58368": 8460, + "58624": 3301, + "58880": 2614, + "60833": 476, + "61440": 584, + "64837": 239 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 711, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -42.68776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.47975707054138184, + "y": 0.5432837009429932, + "z": 0.9107596278190613 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.1898744107363, + "ymin": 323.04368673548174, + "xmax": 662.4296838662074, + "ymax": 396.5694358815111 + }, + "corners_3d": [ + [ + -40.623897552490234, + -43.167518615722656, + 0.23891371488571167 + ], + [ + -41.71046829223633, + -43.167518615722656, + 0.23891371488571167 + ], + [ + -41.71046829223633, + -42.2080078125, + 0.23891371488571167 + ], + [ + -40.623897552490234, + -42.2080078125, + 0.23891371488571167 + ], + [ + -40.623897552490234, + -43.167518615722656, + 2.0604329109191895 + ], + [ + -41.71046829223633, + -43.167518615722656, + 2.0604329109191895 + ], + [ + -41.71046829223633, + -42.2080078125, + 2.0604329109191895 + ], + [ + -40.623897552490234, + -42.2080078125, + 2.0604329109191895 + ] + ], + "corners_2d": [ + [ + 618.1508216286521, + 389.6713826842075 + ], + [ + 653.1619528428178, + 396.5694358815111 + ], + [ + 661.4998705846533, + 375.54609738586953 + ], + [ + 627.2460272889429, + 368.968725042725 + ], + [ + 617.1898744107363, + 343.5064861890843 + ], + [ + 653.745547647653, + 350.3339902457159 + ], + [ + 662.4296838662074, + 329.5402865585984 + ], + [ + 626.6988031542784, + 323.04368673548174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 583, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.041194915771484, + "y": -39.69005584716797, + "z": 1.1473686695098877 + }, + "extent": { + "x": 0.44572147727012634, + "y": 0.43770265579223633, + "z": 0.8611452579498291 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 526.2120355683186, + "ymin": 248.2748886370666, + "xmax": 560.2501788203668, + "ymax": 308.10660175010656 + }, + "corners_3d": [ + [ + -36.705726623535156, + -40.217041015625, + 0.2862234115600586 + ], + [ + -37.56200408935547, + -40.0350341796875, + 0.2862234115600586 + ], + [ + -37.37666320800781, + -39.16307067871094, + 0.2862234115600586 + ], + [ + -36.5203857421875, + -39.34507751464844, + 0.2862234115600586 + ], + [ + -36.705726623535156, + -40.217041015625, + 2.008513927459717 + ], + [ + -37.56200408935547, + -40.0350341796875, + 2.008513927459717 + ], + [ + -37.37666320800781, + -39.16307067871094, + 2.008513927459717 + ], + [ + -36.5203857421875, + -39.34507751464844, + 2.008513927459717 + ] + ], + "corners_2d": [ + [ + 530.330192238212, + 306.9745502498948 + ], + [ + 556.7226969808876, + 308.10660175010656 + ], + [ + 560.2501788203668, + 291.5797114356452 + ], + [ + 534.3959378714616, + 290.4938058648621 + ], + [ + 526.2120355683186, + 264.45408866339204 + ], + [ + 553.5910055413439, + 265.5663451228596 + ], + [ + 557.3152186102645, + 249.3401566836854 + ], + [ + 530.5150581449667, + 248.2748886370666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 512, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.42300796508789, + "y": -35.745052337646484, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4684765636920929, + "y": 0.4262426793575287, + "z": 0.9434065818786621 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 742.9009545757633, + "ymin": 214.29869813450767, + "xmax": 774.4547473853453, + "ymax": 277.58146300880674 + }, + "corners_3d": [ + [ + -43.04806900024414, + -36.255516052246094, + 0.05385947227478027 + ], + [ + -43.8958854675293, + -36.16640853881836, + 0.05385947227478027 + ], + [ + -43.79794692993164, + -35.234588623046875, + 0.05385947227478027 + ], + [ + -42.950130462646484, + -35.32369613647461, + 0.05385947227478027 + ], + [ + -43.04806900024414, + -36.255516052246094, + 1.9406726360321045 + ], + [ + -43.8958854675293, + -36.16640853881836, + 1.9406726360321045 + ], + [ + -43.79794692993164, + -35.234588623046875, + 1.9406726360321045 + ], + [ + -42.950130462646484, + -35.32369613647461, + 1.9406726360321045 + ] + ], + "corners_2d": [ + [ + 742.9009545757633, + 275.0430782793036 + ], + [ + 767.5089683026264, + 277.58146300880674 + ], + [ + 769.4825023060292, + 261.8915900428587 + ], + [ + 745.366997517357, + 259.45524499730885 + ], + [ + 746.9238954173843, + 229.52502381827026 + ], + [ + 772.5110686518625, + 232.00682470872098 + ], + [ + 774.4547473853453, + 216.67695000027007 + ], + [ + 749.3996424316921, + 214.29869813450767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 655, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -51.4339485168457, + "y": -42.94662094116211, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3124658167362213, + "y": 0.44606444239616394, + "z": 0.886107861995697 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 974.8008450881299, + "ymin": 404.7363514930564, + "xmax": 1025.4184693955633, + "ymax": 472.27547331300735 + }, + "corners_3d": [ + [ + -50.987884521484375, + -43.25908660888672, + 0.11116307973861694 + ], + [ + -51.88001251220703, + -43.25908660888672, + 0.11116307973861694 + ], + [ + -51.88001251220703, + -42.6341552734375, + 0.11116307973861694 + ], + [ + -50.987884521484375, + -42.6341552734375, + 0.11116307973861694 + ], + [ + -50.987884521484375, + -43.25908660888672, + 1.8833787441253662 + ], + [ + -51.88001251220703, + -43.25908660888672, + 1.8833787441253662 + ], + [ + -51.88001251220703, + -42.6341552734375, + 1.8833787441253662 + ], + [ + -50.987884521484375, + -42.6341552734375, + 1.8833787441253662 + ] + ], + "corners_2d": [ + [ + 974.8008450881299, + 465.64475665035945 + ], + [ + 1008.2550231064486, + 472.27547331300735 + ], + [ + 1008.2225603550953, + 456.14573703933644 + ], + [ + 975.3233504917011, + 449.7338376511469 + ], + [ + 990.2930267861095, + 420.5896582895769 + ], + [ + 1025.4184693955633, + 427.2035499734893 + ], + [ + 1025.0848537811596, + 411.12210860642523 + ], + [ + 990.5707127205444, + 404.7363514930564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 36, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.78268051147461, + "y": -53.81512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.46527835726737976, + "y": 0.459953635931015, + "z": 0.9041016697883606 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 631.1570532092081, + "ymin": 693.8196909808285, + "xmax": 690.9928958341567, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.276611328125, + -54.229774475097656, + 0.09316927194595337 + ], + [ + -45.19147872924805, + -54.325931549072266, + 0.09316927194595337 + ], + [ + -45.28874969482422, + -53.400474548339844, + 0.09316927194595337 + ], + [ + -44.37388229370117, + -53.304317474365234, + 0.09316927194595337 + ], + [ + -44.276611328125, + -54.229774475097656, + 1.9013726711273193 + ], + [ + -45.19147872924805, + -54.325931549072266, + 1.9013726711273193 + ], + [ + -45.28874969482422, + -53.400474548339844, + 1.9013726711273193 + ], + [ + -44.37388229370117, + -53.304317474365234, + 1.9013726711273193 + ] + ], + "corners_2d": [ + [ + 631.6848283661714, + 776.3644598644576 + ], + [ + 672.7931011295299, + 792.7564723148083 + ], + [ + 688.0070952549034, + 752.3167195273695 + ], + [ + 647.9871307385107, + 736.9327870190402 + ], + [ + 631.1570532092081, + 734.2852400929919 + ], + [ + 674.9031120375297, + 751.1540034613072 + ], + [ + 690.9928958341567, + 709.5880338564489 + ], + [ + 648.4773813804827, + 693.8196909808285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 793, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -29.921844482421875, + "y": -50.85797882080078, + "z": 1.1399857997894287 + }, + "extent": { + "x": 0.3862939476966858, + "y": 0.48521482944488525, + "z": 0.9336178302764893 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 95.64085872319674, + "ymin": 442.0999807836529, + "xmax": 171.64809251163348, + "ymax": 523.4111125280659 + }, + "corners_3d": [ + [ + -29.366918563842773, + -51.13494873046875, + 0.20636796951293945 + ], + [ + -30.31614112854004, + -51.33671188354492, + 0.20636796951293945 + ], + [ + -30.476770401000977, + -50.58100891113281, + 0.20636796951293945 + ], + [ + -29.52754783630371, + -50.37924575805664, + 0.20636796951293945 + ], + [ + -29.366918563842773, + -51.13494873046875, + 2.073603630065918 + ], + [ + -30.31614112854004, + -51.33671188354492, + 2.073603630065918 + ], + [ + -30.476770401000977, + -50.58100891113281, + 2.073603630065918 + ], + [ + -29.52754783630371, + -50.37924575805664, + 2.073603630065918 + ] + ], + "corners_2d": [ + [ + 122.30116042045893, + 509.7828841643719 + ], + [ + 148.20200709266163, + 523.4111125280659 + ], + [ + 171.64809251163348, + 503.06809091057454 + ], + [ + 145.95049392379883, + 489.97596769944823 + ], + [ + 95.64085872319674, + 461.91342054866954 + ], + [ + 122.5136757711931, + 475.56954162627704 + ], + [ + 147.69866195570467, + 455.1919051246013 + ], + [ + 121.0355043637702, + 442.0999807836529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 8460, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 813.6645731984079, + "ymin": 312.9057757719191, + "xmax": 913.2176724093513, + "ymax": 473.0928738607715 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 904.2007365483871, + 361.77036169777665 + ], + [ + 834.5992916676447, + 349.5498803397797 + ], + [ + 813.6645731984079, + 457.514610980015 + ], + [ + 891.9785957755046, + 473.0928738607715 + ], + [ + 913.2176724093513, + 324.9942630472237 + ], + [ + 841.1427463280971, + 312.9057757719191 + ], + [ + 820.2800794972961, + 420.1138006109146 + ], + [ + 901.7406272849785, + 435.65944699355344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 3301, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1047.7623042291752, + "ymin": 70.325073297237, + "xmax": 1116.3245667569572, + "ymax": 169.64145310436444 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1052.5574577566133, + 163.05616155498163 + ], + [ + 1102.896238634922, + 169.64145310436444 + ], + [ + 1093.5810818870414, + 110.64023776977731 + ], + [ + 1047.7623042291752, + 105.16922720067535 + ], + [ + 1064.403296276045, + 126.41031891944709 + ], + [ + 1116.3245667569572, + 132.80863301456125 + ], + [ + 1105.5382745148174, + 75.61368624041216 + ], + [ + 1058.4118069471642, + 70.325073297237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2614, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 879.8441460081655, + "ymin": 59.85693650407495, + "xmax": 935.9936774028382, + "ymax": 144.1527968606251 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 929.4775414584167, + 94.84924041930515 + ], + [ + 888.9099548318147, + 89.97373507532802 + ], + [ + 879.8441460081655, + 138.43044983637756 + ], + [ + 923.7270461703245, + 144.1527968606251 + ], + [ + 935.9936774028382, + 64.58502927676551 + ], + [ + 894.465477613851, + 59.85693650407495 + ], + [ + 885.6523817432001, + 106.92698187484919 + ], + [ + 930.6616839569738, + 112.4971112785176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 584, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 831.4985803121515, + "ymin": 0.0, + "xmax": 880.2430182692866, + "ymax": 26.8061268169684 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 874.1913665726969, + -4.95741143859351 + ], + [ + 841.5183185283083, + -8.244225622227134 + ], + [ + 831.4985803121515, + 23.07998905772905 + ], + [ + 866.2219465621856, + 26.8061268169684 + ], + [ + 880.2430182692866, + -42.280228491916944 + ], + [ + 846.689708825779, + -45.394022085496374 + ], + [ + 836.7384527687623, + -15.674285606525132 + ], + [ + 872.4578707715452, + -12.132487069659817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.23495381321584, + "ymin": 0.0, + "xmax": 249.9608971023069, + "ymax": 66.52189423781033 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 249.9608971023069, + -3.9653618032820646 + ], + [ + 242.07840133380245, + -4.9035142195103845 + ], + [ + 132.36088514538824, + 65.29469345207121 + ], + [ + 141.13672420645742, + 66.52189423781033 + ], + [ + 249.20316295817128, + -6.769267894765164 + ], + [ + 241.3068370107568, + -7.703859506413096 + ], + [ + 131.23495381321584, + 62.24711962366371 + ], + [ + 140.02782368451727, + 63.47034484045491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 686.7900728216523, + "xmax": 258.9112775735978, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 188.3428207825305, + 960.519896851556 + ], + [ + 258.9112775735978, + 835.0459456305214 + ], + [ + 170.1491385308321, + 806.4513950314615 + ], + [ + 93.0552784088377, + 926.3401501683255 + ], + [ + 90.6385198989592, + 856.9420969870628 + ], + [ + 184.96490554704945, + 717.7910972407292 + ], + [ + 81.31202065988907, + 686.7900728216523 + ], + [ + -21.897008981024896, + 818.5245365159996 + ] + ], + "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": 96.11797417970763, + "ymax": 115.66996342779265 + }, + "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": [ + [ + 96.11797417970763, + 61.47208392150242 + ], + [ + 87.57357377493202, + 60.274561298742924 + ], + [ + -1.8778983666913973, + 114.22763442328025 + ], + [ + 7.288281180723175, + 115.66996342779265 + ], + [ + 22.614145117864837, + -124.74057890044685 + ], + [ + 13.097695260561409, + -125.64386423013678 + ], + [ + -98.10172576167781, + -84.41804947930552 + ], + [ + -87.82023667251929, + -83.30090273245753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 123.3169669329568, + "ymin": 0.0, + "xmax": 309.86292816245316, + "ymax": 290.5838843859921 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 309.86292816245316, + 203.0507805113408 + ], + [ + 298.56788580891043, + 201.16590689523855 + ], + [ + 209.94569668867717, + 288.19660341226717 + ], + [ + 222.38888189976234, + 290.5838843859921 + ], + [ + 251.8732645698438, + -14.105465932671905 + ], + [ + 238.78481661501223, + -15.63021484885138 + ], + [ + 123.3169669329568, + 56.31637193087238 + ], + [ + 137.9579629848842, + 58.335371893735044 + ] + ], + "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": 754.6123612615723, + "ymin": 0.0, + "xmax": 1021.3843568392897, + "ymax": 12.667239607765339 + }, + "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": [ + [ + 756.1411332628428, + -14.337126634207038 + ], + [ + 754.6123612615723, + -11.544868688933036 + ], + [ + 979.1805526551582, + 12.667239607765339 + ], + [ + 979.4206582652778, + 9.58850104265872 + ], + [ + 769.7318395829016, + -184.44345898309257 + ], + [ + 768.1114667695905, + -182.42951031822554 + ], + [ + 1021.3843568392897, + -164.85040030935124 + ], + [ + 1021.3659161484561, + -167.09730240493536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.11035821676927, + "ymin": 0.0, + "xmax": 250.06250989041246, + "ymax": 66.58808675870671 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 250.06250989041246, + -3.9709079874233453 + ], + [ + 242.07848369627595, + -4.9211100541414226 + ], + [ + 132.25119959559436, + 65.34480673423502 + ], + [ + 141.14098233753714, + 66.58808675870671 + ], + [ + 249.2951877043468, + -6.81104432237521 + ], + [ + 241.29697224005713, + -7.757592994532388 + ], + [ + 131.11035821676927, + 62.25765533995059 + ], + [ + 140.01761745502756, + 63.49685600018569 + ] + ], + "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": 1157.8456488431073, + "ymin": 0.0, + "xmax": 1263.3173145029434, + "ymax": 32.66371117009254 + }, + "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": [ + [ + 1182.435069592215, + 31.679044688266117 + ], + [ + 1191.6183465760741, + 32.66371117009254 + ], + [ + 1165.6085477691158, + -46.53016943690102 + ], + [ + 1157.8456488431073, + -47.241107249457 + ], + [ + 1252.7914467459523, + -150.89969963259506 + ], + [ + 1263.3173145029434, + -150.173593041721 + ], + [ + 1222.5382203523468, + -207.4663760847692 + ], + [ + 1213.8357281770632, + -207.9707547089787 + ] + ], + "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": 390.83575350280233, + "ymin": 0.0, + "xmax": 479.65256715464784, + "ymax": 81.7156361159918 + }, + "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": [ + [ + 479.65256715464784, + 33.14723274878389 + ], + [ + 470.75812724094305, + 32.06863508807061 + ], + [ + 421.5130352584032, + 80.4293172798528 + ], + [ + 431.1168697567174, + 81.7156361159918 + ], + [ + 459.228234394575, + -145.96579079698267 + ], + [ + 449.25058740825216, + -146.76829495327206 + ], + [ + 390.83575350280233, + -110.3707711417589 + ], + [ + 401.7131029091264, + -109.39089889377419 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00099/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00099/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d8b6379bfdf79684a8dddc26c1115ec7e9de763 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00099/meta.json @@ -0,0 +1,2106 @@ +{ + "frame_id": 99, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 49.5, + "sim_timestamp": 16487.288017775165 + }, + "drone_pose": { + "x": -47.18787937527602, + "y": -60.515737479777535, + "z": 20.0, + "pitch": -41.64130076063689, + "yaw": 73.50187566442058, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.21222662925720215, + -0.7165514826774597, + 0.664465069770813, + 40.087867736816406 + ], + [ + 0.9588291049003601, + 0.28398388624191284, + -2.9802322387695312e-08, + -28.059614181518555 + ], + [ + -0.18869736790657043, + 0.6371084451675415, + 0.7473193407058716, + -62.40570068359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.411798909437174, + "y": -60.142447061004816, + "z": 19.999191537518442 + }, + "t1_image_uv": [ + 2036.3014469286272, + -488.85614797296853 + ], + "t1_depth": 0.22049728529170853 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.16718292236328, + "y": -40.18776321411133, + "z": 1.149673331975937 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.369175860692938, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 697, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -40.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.47407713532447815, + "y": 0.5339269638061523, + "z": 0.8752009272575378 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.4787622951338, + "ymin": 324.07416058501514, + "xmax": 662.1572381924232, + "ymax": 395.6017825588399 + }, + "corners_3d": [ + [ + -40.63325500488281, + -40.661842346191406, + 0.2744724154472351 + ], + [ + -41.70111083984375, + -40.66183853149414, + 0.2744724154472351 + ], + [ + -41.70111083984375, + -39.71368408203125, + 0.2744724154472351 + ], + [ + -40.63325500488281, + -39.713687896728516, + 0.2744724154472351 + ], + [ + -40.63325500488281, + -40.661842346191406, + 2.024874210357666 + ], + [ + -41.70111083984375, + -40.66183853149414, + 2.024874210357666 + ], + [ + -41.70111083984375, + -39.71368408203125, + 2.024874210357666 + ], + [ + -40.63325500488281, + -39.713687896728516, + 2.024874210357666 + ] + ], + "corners_2d": [ + [ + 618.3906729474586, + 388.5865622073347 + ], + [ + 652.7106093279207, + 395.6017825588399 + ], + [ + 661.2739888053729, + 374.8971240519526 + ], + [ + 627.6810466189871, + 368.2035751275633 + ], + [ + 617.4787622951338, + 344.22949011406774 + ], + [ + 653.2514423539781, + 351.17545239410134 + ], + [ + 662.1572381924232, + 330.6886176844079 + ], + [ + 627.1736949928144, + 324.07416058501514 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 99, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 109, + "semantic_pixel_counts": { + "1": 333515, + "2": 175157, + "3": 845, + "4": 6974, + "5": 3338, + "6": 3106, + "10": 641, + "12": 3240, + "14": 56518, + "15": 4476, + "21": 8557, + "24": 26396, + "25": 298837 + }, + "instance_pixel_counts": { + "70": 306, + "143": 6019, + "620": 738, + "1132": 489, + "2214": 280, + "2470": 102, + "3180": 150, + "4166": 411, + "4678": 492, + "5228": 585, + "6053": 58, + "6508": 2265, + "6565": 933, + "7539": 845, + "7786": 701, + "7825": 202, + "8064": 114, + "8296": 3988, + "8298": 570, + "8337": 214, + "8780": 290, + "8808": 16624, + "8810": 4652, + "9320": 148432, + "9834": 1212, + "10344": 9316, + "10346": 519, + "10624": 1841, + "10856": 15001, + "11116": 567, + "11136": 244, + "11368": 135314, + "11370": 3792, + "11596": 6974, + "11880": 1400, + "11882": 43, + "12652": 161, + "17516": 128, + "20308": 8978, + "20820": 5212, + "20866": 2159, + "21332": 3786, + "21844": 3105, + "22356": 5625, + "22868": 2885, + "22893": 1504, + "23380": 3625, + "25428": 2534, + "25698": 280, + "25928": 3048, + "25940": 1315, + "26112": 7, + "26210": 25, + "26368": 396, + "27234": 224, + "27460": 1046, + "27476": 4152, + "27719": 50269, + "27746": 124, + "27988": 1529, + "28002": 10, + "29839": 682, + "30351": 4405, + "30630": 1054, + "30863": 36491, + "31142": 3580, + "31654": 1577, + "31812": 181, + "31887": 2278, + "32324": 204, + "32399": 10746, + "32911": 31106, + "34372": 184, + "34447": 105, + "34884": 847, + "35399": 12, + "36753": 231, + "37286": 833, + "37798": 580, + "39239": 298825, + "41367": 246, + "41796": 236, + "41879": 1521, + "42391": 12955, + "43927": 514, + "44439": 1999, + "44951": 14294, + "45463": 23, + "46672": 408, + "46917": 44, + "47184": 136, + "48708": 354, + "50756": 49, + "52327": 3440, + "54950": 522, + "55401": 217, + "55462": 35, + "56320": 697, + "56576": 583, + "56832": 508, + "57088": 637, + "57344": 53, + "57600": 762, + "58368": 10167, + "58624": 3759, + "58880": 2951, + "60833": 481, + "61440": 1371, + "64837": 266 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 697, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -40.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.4763879179954529, + "y": 0.5183459520339966, + "z": 0.8871062397956848 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.9660773545365, + "ymin": 323.80935284820964, + "xmax": 661.6699572881712, + "ymax": 395.84003136311236 + }, + "corners_3d": [ + [ + -40.64883804321289, + -40.66415023803711, + 0.26256710290908813 + ], + [ + -41.68552780151367, + -40.66415023803711, + 0.26256710290908813 + ], + [ + -41.68552780151367, + -39.71137619018555, + 0.26256710290908813 + ], + [ + -40.64883804321289, + -39.71137619018555, + 0.26256710290908813 + ], + [ + -40.64883804321289, + -40.66415023803711, + 2.0367796421051025 + ], + [ + -41.68552780151367, + -40.66415023803711, + 2.0367796421051025 + ], + [ + -41.68552780151367, + -39.71137619018555, + 2.0367796421051025 + ], + [ + -40.64883804321289, + -39.71137619018555, + 2.0367796421051025 + ] + ], + "corners_2d": [ + [ + 618.8702995269574, + 389.0283473546908 + ], + [ + 652.1810752037841, + 395.84003136311236 + ], + [ + 660.7947677441218, + 375.03809766218694 + ], + [ + 628.1928167896523, + 368.54015456142884 + ], + [ + 617.9660773545365, + 344.06578382602015 + ], + [ + 652.7065474997289, + 350.80933167691893 + ], + [ + 661.6699572881712, + 330.2294364279266 + ], + [ + 627.6997604976933, + 323.80935284820964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 583, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.041194915771484, + "y": -37.190059661865234, + "z": 1.1473833322525024 + }, + "extent": { + "x": 0.45060062408447266, + "y": 0.4711853265762329, + "z": 0.9025582671165466 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 526.3270898656549, + "ymin": 246.48538252441062, + "xmax": 562.7371993549204, + "ymax": 308.73318332858327 + }, + "corners_3d": [ + [ + -36.67399215698242, + -37.72877883911133, + 0.2448250651359558 + ], + [ + -37.595767974853516, + -37.5328483581543, + 0.2448250651359558 + ], + [ + -37.40839767456055, + -36.65134048461914, + 0.2448250651359558 + ], + [ + -36.48662185668945, + -36.84727096557617, + 0.2448250651359558 + ], + [ + -36.67399215698242, + -37.72877883911133, + 2.0499415397644043 + ], + [ + -37.595767974853516, + -37.5328483581543, + 2.0499415397644043 + ], + [ + -37.40839767456055, + -36.65134048461914, + 2.0499415397644043 + ], + [ + -36.48662185668945, + -36.84727096557617, + 2.0499415397644043 + ] + ], + "corners_2d": [ + [ + 530.6300490699009, + 307.3347122327585 + ], + [ + 558.9520862044485, + 308.73318332858327 + ], + [ + 562.7371993549204, + 292.05713455610385 + ], + [ + 534.9963791575012, + 290.7161460342396 + ], + [ + 526.3270898656549, + 262.7836733683679 + ], + [ + 555.7576180865332, + 264.1564068953563 + ], + [ + 559.7576579014627, + 247.79954106318726 + ], + [ + 530.9542262410257, + 246.48538252441062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 508, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.42300796508789, + "y": -33.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4575170874595642, + "y": 0.4900781214237213, + "z": 0.9326068758964539 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 742.8479797509332, + "ymin": 215.2249840783179, + "xmax": 778.3301302297322, + "ymax": 278.1709407302829 + }, + "corners_3d": [ + [ + -42.983436584472656, + -33.75128936767578, + 0.06466406583786011 + ], + [ + -43.95822525024414, + -33.648834228515625, + 0.06466406583786011 + ], + [ + -43.862579345703125, + -32.73881530761719, + 0.06466406583786011 + ], + [ + -42.88779067993164, + -32.841270446777344, + 0.06466406583786011 + ], + [ + -42.983436584472656, + -33.75128936767578, + 1.929877758026123 + ], + [ + -43.95822525024414, + -33.648834228515625, + 1.929877758026123 + ], + [ + -43.862579345703125, + -32.73881530761719, + 1.929877758026123 + ], + [ + -42.88779067993164, + -32.841270446777344, + 1.929877758026123 + ] + ], + "corners_2d": [ + [ + 742.8479797509332, + 275.0794786020636 + ], + [ + 771.1431856233241, + 278.1709407302829 + ], + [ + 773.2662148865259, + 262.8442222253291 + ], + [ + 745.5224097000265, + 259.8740975027669 + ], + [ + 746.8217050635259, + 230.08196313270304 + ], + [ + 776.231319283969, + 233.10536889614573 + ], + [ + 778.3301302297322, + 218.1252703758693 + ], + [ + 749.5157619470748, + 215.2249840783179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 637, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -51.21393585205078, + "y": -39.909873962402344, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.30402830243110657, + "y": 0.5321667194366455, + "z": 0.8992478847503662 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 963.7450259947515, + "ymin": 391.66430875172614, + "xmax": 1019.9720615508005, + "ymax": 460.2396816200766 + }, + "corners_3d": [ + [ + -50.68177032470703, + -40.21390151977539, + 0.09802305698394775 + ], + [ + -51.74610137939453, + -40.21390151977539, + 0.09802305698394775 + ], + [ + -51.74610137939453, + -39.6058464050293, + 0.09802305698394775 + ], + [ + -50.68177032470703, + -39.6058464050293, + 0.09802305698394775 + ], + [ + -50.68177032470703, + -40.21390151977539, + 1.8965188264846802 + ], + [ + -51.74610137939453, + -40.21390151977539, + 1.8965188264846802 + ], + [ + -51.74610137939453, + -39.6058464050293, + 1.8965188264846802 + ], + [ + -50.68177032470703, + -39.6058464050293, + 1.8965188264846802 + ] + ], + "corners_2d": [ + [ + 963.7450259947515, + 452.2690824744383 + ], + [ + 1003.0232824135211, + 460.2396816200766 + ], + [ + 1003.3023052835592, + 444.9834839247266 + ], + [ + 964.6448460565286, + 437.26479453560836 + ], + [ + 978.720382092004, + 406.59359867373735 + ], + [ + 1019.9636310020505, + 414.5332717461421 + ], + [ + 1019.9720615508005, + 399.3416812453104 + ], + [ + 979.41276586901, + 391.66430875172614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 53, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.78268051147461, + "y": -51.31512451171875, + "z": 0.9973344206809998 + }, + "extent": { + "x": 0.46265384554862976, + "y": 0.39804935455322266, + "z": 0.9186913967132568 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 627.9128743174509, + "ymin": 694.5380354751826, + "xmax": 682.2968702662594, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.33845138549805, + -51.73363494873047, + 0.07864302396774292 + ], + [ + -45.13018798828125, + -51.81685256958008, + 0.07864302396774292 + ], + [ + -45.22690963745117, + -50.89661407470703, + 0.07864302396774292 + ], + [ + -44.43517303466797, + -50.81339645385742, + 0.07864302396774292 + ], + [ + -44.33845138549805, + -51.73363494873047, + 1.9160258769989014 + ], + [ + -45.13018798828125, + -51.81685256958008, + 1.9160258769989014 + ], + [ + -45.22690963745117, + -50.89661407470703, + 1.9160258769989014 + ], + [ + -44.43517303466797, + -50.81339645385742, + 1.9160258769989014 + ] + ], + "corners_2d": [ + [ + 628.645786384395, + 777.4204015693017 + ], + [ + 663.9853381920879, + 791.9555037582793 + ], + [ + 679.7834985604009, + 751.9822539930294 + ], + [ + 645.3576534338479, + 738.3322356956617 + ], + [ + 627.9128743174509, + 734.6700452770767 + ], + [ + 665.5524493831676, + 749.6339769369913 + ], + [ + 682.2968702662594, + 708.5344931178224 + ], + [ + 645.6921888201412, + 694.5380354751826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 762, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -29.921844482421875, + "y": -48.35797882080078, + "z": 1.1399955749511719 + }, + "extent": { + "x": 0.36453977227211, + "y": 0.44554686546325684, + "z": 0.9315314292907715 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 97.98110300230849, + "ymin": 439.34051563774153, + "xmax": 169.9939121989027, + "ymax": 518.1960220170986 + }, + "corners_3d": [ + [ + -29.410242080688477, + -48.621917724609375, + 0.2084641456604004 + ], + [ + -30.281862258911133, + -48.807186126708984, + 0.2084641456604004 + ], + [ + -30.433446884155273, + -48.09403991699219, + 0.2084641456604004 + ], + [ + -29.561826705932617, + -47.90877151489258, + 0.2084641456604004 + ], + [ + -29.410242080688477, + -48.621917724609375, + 2.0715270042419434 + ], + [ + -30.281862258911133, + -48.807186126708984, + 2.0715270042419434 + ], + [ + -30.433446884155273, + -48.09403991699219, + 2.0715270042419434 + ], + [ + -29.561826705932617, + -47.90877151489258, + 2.0715270042419434 + ] + ], + "corners_2d": [ + [ + 124.34994347704071, + 505.56260016121485 + ], + [ + 147.74795719897486, + 518.1960220170986 + ], + [ + 169.9939121989027, + 499.27689917618204 + ], + [ + 146.75541510294056, + 487.1086880442015 + ], + [ + 97.98110300230849, + 457.79326021565015 + ], + [ + 122.240840006697, + 470.44599557644284 + ], + [ + 146.11805930487026, + 451.50404375170393 + ], + [ + 122.02155687738684, + 439.34051563774153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 10167, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 798.0050061092118, + "ymin": 366.69784725442156, + "xmax": 907.1114620739872, + "ymax": 545.324816522319 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 897.7180803141691, + 418.20387674693256 + ], + [ + 823.8074531939698, + 403.83722476995047 + ], + [ + 798.0050061092118, + 526.7137576106504 + ], + [ + 881.7495977244167, + 545.324816522319 + ], + [ + 907.1114620739872, + 380.97189869758375 + ], + [ + 830.3975719602845, + 366.69784725442156 + ], + [ + 804.4774739082991, + 489.31425209259544 + ], + [ + 891.8407342949081, + 507.9914896347823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 3759, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1054.6433648250484, + "ymin": 97.81199274568218, + "xmax": 1126.4411125600136, + "ymax": 204.67386513122105 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1058.9393459000435, + 197.1190151070079 + ], + [ + 1112.01027298421, + 204.67386513122105 + ], + [ + 1102.7400793220352, + 139.78903003748468 + ], + [ + 1054.6433648250484, + 133.5667820322953 + ], + [ + 1071.604866712921, + 159.5527085448638 + ], + [ + 1126.4411125600136, + 166.9150637338823 + ], + [ + 1115.5364778056137, + 103.84174820497884 + ], + [ + 1065.9939870130179, + 97.81199274568218 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2951, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 877.6320916207046, + "ymin": 85.29517080262332, + "xmax": 937.5867485021009, + "ymax": 175.59517836198134 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 930.7404196438933, + 121.69311968039545 + ], + [ + 888.3786192066145, + 116.17551290908744 + ], + [ + 877.6320916207046, + 169.07357951041791 + ], + [ + 923.5992912371681, + 175.59517836198134 + ], + [ + 937.5867485021009, + 90.65668649978886 + ], + [ + 894.17374081722, + 85.29517080262332 + ], + [ + 883.6697008852444, + 136.79015144147453 + ], + [ + 930.8775422370322, + 143.15323696110144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 1371, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 830.2952639774151, + "ymin": 0.0, + "xmax": 881.7768924843487, + "ymax": 47.606986966827776 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 875.4611838349805, + 13.457664358898057 + ], + [ + 841.6130821094882, + 9.79379513142942 + ], + [ + 830.2952639774151, + 43.43498797231388 + ], + [ + 866.3350058451899, + 47.606986966827776 + ], + [ + 881.7768924843487, + -24.799803829494692 + ], + [ + 846.9807058351826, + -28.277385771880745 + ], + [ + 835.7097444739493, + 3.704476009184475 + ], + [ + 872.8264907536337, + 7.678599556700192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 73.18394105161462, + "ymin": 20.285700226790595, + "xmax": 207.88200702257166, + "ymax": 103.44032200812234 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 207.88200702257166, + 24.274445621881796 + ], + [ + 199.69373638282593, + 23.188633075577513 + ], + [ + 74.51995827161329, + 101.99760366614157 + ], + [ + 83.65680035988646, + 103.44032200812234 + ], + [ + 206.9945832169701, + 21.367630453152174 + ], + [ + 198.79139654947716, + 20.285700226790595 + ], + [ + 73.18394105161462, + 98.83710190079881 + ], + [ + 82.3391783988003, + 100.27556285874607 + ] + ], + "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": 66.20576739710987, + "ymax": 139.77566678736034 + }, + "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": [ + [ + 66.20576739710987, + 81.60433528345567 + ], + [ + 57.49882916891477, + 80.27364306371521 + ], + [ + -39.64519997644811, + 138.16261762446004 + ], + [ + -30.305644318524287, + 139.77566678736034 + ], + [ + -14.49600654981873, + -109.40693676702546 + ], + [ + -24.21140984835165, + -110.42038556045895 + ], + [ + -146.10643308125896, + -65.71412727542975 + ], + [ + -135.61412881632486, + -64.45002161299556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 64.29328829082283, + "ymin": 11.940231922589021, + "xmax": 277.1057340084122, + "ymax": 333.5635151309587 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 277.1057340084122, + 237.0599863550897 + ], + [ + 265.4328935771866, + 234.9141651902063 + ], + [ + 166.0372285908756, + 330.8144700005451 + ], + [ + 178.92040389424142, + 333.5635151309587 + ], + [ + 209.7093492507014, + 13.705798715676053 + ], + [ + 196.11075908868753, + 11.940231922589021 + ], + [ + 64.29328829082283, + 92.77270632664772 + ], + [ + 79.54084870038298, + 95.14938699472856 + ] + ], + "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": 751.592020900247, + "ymin": 0.0, + "xmax": 1029.1137539748336, + "ymax": 32.81444201736514 + }, + "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": [ + [ + 753.2734405732452, + 2.8678204192003705 + ], + [ + 751.592020900247, + 5.852773093632436 + ], + [ + 984.3450308165493, + 32.81444201736514 + ], + [ + 984.6508932623585, + 29.499567536698237 + ], + [ + 767.0521333538887, + -171.91051843645175 + ], + [ + 765.2577978849744, + -169.73962377956104 + ], + [ + 1029.0865410238205, + -149.98600856978476 + ], + [ + 1029.1137539748336, + -152.42883410151444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 73.04656824010749, + "ymin": 20.226990678846846, + "xmax": 207.99249637203832, + "ymax": 103.51374352055569 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 207.99249637203832, + 24.267132385918615 + ], + [ + 199.69876946533083, + 23.16738236998168 + ], + [ + 74.40027668809103, + 102.05211226221184 + ], + [ + 83.6557548520741, + 103.51374352055569 + ], + [ + 207.09384038585443, + 21.322757405601294 + ], + [ + 198.78481018516726, + 20.226990678846846 + ], + [ + 73.04656824010749, + 98.85056795336538 + ], + [ + 82.32092305589026, + 100.30783073665799 + ] + ], + "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": 1171.0880500180729, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 55.35134850364864 + }, + "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": [ + [ + 1196.4673773216045, + 54.24399351509294 + ], + [ + 1206.0817396102027, + 55.35134850364864 + ], + [ + 1179.1645804031016, + -29.97509126122327 + ], + [ + 1171.0880500180729, + -30.76518432021811 + ], + [ + 1272.1140985367774, + -134.09699126370708 + ], + [ + 1283.2121974980682, + -133.27134587376497 + ], + [ + 1239.9212344711345, + -195.58847408349664 + ], + [ + 1230.821119323258, + -196.1534324033098 + ] + ], + "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": 366.4455689192387, + "ymin": 0.0, + "xmax": 464.5119904107378, + "ymax": 105.10375113169812 + }, + "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": [ + [ + 464.5119904107378, + 52.86452211490655 + ], + [ + 455.36359769260207, + 51.66335127553475 + ], + [ + 401.46940289309777, + 103.66223923290647 + ], + [ + 411.3623068241169, + 105.10375113169812 + ], + [ + 441.22724982228226, + -131.1493628471029 + ], + [ + 430.9259775585, + -132.05147548161062 + ], + [ + 366.4455689192387, + -92.51114442587982 + ], + [ + 377.6981033844974, + -91.40060154532534 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00101/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00101/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ac3d83332318ea8c3b18ee3cb6688b0deb84b47 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00101/meta.json @@ -0,0 +1,2208 @@ +{ + "frame_id": 101, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 50.5, + "sim_timestamp": 16513.071079052286 + }, + "drone_pose": { + "x": -47.435503658112694, + "y": -59.4421032812414, + "z": 20.0, + "pitch": -41.639566079225034, + "yaw": 72.80372990684796, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.22094786167144775, + -0.7139315605163574, + 0.6644424200057983, + 39.629520416259766 + ], + [ + 0.955297589302063, + 0.29564595222473145, + 2.9802322387695312e-08, + -27.741207122802734 + ], + [ + -0.1964396983385086, + 0.6347402334213257, + 0.7473394870758057, + -61.995304107666016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.5772511836471, + "y": -58.89300055140752, + "z": 20.0 + }, + "t1_image_uv": [ + 1432.455300775466, + -493.5141151893831 + ], + "t1_depth": 0.36070297079946523 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.16718292236328, + "y": -39.18776321411133, + "z": 1.149673331975937 + }, + "image_uv": [ + 639.9999999999998, + 359.9999999999999 + ], + "depth": 28.370141908217448, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 697, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -39.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.5216625928878784, + "y": 0.5489916801452637, + "z": 0.9102174043655396 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.3201927730227, + "ymin": 321.97902810865304, + "xmax": 663.2552862160913, + "ymax": 397.7244621440399 + }, + "corners_3d": [ + [ + -40.61819076538086, + -39.70942687988281, + 0.2394559383392334 + ], + [ + -41.7161750793457, + -39.70942687988281, + 0.2394559383392334 + ], + [ + -41.7161750793457, + -38.666099548339844, + 0.2394559383392334 + ], + [ + -40.61819076538086, + -38.666099548339844, + 0.2394559383392334 + ], + [ + -40.61819076538086, + -39.70942687988281, + 2.0598907470703125 + ], + [ + -41.7161750793457, + -39.70942687988281, + 2.0598907470703125 + ], + [ + -41.7161750793457, + -38.666099548339844, + 2.0598907470703125 + ], + [ + -40.61819076538086, + -38.666099548339844, + 2.0598907470703125 + ] + ], + "corners_2d": [ + [ + 617.3173619392411, + 390.1971835632058 + ], + [ + 652.4789084191278, + 397.7244621440399 + ], + [ + 662.2928235693411, + 375.01008453352784 + ], + [ + 627.9392457283492, + 367.8600625517943 + ], + [ + 616.3201927730227, + 344.05603850125806 + ], + [ + 653.0323835352013, + 351.5067205344954 + ], + [ + 663.2552862160913, + 329.0404547625818 + ], + [ + 627.4230090377794, + 321.97902810865304 + ] + ], + "center_offset_px": [ + -2.2737367544323206e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 101, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 106, + "semantic_pixel_counts": { + "1": 334891, + "2": 165207, + "3": 88, + "4": 5419, + "5": 3409, + "6": 3304, + "7": 59, + "10": 652, + "12": 3245, + "14": 59800, + "15": 5003, + "21": 1370, + "24": 26982, + "25": 312171 + }, + "instance_pixel_counts": { + "70": 322, + "143": 2676, + "620": 786, + "1132": 513, + "2214": 248, + "2470": 46, + "3180": 166, + "4166": 435, + "4678": 516, + "5228": 463, + "6053": 57, + "6508": 2366, + "7539": 88, + "7786": 742, + "7825": 206, + "8064": 118, + "8296": 5441, + "8298": 593, + "8337": 219, + "8780": 366, + "8808": 17598, + "8810": 4720, + "9320": 149222, + "9834": 1416, + "10344": 11802, + "10346": 560, + "10624": 1926, + "10856": 16000, + "11116": 606, + "11136": 254, + "11368": 132967, + "11370": 3720, + "11596": 5419, + "11880": 1794, + "11882": 39, + "12652": 197, + "17516": 137, + "20308": 9380, + "20820": 5486, + "20866": 2298, + "21332": 3901, + "21844": 3249, + "22356": 5809, + "22868": 3063, + "22893": 312, + "23380": 3770, + "25428": 2575, + "25698": 292, + "25928": 3043, + "25940": 1683, + "26112": 44, + "26210": 27, + "26368": 552, + "27234": 229, + "27460": 1116, + "27476": 3999, + "27719": 41011, + "27746": 122, + "27988": 2026, + "29839": 1044, + "30351": 4634, + "30863": 39432, + "31142": 346, + "31375": 28, + "31812": 190, + "31887": 2416, + "32324": 211, + "32399": 11495, + "32911": 29354, + "34372": 197, + "34447": 113, + "34884": 905, + "35399": 36, + "36456": 28, + "36753": 242, + "37286": 1024, + "39239": 312135, + "41367": 323, + "41796": 261, + "41879": 1607, + "42391": 14047, + "43927": 565, + "44439": 2128, + "44951": 13995, + "45463": 27, + "46672": 444, + "46917": 45, + "47184": 25, + "48708": 373, + "50756": 51, + "52327": 39, + "53926": 3, + "54950": 521, + "55462": 37, + "56320": 697, + "56576": 587, + "56832": 513, + "57088": 657, + "57344": 26, + "57600": 765, + "58368": 11011, + "58624": 3984, + "58880": 3113, + "60833": 506, + "61440": 1754, + "64837": 283 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 697, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -39.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.494331032037735, + "y": 0.4746716320514679, + "z": 0.8862664699554443 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.0938208221443, + "ymin": 323.6466857472929, + "xmax": 660.5361666845938, + "ymax": 396.01893951982083 + }, + "corners_3d": [ + [ + -40.69251251220703, + -39.68209457397461, + 0.2634068727493286 + ], + [ + -41.64185333251953, + -39.68209457397461, + 0.2634068727493286 + ], + [ + -41.64185333251953, + -38.69343185424805, + 0.2634068727493286 + ], + [ + -40.69251251220703, + -38.69343185424805, + 0.2634068727493286 + ], + [ + -40.69251251220703, + -39.68209457397461, + 2.0359396934509277 + ], + [ + -41.64185333251953, + -39.68209457397461, + 2.0359396934509277 + ], + [ + -41.64185333251953, + -38.69343185424805, + 2.0359396934509277 + ], + [ + -40.69251251220703, + -38.69343185424805, + 2.0359396934509277 + ] + ], + "corners_2d": [ + [ + 619.9514082517636, + 389.52024640929346 + ], + [ + 650.3508664024749, + 396.01893951982083 + ], + [ + 659.7080657968406, + 374.5218804455284 + ], + [ + 629.9713022245774, + 368.3324027787939 + ], + [ + 619.0938208221443, + 344.5952927332566 + ], + [ + 650.7970282858518, + 351.029227845369 + ], + [ + 660.5361666845938, + 329.76183373469314 + ], + [ + 629.5530426536795, + 323.6466857472929 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 587, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.041194915771484, + "y": -36.190059661865234, + "z": 1.147388219833374 + }, + "extent": { + "x": 0.43458986282348633, + "y": 0.46625614166259766, + "z": 0.8608704805374146 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 528.1976886915564, + "ymin": 247.0831626402237, + "xmax": 564.1335919115954, + "ymax": 306.8254034663587 + }, + "corners_3d": [ + [ + -36.67548370361328, + -36.712093353271484, + 0.2865177392959595 + ], + [ + -37.58761978149414, + -36.518211364746094, + 0.2865177392959595 + ], + [ + -37.40690612792969, + -35.668025970458984, + 0.2865177392959595 + ], + [ + -36.49477005004883, + -35.861907958984375, + 0.2865177392959595 + ], + [ + -36.67548370361328, + -36.712093353271484, + 2.008258819580078 + ], + [ + -37.58761978149414, + -36.518211364746094, + 2.008258819580078 + ], + [ + -37.40690612792969, + -35.668025970458984, + 2.008258819580078 + ], + [ + -36.49477005004883, + -35.861907958984375, + 2.008258819580078 + ] + ], + "corners_2d": [ + [ + 532.2319879773161, + 305.23207315339823 + ], + [ + 560.1940788083156, + 306.8254034663587 + ], + [ + 564.1335919115954, + 290.7899638101528 + ], + [ + 536.722964779204, + 289.2597801297487 + ], + [ + 528.1976886915564, + 262.76055966351794 + ], + [ + 557.20035830361, + 264.32575995442005 + ], + [ + 561.3467676575485, + 248.584078669157 + ], + [ + 532.9369303609784, + 247.0831626402237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 513, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.42300796508789, + "y": -32.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4838183522224426, + "y": 0.3662097156047821, + "z": 0.9393234252929688 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 748.3902223824789, + "ymin": 215.78336491759347, + "xmax": 777.2194650060076, + "ymax": 279.33273948800104 + }, + "corners_3d": [ + [ + -43.109378814697266, + -32.76449966430664, + 0.057947516441345215 + ], + [ + -43.83778381347656, + -32.68794250488281, + 0.057947516441345215 + ], + [ + -43.736637115478516, + -31.725605010986328, + 0.057947516441345215 + ], + [ + -43.00823211669922, + -31.80216407775879, + 0.057947516441345215 + ], + [ + -43.109378814697266, + -32.76449966430664, + 1.9365943670272827 + ], + [ + -43.83778381347656, + -32.68794250488281, + 1.9365943670272827 + ], + [ + -43.736637115478516, + -31.725605010986328, + 1.9365943670272827 + ], + [ + -43.00823211669922, + -31.80216407775879, + 1.9365943670272827 + ] + ], + "corners_2d": [ + [ + 748.3902223824789, + 276.8625127713431 + ], + [ + 769.546938862266, + 279.33273948800104 + ], + [ + 772.1601495789457, + 263.1387895346944 + ], + [ + 751.4371663176842, + 260.7708703590215 + ], + [ + 752.6177785480513, + 231.50545123113784 + ], + [ + 774.616508551217, + 233.92121581689537 + ], + [ + 777.2194650060076, + 218.0952967715866 + ], + [ + 755.689310954668, + 215.78336491759347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 657, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -50.66718292236328, + "y": -39.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3163403272628784, + "y": 0.37293577194213867, + "z": 0.87559574842453 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 948.850733505968, + "ymin": 398.6831312085864, + "xmax": 992.5908133272369, + "ymax": 464.787254206797 + }, + "corners_3d": [ + [ + -50.294246673583984, + -39.50410461425781, + 0.12167519330978394 + ], + [ + -51.04011917114258, + -39.50410461425781, + 0.12167519330978394 + ], + [ + -51.04011917114258, + -38.871421813964844, + 0.12167519330978394 + ], + [ + -50.294246673583984, + -38.871421813964844, + 0.12167519330978394 + ], + [ + -50.294246673583984, + -39.50410461425781, + 1.8728666305541992 + ], + [ + -51.04011917114258, + -39.50410461425781, + 1.8728666305541992 + ], + [ + -51.04011917114258, + -38.871421813964844, + 1.8728666305541992 + ], + [ + -50.294246673583984, + -38.871421813964844, + 1.8728666305541992 + ] + ], + "corners_2d": [ + [ + 948.850733505968, + 458.8968152753692 + ], + [ + 976.4319457911208, + 464.787254206797 + ], + [ + 977.4506457507975, + 448.8132638453527 + ], + [ + 950.3202494454484, + 443.1169808150416 + ], + [ + 962.8627349083772, + 414.39630932270745 + ], + [ + 991.7939675767117, + 420.2679226853817 + ], + [ + 992.5908133272369, + 404.35262906394246 + ], + [ + 964.1552610131235, + 398.6831312085864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 26, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.78268051147461, + "y": -50.31512451171875, + "z": 0.9972611665725708 + }, + "extent": { + "x": 0.4849121868610382, + "y": 0.40788090229034424, + "z": 0.9468321204185486 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 619.576853275712, + "ymin": 692.7229727672243, + "xmax": 676.2889125770866, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.32634735107422, + -50.75474548339844, + 0.05042904615402222 + ], + [ + -45.137638092041016, + -50.84001541137695, + 0.05042904615402222 + ], + [ + -45.239013671875, + -49.87550354003906, + 0.05042904615402222 + ], + [ + -44.4277229309082, + -49.79023361206055, + 0.05042904615402222 + ], + [ + -44.32634735107422, + -50.75474548339844, + 1.9440932273864746 + ], + [ + -45.137638092041016, + -50.84001541137695, + 1.9440932273864746 + ], + [ + -45.239013671875, + -49.87550354003906, + 1.9440932273864746 + ], + [ + -44.4277229309082, + -49.79023361206055, + 1.9440932273864746 + ] + ], + "corners_2d": [ + [ + 620.8524896276303, + 778.613813731468 + ], + [ + 656.7855322192504, + 793.9610015391337 + ], + [ + 674.0692426066931, + 752.2648973506087 + ], + [ + 639.0870648478871, + 737.890129731679 + ], + [ + 619.576853275712, + 734.5664969219224 + ], + [ + 657.9182114674122, + 750.3820519366616 + ], + [ + 676.2889125770866, + 707.4726718493257 + ], + [ + 639.0283160308394, + 692.7229727672243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 765, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -29.921844482421875, + "y": -47.35797882080078, + "z": 1.1400004625320435 + }, + "extent": { + "x": 0.38724485039711, + "y": 0.4961889684200287, + "z": 0.9319387078285217 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 96.43109249351221, + "ymin": 433.509563868623, + "xmax": 172.07545384690098, + "ymax": 514.812485000781 + }, + "corners_3d": [ + [ + -29.355985641479492, + -47.63359832763672, + 0.20806175470352173 + ], + [ + -30.326677322387695, + -47.83992385864258, + 0.20806175470352173 + ], + [ + -30.487703323364258, + -47.082359313964844, + 0.20806175470352173 + ], + [ + -29.517011642456055, + -46.876033782958984, + 0.20806175470352173 + ], + [ + -29.355985641479492, + -47.63359832763672, + 2.07193922996521 + ], + [ + -30.326677322387695, + -47.83992385864258, + 2.07193922996521 + ], + [ + -30.487703323364258, + -47.082359313964844, + 2.07193922996521 + ], + [ + -29.517011642456055, + -46.876033782958984, + 2.07193922996521 + ] + ], + "corners_2d": [ + [ + 122.75205926458648, + 500.5494585094134 + ], + [ + 148.31416645738148, + 514.812485000781 + ], + [ + 172.07545384690098, + 495.0032297858936 + ], + [ + 146.67896783276268, + 481.29130152144467 + ], + [ + 96.43109249351221, + 452.75569555065465 + ], + [ + 122.91642873110357, + 467.03429326189365 + ], + [ + 148.4039557598673, + 447.20904056790937 + ], + [ + 122.08613596084706, + 433.509563868623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 11011, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 788.6549887145721, + "ymin": 391.20189119995035, + "xmax": 903.652833682994, + "ymax": 578.7900010765552 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 894.1162003772789, + 444.3104495891964 + ], + [ + 818.3216401633143, + 428.4900626131042 + ], + [ + 788.6549887145721, + 558.1571236246856 + ], + [ + 874.7359392628523, + 578.7900010765552 + ], + [ + 903.652833682994, + 406.9521679229724 + ], + [ + 824.8967529919896, + 391.20189119995035 + ], + [ + 794.9396760577866, + 520.885121069794 + ], + [ + 884.8629698565145, + 541.6453548855982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 3984, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1061.1833914159615, + "ymin": 111.13973356604652, + "xmax": 1133.9487918359305, + "ymax": 221.81517769389464 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1064.482580753706, + 213.55876971637224 + ], + [ + 1118.9366925800236, + 221.81517769389464 + ], + [ + 1110.4470520194784, + 154.08838232126027 + ], + [ + 1061.1833914159615, + 147.3139879223587 + ], + [ + 1077.6295083349744, + 175.5809412695098 + ], + [ + 1133.9487918359305, + 183.63878052824708 + ], + [ + 1123.7574068254721, + 117.71256698613061 + ], + [ + 1072.9717852150554, + 111.13973356604652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 3113, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 879.0991271877153, + "ymin": 97.01675147370236, + "xmax": 941.5561450979083, + "ymax": 190.20710363188525 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 934.4779308635141, + 134.21550257979592 + ], + [ + 891.2796834650309, + 128.23395235460188 + ], + [ + 879.0991271877153, + 183.11693218354884 + ], + [ + 926.0227941828851, + 190.20710363188525 + ], + [ + 941.5561450979083, + 102.83453211865651 + ], + [ + 897.2606406146879, + 97.01675147370236 + ], + [ + 885.3055622762205, + 150.4972253624908 + ], + [ + 933.5270935781178, + 157.42264158276416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 1754, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 833.6892255301217, + "ymin": 0.0, + "xmax": 886.960656486968, + "ymax": 57.12699278216354 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 880.4024700092798, + 21.928340484114074 + ], + [ + 846.012886009863, + 17.983774361326255 + ], + [ + 833.6892255301217, + 52.62765137299414 + ], + [ + 870.3254970749919, + 57.12699278216354 + ], + [ + 886.960656486968, + -16.75210196407386 + ], + [ + 851.5886800400223, + -20.49939030179462 + ], + [ + 839.2967542031752, + 12.465832076471315 + ], + [ + 877.0503280794591, + 16.756001638441944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17449955051410433482, + "instance_id": 51749, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -60.41596984863281, + "y": -9.395050048828125, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1224.2664600840167, + "ymin": 0.0, + "xmax": 1239.8358749056633, + "ymax": 10.54213116388695 + }, + "corners_3d": [ + [ + -60.55530548095703, + -9.205093383789062, + 2.645533323287964 + ], + [ + -60.276634216308594, + -9.205094337463379, + 2.645533323287964 + ], + [ + -60.276634216308594, + -9.585006713867188, + 2.645533323287964 + ], + [ + -60.55530548095703, + -9.585005760192871, + 2.645533323287964 + ], + [ + -60.55530548095703, + -9.205093383789062, + 3.5146729946136475 + ], + [ + -60.276634216308594, + -9.205094337463379, + 3.5146729946136475 + ], + [ + -60.276634216308594, + -9.585006713867188, + 3.5146729946136475 + ], + [ + -60.55530548095703, + -9.585005760192871, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1230.818201336047, + 7.469728411980327 + ], + [ + 1224.2664600840167, + 6.777484074502524 + ], + [ + 1225.4099810858795, + 9.841376022415488 + ], + [ + 1232.0034944244608, + 10.54213116388695 + ], + [ + 1238.5866279998381, + -11.363017901462968 + ], + [ + 1231.937986062349, + -12.03798733401311 + ], + [ + 1233.1442176370947, + -9.050368612401769 + ], + [ + 1239.8358749056633, + -8.366990709500044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 50.04064441955802, + "ymin": 30.80132317328753, + "xmax": 192.36416876360602, + "ymax": 117.2676526720033 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 192.36416876360602, + 34.91844531779469 + ], + [ + 184.11601491588533, + 33.74141854011032 + ], + [ + 51.463063472938074, + 115.695739288966 + ], + [ + 60.65430502135689, + 117.2676526720033 + ], + [ + 191.42604059427572, + 31.974239571704913 + ], + [ + 183.1627332957009, + 30.80132317328753 + ], + [ + 50.04064441955802, + 112.49561689634442 + ], + [ + 59.250478399268786, + 114.0630620988617 + ] + ], + "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": 59.00215038887586, + "ymax": 147.11996899247458 + }, + "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": [ + [ + 59.00215038887586, + 87.86006666599451 + ], + [ + 50.31215343768724, + 86.44477910408898 + ], + [ + -50.04715029339468, + 145.40192417856824 + ], + [ + -40.74117387386059, + 147.11996899247458 + ], + [ + -23.718958968037896, + -104.62187215114812 + ], + [ + -33.41281120579981, + -105.70300092587803 + ], + [ + -159.56179848101203, + -60.02230065950698 + ], + [ + -149.11567077057214, + -58.67106764706847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 40.75675113855527, + "ymin": 22.291530223406653, + "xmax": 265.20317444947506, + "ymax": 349.45468946955174 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 265.20317444947506, + 249.76328261193947 + ], + [ + 253.45924497469673, + 247.45158299759987 + ], + [ + 148.6656073527961, + 346.48253465316157 + ], + [ + 161.61389005402486, + 349.45468946955174 + ], + [ + 194.16311666332683, + 24.205783849420072 + ], + [ + 180.46410829244456, + 22.291530223406653 + ], + [ + 40.75675113855527, + 106.37002438557667 + ], + [ + 56.09503901698281, + 108.96077051008848 + ] + ], + "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": 754.5662769894511, + "ymin": 0.0, + "xmax": 1037.7445701563922, + "ymax": 42.44234435811893 + }, + "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": [ + [ + 756.3524453776492, + 10.400726820436773 + ], + [ + 754.5662769894511, + 13.465000890589693 + ], + [ + 991.0964207801567, + 42.44234435811893 + ], + [ + 991.47320630337, + 39.01895357329761 + ], + [ + 770.7452164625337, + -166.41208203276972 + ], + [ + 768.8350104905473, + -164.17526327164694 + ], + [ + 1037.6547204633061, + -142.8550666318003 + ], + [ + 1037.7445701563922, + -145.38975197845997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 49.898014796359575, + "ymin": 30.740561106436758, + "xmax": 192.4783531622744, + "ymax": 117.34404648261207 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 192.4783531622744, + 34.91072556094787 + ], + [ + 184.12396868308792, + 33.718593652099344 + ], + [ + 51.33926839270919, + 115.75152313563711 + ], + [ + 60.64984370493312, + 117.34404648261207 + ], + [ + 191.5283504125955, + 31.928475725286262 + ], + [ + 183.15841902506395, + 30.740561106436758 + ], + [ + 49.898014796359575, + 112.50984573918629 + ], + [ + 59.22766902746855, + 114.09778434543287 + ] + ], + "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": 1183.0975473721978, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 66.94574941782963 + }, + "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": [ + [ + 1207.945953123001, + 65.74551842235792 + ], + [ + 1217.8001301657482, + 66.94574941782963 + ], + [ + 1191.3528310348283, + -21.437146584083337 + ], + [ + 1183.0975473721978, + -22.288965674544443 + ], + [ + 1286.9906913882728, + -125.48659344067875 + ], + [ + 1298.412998302515, + -124.58657289809605 + ], + [ + 1254.7504793773496, + -189.4551028559457 + ], + [ + 1245.4203436362639, + -190.06670867008893 + ] + ], + "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": 359.89489363898446, + "ymin": 0.0, + "xmax": 461.8926033172142, + "ymax": 114.0273006784235 + }, + "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": [ + [ + 461.8926033172142, + 60.475658143029534 + ], + [ + 452.6762818741208, + 59.190411422031445 + ], + [ + 396.2836480009904, + 112.48191315314739 + ], + [ + 406.24705853084976, + 114.0273006784235 + ], + [ + 437.8895241433345, + -125.40848718922683 + ], + [ + 427.4975832002608, + -126.3772742252566 + ], + [ + 359.89489363898446, + -85.69274816774458 + ], + [ + 371.24358774311474, + -84.4970010279875 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00107/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00107/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b10216611eee51470dafe5877a520cb83f079f0 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00107/meta.json @@ -0,0 +1,2094 @@ +{ + "frame_id": 107, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 53.5, + "sim_timestamp": 16577.19041146827 + }, + "drone_pose": { + "x": -47.94561573842573, + "y": -56.065148401917035, + "z": 20.0, + "pitch": -42.19271318510102, + "yaw": 72.64785114956845, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2209656834602356, + -0.7071719765663147, + 0.6716263890266418, + 36.80951690673828 + ], + [ + 0.9544897675514221, + 0.2982436418533325, + 0.0, + -29.04252052307129 + ], + [ + -0.20030836760997772, + 0.6410605311393738, + 0.7408900260925293, + -60.36286163330078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.84777083079266, + "y": -55.474657597883464, + "z": 20.0 + }, + "t1_image_uv": [ + 820.8053235279309, + -510.25239627508836 + ], + "t1_depth": 0.43919889734888173 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.16718292236328, + "y": -36.18776321411133, + "z": 1.149673331975937 + }, + "image_uv": [ + 621.5709742051281, + 355.4283232364791 + ], + "depth": 28.214907098227695, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 703, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -36.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.4358764588832855, + "y": 0.5059826374053955, + "z": 0.8683181405067444 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 598.7502561822834, + "ymin": 319.1723999567074, + "xmax": 643.7965395041582, + "ymax": 391.3690881018012 + }, + "corners_3d": [ + [ + -41.117610931396484, + -36.853759765625, + 0.28135520219802856 + ], + [ + -41.83317947387695, + -36.13819122314453, + 0.28135520219802856 + ], + [ + -41.21675491333008, + -35.521766662597656, + 0.28135520219802856 + ], + [ + -40.50118637084961, + -36.237335205078125, + 0.28135520219802856 + ], + [ + -41.117610931396484, + -36.853759765625, + 2.017991542816162 + ], + [ + -41.83317947387695, + -36.13819122314453, + 2.017991542816162 + ], + [ + -41.21675491333008, + -35.521766662597656, + 2.017991542816162 + ], + [ + -40.50118637084961, + -36.237335205078125, + 2.017991542816162 + ] + ], + "corners_2d": [ + [ + 613.3192611070099, + 391.3690881018012 + ], + [ + 643.642172396745, + 380.4339033895481 + ], + [ + 630.2978773494476, + 363.0170046264146 + ], + [ + 600.4144610895546, + 373.5261842225195 + ], + [ + 612.1739653705923, + 347.2569337754249 + ], + [ + 643.7965395041582, + 336.41596358644773 + ], + [ + 629.8950446538341, + 319.1723999567074 + ], + [ + 598.7502561822834, + 329.5735719956243 + ] + ], + "center_offset_px": [ + -18.429025794871905, + -4.571676763520884 + ] + }, + "trace_timestep_index": 107, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 98, + "semantic_pixel_counts": { + "1": 337223, + "2": 133566, + "4": 5242, + "5": 2151, + "6": 3779, + "7": 146, + "10": 653, + "12": 3240, + "14": 67799, + "15": 6317, + "24": 28102, + "25": 333382 + }, + "instance_pixel_counts": { + "70": 387, + "620": 302, + "1132": 628, + "3180": 223, + "4166": 531, + "4678": 629, + "6053": 77, + "6508": 2355, + "7786": 952, + "7825": 237, + "8064": 154, + "8296": 8654, + "8298": 712, + "8337": 279, + "8780": 614, + "8808": 20961, + "8810": 4350, + "9320": 141734, + "9834": 1784, + "10344": 16455, + "10346": 659, + "10624": 2191, + "10856": 19262, + "11116": 596, + "11136": 300, + "11368": 127378, + "11370": 3566, + "11596": 5242, + "11880": 2049, + "11882": 43, + "12652": 227, + "17516": 175, + "20308": 11234, + "20820": 6581, + "20866": 2391, + "21332": 4382, + "21844": 3778, + "22356": 6664, + "22868": 3890, + "23380": 4435, + "25428": 1866, + "25698": 348, + "25928": 1537, + "25940": 2417, + "26112": 131, + "26210": 32, + "26368": 843, + "27234": 77, + "27460": 1434, + "27476": 554, + "27719": 818, + "27988": 3185, + "29839": 1516, + "30351": 5481, + "30863": 41158, + "31375": 947, + "31812": 228, + "31887": 2859, + "32324": 251, + "32399": 13864, + "32911": 33703, + "34372": 261, + "34447": 150, + "34884": 1144, + "34920": 198, + "36456": 532, + "36753": 286, + "39239": 333382, + "41367": 498, + "41796": 372, + "41879": 1912, + "42391": 14073, + "42903": 3, + "43927": 678, + "44439": 2541, + "44951": 13326, + "45463": 39, + "46672": 560, + "46917": 56, + "48708": 453, + "48744": 62, + "50756": 62, + "50792": 102, + "53926": 182, + "54950": 518, + "55462": 44, + "56320": 703, + "56576": 570, + "56832": 480, + "57088": 608, + "57344": 42, + "57600": 837, + "58368": 14165, + "58624": 4744, + "58880": 3682, + "60833": 500, + "61440": 2539, + "64837": 333 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 703, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -36.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.4203271269798279, + "y": 0.42924192547798157, + "z": 0.8837199807167053 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 601.3603203543644, + "ymin": 319.84888164688596, + "xmax": 641.1745302874602, + "ymax": 390.58133743876834 + }, + "corners_3d": [ + [ + -41.16088104248047, + -36.78849792480469, + 0.2659533619880676 + ], + [ + -41.76791763305664, + -36.18145751953125, + 0.2659533619880676 + ], + [ + -41.173484802246094, + -35.58702850341797, + 0.2659533619880676 + ], + [ + -40.56644821166992, + -36.194068908691406, + 0.2659533619880676 + ], + [ + -41.16088104248047, + -36.78849792480469, + 2.033393383026123 + ], + [ + -41.76791763305664, + -36.18145751953125, + 2.033393383026123 + ], + [ + -41.173484802246094, + -35.58702850341797, + 2.033393383026123 + ], + [ + -40.56644821166992, + -36.194068908691406, + 2.033393383026123 + ] + ], + "corners_2d": [ + [ + 615.4184843403999, + 390.58133743876834 + ], + [ + 641.1259169807183, + 381.3108533701057 + ], + [ + 628.2935968513533, + 364.4837756612864 + ], + [ + 602.9454202903978, + 373.4058748089247 + ], + [ + 614.3456196436168, + 345.6956828808031 + ], + [ + 641.1745302874602, + 336.50679306500876 + ], + [ + 627.7980971070825, + 319.84888164688596 + ], + [ + 601.3603203543644, + 328.6779050335247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 570, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.041194915771484, + "y": -33.190059661865234, + "z": 1.1474028825759888 + }, + "extent": { + "x": 0.46806761622428894, + "y": 0.4659106433391571, + "z": 0.9164108633995056 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 507.22386523940895, + "ymin": 236.55847837586384, + "xmax": 551.6418982708033, + "ymax": 306.1447202614921 + }, + "corners_3d": [ + [ + -37.179996490478516, + -33.835731506347656, + 0.23099201917648315 + ], + [ + -37.687503814697266, + -33.05424118041992, + 0.23099201917648315 + ], + [ + -36.90239334106445, + -32.54438781738281, + 0.23099201917648315 + ], + [ + -36.3948860168457, + -33.32587814331055, + 0.23099201917648315 + ], + [ + -37.179996490478516, + -33.835731506347656, + 2.0638136863708496 + ], + [ + -37.687503814697266, + -33.05424118041992, + 2.0638136863708496 + ], + [ + -36.90239334106445, + -32.54438781738281, + 2.0638136863708496 + ], + [ + -36.3948860168457, + -33.32587814331055, + 2.0638136863708496 + ] + ], + "corners_2d": [ + [ + 528.4489338422121, + 306.1447202614921 + ], + [ + 551.6418982708033, + 294.8416151660879 + ], + [ + 535.3752105194171, + 281.55137633702543 + ], + [ + 512.3458395724203, + 292.4818521189875 + ], + [ + 523.8937856446853, + 260.7015425905494 + ], + [ + 548.0857911630125, + 249.5980140950706 + ], + [ + 531.2366855076505, + 236.55847837586384 + ], + [ + 507.22386523940895, + 247.28149998303212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 480, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.42300796508789, + "y": -29.24505043029785, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4051782190799713, + "y": 0.37718138098716736, + "z": 0.9493250846862793 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 730.191344466485, + "ymin": 209.6134280614084, + "xmax": 766.6354848689296, + "ymax": 274.08001904788466 + }, + "corners_3d": [ + [ + -43.50052261352539, + -29.793161392211914, + 0.047940969467163086 + ], + [ + -43.975257873535156, + -29.206911087036133, + 0.047940969467163086 + ], + [ + -43.34549331665039, + -28.69693946838379, + 0.047940969467163086 + ], + [ + -42.870758056640625, + -29.28318977355957, + 0.047940969467163086 + ], + [ + -43.50052261352539, + -29.793161392211914, + 1.9465911388397217 + ], + [ + -43.975257873535156, + -29.206911087036133, + 1.9465911388397217 + ], + [ + -43.34549331665039, + -28.69693946838379, + 1.9465911388397217 + ], + [ + -42.870758056640625, + -29.28318977355957, + 1.9465911388397217 + ] + ], + "corners_2d": [ + [ + 744.6362832493564, + 274.08001904788466 + ], + [ + 761.7819090851498, + 266.77962474150536 + ], + [ + 747.2156827679216, + 255.27987760273223 + ], + [ + 730.191344466485, + 262.3648002390955 + ], + [ + 748.8472832282578, + 228.00354356081337 + ], + [ + 766.6354848689296, + 220.85815676448664 + ], + [ + 751.4230057829863, + 209.6134280614084 + ], + [ + 733.7646571554606, + 216.53966704773663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 608, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -50.66718292236328, + "y": -36.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3434204161167145, + "y": 0.32966673374176025, + "z": 0.8869493007659912 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 927.8887653814083, + "ymin": 393.9199014369146, + "xmax": 977.8355444512498, + "ymax": 463.18543237584504 + }, + "corners_3d": [ + [ + -50.67690658569336, + -36.6637077331543, + 0.11032164096832275 + ], + [ + -51.14312744140625, + -36.197486877441406, + 0.11032164096832275 + ], + [ + -50.6574592590332, + -35.71181869506836, + 0.11032164096832275 + ], + [ + -50.19123840332031, + -36.17803955078125, + 0.11032164096832275 + ], + [ + -50.67690658569336, + -36.6637077331543, + 1.8842202425003052 + ], + [ + -51.14312744140625, + -36.197486877441406, + 1.8842202425003052 + ], + [ + -50.6574592590332, + -35.71181869506836, + 1.8842202425003052 + ], + [ + -50.19123840332031, + -36.17803955078125, + 1.8842202425003052 + ] + ], + "corners_2d": [ + [ + 944.3472647363584, + 463.18543237584504 + ], + [ + 962.7617620557759, + 454.9216152271913 + ], + [ + 946.1349598916147, + 438.8984724158087 + ], + [ + 927.8887653814083, + 446.8890511087685 + ], + [ + 958.6884769131391, + 418.14614403013013 + ], + [ + 977.8355444512498, + 409.89659530957636 + ], + [ + 960.1839832305395, + 393.9199014369146 + ], + [ + 941.2168154976011, + 401.88422096843556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 42, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.78268051147461, + "y": -47.31512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.37251952290534973, + "y": 0.3978222608566284, + "z": 0.9439188838005066 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 594.0854519017857, + "ymin": 697.1083504004073, + "xmax": 644.9778862678011, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.70794677734375, + -47.854984283447266, + 0.05335205793380737 + ], + [ + -45.32627868652344, + -47.354270935058594, + 0.05335205793380737 + ], + [ + -44.85741424560547, + -46.775264739990234, + 0.05335205793380737 + ], + [ + -44.23908233642578, + -47.275978088378906, + 0.05335205793380737 + ], + [ + -44.70794677734375, + -47.854984283447266, + 1.9411897659301758 + ], + [ + -45.32627868652344, + -47.354270935058594, + 1.9411897659301758 + ], + [ + -44.85741424560547, + -46.775264739990234, + 1.9411897659301758 + ], + [ + -44.23908233642578, + -47.275978088378906, + 1.9411897659301758 + ] + ], + "corners_2d": [ + [ + 609.0721577481303, + 787.34319829425 + ], + [ + 644.6644324893235, + 773.3294179411157 + ], + [ + 631.770557774306, + 741.4360422541081 + ], + [ + 596.9348265059643, + 754.7584548640131 + ], + [ + 606.9695470190319, + 744.4001791584362 + ], + [ + 644.9778862678011, + 729.9396034217039 + ], + [ + 631.232172435277, + 697.1083504004073 + ], + [ + 594.0854519017857, + 710.8092096402861 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 837, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -29.921844482421875, + "y": -44.35797882080078, + "z": 1.1400200128555298 + }, + "extent": { + "x": 0.4728100597858429, + "y": 0.5174609422683716, + "z": 0.9063356518745422 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 73.83973501380967, + "ymin": 429.278318268299, + "xmax": 146.98462024398566, + "ymax": 510.28872218078936 + }, + "corners_3d": [ + [ + -29.745376586914062, + -45.036338806152344, + 0.23368436098098755 + ], + [ + -30.61333465576172, + -44.472679138183594, + 0.23368436098098755 + ], + [ + -30.098312377929688, + -43.67961883544922, + 0.23368436098098755 + ], + [ + -29.23035430908203, + -44.24327850341797, + 0.23368436098098755 + ], + [ + -29.745376586914062, + -45.036338806152344, + 2.046355724334717 + ], + [ + -30.61333465576172, + -44.472679138183594, + 2.046355724334717 + ], + [ + -30.098312377929688, + -43.67961883544922, + 2.046355724334717 + ], + [ + -29.23035430908203, + -44.24327850341797, + 2.046355724334717 + ] + ], + "corners_2d": [ + [ + 101.30434847278514, + 510.28872218078936 + ], + [ + 143.51676203708462, + 501.94737788381417 + ], + [ + 146.98462024398566, + 475.66110788307645 + ], + [ + 105.90506698896115, + 483.5731442121403 + ], + [ + 73.83973501380967, + 463.9592418513333 + ], + [ + 118.42163476360338, + 455.5940899506071 + ], + [ + 122.74375275209616, + 429.278318268299 + ], + [ + 79.42318262436072, + 437.1919733146128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 14165, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 740.6222084546308, + "ymin": 465.0672564130138, + "xmax": 871.0540877532039, + "ymax": 683.0081310771884 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 861.8416165472216, + 521.3568789070695 + ], + [ + 779.9695448099869, + 502.40329456180154 + ], + [ + 740.6222084546308, + 657.7220149287335 + ], + [ + 834.4714625836807, + 683.0081310771884 + ], + [ + 871.0540877532039, + 484.08010348575084 + ], + [ + 785.670951397993, + 465.0672564130138 + ], + [ + 745.3792354994127, + 621.7316024185681 + ], + [ + 843.8739840431124, + 647.4234311179923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 4744, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1052.3806141691434, + "ymin": 139.9527871019793, + "xmax": 1128.3077978764318, + "ymax": 262.26548035101405 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1054.1191899928422, + 252.72450963191568 + ], + [ + 1112.2471929073192, + 262.26548035101405 + ], + [ + 1104.6858719195175, + 185.14024283546468 + ], + [ + 1052.3806141691434, + 177.39970794557357 + ], + [ + 1068.023144841644, + 213.56697845220356 + ], + [ + 1128.3077978764318, + 222.9261120924762 + ], + [ + 1118.8634309605718, + 147.4951049039156 + ], + [ + 1064.8180673099182, + 139.9527871019793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 3682, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 857.0407607499301, + "ymin": 123.27972228562516, + "xmax": 925.2011137909208, + "ymax": 225.8491538371213 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 918.0125707729603, + 162.41525997906967 + ], + [ + 872.3500302507098, + 155.608158777631 + ], + [ + 857.0407607499301, + 217.70546050955363 + ], + [ + 906.8379988566813, + 225.8491538371213 + ], + [ + 925.2011137909208, + 129.9237944348665 + ], + [ + 878.29552904313, + 123.27972228562516 + ], + [ + 863.1269777582431, + 184.01889305515806 + ], + [ + 914.4067035651535, + 192.00603533226612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 2539, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 814.7221597909348, + "ymin": 0.0, + "xmax": 871.8688013258146, + "ymax": 75.93830680200648 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 865.3192079596431, + 36.87943864410482 + ], + [ + 829.2940969552662, + 32.47374705758233 + ], + [ + 814.7221597909348, + 70.88404074600516 + ], + [ + 853.1921115056407, + 75.93830680200648 + ], + [ + 871.8688013258146, + -3.2981039478294747 + ], + [ + 834.7508426175057, + -7.497935650193995 + ], + [ + 820.1262578265453, + 29.1843022156944 + ], + [ + 859.8453343761365, + 34.02230302559968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17449955051410433482, + "instance_id": 51749, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -60.41596984863281, + "y": -9.395050048828125, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1227.5031221291783, + "ymin": 4.6443859567044115, + "xmax": 1244.111977809283, + "ymax": 28.49872655244741 + }, + "corners_3d": [ + [ + -60.55530548095703, + -9.205093383789062, + 2.645533323287964 + ], + [ + -60.276634216308594, + -9.205094337463379, + 2.645533323287964 + ], + [ + -60.276634216308594, + -9.585006713867188, + 2.645533323287964 + ], + [ + -60.55530548095703, + -9.585005760192871, + 2.645533323287964 + ], + [ + -60.55530548095703, + -9.205093383789062, + 3.5146729946136475 + ], + [ + -60.276634216308594, + -9.205094337463379, + 3.5146729946136475 + ], + [ + -60.276634216308594, + -9.585006713867188, + 3.5146729946136475 + ], + [ + -60.55530548095703, + -9.585005760192871, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1234.4429687413426, + 25.05308915104507 + ], + [ + 1227.5031221291783, + 24.269567489073324 + ], + [ + 1228.6769457035548, + 27.705093209927156 + ], + [ + 1235.6631942091278, + 28.49872655244741 + ], + [ + 1242.819760621577, + 5.4097761899578245 + ], + [ + 1235.7698304397845, + 4.6443859567044115 + ], + [ + 1237.014163448846, + 8.000644691317007 + ], + [ + 1244.111977809283, + 8.77605306528966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 65.29928999354706, + "xmax": 101.64563556775886, + "ymax": 168.44956151980028 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 101.64563556775886, + 69.81179766334571 + ], + [ + 92.89994321174117, + 68.40592779781707 + ], + [ + -68.52005909971012, + 166.5257068594869 + ], + [ + -58.74605749450075, + 168.44956151980028 + ], + [ + 100.40429971231652, + 66.70083642505512 + ], + [ + 91.64150603072187, + 65.29928999354706 + ], + [ + -70.42688238566166, + 163.15494401431002 + ], + [ + -60.631936356967344, + 165.07438324027427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 56.08015265044173, + "xmax": 195.73162016156476, + "ymax": 408.56753071363414 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 195.73162016156476, + 293.2217119460148 + ], + [ + 183.3922504148211, + 290.54409925175776 + ], + [ + 60.19073030577363, + 405.06761913297896 + ], + [ + 73.83043979924867, + 408.56753071363414 + ], + [ + 103.05136341970899, + 58.36882939596052 + ], + [ + 88.52123307348359, + 56.08015265044173 + ], + [ + -81.7236861625363, + 156.89624278649683 + ], + [ + -65.40569747891789, + 160.0745740878789 + ] + ], + "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": 733.3860801068045, + "ymin": 0.0, + "xmax": 1030.113867310899, + "ymax": 59.69180639325174 + }, + "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": [ + [ + 735.4255275692872, + 23.924084292071484 + ], + [ + 733.3860801068045, + 27.30616254953145 + ], + [ + 981.2563752599651, + 59.69180639325174 + ], + [ + 981.765056241311, + 55.8913812042328 + ], + [ + 748.0619862147602, + -160.81535545387078 + ], + [ + 745.841209617919, + -158.30785813491116 + ], + [ + 1029.903496132182, + -134.0821020552355 + ], + [ + 1030.113867310899, + -136.94527826192046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 65.22974086391366, + "xmax": 101.77609699308903, + "ymax": 168.53903840582535 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 101.77609699308903, + 69.8003604644224 + ], + [ + 92.91778645918623, + 68.37646678531291 + ], + [ + -68.66155291487678, + 166.5899396560578 + ], + [ + -58.7606477657572, + 168.53903840582535 + ], + [ + 100.51903563626695, + 66.64919858188932 + ], + [ + 91.64317975528945, + 65.22974086391366 + ], + [ + -70.59361765061067, + 163.17541360473408 + ], + [ + -60.671220116879, + 165.1199819638769 + ] + ], + "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": 1184.9158812980327, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 87.26072811482254 + }, + "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": [ + [ + 1209.8231495034001, + 85.90873839275997 + ], + [ + 1220.2342041507713, + 87.26072811482254 + ], + [ + 1193.5735638381443, + -10.658538900084693 + ], + [ + 1184.9158812980327, + -11.604063859940936 + ], + [ + 1295.350488379873, + -114.1814382699871 + ], + [ + 1307.5514120791845, + -113.14804858644067 + ], + [ + 1261.5504290182823, + -186.21590646004108 + ], + [ + 1251.6874558586503, + -186.9043208434507 + ] + ], + "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": 300.9100398582943, + "ymin": 0.0, + "xmax": 421.74046315400506, + "ymax": 139.19721850972897 + }, + "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": [ + [ + 421.74046315400506, + 79.36749230903638 + ], + [ + 412.12419584845344, + 77.92423801103462 + ], + [ + 348.0914351235924, + 137.44663964250128 + ], + [ + 358.51041575627727, + 139.19721850972897 + ], + [ + 390.08513573502074, + -114.92690108193858 + ], + [ + 379.1667698560348, + -116.03451974322576 + ], + [ + 300.9100398582943, + -69.69227293455157 + ], + [ + 312.87014127657943, + -68.30847884171988 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00117/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00117/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a173179534fc949483663441f529945a62eac68b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00117/meta.json @@ -0,0 +1,1876 @@ +{ + "frame_id": 117, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 58.5, + "sim_timestamp": 16690.754392503994 + }, + "drone_pose": { + "x": -45.35558701858334, + "y": -50.174802788527025, + "z": 19.97878223346205, + "pitch": -42.7850588350279, + "yaw": 69.1762527015458, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2608999013900757, + -0.6859670281410217, + 0.6792498826980591, + 32.680946350097656 + ], + [ + 0.9346783757209778, + 0.3554944396018982, + -2.9802322387695312e-08, + -24.556028366088867 + ], + [ + -0.24146954715251923, + 0.6348801851272583, + 0.7339070439338684, + -57.46955108642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -45.00769058913812, + "y": -49.74566642168275, + "z": 19.917216974885424 + }, + "t1_image_uv": [ + 251.8794073636384, + -339.88776779936643 + ], + "t1_depth": 0.42695772404655175 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -36.16718292236328, + "y": -31.187763214111328, + "z": 1.146519039273262 + }, + "image_uv": [ + 577.4456501965233, + 344.6172212552417 + ], + "depth": 28.21355028539864, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 718, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -36.16718292236328, + "y": -31.187763214111328, + "z": 1.1465190649032593 + }, + "extent": { + "x": 0.5872765779495239, + "y": 0.4853149354457855, + "z": 0.876235842704773 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 553.125633388955, + "ymin": 305.6511665446151, + "xmax": 601.1732786281209, + "ymax": 383.42859231085714 + }, + "corners_3d": [ + [ + -36.239280700683594, + -31.946199417114258, + 0.27028322219848633 + ], + [ + -36.925621032714844, + -31.25986099243164, + 0.27028322219848633 + ], + [ + -36.09508514404297, + -30.4293270111084, + 0.27028322219848633 + ], + [ + -35.40874481201172, + -31.115665435791016, + 0.27028322219848633 + ], + [ + -36.239280700683594, + -31.946199417114258, + 2.0227549076080322 + ], + [ + -36.925621032714844, + -31.25986099243164, + 2.0227549076080322 + ], + [ + -36.09508514404297, + -30.4293270111084, + 2.0227549076080322 + ], + [ + -35.40874481201172, + -31.115665435791016, + 2.0227549076080322 + ] + ], + "corners_2d": [ + [ + 570.7022954427396, + 383.42859231085714 + ], + [ + 601.1732786281209, + 374.11367858133207 + ], + [ + 586.4785209964971, + 349.9270569257268 + ], + [ + 556.6846945569401, + 358.74701402852804 + ], + [ + 567.6560694193467, + 338.86256383132627 + ], + [ + 599.4847044810433, + 329.6175601466829 + ], + [ + 584.2158804497394, + 305.6511665446151 + ], + [ + 553.125633388955, + 314.3843486820332 + ] + ], + "center_offset_px": [ + -62.554349803476725, + -15.382778744758298 + ] + }, + "trace_timestep_index": 117, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 89, + "semantic_pixel_counts": { + "1": 339608, + "2": 70879, + "5": 2123, + "6": 4267, + "7": 61, + "10": 585, + "12": 3763, + "14": 74069, + "15": 8476, + "24": 32202, + "25": 385567 + }, + "instance_pixel_counts": { + "70": 557, + "108": 1, + "620": 49, + "1132": 925, + "3180": 452, + "4166": 794, + "4678": 960, + "6053": 142, + "6508": 3170, + "7786": 2053, + "7825": 343, + "8064": 230, + "8296": 22853, + "8298": 1076, + "8337": 388, + "8780": 1404, + "8808": 31929, + "8810": 3836, + "9320": 136583, + "9322": 306, + "9832": 5871, + "9834": 1500, + "10344": 20648, + "10346": 799, + "10624": 2961, + "10856": 28631, + "11116": 719, + "11136": 414, + "11368": 82128, + "11370": 939, + "12652": 296, + "17516": 292, + "20308": 15958, + "20820": 8974, + "20866": 2837, + "21332": 5551, + "21844": 5037, + "22356": 8661, + "22868": 5607, + "23380": 5683, + "25428": 2689, + "25698": 480, + "25928": 719, + "25940": 2953, + "26112": 605, + "26210": 40, + "27234": 136, + "27460": 861, + "27476": 388, + "27988": 3902, + "29839": 2142, + "30351": 8061, + "30863": 37913, + "31375": 5850, + "31812": 296, + "32324": 341, + "32360": 3088, + "34372": 507, + "34884": 1880, + "34920": 7877, + "35399": 604, + "36753": 439, + "39239": 384963, + "41367": 729, + "41796": 1062, + "41879": 2751, + "42391": 12383, + "42903": 781, + "43927": 143, + "44439": 126, + "46672": 886, + "46917": 74, + "48708": 658, + "50756": 83, + "53926": 233, + "54950": 690, + "55462": 63, + "56320": 718, + "56576": 588, + "56832": 487, + "57088": 711, + "57344": 452, + "57600": 807, + "58624": 7992, + "58880": 5711, + "60833": 674, + "61440": 3439, + "61601": 11, + "64837": 472 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 718, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -36.16718292236328, + "y": -31.187763214111328, + "z": 1.1465190649032593 + }, + "extent": { + "x": 0.4488806128501892, + "y": 0.5745092630386353, + "z": 0.9080226421356201 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 551.8287370004027, + "ymin": 306.7684350631134, + "xmax": 602.1898566762835, + "ymax": 382.0828022022869 + }, + "corners_3d": [ + [ + -36.07835006713867, + -31.911409378051758, + 0.23849642276763916 + ], + [ + -36.89082717895508, + -31.09893035888672, + 0.23849642276763916 + ], + [ + -36.25601577758789, + -30.4641170501709, + 0.23849642276763916 + ], + [ + -35.443538665771484, + -31.276596069335938, + 0.23849642276763916 + ], + [ + -36.07835006713867, + -31.911409378051758, + 2.05454158782959 + ], + [ + -36.89082717895508, + -31.09893035888672, + 2.05454158782959 + ], + [ + -36.25601577758789, + -30.4641170501709, + 2.05454158782959 + ], + [ + -35.443538665771484, + -31.276596069335938, + 2.05454158782959 + ] + ], + "corners_2d": [ + [ + 566.2424213050004, + 382.0828022022869 + ], + [ + 602.1898566762835, + 371.1262730086803 + ], + [ + 590.9202979793006, + 352.6727670553525 + ], + [ + 555.584619115681, + 363.18179363219093 + ], + [ + 562.8880101279526, + 335.91423213626285 + ], + [ + 600.4919137248404, + 325.04614132350855 + ], + [ + 588.7634685114247, + 306.7684350631134 + ], + [ + 551.8287370004027, + 317.1732198630597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 588, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -32.041194915771484, + "y": -28.1900577545166, + "z": 1.1422953605651855 + }, + "extent": { + "x": 0.3882482945919037, + "y": 0.4339965581893921, + "z": 0.8700360059738159 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 477.65164448330256, + "ymin": 225.31663619387072, + "xmax": 518.120512465106, + "ymax": 289.2516733752916 + }, + "corners_3d": [ + [ + -32.130435943603516, + -28.765493392944336, + 0.27225935459136963 + ], + [ + -32.603179931640625, + -28.037532806396484, + 0.27225935459136963 + ], + [ + -31.951953887939453, + -27.614622116088867, + 0.27225935459136963 + ], + [ + -31.479211807250977, + -28.34258270263672, + 0.27225935459136963 + ], + [ + -32.130435943603516, + -28.765493392944336, + 2.012331485748291 + ], + [ + -32.603179931640625, + -28.037532806396484, + 2.012331485748291 + ], + [ + -31.951953887939453, + -27.614622116088867, + 2.012331485748291 + ], + [ + -31.479211807250977, + -28.34258270263672, + 2.012331485748291 + ] + ], + "corners_2d": [ + [ + 495.3285438224575, + 289.2516733752916 + ], + [ + 518.120512465106, + 279.6119017664529 + ], + [ + 506.2550417778624, + 268.1236296192391 + ], + [ + 483.651442993001, + 277.489693654308 + ], + [ + 489.6926755792854, + 246.0882032736194 + ], + [ + 513.4306587173164, + 236.60589161251028 + ], + [ + 501.18454732086656, + 225.31663619387072 + ], + [ + 477.65164448330256, + 234.51951754272386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 487, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -38.42300796508789, + "y": -24.24505043029785, + "z": 1.148882269859314 + }, + "extent": { + "x": 0.4038622975349426, + "y": 0.3715881407260895, + "z": 0.9520035982131958 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 704.1100767062999, + "ymin": 199.2776330533088, + "xmax": 739.0475420581814, + "ymax": 264.28602101389197 + }, + "corners_3d": [ + [ + -38.503021240234375, + -24.787986755371094, + 0.19687867164611816 + ], + [ + -38.9707145690918, + -24.210430145263672, + 0.19687867164611816 + ], + [ + -38.342994689941406, + -23.70211410522461, + 0.19687867164611816 + ], + [ + -37.875301361083984, + -24.27967071533203, + 0.19687867164611816 + ], + [ + -38.503021240234375, + -24.787986755371094, + 2.1008858680725098 + ], + [ + -38.9707145690918, + -24.210430145263672, + 2.1008858680725098 + ], + [ + -38.342994689941406, + -23.70211410522461, + 2.1008858680725098 + ], + [ + -37.875301361083984, + -24.27967071533203, + 2.1008858680725098 + ] + ], + "corners_2d": [ + [ + 717.0584928925853, + 264.28602101389197 + ], + [ + 735.1555718540639, + 257.68218631800977 + ], + [ + 722.0359095378618, + 245.6289502560754 + ], + [ + 704.1100767062999, + 252.0310225253804 + ], + [ + 720.2378388601022, + 217.54128991186158 + ], + [ + 739.0475420581814, + 211.07265381632448 + ], + [ + 725.3377583733132, + 199.2776330533088 + ], + [ + 706.7126376320874, + 205.54071300830228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 711, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -45.66718292236328, + "y": -31.187763214111328, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.37371826171875, + "y": 0.401984840631485, + "z": 0.9018828272819519 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 875.5447559888676, + "ymin": 395.48612869210257, + "xmax": 929.2430305494756, + "ymax": 468.8448667366493 + }, + "corners_3d": [ + [ + -45.647193908691406, + -31.736268997192383, + 0.09538322687149048 + ], + [ + -46.2156867980957, + -31.167776107788086, + 0.09538322687149048 + ], + [ + -45.687171936035156, + -30.639257431030273, + 0.09538322687149048 + ], + [ + -45.11867904663086, + -31.20775032043457, + 0.09538322687149048 + ], + [ + -45.647193908691406, + -31.736268997192383, + 1.899148941040039 + ], + [ + -46.2156867980957, + -31.167776107788086, + 1.899148941040039 + ], + [ + -45.687171936035156, + -30.639257431030273, + 1.899148941040039 + ], + [ + -45.11867904663086, + -31.20775032043457, + 1.899148941040039 + ] + ], + "corners_2d": [ + [ + 891.3334548383887, + 468.8448667366493 + ], + [ + 915.7784294055114, + 459.6879139550994 + ], + [ + 899.6758666532166, + 441.2491906101292 + ], + [ + 875.5447559888676, + 450.06608721483326 + ], + [ + 903.7238691253508, + 423.0757862526591 + ], + [ + 929.2430305494756, + 413.912490344151 + ], + [ + 912.1063853586277, + 395.48612869210257 + ], + [ + 886.9276023279663, + 404.2929276163751 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 452, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -39.78268051147461, + "y": -42.31512451171875, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.39150145649909973, + "y": 0.40114501118659973, + "z": 0.9413546323776245 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 493.9210008679545, + "ymin": 680.0566216510463, + "xmax": 548.6720717791446, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.71731185913086, + -42.871826171875, + 0.20831871032714844 + ], + [ + -40.3408088684082, + -42.36692810058594, + 0.20831871032714844 + ], + [ + -39.84804916381836, + -41.7584228515625, + 0.20831871032714844 + ], + [ + -39.224552154541016, + -42.26332092285156, + 0.20831871032714844 + ], + [ + -39.71731185913086, + -42.871826171875, + 2.0910279750823975 + ], + [ + -40.3408088684082, + -42.36692810058594, + 2.0910279750823975 + ], + [ + -39.84804916381836, + -41.7584228515625, + 2.0910279750823975 + ], + [ + -39.224552154541016, + -42.26332092285156, + 2.0910279750823975 + ] + ], + "corners_2d": [ + [ + 511.0752551543327, + 770.4140982280843 + ], + [ + 548.6720717791446, + 758.540709874268 + ], + [ + 539.7270864302224, + 724.4943409320922 + ], + [ + 503.0534353204476, + 735.7451159773059 + ], + [ + 502.2258164205915, + 727.3879947915818 + ], + [ + 542.4644891038089, + 715.1276025598556 + ], + [ + 533.1037130326471, + 680.0566216510463 + ], + [ + 493.9210008679545, + 691.6320491166055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 807, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -24.921844482421875, + "y": -39.35797882080078, + "z": 1.1349126100540161 + }, + "extent": { + "x": 0.387885719537735, + "y": 0.29036253690719604, + "z": 0.9335954785346985 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 36.6918268170773, + "ymin": 399.7015897823394, + "xmax": 94.90175712629173, + "ymax": 471.82342825888566 + }, + "corners_3d": [ + [ + -24.889583587646484, + -39.8414306640625, + 0.20131713151931763 + ], + [ + -25.37662124633789, + -39.525142669677734, + 0.20131713151931763 + ], + [ + -24.954105377197266, + -38.87452697753906, + 0.20131713151931763 + ], + [ + -24.46706771850586, + -39.19081497192383, + 0.20131713151931763 + ], + [ + -24.889583587646484, + -39.8414306640625, + 2.0685081481933594 + ], + [ + -25.37662124633789, + -39.525142669677734, + 2.0685081481933594 + ], + [ + -24.954105377197266, + -38.87452697753906, + 2.0685081481933594 + ], + [ + -24.46706771850586, + -39.19081497192383, + 2.0685081481933594 + ] + ], + "corners_2d": [ + [ + 66.2787155006331, + 471.82342825888566 + ], + [ + 89.26492467828677, + 468.3583478277927 + ], + [ + 94.90175712629173, + 447.42937254611286 + ], + [ + 72.4189624645594, + 450.7502404140523 + ], + [ + 36.6918268170773, + 424.09914378161454 + ], + [ + 60.966874279907984, + 420.62982789476706 + ], + [ + 67.51092053608261, + 399.7015897823394 + ], + [ + 43.796437183639455, + 403.0193295255815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 7992, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1192.2879404089194, + "ymin": 245.51930209587584, + "xmax": 1280.0, + "ymax": 404.98838315184383 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1200.3444605394834, + 388.70527462761913 + ], + [ + 1272.4474578034835, + 404.98838315184383 + ], + [ + 1256.0278650483403, + 298.3530825628195 + ], + [ + 1192.2879404089194, + 285.55211716021 + ], + [ + 1223.1839009945465, + 347.59742716102244 + ], + [ + 1298.7024281245194, + 363.79642321611027 + ], + [ + 1278.5729840223646, + 258.13620097437484 + ], + [ + 1212.1761478145127, + 245.51930209587584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 5711, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 961.2404920214412, + "ymin": 214.18829849248166, + "xmax": 1043.2494868728445, + "ymax": 344.508219694637 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1031.3056703134653, + 259.6813058766338 + ], + [ + 977.2868030561752, + 248.74296613585074 + ], + [ + 961.2404920214412, + 331.10879316851765 + ], + [ + 1020.822777269221, + 344.508219694637 + ], + [ + 1043.2494868728445, + 224.95937219309442 + ], + [ + 987.4346314622287, + 214.18829849248166 + ], + [ + 971.9639466236056, + 295.51957848720036 + ], + [ + 1033.7400502174864, + 308.79993320278004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 3439, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 908.1605821718922, + "ymin": 45.31535303599492, + "xmax": 976.1499925564447, + "ymax": 144.407597442635 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 965.294127910452, + 95.21898765076668 + ], + [ + 924.0087820874375, + 88.50692506961184 + ], + [ + 908.1605821718922, + 136.60176195388456 + ], + [ + 952.5155784640975, + 144.407597442635 + ], + [ + 976.1499925564447, + 51.76586731819498 + ], + [ + 933.3814071049595, + 45.31535303599492 + ], + [ + 917.7245218524079, + 91.63908112192269 + ], + [ + 963.7970888182506, + 99.17995356909444 + ] + ], + "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": 827.6339398679877, + "ymin": 0.0, + "xmax": 838.735271640538, + "ymax": 20.006652859970472 + }, + "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": [ + [ + 834.0132150157457, + 20.006652859970472 + ], + [ + 835.9146800615914, + 16.570109919535525 + ], + [ + 829.5719849756164, + 15.619045695146497 + ], + [ + 827.6339398679877, + 19.04356904581499 + ], + [ + 836.8242967201265, + 0.051629005150005014 + ], + [ + 838.735271640538, + -3.3075674979432392 + ], + [ + 832.2964299502311, + -4.237118338944356 + ], + [ + 830.3477489734254, + -0.8898401427169347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 159.6259475599181, + "xmax": 81.26142011351874, + "ymax": 304.84737116528305 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 81.26142011351874, + 165.38734941796196 + ], + [ + 71.48592680707418, + 163.03248466146988 + ], + [ + -141.89257820924934, + 301.453127363058 + ], + [ + -131.02502916387868, + 304.84737116528305 + ], + [ + 79.71398948332285, + 161.97570185893372 + ], + [ + 69.91678102441404, + 159.6259475599181 + ], + [ + -144.48406880312052, + 297.8212442438033 + ], + [ + -133.5909863333593, + 301.21188143843665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 148.79845006902832, + "xmax": 194.49845192435163, + "ymax": 553.5619319555772 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 194.49845192435163, + 402.2059326456175 + ], + [ + 180.98303374221308, + 398.00426428242383 + ], + [ + 26.24524061030013, + 547.8867252524874 + ], + [ + 41.14274619295816, + 553.5619319555772 + ], + [ + 82.76263588141842, + 152.64035203085479 + ], + [ + 66.50677811301625, + 148.79845006902832 + ], + [ + -159.05967200803354, + 291.44742362334165 + ], + [ + -140.90740090500276, + 297.0847891203073 + ] + ], + "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": 815.1328264827685, + "ymin": 0.0, + "xmax": 1177.509419252924, + "ymax": 127.91655976295365 + }, + "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": [ + [ + 817.4256130283832, + 74.67286891493848 + ], + [ + 815.1328264827685, + 78.82053386446023 + ], + [ + 1100.0477873528328, + 127.91655976295365 + ], + [ + 1100.4226207076438, + 123.07387083501868 + ], + [ + 844.5070281026866, + -127.19882900128988 + ], + [ + 842.0763756319882, + -124.01476316278303 + ], + [ + 1177.509419252924, + -85.8101398672257 + ], + [ + 1177.2799630268466, + -89.62125580204287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 159.53322492914546, + "xmax": 81.41961978182087, + "ymax": 304.97306997092636 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 81.41961978182087, + 165.36872455377753 + ], + [ + 71.5182565412739, + 162.9837334022861 + ], + [ + -142.06897626738566, + 301.53421357412157 + ], + [ + -131.06039488564932, + 304.97306997092636 + ], + [ + 79.85265190444511, + 161.91297219692007 + ], + [ + 69.92900948074066, + 159.53322492914546 + ], + [ + -144.69486793494707, + 297.8552208709302 + ], + [ + -133.6600860133526, + 301.2903781673126 + ] + ], + "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": 331.43512398155804, + "ymin": 0.0, + "xmax": 465.9106376111435, + "ymax": 207.67017201996117 + }, + "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": [ + [ + 465.9106376111435, + 134.33377814014543 + ], + [ + 455.39895424175006, + 132.19984977453308 + ], + [ + 380.2003138089897, + 205.03886388656858 + ], + [ + 391.60526225931284, + 207.67017201996117 + ], + [ + 436.9079563072048, + -76.06335418399675 + ], + [ + 424.76050406193093, + -77.76168490586588 + ], + [ + 331.43512398155804, + -18.742435801184342 + ], + [ + 344.7820417890548, + -16.569164721434902 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00121/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00121/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7da6730cb985a7976f2df364071ede0c3fbe0b65 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00121/meta.json @@ -0,0 +1,2733 @@ +{ + "frame_id": 121, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 60.5, + "sim_timestamp": 16734.793401281582 + }, + "drone_pose": { + "x": -44.114015852417154, + "y": -48.256666302508386, + "z": 20.02576645104926, + "pitch": -39.80702672702123, + "yaw": 60.59379408556827, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3771871328353882, + -0.669230043888092, + 0.6402038931846619, + 36.11347961425781 + ], + [ + 0.8711606860160828, + 0.4909980297088623, + 2.9802322387695312e-08, + -14.736467361450195 + ], + [ + -0.3143388628959656, + 0.557720422744751, + 0.7682050466537476, + -56.16437911987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -43.838450076113176, + "y": -47.59283307740313, + "z": 20.0 + }, + "t1_image_uv": [ + 785.9973627219297, + -383.02011045151914 + ], + "t1_depth": 0.5646927586205868 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -34.66718292236328, + "y": -29.187763214111328, + "z": 1.1449907165765763 + }, + "image_uv": [ + 678.2849983792202, + 390.3986767085197 + ], + "depth": 28.41225258071076, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 709, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -34.66718292236328, + "y": -29.187763214111328, + "z": 1.1449906826019287 + }, + "extent": { + "x": 0.549407958984375, + "y": 0.4783898890018463, + "z": 0.8690603375434875 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 657.2027072452819, + "ymin": 353.6008397909842, + "xmax": 700.6898728091267, + "ymax": 427.06448592117476 + }, + "corners_3d": [ + [ + -34.71739959716797, + -29.914525985717773, + 0.27593034505844116 + ], + [ + -35.393943786621094, + -29.237979888916016, + 0.27593034505844116 + ], + [ + -34.616966247558594, + -28.461000442504883, + 0.27593034505844116 + ], + [ + -33.94042205810547, + -29.13754653930664, + 0.27593034505844116 + ], + [ + -34.71739959716797, + -29.914525985717773, + 2.0140509605407715 + ], + [ + -35.393943786621094, + -29.237979888916016, + 2.0140509605407715 + ], + [ + -34.616966247558594, + -28.461000442504883, + 2.0140509605407715 + ], + [ + -33.94042205810547, + -29.13754653930664, + 2.0140509605407715 + ] + ], + "corners_2d": [ + [ + 667.6564536598239, + 427.06448592117476 + ], + [ + 698.3336048052206, + 421.08687383457675 + ], + [ + 687.1037012891761, + 397.3324986429573 + ], + [ + 657.2027072452819, + 402.9837902126297 + ], + [ + 668.7816503261698, + 382.926546903163 + ], + [ + 700.6898728091267, + 377.0240478651429 + ], + [ + 688.9518156112428, + 353.6008397909842 + ], + [ + 657.882390768166, + 359.168617005287 + ] + ], + "center_offset_px": [ + 38.284998379220156, + 30.3986767085197 + ] + }, + "trace_timestep_index": 121, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 113, + "semantic_pixel_counts": { + "1": 252444, + "2": 75435, + "5": 2467, + "6": 10083, + "7": 437, + "10": 570, + "12": 3126, + "14": 77717, + "15": 12040, + "20": 3, + "24": 39236, + "25": 448042 + }, + "instance_pixel_counts": { + "70": 549, + "620": 1196, + "1132": 755, + "2214": 536, + "2470": 241, + "3180": 541, + "4166": 874, + "4678": 1068, + "6053": 179, + "6508": 4374, + "7786": 2643, + "7825": 324, + "8064": 242, + "8088": 823, + "8296": 28853, + "8298": 1408, + "8337": 370, + "8600": 135, + "8780": 2098, + "8808": 42141, + "8810": 3092, + "9320": 101853, + "9322": 858, + "9624": 824, + "9832": 26236, + "9834": 50, + "10344": 241, + "10624": 3763, + "10828": 3, + "10856": 3446, + "11116": 1253, + "11136": 426, + "11368": 10055, + "12652": 279, + "17516": 318, + "20308": 16721, + "20354": 49, + "20820": 9262, + "20866": 3958, + "21332": 5820, + "21602": 566, + "21844": 5370, + "22356": 8443, + "22868": 5459, + "23380": 5530, + "24916": 2427, + "25428": 2920, + "25698": 496, + "25856": 79, + "25928": 369, + "25940": 2601, + "26112": 3476, + "26210": 39, + "26452": 568, + "26964": 1837, + "27234": 310, + "27476": 4859, + "27746": 330, + "27988": 3606, + "28002": 117, + "28258": 22, + "29012": 2173, + "29327": 195, + "29839": 2565, + "30050": 28, + "30351": 9919, + "30562": 120, + "30863": 31592, + "31375": 10593, + "31812": 306, + "32324": 351, + "32360": 20848, + "33384": 3692, + "33634": 170, + "34372": 961, + "34408": 15079, + "34884": 1999, + "35170": 48, + "35399": 15923, + "35682": 76, + "36753": 362, + "39239": 432119, + "41367": 884, + "41796": 1296, + "41879": 3388, + "42391": 9939, + "42903": 1732, + "44869": 175, + "46672": 1667, + "46696": 1478, + "46917": 81, + "47184": 1291, + "47208": 96, + "48232": 952, + "48708": 733, + "50756": 93, + "53926": 211, + "54950": 1052, + "55462": 54, + "56320": 709, + "56576": 546, + "56832": 524, + "57088": 657, + "57487": 1174, + "57600": 690, + "57999": 196, + "58880": 7918, + "59023": 910, + "60833": 1066, + "61440": 4243, + "61601": 168, + "62113": 185, + "64837": 522 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 709, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -34.66718292236328, + "y": -29.187763214111328, + "z": 1.1449906826019287 + }, + "extent": { + "x": 0.44260373711586, + "y": 0.576275646686554, + "z": 0.9055583477020264 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 655.091636424498, + "ymin": 354.2943036149146, + "xmax": 702.8019736495063, + "ymax": 426.16600103484006 + }, + "corners_3d": [ + [ + -34.572662353515625, + -29.908220291137695, + 0.23943233489990234 + ], + [ + -35.387638092041016, + -29.093242645263672, + 0.23943233489990234 + ], + [ + -34.76170349121094, + -28.46730613708496, + 0.23943233489990234 + ], + [ + -33.94672775268555, + -29.282283782958984, + 0.23943233489990234 + ], + [ + -34.572662353515625, + -29.908220291137695, + 2.050549030303955 + ], + [ + -35.387638092041016, + -29.093242645263672, + 2.050549030303955 + ], + [ + -34.76170349121094, + -28.46730613708496, + 2.050549030303955 + ], + [ + -33.94672775268555, + -29.282283782958984, + 2.050549030303955 + ] + ], + "corners_2d": [ + [ + 663.4405044668927, + 426.16600103484006 + ], + [ + 700.2721258790726, + 419.00338560399626 + ], + [ + 691.1712751600286, + 399.8901221154364 + ], + [ + 655.091636424498, + 406.73628489666424 + ], + [ + 664.4329414391675, + 380.1958833864421 + ], + [ + 702.8019736495063, + 373.12870538103624 + ], + [ + 693.2693781223304, + 354.2943036149146 + ], + [ + 655.7156694589693, + 361.0365399864788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 546, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -30.541194915771484, + "y": -26.1900577545166, + "z": 1.140762209892273 + }, + "extent": { + "x": 0.39037108421325684, + "y": 0.4376171827316284, + "z": 0.8753361105918884 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 592.5556449804441, + "ymin": 266.84152012866014, + "xmax": 627.542995045603, + "ymax": 328.84689678519896 + }, + "corners_3d": [ + [ + -30.6302433013916, + -26.769685745239258, + 0.2654260993003845 + ], + [ + -31.106931686401367, + -26.03565216064453, + 0.2654260993003845 + ], + [ + -30.452146530151367, + -25.610429763793945, + 0.2654260993003845 + ], + [ + -29.9754581451416, + -26.344463348388672, + 0.2654260993003845 + ], + [ + -30.6302433013916, + -26.769685745239258, + 2.0160982608795166 + ], + [ + -31.106931686401367, + -26.03565216064453, + 2.0160982608795166 + ], + [ + -30.452146530151367, + -25.610429763793945, + 2.0160982608795166 + ], + [ + -29.9754581451416, + -26.344463348388672, + 2.0160982608795166 + ] + ], + "corners_2d": [ + [ + 604.2360162636068, + 328.84689678519896 + ], + [ + 627.542995045603, + 321.4624784162052 + ], + [ + 617.2104672409895, + 309.18138273461057 + ], + [ + 594.1843908761746, + 316.32842070932764 + ], + [ + 602.9428021899611, + 286.0666154090946 + ], + [ + 627.0970346988496, + 278.8434066934108 + ], + [ + 616.408223733803, + 266.84152012866014 + ], + [ + 592.5556449804441, + 273.82438571471664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 524, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -36.92300796508789, + "y": -22.24505043029785, + "z": 1.1471879482269287 + }, + "extent": { + "x": 0.4555932581424713, + "y": 0.44740355014801025, + "z": 0.9380514025688171 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 812.2888598344723, + "ymin": 259.3142130596619, + "xmax": 856.7422214198742, + "ymax": 325.3510336961011 + }, + "corners_3d": [ + [ + -36.99551010131836, + -22.87946319580078, + 0.20913654565811157 + ], + [ + -37.558631896972656, + -22.184066772460938, + 0.20913654565811157 + ], + [ + -36.85050582885742, + -21.610637664794922, + 0.20913654565811157 + ], + [ + -36.287384033203125, + -22.306034088134766, + 0.20913654565811157 + ], + [ + -36.99551010131836, + -22.87946319580078, + 2.0852394104003906 + ], + [ + -37.558631896972656, + -22.184066772460938, + 2.0852394104003906 + ], + [ + -36.85050582885742, + -21.610637664794922, + 2.0852394104003906 + ], + [ + -36.287384033203125, + -22.306034088134766, + 2.0852394104003906 + ] + ], + "corners_2d": [ + [ + 825.7044548124092, + 325.3510336961011 + ], + [ + 848.7586677645137, + 319.41297803947856 + ], + [ + 834.9939601855059, + 304.5509339527143 + ], + [ + 812.2888598344723, + 310.2579823698597 + ], + [ + 832.8640160679215, + 279.6038279101813 + ], + [ + 856.7422214198742, + 273.80717161865766 + ], + [ + 842.2997110893488, + 259.3142130596619 + ], + [ + 818.7952733305378, + 264.87696757790013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 657, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -44.16718292236328, + "y": -29.187763214111328, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.38471677899360657, + "y": 0.40275511145591736, + "z": 0.9073373675346375 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 973.0382217949216, + "ymin": 476.3870897918088, + "xmax": 1033.7026332021662, + "ymax": 551.0692019622787 + }, + "corners_3d": [ + [ + -44.15442657470703, + -29.744590759277344, + 0.08993357419967651 + ], + [ + -44.7240104675293, + -29.17500877380371, + 0.08993357419967651 + ], + [ + -44.17993927001953, + -28.630935668945312, + 0.08993357419967651 + ], + [ + -43.610355377197266, + -29.200517654418945, + 0.08993357419967651 + ], + [ + -44.15442657470703, + -29.744590759277344, + 1.9046082496643066 + ], + [ + -44.7240104675293, + -29.17500877380371, + 1.9046082496643066 + ], + [ + -44.17993927001953, + -28.630935668945312, + 1.9046082496643066 + ], + [ + -43.610355377197266, + -29.200517654418945, + 1.9046082496643066 + ] + ], + "corners_2d": [ + [ + 988.4805986115182, + 551.0692019622787 + ], + [ + 1015.6261244377213, + 544.5536378387053 + ], + [ + 999.6856866030405, + 522.8873346206445 + ], + [ + 973.0382217949216, + 529.1183925991057 + ], + [ + 1005.367119323304, + 504.50772049092143 + ], + [ + 1033.7026332021662, + 497.9994292663903 + ], + [ + 1016.5962766647497, + 476.3870897918088 + ], + [ + 988.802100073586, + 482.5979426153833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 690, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -23.421844482421875, + "y": -37.35797882080078, + "z": 1.133379340171814 + }, + "extent": { + "x": 0.4027685523033142, + "y": 0.2891027629375458, + "z": 0.9300723671913147 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 167.28636450348483, + "ymin": 393.770715911081, + "xmax": 216.14728959033027, + "ymax": 461.84611826044943 + }, + "corners_3d": [ + [ + -23.398746490478516, + -37.85322570800781, + 0.20330697298049927 + ], + [ + -23.883670806884766, + -37.53831100463867, + 0.20330697298049927 + ], + [ + -23.444942474365234, + -36.86273193359375, + 0.20330697298049927 + ], + [ + -22.960018157958984, + -37.17764663696289, + 0.20330697298049927 + ], + [ + -23.398746490478516, + -37.85322570800781, + 2.0634517669677734 + ], + [ + -23.883670806884766, + -37.53831100463867, + 2.0634517669677734 + ], + [ + -23.444942474365234, + -36.86273193359375, + 2.0634517669677734 + ], + [ + -22.960018157958984, + -37.17764663696289, + 2.0634517669677734 + ] + ], + "corners_2d": [ + [ + 187.7821192383193, + 461.84611826044943 + ], + [ + 208.38938088977312, + 460.93278203783876 + ], + [ + 216.14728959033027, + 441.13880787825985 + ], + [ + 196.00089996748005, + 442.0124343474382 + ], + [ + 167.28636450348483, + 414.25296097523176 + ], + [ + 188.84831077284719, + 413.34865310672785 + ], + [ + 197.39769807332664, + 393.770715911081 + ], + [ + 176.33977601422043, + 394.63398660964583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 7918, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1118.6932824836558, + "ymin": 346.00522869776773, + "xmax": 1221.6535716001654, + "ymax": 499.36324438267616 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1203.5787229091038, + 400.12993368995285 + ], + [ + 1140.9991595333756, + 381.4301910305068 + ], + [ + 1118.6932824836558, + 476.0466966638858 + ], + [ + 1188.0962858713804, + 499.36324438267616 + ], + [ + 1221.6535716001654, + 364.47243493755786 + ], + [ + 1156.698155238963, + 346.00522869776773 + ], + [ + 1135.481600474653, + 439.7167228117394 + ], + [ + 1207.8255105544408, + 462.9146047255841 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 4243, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1067.5311728318006, + "ymin": 150.76506187401102, + "xmax": 1150.6856754773435, + "ymax": 259.6738619251382 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1133.8809555963976, + 205.66155687177763 + ], + [ + 1087.6898111192263, + 194.80375806770326 + ], + [ + 1067.5311728318006, + 246.94154673256162 + ], + [ + 1117.2122811145634, + 259.6738619251382 + ], + [ + 1150.6856754773435, + 161.21347181076132 + ], + [ + 1102.6580396351674, + 150.76506187401102 + ], + [ + 1083.0418197111483, + 201.04676883721834 + ], + [ + 1134.8581891775864, + 213.36783676860344 + ] + ], + "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": 1139.4404907110113, + "ymin": 45.26862550857743, + "xmax": 1157.030548057321, + "ymax": 73.41382653978741 + }, + "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": [ + [ + 1147.4993162030603, + 73.41382653978741 + ], + [ + 1148.9091374335908, + 69.73613258246303 + ], + [ + 1140.90372491577, + 68.23915640014923 + ], + [ + 1139.4404907110113, + 71.89520530914183 + ], + [ + 1155.657595579476, + 50.28886449542881 + ], + [ + 1157.030548057321, + 46.72075922381663 + ], + [ + 1148.8735343255235, + 45.26862550857743 + ], + [ + 1147.4450940827837, + 48.81539586382911 + ] + ], + "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": 987.6973353765911, + "ymin": 91.51064758169923, + "xmax": 1002.0015385795207, + "ymax": 116.66515294881725 + }, + "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": [ + [ + 994.607721723637, + 116.66515294881725 + ], + [ + 996.8720526267848, + 113.06066234395541 + ], + [ + 990.00024448165, + 111.58410960295276 + ], + [ + 987.6973353765911, + 115.1693185351846 + ], + [ + 999.7383580584353, + 96.47763329976209 + ], + [ + 1002.0015385795207, + 92.95391993756903 + ], + [ + 995.0173363483304, + 91.51064758169923 + ], + [ + 992.7142768138151, + 95.01524065207587 + ] + ], + "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": 1229.285410211405, + "ymin": 61.46214705347114, + "xmax": 1248.5481442670537, + "ymax": 90.4466393686049 + }, + "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": [ + [ + 1237.886929960415, + 90.4466393686049 + ], + [ + 1238.6744415058229, + 86.52183109214377 + ], + [ + 1230.1339785120072, + 84.92480290491847 + ], + [ + 1229.285410211405, + 88.82575177575308 + ], + [ + 1247.8223641071309, + 66.82485094674865 + ], + [ + 1248.5481442670537, + 63.012960177807486 + ], + [ + 1239.8368223930324, + 61.46214705347114 + ], + [ + 1239.0474916103797, + 65.25048300037798 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 74.87726380559025, + "ymax": 52.51464551197557 + }, + "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": [ + [ + 74.87726380559025, + -0.5852267413599179 + ], + [ + 69.52407225659135, + -2.0091243893351134 + ], + [ + -83.95210404829368, + 50.726536577926765 + ], + [ + -78.51132467117941, + 52.51464551197557 + ], + [ + 73.90423816954205, + -3.1894863206657647 + ], + [ + 68.5450175831345, + -4.607375033960238 + ], + [ + -85.34442473395734, + 47.91629760699402 + ], + [ + -79.89822603288837, + 49.697599177589154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 224.54055833693536, + "xmax": 214.75655426949982, + "ymax": 363.5473737257728 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 214.75655426949982, + 231.22053264549058 + ], + [ + 205.90254318920375, + 227.9039173389795 + ], + [ + -17.19049371194967, + 358.79887852910605 + ], + [ + -7.917196158224897, + 363.5473737257728 + ], + [ + 213.63714159859938, + 227.84915993081256 + ], + [ + 204.7654839976734, + 224.54055833693536 + ], + [ + -19.25031309717076, + 355.18460919407414 + ], + [ + -9.960059771513215, + 359.92652444386766 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 74.98388125639826, + "ymax": 52.57286224300725 + }, + "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": [ + [ + 74.98388125639826, + -0.58203179284817 + ], + [ + 69.56156188161276, + -2.0242637416572506 + ], + [ + -84.06080803444843, + 50.76135833511478 + ], + [ + -78.54963573952739, + 52.57286224300725 + ], + [ + 73.99845690032555, + -3.2199680999833618 + ], + [ + 68.5699513623149, + -4.656034809339815 + ], + [ + -85.47144179459974, + 47.914651826117336 + ], + [ + -79.95470947623357, + 49.7191705474749 + ] + ], + "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": 152.03285177350136, + "ymax": 263.86548674704284 + }, + "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": [ + [ + 152.03285177350136, + 195.3818516000025 + ], + [ + 143.9873255768643, + 192.42551262301612 + ], + [ + 15.285469090021934, + 260.23942918768256 + ], + [ + 23.53178144857918, + 263.86548674704284 + ], + [ + 76.045991555652, + -9.634321551926007 + ], + [ + 67.16262721194869, + -11.946967118235648 + ], + [ + -93.65694192752721, + 41.958398612333895 + ], + [ + -84.6268989093112, + 44.89208072184363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 486.4209440973996, + "ymin": 5.115069649837039, + "xmax": 588.2940137760799, + "ymax": 65.01900082261011 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 588.2940137760799, + 9.296149994144969 + ], + [ + 581.027882822223, + 7.788463478150447 + ], + [ + 486.7270854078263, + 63.114980386382285 + ], + [ + 494.5374488700195, + 65.01900082261011 + ], + [ + 588.2018045675185, + 6.616428445133295 + ], + [ + 580.9230691523621, + 5.115069649837039 + ], + [ + 486.4209440973996, + 60.22115311239355 + ], + [ + 494.2458060166992, + 62.11801834396209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 213.6235439565071, + "xmax": 298.8905645678289, + "ymax": 614.590655621285 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 298.8905645678289, + 467.9683212071543 + ], + [ + 286.44196148852996, + 461.94357470741676 + ], + [ + 116.93348802956541, + 606.4718028509202 + ], + [ + 130.07720216257212, + 614.590655621285 + ], + [ + 217.55223731598107, + 219.0307626869169 + ], + [ + 202.82691312481546, + 213.6235439565071 + ], + [ + -32.244037713614944, + 348.2339391223446 + ], + [ + -16.804987695115642, + 356.11092192541196 + ] + ], + "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": 968.0038985874523, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 254.30580574369435 + }, + "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": [ + [ + 970.7560310732654, + 171.10704298348256 + ], + [ + 968.0038985874523, + 175.43891569248063 + ], + [ + 1288.3353844233502, + 254.30580574369435 + ], + [ + 1288.8962129610459, + 248.7976114930139 + ], + [ + 1021.0813927113845, + -32.904137050858026 + ], + [ + 1018.3185216116935, + -29.57563827258565 + ], + [ + 1402.78095553934, + 32.30539770391829 + ], + [ + 1402.3732050564333, + 27.90303425764614 + ] + ], + "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": 1247.1032412929078, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 87.97973088233266 + }, + "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": [ + [ + 1517.898100546407, + 87.97973088233266 + ], + [ + 1516.9378932644854, + 84.78830689965719 + ], + [ + 1247.720013864916, + 38.44459007044986 + ], + [ + 1247.1032412929078, + 41.095854175373404 + ], + [ + 1630.963994554911, + -95.4144424889763 + ], + [ + 1629.1101654808526, + -97.76384941183215 + ], + [ + 1317.799859668164, + -131.47307467885463 + ], + [ + 1317.5448871861156, + -129.56493310556147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 224.44480594933046, + "xmax": 214.91056351865353, + "ymax": 363.6774842499784 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 214.91056351865353, + 231.2106111113538 + ], + [ + 205.94233852540896, + 227.8515508680928 + ], + [ + -17.365048307491065, + 358.8665847668808 + ], + [ + -7.971729298431683, + 363.6774842499784 + ], + [ + 213.77709526935774, + 227.7956435045876 + ], + [ + 204.79076429587798, + 224.44480594933046 + ], + [ + -19.452262921913984, + 355.2054337576507 + ], + [ + -10.041547829992396, + 360.00958340732615 + ] + ], + "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": 68.36470739918207, + "ymax": 88.32104074614995 + }, + "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": [ + [ + 68.36470739918207, + 48.77640849216772 + ], + [ + 62.4685752677284, + 47.02499415517633 + ], + [ + -40.8302984420809, + 86.27538343854258 + ], + [ + -34.85867401625717, + 88.32104074614995 + ], + [ + 2.261700785187486, + -120.42158596519124 + ], + [ + -4.049403193724515, + -121.69866890464942 + ], + [ + -126.35884513980591, + -92.82220529329652 + ], + [ + -120.00812943157382, + -91.30237617647703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 486.5236063476906, + "ymin": 5.165435401159925, + "xmax": 588.2068841992111, + "ymax": 64.95843006557618 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 588.2068841992111, + 9.293304374015236 + ], + [ + 581.0332344980998, + 7.804780066057276 + ], + [ + 486.8256240180964, + 63.079025442863326 + ], + [ + 494.5360579576974, + 64.95843006557618 + ], + [ + 588.1156989173983, + 6.647792415091317 + ], + [ + 580.9297640354741, + 5.165435401159925 + ], + [ + 486.5236063476906, + 60.22226978792986 + ], + [ + 494.2481696224908, + 62.09470142639071 + ] + ], + "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": 481.2594609487149, + "ymin": 0.0, + "xmax": 598.4789359060994, + "ymax": 279.09073599269334 + }, + "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": [ + [ + 598.4789359060994, + 207.76262425169813 + ], + [ + 588.1599993068315, + 204.69023709256047 + ], + [ + 505.33837332368887, + 275.3064903021069 + ], + [ + 516.3553699877298, + 279.09073599269334 + ], + [ + 591.867182703122, + 0.08725801353006091 + ], + [ + 579.9504251839475, + -2.3307451372038486 + ], + [ + 481.2594609487149, + 54.18335007040082 + ], + [ + 494.10841027466074, + 57.268252925025536 + ] + ], + "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": 1015.2488495815952, + "ymin": 0.0, + "xmax": 1120.3037960433355, + "ymax": 92.59385103071315 + }, + "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": [ + [ + 1073.0895461731695, + 14.878192801453622 + ], + [ + 1065.260554960739, + 13.510968872661692 + ], + [ + 1015.2488495815952, + 90.72054835272957 + ], + [ + 1024.2387817520284, + 92.59385103071315 + ], + [ + 1120.3037960433355, + -148.32748619859126 + ], + [ + 1111.4668367448885, + -149.29946806396237 + ], + [ + 1063.8611072441272, + -93.39383376399559 + ], + [ + 1074.2141913668409, + -92.01122560681961 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00135/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00135/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e725a2ac88c6886e66398f586fcba5f308961836 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00135/meta.json @@ -0,0 +1,2294 @@ +{ + "frame_id": 135, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 67.5, + "sim_timestamp": 16896.523778866278 + }, + "drone_pose": { + "x": -40.78753872910654, + "y": -41.230175220547906, + "z": 20.019100649694835, + "pitch": -41.50354875797199, + "yaw": 63.19678464100671, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3377063274383545, + -0.6684516072273254, + 0.6626664400100708, + 28.068601608276367 + ], + [ + 0.8925604224205017, + 0.4509276747703552, + 0.0, + -17.813520431518555 + ], + [ + -0.298814594745636, + 0.5914698839187622, + 0.7489146590232849, + -51.566917419433594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -40.54133042273667, + "y": -40.65583933796816, + "z": 19.853765442175877 + }, + "t1_image_uv": [ + 705.3094279363959, + -121.89639725975263 + ], + "t1_depth": 0.5766239742293497 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -31.16718292236328, + "y": -22.187763214111328, + "z": 1.141494621038437 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.487342983233496, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 706, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -31.16718101501465, + "y": -22.187763214111328, + "z": 1.141494631767273 + }, + "extent": { + "x": 0.5246325731277466, + "y": 0.5342053174972534, + "z": 0.9073999524116516 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 615.2903008053504, + "ymin": 321.1671542812733, + "xmax": 664.409631715456, + "ymax": 398.6418667213686 + }, + "corners_3d": [ + [ + -30.632976531982422, + -22.7123966217041, + 0.23409467935562134 + ], + [ + -31.701387405395508, + -22.71239471435547, + 0.23409467935562134 + ], + [ + -31.701385498046875, + -21.663129806518555, + 0.23409467935562134 + ], + [ + -30.63297462463379, + -21.663131713867188, + 0.23409467935562134 + ], + [ + -30.632976531982422, + -22.7123966217041, + 2.0488946437835693 + ], + [ + -31.701387405395508, + -22.71239471435547, + 2.0488946437835693 + ], + [ + -31.701385498046875, + -21.663129806518555, + 2.0488946437835693 + ], + [ + -30.63297462463379, + -21.663131713867188, + 2.0488946437835693 + ] + ], + "corners_2d": [ + [ + 616.3178853071068, + 387.5614418262144 + ], + [ + 648.0759525127645, + 398.6418667213686 + ], + [ + 663.4063417946029, + 377.35306804030967 + ], + [ + 632.2135482554573, + 366.7943489834204 + ], + [ + 615.2903008053504, + 341.68069055923974 + ], + [ + 648.430996086111, + 352.64308423142586 + ], + [ + 664.409631715456, + 331.59169115071563 + ], + [ + 631.8840273061195, + 321.1671542812733 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 135, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 90, + "semantic_pixel_counts": { + "1": 237133, + "2": 86156, + "5": 2933, + "6": 7637, + "7": 317, + "10": 591, + "12": 3136, + "14": 66148, + "15": 14661, + "20": 161, + "24": 42480, + "25": 460247 + }, + "instance_pixel_counts": { + "70": 1098, + "108": 1, + "1132": 1618, + "3180": 1331, + "4166": 1709, + "4678": 2135, + "6053": 252, + "6508": 4716, + "7274": 97, + "7784": 1491, + "7786": 3511, + "7825": 549, + "8064": 655, + "8088": 801, + "8296": 36857, + "8298": 1833, + "8337": 640, + "8600": 324, + "8780": 2933, + "8808": 57238, + "8810": 1483, + "9320": 38367, + "9322": 1383, + "9624": 1833, + "9832": 44177, + "10316": 65, + "10624": 4225, + "10828": 41, + "11136": 735, + "12652": 466, + "17516": 1674, + "21332": 8199, + "21602": 2686, + "21844": 8111, + "22356": 12979, + "22868": 9194, + "23380": 8909, + "25428": 4101, + "25698": 883, + "25856": 195, + "25940": 3858, + "26112": 5242, + "26210": 81, + "27234": 281, + "27476": 3, + "27988": 5200, + "29327": 2418, + "29839": 4042, + "30351": 16171, + "30863": 20136, + "31375": 16806, + "31812": 502, + "32324": 585, + "32360": 25849, + "33384": 5732, + "34408": 27422, + "35399": 14236, + "36753": 748, + "39239": 446011, + "40855": 366, + "41367": 1425, + "41879": 5544, + "42391": 5774, + "42903": 3138, + "46672": 2517, + "46696": 2164, + "46917": 127, + "47208": 125, + "48232": 1709, + "48708": 1369, + "50756": 152, + "53926": 343, + "54950": 1100, + "55462": 108, + "56320": 706, + "56576": 316, + "56832": 517, + "57088": 684, + "57344": 271, + "57487": 1299, + "57600": 642, + "57999": 753, + "58880": 13240, + "58951": 55, + "59023": 2640, + "60833": 1012, + "60928": 465, + "61440": 6550, + "61601": 173, + "64837": 907 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 706, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -31.16718101501465, + "y": -22.187763214111328, + "z": 1.141494631767273 + }, + "extent": { + "x": 0.4953601062297821, + "y": 0.46552854776382446, + "z": 0.8838912844657898 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.880251875403, + "ymin": 323.0047195213937, + "xmax": 661.8455932213514, + "ymax": 396.74315437347946 + }, + "corners_3d": [ + [ + -30.70165252685547, + -22.683122634887695, + 0.25760334730148315 + ], + [ + -31.632709503173828, + -22.683122634887695, + 0.25760334730148315 + ], + [ + -31.632709503173828, + -21.69240379333496, + 0.25760334730148315 + ], + [ + -30.70165252685547, + -21.69240379333496, + 0.25760334730148315 + ], + [ + -30.70165252685547, + -22.683122634887695, + 2.025385856628418 + ], + [ + -31.632709503173828, + -22.683122634887695, + 2.025385856628418 + ], + [ + -31.632709503173828, + -21.69240379333496, + 2.025385856628418 + ], + [ + -30.70165252685547, + -21.69240379333496, + 2.025385856628418 + ] + ], + "corners_2d": [ + [ + 618.7768933274382, + 387.10142636372075 + ], + [ + 646.452878849279, + 396.74315437347946 + ], + [ + 660.9705961256183, + 376.67700704703094 + ], + [ + 633.7602055515034, + 367.464706763021 + ], + [ + 617.880251875403, + 342.4091773993805 + ], + [ + 646.7286293254392, + 351.9503153271737 + ], + [ + 661.8455932213514, + 332.10348574717034 + ], + [ + 633.5027339134414, + 323.0047195213937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 316, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -27.041194915771484, + "y": -19.1900577545166, + "z": 1.1364165544509888 + }, + "extent": { + "x": 0.436088889837265, + "y": 0.45593446493148804, + "z": 0.8594579100608826 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 550.972870230838, + "ymin": 238.87329845960542, + "xmax": 587.7581240437817, + "ymax": 300.0447037099932 + }, + "corners_3d": [ + [ + -26.68589210510254, + -19.711410522460938, + 0.2769586443901062 + ], + [ + -27.577835083007812, + -19.521821975708008, + 0.2769586443901062 + ], + [ + -27.39649772644043, + -18.668704986572266, + 0.2769586443901062 + ], + [ + -26.504554748535156, + -18.858293533325195, + 0.2769586443901062 + ], + [ + -26.68589210510254, + -19.711410522460938, + 1.9958744049072266 + ], + [ + -27.577835083007812, + -19.521821975708008, + 1.9958744049072266 + ], + [ + -27.39649772644043, + -18.668704986572266, + 1.9958744049072266 + ], + [ + -26.504554748535156, + -18.858293533325195, + 1.9958744049072266 + ] + ], + "corners_2d": [ + [ + 554.119358588297, + 295.7705044422707 + ], + [ + 580.0550742056254, + 300.0447037099932 + ], + [ + 587.7581240437817, + 284.79148316076515 + ], + [ + 562.279934614053, + 280.68041707203577 + ], + [ + 550.972870230838, + 253.66705688723226 + ], + [ + 577.8464210988998, + 257.8611091237728 + ], + [ + 585.8718189637024, + 242.90157060751392 + ], + [ + 559.4891206442151, + 238.87329845960542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 517, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -33.42300796508789, + "y": -15.245049476623535, + "z": 1.1418901681900024 + }, + "extent": { + "x": 0.4844030737876892, + "y": 0.29786497354507446, + "z": 0.9285783171653748 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 777.7039586641162, + "ymin": 225.7627573242138, + "xmax": 807.782079125016, + "ymax": 290.2171341137439 + }, + "corners_3d": [ + [ + -33.17741012573242, + -15.7579345703125, + 0.21331185102462769 + ], + [ + -33.769874572753906, + -15.695663452148438, + 0.21331185102462769 + ], + [ + -33.66860580444336, + -14.73216438293457, + 0.21331185102462769 + ], + [ + -33.076141357421875, + -14.794435501098633, + 0.21331185102462769 + ], + [ + -33.17741012573242, + -15.7579345703125, + 2.0704684257507324 + ], + [ + -33.769874572753906, + -15.695663452148438, + 2.0704684257507324 + ], + [ + -33.66860580444336, + -14.73216438293457, + 2.0704684257507324 + ], + [ + -33.076141357421875, + -14.794435501098633, + 2.0704684257507324 + ] + ], + "corners_2d": [ + [ + 777.7039586641162, + 286.44164549739577 + ], + [ + 794.791820809133, + 290.2171341137439 + ], + [ + 801.5703855412446, + 274.3090915466693 + ], + [ + 784.7973687359602, + 270.6857420282994 + ], + [ + 783.0854761657796, + 241.1668548665945 + ], + [ + 800.8717302365028, + 244.86167440919502 + ], + [ + 807.782079125016, + 229.30303935457002 + ], + [ + 790.3367909465069, + 225.7627573242138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 684, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -40.66718292236328, + "y": -22.187763214111328, + "z": 1.1483794450759888 + }, + "extent": { + "x": 0.31562986969947815, + "y": 0.40709349513053894, + "z": 0.8796200156211853 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 936.8782827681725, + "ymin": 431.55838138429306, + "xmax": 988.2956950245366, + "ymax": 503.0336896851188 + }, + "corners_3d": [ + [ + -40.26008987426758, + -22.503393173217773, + 0.26875942945480347 + ], + [ + -41.074275970458984, + -22.503393173217773, + 0.26875942945480347 + ], + [ + -41.074275970458984, + -21.872133255004883, + 0.26875942945480347 + ], + [ + -40.26008987426758, + -21.872133255004883, + 0.26875942945480347 + ], + [ + -40.26008987426758, + -22.503393173217773, + 2.0279994010925293 + ], + [ + -41.074275970458984, + -22.503393173217773, + 2.0279994010925293 + ], + [ + -41.074275970458984, + -21.872133255004883, + 2.0279994010925293 + ], + [ + -40.26008987426758, + -21.872133255004883, + 2.0279994010925293 + ] + ], + "corners_2d": [ + [ + 936.8782827681725, + 492.4500937929057 + ], + [ + 967.4271176147915, + 503.0336896851188 + ], + [ + 972.6372226834908, + 486.88343241613967 + ], + [ + 942.5256188536996, + 476.6397036258859 + ], + [ + 950.9369034105428, + 447.3447553269548 + ], + [ + 983.1075044810702, + 457.92573318392664 + ], + [ + 988.2956950245366, + 441.7838045780611 + ], + [ + 956.6102510730288, + 431.55838138429306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 271, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -34.78268051147461, + "y": -33.31512451171875, + "z": 1.1450835466384888 + }, + "extent": { + "x": 0.4793005585670471, + "y": 0.34947147965431213, + "z": 0.9317920207977295 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 521.8682274338804, + "ymin": 680.892531090172, + "xmax": 582.3543429415018, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -34.3850212097168, + -33.75526809692383, + 0.21329152584075928 + ], + [ + -35.080135345458984, + -33.828330993652344, + 0.21329152584075928 + ], + [ + -35.18033981323242, + -32.87498092651367, + 0.21329152584075928 + ], + [ + -34.485225677490234, + -32.801918029785156, + 0.21329152584075928 + ], + [ + -34.3850212097168, + -33.75526809692383, + 2.076875686645508 + ], + [ + -35.080135345458984, + -33.828330993652344, + 2.076875686645508 + ], + [ + -35.18033981323242, + -32.87498092651367, + 2.076875686645508 + ], + [ + -34.485225677490234, + -32.801918029785156, + 2.076875686645508 + ] + ], + "corners_2d": [ + [ + 529.0605525922213, + 762.2284440156626 + ], + [ + 555.6870245543427, + 779.9762354744281 + ], + [ + 582.3543429415018, + 742.797503853259 + ], + [ + 556.1350537447476, + 726.0672326190129 + ], + [ + 521.8682274338804, + 717.9670440083853 + ], + [ + 550.1383164668755, + 736.2139352009923 + ], + [ + 578.6788281936316, + 698.0281026254851 + ], + [ + 550.8649473193509, + 680.892531090172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 642, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -19.921846389770508, + "y": -30.35797691345215, + "z": 1.1298247575759888 + }, + "extent": { + "x": 0.38601377606391907, + "y": 0.4816833436489105, + "z": 0.9341117739677429 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 114.8784117398651, + "ymin": 373.7523816061633, + "xmax": 181.70877840333668, + "ymax": 451.73121925505575 + }, + "corners_3d": [ + [ + -19.370431900024414, + -30.635408401489258, + 0.19571298360824585 + ], + [ + -20.312746047973633, + -30.835702896118164, + 0.19571298360824585 + ], + [ + -20.4732608795166, + -30.08054542541504, + 0.19571298360824585 + ], + [ + -19.530946731567383, + -29.880250930786133, + 0.19571298360824585 + ], + [ + -19.370431900024414, + -30.635408401489258, + 2.063936471939087 + ], + [ + -20.312746047973633, + -30.835702896118164, + 2.063936471939087 + ], + [ + -20.4732608795166, + -30.08054542541504, + 2.063936471939087 + ], + [ + -19.530946731567383, + -29.880250930786133, + 2.063936471939087 + ] + ], + "corners_2d": [ + [ + 138.56073522884185, + 436.2303176534857 + ], + [ + 156.8583598329771, + 451.73121925505575 + ], + [ + 181.70877840333668, + 436.282022457313 + ], + [ + 163.30396820418719, + 421.2817780390622 + ], + [ + 114.8784117398651, + 388.5899330490208 + ], + [ + 133.63974379438537, + 403.999667060552 + ], + [ + 160.06301471768307, + 388.64129323842934 + ], + [ + 141.17068689127382, + 373.7523816061633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 13240, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1187.3665224276888, + "ymin": 494.54294199878, + "xmax": 1280.0, + "ymax": 709.3717762714017 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1276.1056514639704, + 555.9416956107716 + ], + [ + 1198.705567473265, + 530.7427771366497 + ], + [ + 1187.3665224276888, + 676.3500922460798 + ], + [ + 1275.8051771681255, + 709.3717762714017 + ], + [ + 1301.9410036296035, + 519.8348474240513 + ], + [ + 1220.8286824010065, + 494.54294199878 + ], + [ + 1212.2748838793473, + 641.3744521682513 + ], + [ + 1305.595949387219, + 674.9062503907096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 465, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 630.6221464200513, + "ymin": 0.0, + "xmax": 724.9438546474902, + "ymax": 15.995369932241886 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 707.5288577600762, + 15.995369932241886 + ], + [ + 723.0362706800634, + 2.3914944936292386 + ], + [ + 647.9030503713819, + -11.628477305458148 + ], + [ + 630.8322350001124, + 1.2007661597545507 + ], + [ + 709.1241142466503, + -17.761230514829833 + ], + [ + 724.9438546474902, + -30.748193818424454 + ], + [ + 648.0793155856447, + -44.115126274833415 + ], + [ + 630.6221464200513, + -31.884139210885223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 6550, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1092.8436463877324, + "ymin": 218.49937828114236, + "xmax": 1184.7310152933283, + "ymax": 355.20284001822836 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1163.1807446126443, + 279.5931222801793 + ], + [ + 1109.012602876021, + 266.1729880630658 + ], + [ + 1092.8436463877324, + 339.0418756010448 + ], + [ + 1152.021764075405, + 355.20284001822836 + ], + [ + 1184.7310152933283, + 231.590706800986 + ], + [ + 1127.9807738294517, + 218.49937828114236 + ], + [ + 1113.0025486049622, + 289.8104099376751 + ], + [ + 1175.2800155080106, + 305.7015172338347 + ] + ], + "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": 1175.853802667506, + "ymin": 102.25247124745016, + "xmax": 1197.140113739811, + "ymax": 135.26995731017436 + }, + "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": [ + [ + 1185.539497564492, + 135.26995731017436 + ], + [ + 1186.4048436367461, + 129.97326998759414 + ], + [ + 1176.7983182948967, + 128.0436252756698 + ], + [ + 1175.853802667506, + 133.3072225956166 + ], + [ + 1196.3512355883881, + 109.31420659496791 + ], + [ + 1197.140113739811, + 104.1378469636004 + ], + [ + 1187.3113493273866, + 102.25247124745016 + ], + [ + 1186.439560793449, + 107.39585751601217 + ] + ], + "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": 993.141140409739, + "ymin": 149.45112594123245, + "xmax": 1009.8034502607304, + "ymax": 178.4992089786709 + }, + "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": [ + [ + 1001.2995250332796, + 178.4992089786709 + ], + [ + 1003.4637217161214, + 173.45015178561496 + ], + [ + 995.3607896760009, + 171.59843428101374 + ], + [ + 993.141140409739, + 176.61921606881967 + ], + [ + 1007.6503485692049, + 156.23793508322237 + ], + [ + 1009.8034502607304, + 151.27202058289492 + ], + [ + 1001.5415668640135, + 149.45112594123245 + ], + [ + 999.3307804362983, + 154.38874576936126 + ] + ], + "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": 737.2642866460145, + "ymin": 0.0, + "xmax": 783.7901767320153, + "ymax": 0.04958207216839128 + }, + "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": [ + [ + 770.2563949092923, + -22.92803663745144 + ], + [ + 763.0279542913736, + -24.192178092637278 + ], + [ + 737.2642866460145, + -1.3419710241982443 + ], + [ + 744.7753014175175, + 0.04958207216839128 + ], + [ + 783.7901767320153, + -175.4418779710761 + ], + [ + 775.7724669016739, + -176.38088505271776 + ], + [ + 747.8888392065605, + -159.3257059192947 + ], + [ + 756.2565157695714, + -158.2814272550803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 383.1885311370669, + "ymin": 73.74807324356152, + "xmax": 515.2336074518597, + "ymax": 168.4137867958916 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 515.2336074518597, + 78.96033575969778 + ], + [ + 506.2939530797619, + 76.85410658003082 + ], + [ + 383.8614173466883, + 165.59409220917846 + ], + [ + 393.6809392204325, + 168.4137867958916 + ], + [ + 514.9492896674127, + 75.84752348831898 + ], + [ + 505.99039519898975, + 73.74807324356152 + ], + [ + 383.1885311370669, + 162.23318089281986 + ], + [ + 393.0310564467011, + 165.04580922111643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 445.59441053640387, + "xmax": 153.2198475711255, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 153.2198475711255, + 709.19112240146 + ], + [ + 137.55380141465457, + 700.0336871126167 + ], + [ + -110.4667682801894, + 956.5580481076946 + ], + [ + -93.71557661625889, + 970.1137174385035 + ], + [ + -14.770918795651824, + 455.2772639571107 + ], + [ + -34.066186282680746, + 445.59441053640387 + ], + [ + -446.86493821873114, + 737.6366746077297 + ], + [ + -427.08909408003956, + 754.3667548405131 + ] + ], + "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": 969.7543959238878, + "ymin": 9.663288103640923, + "xmax": 1280.0, + "ymax": 341.34167217306424 + }, + "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": [ + [ + 972.4634772414468, + 237.12825988568778 + ], + [ + 969.7543959238878, + 243.10201500237173 + ], + [ + 1346.8607632106846, + 341.34167217306424 + ], + [ + 1346.4459665025759, + 333.6666234467572 + ], + [ + 1035.0753416424627, + 9.663288103640923 + ], + [ + 1032.4637567674508, + 14.547235793232403 + ], + [ + 1503.3013548931297, + 97.09455850096498 + ], + [ + 1501.034284658982, + 90.4902123596504 + ] + ], + "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": 1263.3013681034515, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 113.0657077382146 + }, + "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": [ + [ + 1565.3395030411332, + 113.0657077382146 + ], + [ + 1563.5704062126333, + 109.01869676745088 + ], + [ + 1263.5381677961295, + 56.297459993263146 + ], + [ + 1263.3013681034515, + 59.66083443534313 + ], + [ + 1705.3475677062145, + -88.45400364054552 + ], + [ + 1702.231248881169, + -91.55179601514948 + ], + [ + 1347.7921077229428, + -131.34014987072754 + ], + [ + 1348.1129951701612, + -128.832880350861 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 383.32357272016134, + "ymin": 73.81820776203426, + "xmax": 515.1241593588593, + "ymax": 168.32478903310147 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 515.1241593588593, + 78.96420205077584 + ], + [ + 506.29817566245094, + 76.88468127158387 + ], + [ + 383.98748435321954, + 165.54161887288652 + ], + [ + 393.68129783875264, + 168.32478903310147 + ], + [ + 514.8432235768917, + 75.89112163201378 + ], + [ + 505.9984867973601, + 73.81820776203426 + ], + [ + 383.32357272016134, + 162.22376449329187 + ], + [ + 393.03980360431626, + 165.00004792881623 + ] + ], + "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": 375.86837913095354, + "ymin": 64.61474176556368, + "xmax": 539.572406494162, + "ymax": 406.5813061071037 + }, + "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": [ + [ + 539.572406494162, + 300.9556201287816 + ], + [ + 527.26365367067, + 296.96326449391677 + ], + [ + 426.23667132311715, + 401.45406785068513 + ], + [ + 439.60889278998997, + 406.5813061071037 + ], + [ + 519.1219575985745, + 68.00030924987095 + ], + [ + 504.4461535287975, + 64.61474176556368 + ], + [ + 375.86837913095354, + 155.57949656287227 + ], + [ + 392.05522042304847, + 160.17261049239403 + ] + ], + "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": 1014.288516722439, + "ymin": 0.0, + "xmax": 1124.5539124674153, + "ymax": 131.04871357860245 + }, + "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": [ + [ + 1069.6265669790826, + 30.251577665737273 + ], + [ + 1060.881827129985, + 28.690848101810616 + ], + [ + 1014.288516722439, + 128.82514095725548 + ], + [ + 1024.5617689038604, + 131.04871357860245 + ], + [ + 1124.5539124674153, + -150.61590348955184 + ], + [ + 1114.5089770585128, + -151.763109820948 + ], + [ + 1072.6322441806392, + -76.33067619814108 + ], + [ + 1084.7562166662285, + -74.61237907274545 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00141/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00141/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3962e5cbff2b499182eda42653aafb29ff752de --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00141/meta.json @@ -0,0 +1,4788 @@ +{ + "frame_id": 141, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 70.5, + "sim_timestamp": 16959.800711606862 + }, + "drone_pose": { + "x": -39.49894314492842, + "y": -38.21122259511576, + "z": 20.0, + "pitch": -41.37290052626421, + "yaw": 62.6690418687215, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3445417881011963, + -0.6666534543037415, + 0.6609569787979126, + 25.86353874206543 + ], + [ + 0.8883692622184753, + 0.4591296315193176, + 0.0, + -17.545740127563477 + ], + [ + -0.30346494913101196, + 0.5871738791465759, + 0.750423789024353, + -49.43165588378906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -39.29030305364402, + "y": -37.72382787273831, + "z": 20.0 + }, + "t1_image_uv": [ + 732.9687323642988, + -485.54721325463777 + ], + "t1_depth": 0.3968085917502396 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -29.66718292236328, + "y": -19.187763214111328, + "z": 1.139092270731926 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.535755750754234, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 349, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -29.66718101501465, + "y": -19.187763214111328, + "z": 1.1390923261642456 + }, + "extent": { + "x": 0.4956298768520355, + "y": 0.39860960841178894, + "z": 0.8821054100990295 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.8842728841173, + "ymin": 323.72400181815004, + "xmax": 659.8396295790596, + "ymax": 395.9840290075204 + }, + "corners_3d": [ + [ + -29.268571853637695, + -19.683393478393555, + 0.25698691606521606 + ], + [ + -30.0657901763916, + -19.683393478393555, + 0.25698691606521606 + ], + [ + -30.0657901763916, + -18.6921329498291, + 0.25698691606521606 + ], + [ + -29.268571853637695, + -18.6921329498291, + 0.25698691606521606 + ], + [ + -29.268571853637695, + -19.683393478393555, + 2.02119779586792 + ], + [ + -30.0657901763916, + -19.683393478393555, + 2.02119779586792 + ], + [ + -30.0657901763916, + -18.6921329498291, + 2.02119779586792 + ], + [ + -29.268571853637695, + -18.6921329498291, + 2.02119779586792 + ] + ], + "corners_2d": [ + [ + 620.6951879229961, + 387.61311671445594 + ], + [ + 644.2403288420286, + 395.9840290075204 + ], + [ + 659.0503810216704, + 376.11017165438045 + ], + [ + 635.8936369313326, + 368.11073161036177 + ], + [ + 619.8842728841173, + 342.9889609390577 + ], + [ + 644.4202275130597, + 351.2690566226253 + ], + [ + 659.8396295790596, + 331.62168462666614 + ], + [ + 635.7251563934302, + 323.72400181815004 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 141, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 88, + "semantic_pixel_counts": { + "1": 239673, + "2": 102154, + "5": 3094, + "6": 8545, + "7": 689, + "10": 471, + "12": 3106, + "14": 52197, + "15": 18079, + "20": 575, + "24": 41109, + "25": 451908 + }, + "instance_pixel_counts": { + "70": 1453, + "108": 4, + "3180": 1784, + "4166": 1496, + "6508": 4279, + "7274": 288, + "7784": 6837, + "7786": 3567, + "7825": 673, + "8064": 1274, + "8088": 1188, + "8296": 36375, + "8298": 2453, + "8337": 797, + "8600": 739, + "8780": 3094, + "8808": 63032, + "8810": 438, + "9320": 7670, + "9322": 1688, + "9624": 2620, + "9832": 53873, + "10316": 447, + "10624": 3621, + "10828": 66, + "11136": 932, + "12652": 567, + "17516": 1738, + "21332": 10358, + "21602": 10242, + "21844": 9671, + "22356": 2064, + "22868": 11741, + "23380": 11078, + "25168": 28, + "25428": 2622, + "25698": 1136, + "25856": 642, + "25940": 4387, + "26112": 5531, + "26210": 103, + "27234": 39, + "27988": 5980, + "29327": 4209, + "29839": 5123, + "30351": 22025, + "30863": 10473, + "31375": 20142, + "31812": 620, + "31848": 41, + "32324": 733, + "32360": 25099, + "33384": 7630, + "34408": 39116, + "35399": 12572, + "36753": 500, + "39239": 439336, + "40855": 839, + "41367": 1804, + "41879": 7238, + "42391": 2516, + "42903": 3981, + "46672": 3033, + "46696": 2169, + "46917": 156, + "47208": 268, + "48232": 2368, + "48708": 1848, + "50756": 200, + "53926": 418, + "54950": 1093, + "55462": 143, + "56320": 349, + "56576": 530, + "56832": 506, + "57088": 653, + "57344": 310, + "57487": 1910, + "57600": 758, + "57999": 2031, + "58880": 1213, + "58951": 62, + "59023": 5074, + "60833": 1007, + "60928": 2754, + "61440": 8408, + "61601": 76, + "64837": 1180 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 349, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -29.66718101501465, + "y": -19.187763214111328, + "z": 1.1390923261642456 + }, + "extent": { + "x": 0.4846581816673279, + "y": 0.5393078327178955, + "z": 0.875110924243927 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 615.7885819452864, + "ymin": 322.73671528838145, + "xmax": 663.9746823973159, + "ymax": 397.0821754108987 + }, + "corners_3d": [ + [ + -29.127872467041016, + -19.672422409057617, + 0.2639814019203186 + ], + [ + -30.20648956298828, + -19.672420501708984, + 0.2639814019203186 + ], + [ + -30.20648956298828, + -18.70310401916504, + 0.2639814019203186 + ], + [ + -29.127872467041016, + -18.703105926513672, + 0.2639814019203186 + ], + [ + -29.127872467041016, + -19.672422409057617, + 2.0142033100128174 + ], + [ + -30.20648956298828, + -19.672420501708984, + 2.0142033100128174 + ], + [ + -30.20648956298828, + -18.70310401916504, + 2.0142033100128174 + ], + [ + -29.127872467041016, + -18.703105926513672, + 2.0142033100128174 + ] + ], + "corners_2d": [ + [ + 616.7551554944982, + 385.76248760371936 + ], + [ + 648.6109920680509, + 397.0821754108987 + ], + [ + 663.0265439574383, + 377.5838792528048 + ], + [ + 631.6847649708478, + 366.7557292037741 + ], + [ + 615.7885819452864, + 341.51135413081704 + ], + [ + 648.9739045975296, + 352.70899214103974 + ], + [ + 663.9746823973159, + 333.4284536833484 + ], + [ + 631.3468476379477, + 322.73671528838145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 530, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -25.541194915771484, + "y": -16.1900577545166, + "z": 1.1341508626937866 + }, + "extent": { + "x": 0.47337403893470764, + "y": 0.5411933064460754, + "z": 0.9315740466117859 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 549.3897606322728, + "ymin": 236.0807681233906, + "xmax": 591.9568289842287, + "ymax": 302.8280532209693 + }, + "corners_3d": [ + [ + -25.110248565673828, + -16.765607833862305, + 0.20257681608200073 + ], + [ + -26.168981552124023, + -16.540565490722656, + 0.20257681608200073 + ], + [ + -25.97214126586914, + -15.614507675170898, + 0.20257681608200073 + ], + [ + -24.913408279418945, + -15.83954906463623, + 0.20257681608200073 + ], + [ + -25.110248565673828, + -16.765607833862305, + 2.0657248497009277 + ], + [ + -26.168981552124023, + -16.540565490722656, + 2.0657248497009277 + ], + [ + -25.97214126586914, + -15.614507675170898, + 2.0657248497009277 + ], + [ + -24.913408279418945, + -15.83954906463623, + 2.0657248497009277 + ] + ], + "corners_2d": [ + [ + 552.8401169781094, + 297.59280442981003 + ], + [ + 583.4518913760065, + 302.8280532209693 + ], + [ + 591.9568289842287, + 286.36420382943714 + ], + [ + 561.9248798141313, + 281.34461920298 + ], + [ + 549.3897606322728, + 251.97519060555885 + ], + [ + 581.1977875625618, + 257.10201815423665 + ], + [ + 590.083299234237, + 240.98827866560464 + ], + [ + 558.9007660805995, + 236.0807681233906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 506, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -31.923004150390625, + "y": -12.245049476623535, + "z": 1.139604926109314 + }, + "extent": { + "x": 0.48546141386032104, + "y": 0.2988610863685608, + "z": 0.9579615592956543 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 778.7939933245756, + "ymin": 226.2678912563569, + "xmax": 809.3384133594707, + "ymax": 292.1855371191309 + }, + "corners_3d": [ + [ + -31.676525115966797, + -12.7590913772583, + 0.18164336681365967 + ], + [ + -32.270973205566406, + -12.696612358093262, + 0.18164336681365967 + ], + [ + -32.16948318481445, + -11.73100757598877, + 0.18164336681365967 + ], + [ + -31.575035095214844, + -11.793486595153809, + 0.18164336681365967 + ], + [ + -31.676525115966797, + -12.7590913772583, + 2.097566604614258 + ], + [ + -32.270973205566406, + -12.696612358093262, + 2.097566604614258 + ], + [ + -32.16948318481445, + -11.73100757598877, + 2.097566604614258 + ], + [ + -31.575035095214844, + -11.793486595153809, + 2.097566604614258 + ] + ], + "corners_2d": [ + [ + 778.7939933245756, + 288.31229311830646 + ], + [ + 795.885103515369, + 292.1855371191309 + ], + [ + 802.8944072935614, + 276.3237615168331 + ], + [ + 786.1159686519958, + 272.60651766073113 + ], + [ + 784.3744733885757, + 241.60660875369467 + ], + [ + 802.1854027512962, + 245.39318035976873 + ], + [ + 809.3384133594707, + 229.89599993463165 + ], + [ + 791.8669171638875, + 226.2678912563569 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 653, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -39.16718292236328, + "y": -19.187763214111328, + "z": 1.148701548576355 + }, + "extent": { + "x": 0.3206835985183716, + "y": 0.5496917366981506, + "z": 0.8803828954696655 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 930.2245614315784, + "ymin": 431.20077265043864, + "xmax": 992.7331038025145, + "ymax": 506.87708557768747 + }, + "corners_3d": [ + [ + -38.61749267578125, + -19.508447647094727, + 0.26831865310668945 + ], + [ + -39.71687316894531, + -19.508445739746094, + 0.26831865310668945 + ], + [ + -39.71687316894531, + -18.86707878112793, + 0.26831865310668945 + ], + [ + -38.61749267578125, + -18.867080688476562, + 0.26831865310668945 + ], + [ + -38.61749267578125, + -19.508447647094727, + 2.0290844440460205 + ], + [ + -39.71687316894531, + -19.508445739746094, + 2.0290844440460205 + ], + [ + -39.71687316894531, + -18.86707878112793, + 2.0290844440460205 + ], + [ + -38.61749267578125, + -18.867080688476562, + 2.0290844440460205 + ] + ], + "corners_2d": [ + [ + 930.2245614315784, + 492.3146300182806 + ], + [ + 971.4088752624841, + 506.87708557768747 + ], + [ + 976.860443090402, + 490.4699488248666 + ], + [ + 936.2684851037146, + 476.38159950099987 + ], + [ + 943.9268340874992, + 447.1023534986995 + ], + [ + 987.2997543883305, + 461.6574787545106 + ], + [ + 992.7331038025145, + 445.2600612823112 + ], + [ + 950.0176199072472, + 431.20077265043864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 310, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -33.28268051147461, + "y": -30.31512451171875, + "z": 1.1435600519180298 + }, + "extent": { + "x": 0.47751712799072266, + "y": 0.5088037848472595, + "z": 0.9327476024627686 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 510.5249741605164, + "ymin": 674.7456796117758, + "xmax": 583.5663575347137, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -32.726749420166016, + -30.736841201782227, + 0.21081244945526123 + ], + [ + -33.7387809753418, + -30.843210220336914, + 0.21081244945526123 + ], + [ + -33.8386116027832, + -29.893407821655273, + 0.21081244945526123 + ], + [ + -32.82658004760742, + -29.787038803100586, + 0.21081244945526123 + ], + [ + -32.726749420166016, + -30.736841201782227, + 2.076307773590088 + ], + [ + -33.7387809753418, + -30.843210220336914, + 2.076307773590088 + ], + [ + -33.8386116027832, + -29.893407821655273, + 2.076307773590088 + ], + [ + -32.82658004760742, + -29.787038803100586, + 2.076307773590088 + ] + ], + "corners_2d": [ + [ + 518.3522369527481, + 755.6738822369803 + ], + [ + 556.6559978955001, + 781.7454597762471 + ], + [ + 583.5663575347137, + 744.8637239712799 + ], + [ + 545.8172353979219, + 720.2728520673819 + ], + [ + 510.5249741605164, + 711.0019314631569 + ], + [ + 551.1732879423249, + 737.7885528131665 + ], + [ + 579.9688509305789, + 699.9165148666643 + ], + [ + 539.9407952979025, + 674.7456796117758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 758, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -18.421846389770508, + "y": -27.35797882080078, + "z": 1.1283012628555298 + }, + "extent": { + "x": 0.4036193788051605, + "y": 0.4465002417564392, + "z": 0.9216813445091248 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 117.26227162755288, + "ymin": 371.023151272153, + "xmax": 182.9853703661309, + "ymax": 447.67112567525334 + }, + "corners_3d": [ + [ + -17.901185989379883, + -27.659944534301758, + 0.20661991834640503 + ], + [ + -18.77467155456543, + -27.845611572265625, + 0.20661991834640503 + ], + [ + -18.942506790161133, + -27.056013107299805, + 0.20661991834640503 + ], + [ + -18.069021224975586, + -26.870346069335938, + 0.20661991834640503 + ], + [ + -17.901185989379883, + -27.659944534301758, + 2.0499825477600098 + ], + [ + -18.77467155456543, + -27.845611572265625, + 2.0499825477600098 + ], + [ + -18.942506790161133, + -27.056013107299805, + 2.0499825477600098 + ], + [ + -18.069021224975586, + -26.870346069335938, + 2.0499825477600098 + ] + ], + "corners_2d": [ + [ + 140.37338926616832, + 433.2882042282365 + ], + [ + 156.99131595696542, + 447.67112567525334 + ], + [ + 182.9853703661309, + 431.8290004856668 + ], + [ + 166.25134413011665, + 417.9266199804608 + ], + [ + 117.26227162755288, + 386.26093333010004 + ], + [ + 134.28271180810725, + 400.5493190533022 + ], + [ + 161.88046859022103, + 384.8124766427166 + ], + [ + 144.72027976113304, + 371.023151272153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 1213, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1253.3577278574753, + "ymin": 612.8034420236288, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1346.921569382744, + 680.2196641652483 + ], + [ + 1258.6735142929133, + 648.2540162867741 + ], + [ + 1253.3577278574753, + 831.0773209251025 + ], + [ + 1356.1285653480438, + 874.3796696692476 + ], + [ + 1379.1029033908421, + 645.1792992604965 + ], + [ + 1286.0311002315598, + 612.8034420236288 + ], + [ + 1285.079896839938, + 799.0701808797129 + ], + [ + 1394.4492270626051, + 843.5806660847461 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 2754, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 634.8592520389653, + "ymin": 0.0, + "xmax": 733.9254686593541, + "ymax": 44.003874616389794 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 715.3248734789233, + 44.003874616389794 + ], + [ + 731.7175573060415, + 29.0857706238412 + ], + [ + 653.0674913824564, + 13.408559423451152 + ], + [ + 634.9797045668071, + 27.419237745655437 + ], + [ + 717.1920310808439, + 9.153318179329801 + ], + [ + 733.9254686593541, + -5.118491106518832 + ], + [ + 653.3722580344747, + -20.095072150163503 + ], + [ + 634.8592520389653, + -6.711588286264998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 8408, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1133.076851079004, + "ymin": 280.7933710826979, + "xmax": 1232.815647890619, + "ymax": 435.002111350655 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1207.4504703368061, + 345.8808762040809 + ], + [ + 1147.991128269524, + 329.85457537252836 + ], + [ + 1133.076851079004, + 415.3964897992556 + ], + [ + 1198.584785425749, + 435.002111350655 + ], + [ + 1232.815647890619, + 296.52867230978813 + ], + [ + 1170.2414731169356, + 280.7933710826979 + ], + [ + 1157.049643866811, + 365.0975713966495 + ], + [ + 1226.363030440324, + 384.52918967572714 + ] + ], + "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": 1226.6477899619026, + "ymin": 160.42514178996913, + "xmax": 1250.8586701839, + "ymax": 196.09393098949167 + }, + "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": [ + [ + 1237.4265361662747, + 196.09393098949167 + ], + [ + 1238.016066420532, + 189.78877563261324 + ], + [ + 1227.3346277384876, + 187.44159547399067 + ], + [ + 1226.6477899619026, + 193.70279575730814 + ], + [ + 1250.378861017069, + 168.91019201822547 + ], + [ + 1250.8586701839, + 162.7264797746804 + ], + [ + 1239.9030676147568, + 160.42514178996913 + ], + [ + 1239.3208498282265, + 166.56482034410465 + ] + ], + "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": 1112.299896842299, + "ymin": 0.0, + "xmax": 1125.8802112574208, + "ymax": 11.547477698467276 + }, + "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": [ + [ + 1112.299896842299, + 10.481117879962198 + ], + [ + 1118.6365749408367, + 11.547477698467276 + ], + [ + 1119.6658096888718, + 8.744397968216106 + ], + [ + 1113.3625919481885, + 7.6900177341069025 + ], + [ + 1118.4406467878846, + -8.234507773647806 + ], + [ + 1124.8732659250463, + -7.195012205763874 + ], + [ + 1125.8802112574208, + -9.927351017024137 + ], + [ + 1119.4820800333218, + -10.955018097815639 + ] + ], + "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": 1107.2411441532008, + "ymin": 0.0, + "xmax": 1123.3496302822123, + "ymax": 7.385834656900386 + }, + "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": [ + [ + 1107.2411441532008, + 6.134158944346666 + ], + [ + 1114.7318870232202, + 7.385834656900386 + ], + [ + 1115.9821425508671, + 4.080040552624212 + ], + [ + 1108.5383552449885, + 2.845075929633083 + ], + [ + 1114.504146997424, + -16.309075652333036 + ], + [ + 1122.1304079390602, + -15.095917300463043 + ], + [ + 1123.3496302822123, + -18.29977534642711 + ], + [ + 1115.7720498655392, + -19.496487325181874 + ] + ], + "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": 1098.2488067627842, + "ymin": 2.3101211356835734, + "xmax": 1115.0072585265477, + "ymax": 30.304289696959586 + }, + "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": [ + [ + 1098.2488067627842, + 28.933678533066427 + ], + [ + 1106.063868228317, + 30.304289696959586 + ], + [ + 1107.4326594980687, + 26.68508012339032 + ], + [ + 1099.6686725785626, + 25.333608129732397 + ], + [ + 1105.7077126363472, + 5.803907299857315 + ], + [ + 1113.6705194376846, + 7.134263342801091 + ], + [ + 1115.0072585265477, + 3.621600562489448 + ], + [ + 1107.0974881772381, + 2.3101211356835734 + ] + ], + "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": 1023.044259240156, + "ymin": 204.22980497473736, + "xmax": 1041.5796168641375, + "ymax": 235.28729100218507 + }, + "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": [ + [ + 1031.9547978979103, + 235.28729100218507 + ], + [ + 1034.1504971396237, + 229.40799525631544 + ], + [ + 1025.305642772924, + 227.20418056168532 + ], + [ + 1023.044259240156, + 233.0471387757641 + ], + [ + 1039.4044383997266, + 212.20104817755157 + ], + [ + 1041.5796168641375, + 206.40278283880818 + ], + [ + 1032.5452442051708, + 204.22980497473736 + ], + [ + 1030.3014889425272, + 209.9915584968691 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 268.46794355278496, + "ymin": 0.0, + "xmax": 281.1554667615006, + "ymax": 5.595880999285612 + }, + "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": [ + [ + 280.4471982453752, + 5.595880999285612 + ], + [ + 281.1554667615006, + 5.255078707996063 + ], + [ + 280.0735268580141, + 5.004175390977025 + ], + [ + 279.36486977663475, + 5.344629207014634 + ], + [ + 269.5772468718993, + -38.0694865392835 + ], + [ + 270.31468284019894, + -38.3893699769888 + ], + [ + 269.2057837309386, + -38.624863970200295 + ], + [ + 268.46794355278496, + -38.305317494975725 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 746.6827971559014, + "ymin": 0.0, + "xmax": 796.7867820683863, + "ymax": 26.771815981664588 + }, + "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": [ + [ + 781.3694583701284, + 1.649393612161532 + ], + [ + 773.7936242567389, + 0.23884400639326486 + ], + [ + 746.6827971559014, + 25.212274590780112 + ], + [ + 754.5664982017164, + 26.771815981664588 + ], + [ + 796.7867820683863, + -156.2973312994602 + ], + [ + 788.3379134344767, + -157.35421325818493 + ], + [ + 758.9446671558591, + -138.5431625356842 + ], + [ + 767.7793461795732, + -137.3614331636552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 351.03977320527775, + "ymin": 131.21075648146763, + "xmax": 502.528787132582, + "ymax": 246.15735124119482 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 502.528787132582, + 137.07130536237185 + ], + [ + 492.81695510046853, + 134.48478584131058 + ], + [ + 351.8822560840836, + 242.58768809277285 + ], + [ + 362.6047234348098, + 246.15735124119482 + ], + [ + 502.18520621175276, + 133.7900484296847 + ], + [ + 492.45063342337914, + 131.21075648146763 + ], + [ + 351.03977320527775, + 239.0572637164305 + ], + [ + 361.78960581378476, + 242.62005753619815 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 611.0943362203574, + "xmax": 83.43672914215267, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 83.43672914215267, + 863.0569261993223 + ], + [ + 66.57898213296369, + 851.2084035605651 + ], + [ + -240.95710070345967, + 1184.197279422617 + ], + [ + -223.26590402043507, + 1202.724922212563 + ], + [ + -142.54601698379236, + 624.7613056849985 + ], + [ + -163.38264392765643, + 611.0943362203574 + ], + [ + -731.2358805485844, + 1036.300755497907 + ], + [ + -712.0483198613051, + 1062.7485244924644 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 308.50196391135495, + "ymin": 0.0, + "xmax": 319.9992822006572, + "ymax": 9.15255242688329 + }, + "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": [ + [ + 319.3185148687316, + 9.15255242688329 + ], + [ + 319.9992822006572, + 8.809548473434518 + ], + [ + 318.8983396071288, + 8.557024112493366 + ], + [ + 318.2171567755192, + 8.899677611546963 + ], + [ + 309.63147274307505, + -34.37043929453512 + ], + [ + 310.3397091185084, + -34.69270926603616 + ], + [ + 309.2106339644207, + -34.92996034874392 + ], + [ + 308.50196391135495, + -34.6080295823711 + ] + ], + "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": 996.3364992419168, + "ymin": 58.00181894335759, + "xmax": 1280.0, + "ymax": 419.7339170133463 + }, + "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": [ + [ + 999.1345592903208, + 295.1110538763693 + ], + [ + 996.3364992419168, + 302.01272448538 + ], + [ + 1411.6661751938555, + 419.7339170133463 + ], + [ + 1410.7000153706904, + 410.62670561547657 + ], + [ + 1072.871668558614, + 58.00181894335759 + ], + [ + 1070.280154308849, + 63.80442381696338 + ], + [ + 1601.6226680954808, + 166.1329427258284 + ], + [ + 1598.0461371106821, + 157.98332002737726 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 351.1931627661798, + "ymin": 131.2923792297821, + "xmax": 502.4072573556696, + "ymax": 246.0506398001707 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 502.4072573556696, + 137.078468429425 + ], + [ + 492.81887580520095, + 134.52470821111464 + ], + [ + 352.024402601738, + 242.52726170977715 + ], + [ + 362.6095980467218, + 246.0506398001707 + ], + [ + 502.0677603957623, + 133.83909544513517 + ], + [ + 492.4572136064593, + 131.2923792297821 + ], + [ + 351.1931627661798, + 239.0420575007345 + ], + [ + 361.8050263091132, + 242.55874025698176 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 342.58896780682727, + "ymin": 121.2573865827654, + "xmax": 531.073487266333, + "ymax": 491.6394467609504 + }, + "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": [ + [ + 531.073487266333, + 367.308171839469 + ], + [ + 517.8830711510979, + 362.5542087647261 + ], + [ + 404.42407757007885, + 485.4034296246044 + ], + [ + 418.8087232304822, + 491.6394467609504 + ], + [ + 506.73645169358264, + 125.41874046394076 + ], + [ + 490.7847862138522, + 121.2573865827654 + ], + [ + 342.58896780682727, + 232.2258706486004 + ], + [ + 360.27780023891376, + 238.05570552798224 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 0.0, + "xmax": 112.60138631559016, + "ymax": 7.573300790503254 + }, + "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": [ + [ + -77.85001250304049, + 6.135846150995633 + ], + [ + -72.86715685969818, + 7.573300790503254 + ], + [ + 112.60138631559016, + -58.29509725073848 + ], + [ + 107.81381892817535, + -59.37460343645574 + ], + [ + -164.12274959440867, + -167.38420639782566 + ], + [ + -158.82171549448617, + -166.3418893474917 + ], + [ + 58.37739499826034, + -213.3633863034554 + ], + [ + 53.2500199752717, + -214.1216019096306 + ] + ], + "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": 307.8060028421246, + "ymin": 0.0, + "xmax": 319.34730739924396, + "ymax": 6.215016839883106 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 318.6646988084978, + 6.215016839883106 + ], + [ + 319.34730739924396, + 5.873354957477147 + ], + [ + 318.24445659109017, + 5.621819265580882 + ], + [ + 317.561431271057, + 5.963131353885274 + ], + [ + 308.93751680736955, + -37.48831966017832 + ], + [ + 309.6477365291319, + -37.809034353667414 + ], + [ + 308.51665753996394, + -38.045139845298024 + ], + [ + 307.8060028421246, + -37.72476342819448 + ] + ], + "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": 1041.48222925604, + "ymin": 0.0, + "xmax": 1159.4800509134957, + "ymax": 173.9694547296619 + }, + "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": [ + [ + 1097.500932968008, + 61.23016015118674 + ], + [ + 1088.1958945208316, + 59.46340277413378 + ], + [ + 1041.48222925604, + 171.40072220459993 + ], + [ + 1052.5232045737062, + 173.9694547296619 + ], + [ + 1159.4800509134957, + -126.90349767430985 + ], + [ + 1148.6917525305328, + -128.21877225382872 + ], + [ + 1108.6652790220753, + -42.547744184739656 + ], + [ + 1121.869114176498, + -40.52439030607678 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00142/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00142/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a547c99ebdb2e4a0f74d2dc1dba1e826cdaf6ce7 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00142/meta.json @@ -0,0 +1,4891 @@ +{ + "frame_id": 142, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 71.0, + "sim_timestamp": 16970.2289536756 + }, + "drone_pose": { + "x": -39.29030305364402, + "y": -37.72382787273831, + "z": 20.0, + "pitch": -41.484474213081356, + "yaw": 63.18246881169561, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33797287940979004, + -0.6685640811920166, + 0.6624171137809753, + 25.25151252746582 + ], + [ + 0.892447829246521, + 0.45115065574645996, + 0.0, + -18.0454158782959 + ], + [ + -0.298849880695343, + 0.5911726951599121, + 0.7491352558135986, + -49.025901794433594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -39.10485915305271, + "y": -37.229978477415436, + "z": 20.177114274010513 + }, + "t1_image_uv": [ + 839.6555966424769, + -1312.648584145612 + ], + "t1_depth": 0.2755214673915381 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -29.66718292236328, + "y": -18.687763214111328, + "z": 1.138960440158844 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 28.473057651512963, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -29.66718101501465, + "y": -18.687763214111328, + "z": 1.1389604806900024 + }, + "extent": { + "x": 0.4972485303878784, + "y": 0.49610471725463867, + "z": 0.8928208947181702 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.8949049835767, + "ymin": 322.4187416898027, + "xmax": 662.8334928076852, + "ymax": 397.34095478294915 + }, + "corners_3d": [ + [ + -29.17107582092285, + -19.185012817382812, + 0.24613958597183228 + ], + [ + -30.163286209106445, + -19.18501091003418, + 0.24613958597183228 + ], + [ + -30.163286209106445, + -18.190513610839844, + 0.24613958597183228 + ], + [ + -29.17107582092285, + -18.190515518188477, + 0.24613958597183228 + ], + [ + -29.17107582092285, + -19.185012817382812, + 2.0317814350128174 + ], + [ + -30.163286209106445, + -19.18501091003418, + 2.0317814350128174 + ], + [ + -30.163286209106445, + -18.190513610839844, + 2.0317814350128174 + ], + [ + -29.17107582092285, + -18.190515518188477, + 2.0317814350128174 + ] + ], + "corners_2d": [ + [ + 617.8405763179512, + 387.0577401063078 + ], + [ + 647.3404806892299, + 397.34095478294915 + ], + [ + 661.9094745894636, + 377.1820295439031 + ], + [ + 632.9077506370915, + 367.35873089619963 + ], + [ + 616.8949049835767, + 341.8803804435747 + ], + [ + 647.6575781180518, + 352.054531388756 + ], + [ + 662.8334928076852, + 332.1190036060716 + ], + [ + 632.6121735984518, + 322.4187416898027 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 142, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 87, + "semantic_pixel_counts": { + "1": 245668, + "2": 103090, + "5": 3106, + "6": 8749, + "7": 700, + "10": 443, + "12": 2725, + "14": 50344, + "15": 18964, + "20": 626, + "24": 40420, + "25": 446765 + }, + "instance_pixel_counts": { + "70": 1535, + "108": 4, + "3180": 1896, + "4166": 993, + "6508": 4195, + "7274": 317, + "7784": 7941, + "7786": 3682, + "7825": 703, + "8064": 1401, + "8088": 1250, + "8296": 37787, + "8298": 2464, + "8337": 843, + "8600": 749, + "8780": 3106, + "8808": 64437, + "8810": 329, + "9320": 4891, + "9322": 1741, + "9624": 2714, + "9832": 55495, + "10316": 461, + "10624": 3478, + "10828": 102, + "11136": 979, + "12652": 594, + "17516": 876, + "21332": 10685, + "21602": 10654, + "21844": 10297, + "22356": 93, + "22868": 12064, + "23380": 11644, + "25168": 35, + "25428": 1494, + "25698": 1189, + "25856": 637, + "25940": 4464, + "26112": 5630, + "26210": 105, + "27988": 6172, + "29327": 4065, + "29839": 5271, + "30351": 22749, + "30863": 9054, + "31375": 20881, + "31812": 639, + "31848": 119, + "32324": 764, + "32360": 26079, + "33384": 8189, + "34408": 40730, + "35399": 10776, + "36753": 356, + "39239": 435989, + "40855": 919, + "41367": 1864, + "41879": 7490, + "42391": 2060, + "42903": 4153, + "46184": 13, + "46672": 3147, + "46696": 2397, + "46917": 166, + "47208": 272, + "48232": 2467, + "48708": 1971, + "50756": 206, + "53926": 418, + "54950": 1050, + "55462": 148, + "56576": 573, + "56832": 515, + "57088": 669, + "57344": 238, + "57487": 1947, + "57600": 730, + "57999": 2039, + "58880": 824, + "58951": 63, + "59023": 5231, + "60833": 985, + "60928": 2904, + "61440": 8667, + "61601": 2, + "64837": 1242 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 0, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -29.66718101501465, + "y": -18.687763214111328, + "z": 1.1389604806900024 + }, + "extent": { + "x": 0.5142101645469666, + "y": 0.5736236572265625, + "z": 0.9106058478355408 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 614.2365913274226, + "ymin": 320.88082389855697, + "xmax": 665.4876103222085, + "ymax": 398.9394339743369 + }, + "corners_3d": [ + [ + -29.093557357788086, + -19.20197296142578, + 0.22835463285446167 + ], + [ + -30.24080467224121, + -19.20197296142578, + 0.22835463285446167 + ], + [ + -30.24080467224121, + -18.173553466796875, + 0.22835463285446167 + ], + [ + -29.093557357788086, + -18.173553466796875, + 0.22835463285446167 + ], + [ + -29.093557357788086, + -19.20197296142578, + 2.0495662689208984 + ], + [ + -30.24080467224121, + -19.20197296142578, + 2.0495662689208984 + ], + [ + -30.24080467224121, + -18.173553466796875, + 2.0495662689208984 + ], + [ + -29.093557357788086, + -18.173553466796875, + 2.0495662689208984 + ] + ], + "corners_2d": [ + [ + 615.3110795966481, + 387.0389040079928 + ], + [ + 649.4168493847534, + 398.9394339743369 + ], + [ + 664.4355294708039, + 378.05308843325406 + ], + [ + 630.9249729589318, + 366.7023277809391 + ], + [ + 614.2365913274226, + 340.9659150002601 + ], + [ + 649.8324946840069, + 352.7381183650074 + ], + [ + 665.4876103222085, + 332.08621643280026 + ], + [ + 630.5395773944035, + 320.88082389855697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 573, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -25.541194915771484, + "y": -15.690058708190918, + "z": 1.1340190172195435 + }, + "extent": { + "x": 0.43947267532348633, + "y": 0.43934816122055054, + "z": 0.8749166131019592 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 551.3925143254264, + "ymin": 238.46837447308758, + "xmax": 587.3524322394973, + "ymax": 300.3904833009717 + }, + "corners_3d": [ + [ + -25.20281982421875, + -16.211273193359375, + 0.25910240411758423 + ], + [ + -26.062314987182617, + -16.028581619262695, + 0.25910240411758423 + ], + [ + -25.87957000732422, + -15.168843269348145, + 0.25910240411758423 + ], + [ + -25.02007484436035, + -15.35153579711914, + 0.25910240411758423 + ], + [ + -25.20281982421875, + -16.211273193359375, + 2.0089356899261475 + ], + [ + -26.062314987182617, + -16.028581619262695, + 2.0089356899261475 + ], + [ + -25.87957000732422, + -15.168843269348145, + 2.0089356899261475 + ], + [ + -25.02007484436035, + -15.35153579711914, + 2.0089356899261475 + ] + ], + "corners_2d": [ + [ + 554.5801410229002, + 296.2667474405449 + ], + [ + 579.5743744558321, + 300.3904833009717 + ], + [ + 587.3524322394973, + 285.0209828640857 + ], + [ + 562.8025579924088, + 281.0558996732935 + ], + [ + 551.3925143254264, + 253.37408358229015 + ], + [ + 577.3071739127248, + 257.41880910369093 + ], + [ + 585.4169492868343, + 242.3518400081704 + ], + [ + 559.9796202273926, + 238.46837447308758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 515, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -31.923004150390625, + "y": -11.745049476623535, + "z": 1.1394779682159424 + }, + "extent": { + "x": 0.4825097620487213, + "y": 0.4773028492927551, + "z": 0.9080207347869873 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 772.7527565383853, + "ymin": 225.24916087137657, + "xmax": 813.100622038759, + "ymax": 290.8784180833276 + }, + "corners_3d": [ + [ + -31.49875259399414, + -12.274807929992676, + 0.23145723342895508 + ], + [ + -32.44812774658203, + -12.175024032592773, + 0.23145723342895508 + ], + [ + -32.34725570678711, + -11.215291023254395, + 0.23145723342895508 + ], + [ + -31.39788055419922, + -11.315074920654297, + 0.23145723342895508 + ], + [ + -31.49875259399414, + -12.274807929992676, + 2.0474987030029297 + ], + [ + -32.44812774658203, + -12.175024032592773, + 2.0474987030029297 + ], + [ + -32.34725570678711, + -11.215291023254395, + 2.0474987030029297 + ], + [ + -31.39788055419922, + -11.315074920654297, + 2.0474987030029297 + ] + ], + "corners_2d": [ + [ + 772.7527565383853, + 284.8259286956192 + ], + [ + 800.1573183904209, + 290.8784180833276 + ], + [ + 806.8216885568954, + 274.99066861533515 + ], + [ + 779.9205760557484, + 269.18139166785636 + ], + [ + 777.816172206053, + 240.54916259336818 + ], + [ + 806.3156150105347, + 246.47469284979042 + ], + [ + 813.100622038759, + 230.92774841599567 + ], + [ + 785.1454421985254, + 225.24916087137657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 669, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -39.16718292236328, + "y": -18.687763214111328, + "z": 1.1485698223114014 + }, + "extent": { + "x": 0.32933226227760315, + "y": 0.46822142601013184, + "z": 0.8988777995109558 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 934.5135353344784, + "ymin": 429.9278453514759, + "xmax": 991.2154270600598, + "ymax": 504.71350405940075 + }, + "corners_3d": [ + [ + -38.6989631652832, + -19.0170955657959, + 0.24969202280044556 + ], + [ + -39.63540267944336, + -19.0170955657959, + 0.24969202280044556 + ], + [ + -39.63540267944336, + -18.358430862426758, + 0.24969202280044556 + ], + [ + -38.6989631652832, + -18.358430862426758, + 0.24969202280044556 + ], + [ + -38.6989631652832, + -19.0170955657959, + 2.047447681427002 + ], + [ + -39.63540267944336, + -19.0170955657959, + 2.047447681427002 + ], + [ + -39.63540267944336, + -18.358430862426758, + 2.047447681427002 + ], + [ + -38.6989631652832, + -18.358430862426758, + 2.047447681427002 + ] + ], + "corners_2d": [ + [ + 934.5135353344784, + 492.5200991265566 + ], + [ + 969.6686760467551, + 504.71350405940075 + ], + [ + 975.0750837720464, + 487.8289354863673 + ], + [ + 940.4449115753756, + 476.04397040729646 + ], + [ + 948.7714934370144, + 446.37605179457 + ], + [ + 985.8365811402005, + 458.5660182362459 + ], + [ + 991.2154270600598, + 441.6901163654375 + ], + [ + 954.7342142180491, + 429.9278453514759 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 238, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -33.28268051147461, + "y": -29.81512451171875, + "z": 1.1435649394989014 + }, + "extent": { + "x": 0.4850940704345703, + "y": 0.3271740972995758, + "z": 0.9481258392333984 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 522.2563957214459, + "ymin": 680.871915526167, + "xmax": 581.5125554993335, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -32.906593322753906, + -30.263362884521484, + 0.19543910026550293 + ], + [ + -33.55735778808594, + -30.33176040649414, + 0.19543910026550293 + ], + [ + -33.65876770019531, + -29.366886138916016, + 0.19543910026550293 + ], + [ + -33.00800323486328, + -29.29848861694336, + 0.19543910026550293 + ], + [ + -32.906593322753906, + -30.263362884521484, + 2.0916907787323 + ], + [ + -33.55735778808594, + -30.33176040649414, + 2.0916907787323 + ], + [ + -33.65876770019531, + -29.366886138916016, + 2.0916907787323 + ], + [ + -33.00800323486328, + -29.29848861694336, + 2.0916907787323 + ] + ], + "corners_2d": [ + [ + 529.5549254477173, + 763.5381158104002 + ], + [ + 554.4856225435495, + 780.1756639430563 + ], + [ + 581.5125554993335, + 742.5644119080998 + ], + [ + 556.9673729490341, + 726.8923466648955 + ], + [ + 522.2563957214459, + 718.4605210953011 + ], + [ + 548.7544833802185, + 735.5741480566331 + ], + [ + 577.7164633326867, + 696.9294273475791 + ], + [ + 551.6511680659039, + 680.871915526167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 730, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -18.421846389770508, + "y": -26.85797882080078, + "z": 1.1283012628555298 + }, + "extent": { + "x": 0.34921568632125854, + "y": 0.5248156785964966, + "z": 0.9170641899108887 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 115.28268494882298, + "ymin": 374.1207715633986, + "xmax": 180.94991601953058, + "ymax": 451.1930298455757 + }, + "corners_3d": [ + [ + -17.835893630981445, + -27.0904483795166, + 0.2112370729446411 + ], + [ + -18.862586975097656, + -27.308679580688477, + 0.2112370729446411 + ], + [ + -19.00779914855957, + -26.62550926208496, + 0.2112370729446411 + ], + [ + -17.98110580444336, + -26.407278060913086, + 0.2112370729446411 + ], + [ + -17.835893630981445, + -27.0904483795166, + 2.045365333557129 + ], + [ + -18.862586975097656, + -27.308679580688477, + 2.045365333557129 + ], + [ + -19.00779914855957, + -26.62550926208496, + 2.045365333557129 + ], + [ + -17.98110580444336, + -26.407278060913086, + 2.045365333557129 + ] + ], + "corners_2d": [ + [ + 138.49141550756133, + 434.3244603320179 + ], + [ + 158.4320457355994, + 451.1930298455757 + ], + [ + 180.94991601953058, + 437.1979159952639 + ], + [ + 160.90274811872177, + 420.8234911637118 + ], + [ + 115.28268494882298, + 387.5213363079183 + ], + [ + 135.71971289676628, + 404.28996771884886 + ], + [ + 159.63688135871655, + 390.3757639365165 + ], + [ + 139.07018165110964, + 374.1207715633986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 824, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1257.3968829839441, + "ymin": 626.2874986486231, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1349.7523539394501, + 693.7212152727279 + ], + [ + 1260.3539926444128, + 661.5109179528724 + ], + [ + 1257.3968829839441, + 850.4026536617292 + ], + [ + 1361.8580001611335, + 894.2607159555458 + ], + [ + 1382.5672298029228, + 658.9551748692629 + ], + [ + 1288.2193102889432, + 626.2874986486231 + ], + [ + 1289.9229143030348, + 819.0421846535643 + ], + [ + 1401.2005513885088, + 864.2076370976006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 2904, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 625.4373225967473, + "ymin": 0.0, + "xmax": 725.3442626128715, + "ymax": 46.05794629142366 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 706.883797929219, + 46.05794629142366 + ], + [ + 723.317345329307, + 30.82305664863196 + ], + [ + 643.9608586164044, + 15.163918946208014 + ], + [ + 625.7822921039065, + 29.481897317809626 + ], + [ + 708.5598197694108, + 10.985338608236702 + ], + [ + 725.3442626128715, + -3.597007947108864 + ], + [ + 644.05424522984, + -18.563770841219423 + ], + [ + 625.4373225967473, + -4.879726506471343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 8667, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1130.9206597363955, + "ymin": 286.3031918224257, + "xmax": 1230.4686034657818, + "ymax": 442.82047500842503 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1204.9181289382968, + 351.54758711022487 + ], + [ + 1144.947799144166, + 335.51409391759285 + ], + [ + 1130.9206597363955, + 423.1560596262488 + ], + [ + 1197.1012204306855, + 442.82047500842503 + ], + [ + 1230.4686034657818, + 302.06146356514853 + ], + [ + 1167.330762913603, + 286.3031918224257 + ], + [ + 1155.109142904258, + 372.77443736703333 + ], + [ + 1225.1723569092112, + 392.28869059406946 + ] + ], + "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": 1224.3199946433947, + "ymin": 165.39010680526292, + "xmax": 1248.665153879555, + "ymax": 201.39173327741358 + }, + "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": [ + [ + 1235.2088687398266, + 201.39173327741358 + ], + [ + 1235.7021124831895, + 194.91946959569276 + ], + [ + 1224.9132862601075, + 192.56300385153844 + ], + [ + 1224.3199946433947, + 198.99052566024 + ], + [ + 1248.2864671618631, + 174.0530269980121 + ], + [ + 1248.665153879555, + 167.7018403504664 + ], + [ + 1237.5967376296032, + 165.39010680526292 + ], + [ + 1237.112710504222, + 171.69643360609663 + ] + ], + "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": 1105.9655420067327, + "ymin": 0.0, + "xmax": 1119.5174066697534, + "ymax": 12.21716218731018 + }, + "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": [ + [ + 1105.9655420067327, + 11.156047937502422 + ], + [ + 1112.3338410314243, + 12.21716218731018 + ], + [ + 1113.3323975810026, + 9.365734468510084 + ], + [ + 1106.9981582093683, + 8.316649658065444 + ], + [ + 1112.0764543316634, + -7.65697666190232 + ], + [ + 1118.5415885181524, + -6.622364442041487 + ], + [ + 1119.5174066697534, + -9.402445328258977 + ], + [ + 1113.0873817901836, + -10.42517589515586 + ] + ], + "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": 1101.5132855791776, + "ymin": 0.0, + "xmax": 1117.622648268888, + "ymax": 8.887222508155446 + }, + "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": [ + [ + 1101.5132855791776, + 7.637362023138394 + ], + [ + 1109.0562729511369, + 8.887222508155446 + ], + [ + 1110.2681182129002, + 5.512762107025651 + ], + [ + 1102.7731171084702, + 4.279769535325329 + ], + [ + 1108.7624032593599, + -14.950299829382118 + ], + [ + 1116.4427088852979, + -13.738512371874265 + ], + [ + 1117.622648268888, + -17.00996067895727 + ], + [ + 1109.992101366598, + -18.205139493484523 + ] + ], + "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": 1092.7749689589205, + "ymin": 4.072622651958227, + "xmax": 1109.5454863895359, + "ymax": 32.29536094230093 + }, + "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": [ + [ + 1092.7749689589205, + 30.925343228451936 + ], + [ + 1100.6496486399017, + 32.29536094230093 + ], + [ + 1101.9777303844583, + 28.59723720586777 + ], + [ + 1094.1553160455871, + 27.246567591895314 + ], + [ + 1100.2258909200202, + 7.644040079057504 + ], + [ + 1108.2504667387698, + 8.974288979593894 + ], + [ + 1109.5454863895359, + 5.383778852478997 + ], + [ + 1101.5751957042953, + 4.072622651958227 + ] + ], + "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": 1018.7269554609454, + "ymin": 209.46738315873463, + "xmax": 1037.3234710435167, + "ymax": 240.79663285794817 + }, + "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": [ + [ + 1027.7306685749943, + 240.79663285794817 + ], + [ + 1029.8801828879223, + 234.76610490169003 + ], + [ + 1020.9440885174937, + 232.55521865466824 + ], + [ + 1018.7269554609454, + 238.5488009402469 + ], + [ + 1035.1957951025574, + 217.59864462130133 + ], + [ + 1037.3234710435167, + 211.64837218891964 + ], + [ + 1028.1941330843645, + 209.46738315873463 + ], + [ + 1025.9958357605997, + 215.3805059581466 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 254.70823676560497, + "ymin": 0.0, + "xmax": 267.972566721111, + "ymax": 8.50007793756913 + }, + "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": [ + [ + 267.2546093026728, + 8.50007793756913 + ], + [ + 267.972566721111, + 8.150178929064282 + ], + [ + 266.876065110702, + 7.898213335052787 + ], + [ + 266.15770038229584, + 8.247757546280582 + ], + [ + 255.83276828028158, + -35.53852587363275 + ], + [ + 256.5809909833174, + -35.86720931525423 + ], + [ + 255.456883448395, + -36.103888602284485 + ], + [ + 254.70823676560497, + -35.77554864633879 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 738.3704692264802, + "ymin": 0.0, + "xmax": 787.823726673263, + "ymax": 28.41624048113715 + }, + "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": [ + [ + 773.1474074617538, + 2.7883870813854514 + ], + [ + 765.5132597482884, + 1.3816281390798508 + ], + [ + 738.3704692264802, + 26.8592334696566 + ], + [ + 746.3205991289474, + 28.41624048113715 + ], + [ + 787.823726673263, + -156.2554043602338 + ], + [ + 779.3041624711385, + -157.3116699251002 + ], + [ + 749.8060275336396, + -138.07800489861899 + ], + [ + 758.72202616959, + -136.8954170541379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 335.84394223862625, + "ymin": 140.0896005185534, + "xmax": 490.79997731954666, + "ymax": 260.01057734630365 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 490.79997731954666, + 146.0303710039575 + ], + [ + 480.9029866171895, + 143.3965724672677 + ], + [ + 336.7519823026192, + 256.3489624125035 + ], + [ + 347.7174386389463, + 260.01057734630365 + ], + [ + 490.41952046846734, + 142.71630444069527 + ], + [ + 480.498979885965, + 140.0896005185534 + ], + [ + 335.84394223862625, + 252.78766646041066 + ], + [ + 346.83792010293274, + 256.4427487654957 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 648.8331570158434, + "xmax": 64.45384228789317, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 64.45384228789317, + 895.2562465559548 + ], + [ + 47.1523093201406, + 883.0348053118371 + ], + [ + -272.5759959316557, + 1236.5873461232595 + ], + [ + -254.35615205628767, + 1255.9640887041455 + ], + [ + -178.15369043939438, + 663.2404475735484 + ], + [ + -199.6232332584815, + 648.8331570158434 + ], + [ + -807.7427929877861, + 1113.9708014398989 + ], + [ + -788.2440473372076, + 1142.7155758871163 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 295.320162755014, + "ymin": 0.0, + "xmax": 307.35710298992626, + "ymax": 11.957576592343571 + }, + "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": [ + [ + 306.6676063558268, + 11.957576592343571 + ], + [ + 307.35710298992626, + 11.605619901789566 + ], + [ + 306.24182236635943, + 11.352172311491643 + ], + [ + 305.5518912329089, + 11.703772497738044 + ], + [ + 296.46468212538076, + -31.926886151049246 + ], + [ + 297.1826575584529, + -32.257825093773704 + ], + [ + 296.0385919578734, + -32.49612877298233 + ], + [ + 295.320162755014, + -32.1655352940507 + ] + ], + "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": 991.9957880340008, + "ymin": 62.33240700353872, + "xmax": 1280.0, + "ymax": 425.7680956166771 + }, + "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": [ + [ + 994.7488533492042, + 300.82004427036355 + ], + [ + 991.9957880340008, + 307.89197787129024 + ], + [ + 1410.9660616369579, + 425.7680956166771 + ], + [ + 1409.8590191408853, + 416.4611050819436 + ], + [ + 1068.6474685090263, + 62.33240700353872 + ], + [ + 1066.1158246129482, + 68.30803335498473 + ], + [ + 1603.3188701276058, + 171.30552007321566 + ], + [ + 1599.4996836580904, + 162.93305174123145 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 336.00143307878494, + "ymin": 140.17355120216652, + "xmax": 490.67595275612507, + "ymax": 259.90009061804307 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 490.67595275612507, + 146.03885021225094 + ], + [ + 480.90474888437734, + 143.43840110941227 + ], + [ + 336.89736553094525, + 256.2859657493659 + ], + [ + 347.7224226690495, + 259.90009061804307 + ], + [ + 490.3000375575739, + 142.76708593577425 + ], + [ + 480.505879732676, + 140.17355120216652 + ], + [ + 336.00143307878494, + 252.7702837453695 + ], + [ + 346.8542850420142, + 256.37804126612866 + ] + ], + "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": 252.2716258853181, + "ymin": 0.0, + "xmax": 265.4002684015833, + "ymax": 0.7170794351402492 + }, + "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": [ + [ + 264.69176291554055, + 0.7170794351402492 + ], + [ + 265.4002684015833, + 0.3780414721093166 + ], + [ + 264.3221882988889, + 0.13389249681608817 + ], + [ + 263.6132899122815, + 0.47259204938325183 + ], + [ + 253.37677587402987, + -42.84626824652793 + ], + [ + 254.11469813634983, + -43.164444197036005 + ], + [ + 253.009956777689, + -43.393561732857506 + ], + [ + 252.2716258853181, + -43.075712933395494 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 327.0804539483739, + "ymin": 129.97525545846509, + "xmax": 521.9095601133637, + "ymax": 506.5117488737156 + }, + "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": [ + [ + 521.9095601133637, + 377.6833839113653 + ], + [ + 508.50471607570887, + 372.8771603020488 + ], + [ + 393.3849470835863, + 500.17546856812635 + ], + [ + 408.0451421293904, + 506.5117488737156 + ], + [ + 494.9885165979465, + 134.21358135782796 + ], + [ + 478.73168179582547, + 129.97525545846509 + ], + [ + 327.0804539483739, + 245.97004007418838 + ], + [ + 345.17434835806887, + 251.95378575487675 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 0.0, + "xmax": 97.07507578944535, + "ymax": 11.790361911616287 + }, + "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": [ + [ + -96.85784962641867, + 10.338773548149675 + ], + [ + -91.7892905478667, + 11.790361911616287 + ], + [ + 97.07507578944535, + -56.04290903333168 + ], + [ + 92.21793825930945, + -57.12822654585591 + ], + [ + -186.9860272631911, + -165.2232604734993 + ], + [ + -181.58971861255918, + -164.1666797518253 + ], + [ + 40.41952380026726, + -212.75089693764312 + ], + [ + 35.21378224136231, + -213.51532107862306 + ] + ], + "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": 294.5868931222493, + "ymin": 0.0, + "xmax": 306.67062569985524, + "ymax": 8.996719120014973 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 305.9792213886013, + 8.996719120014973 + ], + [ + 306.67062569985524, + 8.646121120599048 + ], + [ + 305.5533929890335, + 8.393652567854701 + ], + [ + 304.8615528753923, + 8.743894706629533 + ], + [ + 295.7334646300845, + -35.071973402985805 + ], + [ + 296.45349787435583, + -35.40133359374943 + ], + [ + 295.3073815133408, + -35.63849981081705 + ], + [ + 294.5868931222493, + -35.30948416677791 + ] + ], + "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": 1036.1455958014424, + "ymin": 0.0, + "xmax": 1152.9296951741082, + "ymax": 176.93058455026198 + }, + "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": [ + [ + 1091.2323924342975, + 62.10049192506551 + ], + [ + 1081.8825126996142, + 60.34300371668894 + ], + [ + 1036.1455958014424, + 174.365890840209 + ], + [ + 1047.2672517007247, + 176.93058455026198 + ], + [ + 1152.9296951741082, + -127.07660058029495 + ], + [ + 1142.0824209718417, + -128.38787622651955 + ], + [ + 1103.2160533929707, + -40.87644130199254 + ], + [ + 1116.532675944013, + -38.84944352257003 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00152/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00152/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2427df749ea0dcb45079cb99f8d9eea64f907a00 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00152/meta.json @@ -0,0 +1,7911 @@ +{ + "frame_id": 152, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 76.0, + "sim_timestamp": 17085.10067153466 + }, + "drone_pose": { + "x": -36.90693963684898, + "y": -32.73328846021391, + "z": 19.85118567425518, + "pitch": -38.050427940116045, + "yaw": 60.38845147999666, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3891017436981201, + -0.6846215128898621, + 0.6163548231124878, + 24.535097122192383 + ], + [ + 0.8693953156471252, + 0.4941171407699585, + -2.9802322387695312e-08, + -15.912639617919922 + ], + [ + -0.30455145239830017, + 0.5358560085296631, + 0.7874686121940613, + -44.412574768066406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -36.76519295731216, + "y": -32.18102176699905, + "z": 20.163431225843784 + }, + "t1_image_uv": [ + 1236.6294699323137, + -1972.2415718968086 + ], + "t1_depth": 0.2407934996769508 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -27.16718292236328, + "y": -13.687763214111328, + "z": 1.1351616126298905 + }, + "image_uv": [ + 671.9167152315351, + 413.01392629533564 + ], + "depth": 28.364443616632286, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 710, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -27.16718292236328, + "y": -13.687763214111328, + "z": 1.1351616382598877 + }, + "extent": { + "x": 0.5016674399375916, + "y": 0.3362219035625458, + "z": 0.8653047680854797 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 653.4813745190577, + "ymin": 377.42413585587417, + "xmax": 690.7737067906849, + "ymax": 448.4558202843741 + }, + "corners_3d": [ + [ + -26.830961227416992, + -14.189431190490723, + 0.26985687017440796 + ], + [ + -27.50340461730957, + -14.189430236816406, + 0.26985687017440796 + ], + [ + -27.50340461730957, + -13.186095237731934, + 0.26985687017440796 + ], + [ + -26.830961227416992, + -13.18609619140625, + 0.26985687017440796 + ], + [ + -26.830961227416992, + -14.189431190490723, + 2.0004663467407227 + ], + [ + -27.50340461730957, + -14.189430236816406, + 2.0004663467407227 + ], + [ + -27.50340461730957, + -13.186095237731934, + 2.0004663467407227 + ], + [ + -26.830961227416992, + -13.18609619140625, + 2.0004663467407227 + ] + ], + "corners_2d": [ + [ + 653.4813745190577, + 440.79521258599607 + ], + [ + 673.3509255936746, + 448.4558202843741 + ], + [ + 688.9132462933242, + 428.6382314035802 + ], + [ + 669.3697410279793, + 421.3333136477642 + ], + [ + 654.002046544457, + 396.545610222177 + ], + [ + 674.6513105462889, + 404.08169716957383 + ], + [ + 690.7737067906849, + 384.5972300459594 + ], + [ + 670.4765199992544, + 377.42413585587417 + ] + ], + "center_offset_px": [ + 31.916715231535136, + 53.01392629533564 + ] + }, + "trace_timestep_index": 152, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 90, + "semantic_pixel_counts": { + "1": 234471, + "2": 159439, + "3": 30000, + "5": 4044, + "6": 12786, + "7": 811, + "10": 394, + "12": 3292, + "14": 35175, + "15": 15051, + "20": 2596, + "24": 32591, + "25": 390950 + }, + "instance_pixel_counts": { + "108": 30, + "3992": 23, + "4714": 117, + "5224": 1125, + "6018": 123, + "6508": 2677, + "7274": 505, + "7576": 1522, + "7784": 15970, + "7786": 4344, + "7825": 1024, + "8088": 1661, + "8296": 32489, + "8298": 765, + "8337": 746, + "8600": 2029, + "8780": 4044, + "8808": 8843, + "9112": 357, + "9322": 2328, + "9624": 5371, + "9832": 73476, + "10316": 1776, + "10624": 1351, + "10828": 746, + "11136": 1585, + "12652": 838, + "21090": 3466, + "21332": 16092, + "21602": 49888, + "21844": 14630, + "24656": 249, + "24946": 13442, + "25168": 342, + "25698": 1819, + "25856": 2860, + "25940": 3623, + "26112": 5357, + "26210": 140, + "26218": 372, + "27988": 7830, + "29327": 5116, + "29800": 4455, + "29839": 8593, + "30351": 15655, + "31375": 29384, + "31812": 1018, + "31848": 14654, + "32324": 1181, + "32360": 20655, + "33384": 2936, + "33650": 3269, + "33896": 242, + "33906": 5158, + "34408": 59626, + "34418": 8131, + "35399": 12465, + "39239": 378485, + "40855": 1247, + "41367": 3132, + "41879": 4090, + "42903": 6174, + "46184": 813, + "46672": 4666, + "46696": 2052, + "46917": 267, + "47208": 428, + "47720": 14, + "48232": 3481, + "50756": 367, + "53926": 549, + "54950": 1152, + "55462": 296, + "56320": 710, + "56576": 580, + "56832": 530, + "56975": 2645, + "57088": 741, + "57487": 2609, + "57600": 731, + "57999": 4200, + "58112": 2022, + "58511": 713, + "58951": 74, + "59023": 11564, + "60160": 2064, + "60833": 1037, + "60928": 3544, + "61440": 421, + "64837": 1295 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 710, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -27.16718292236328, + "y": -13.687763214111328, + "z": 1.1351616382598877 + }, + "extent": { + "x": 0.5107495188713074, + "y": 0.32492125034332275, + "z": 0.8763620853424072 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 653.6618158383747, + "ymin": 377.08349280605273, + "xmax": 690.584135899094, + "ymax": 448.78244818909144 + }, + "corners_3d": [ + [ + -26.842262268066406, + -14.19851303100586, + 0.25879955291748047 + ], + [ + -27.492103576660156, + -14.19851303100586, + 0.25879955291748047 + ], + [ + -27.492103576660156, + -13.177013397216797, + 0.25879955291748047 + ], + [ + -26.842262268066406, + -13.177013397216797, + 0.25879955291748047 + ], + [ + -26.842262268066406, + -14.19851303100586, + 2.011523723602295 + ], + [ + -27.492103576660156, + -14.19851303100586, + 2.011523723602295 + ], + [ + -27.492103576660156, + -13.177013397216797, + 2.011523723602295 + ], + [ + -26.842262268066406, + -13.177013397216797, + 2.011523723602295 + ] + ], + "corners_2d": [ + [ + 653.6618158383747, + 441.3754490848022 + ], + [ + 672.8617306592344, + 448.78244818909144 + ], + [ + 688.7080597744346, + 428.61030800768214 + ], + [ + 669.8287795940505, + 421.55321997430144 + ], + [ + 654.1965367486054, + 396.55481010901974 + ], + [ + 674.1598245267805, + 403.83999813490817 + ], + [ + 690.584135899094, + 384.01149311877197 + ], + [ + 670.9674221195747, + 377.08349280605273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 580, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -23.041194915771484, + "y": -10.690058708190918, + "z": 1.132373571395874 + }, + "extent": { + "x": 0.45243290066719055, + "y": 0.484067440032959, + "z": 0.9067158102989197 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 585.8816523142549, + "ymin": 288.88936427747774, + "xmax": 623.478383770356, + "ymax": 353.29831258502816 + }, + "corners_3d": [ + [ + -22.661771774291992, + -11.233248710632324, + 0.22565776109695435 + ], + [ + -23.60875129699707, + -11.031961441040039, + 0.22565776109695435 + ], + [ + -23.420618057250977, + -10.146868705749512, + 0.22565776109695435 + ], + [ + -22.4736385345459, + -10.348155975341797, + 0.22565776109695435 + ], + [ + -22.661771774291992, + -11.233248710632324, + 2.0390894412994385 + ], + [ + -23.60875129699707, + -11.031961441040039, + 2.0390894412994385 + ], + [ + -23.420618057250977, + -10.146868705749512, + 2.0390894412994385 + ], + [ + -22.4736385345459, + -10.348155975341797, + 2.0390894412994385 + ] + ], + "corners_2d": [ + [ + 587.7509917089017, + 347.98980194647885 + ], + [ + 614.9484905457275, + 353.29831258502816 + ], + [ + 623.478383770356, + 337.8819671112324 + ], + [ + 596.7804302146806, + 332.79021921280395 + ], + [ + 585.8816523142549, + 303.6783710097169 + ], + [ + 614.0455430292359, + 308.8486133707028 + ], + [ + 622.895647218319, + 293.84115033315106 + ], + [ + 595.2670418316106, + 288.88936427747774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 530, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -29.423004150390625, + "y": -6.745050430297852, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4572473168373108, + "y": 0.4869338870048523, + "z": 0.9321823120117188 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 807.2060857018928, + "ymin": 287.78944576218885, + "xmax": 849.1777680896847, + "ymax": 354.0193247231062 + }, + "corners_3d": [ + [ + -28.98653221130371, + -7.2506914138793945, + 0.009639441967010498 + ], + [ + -29.955066680908203, + -7.148894309997559, + 0.009639441967010498 + ], + [ + -29.85947608947754, + -6.239409446716309, + 0.009639441967010498 + ], + [ + -28.890941619873047, + -6.3412065505981445, + 0.009639441967010498 + ], + [ + -28.98653221130371, + -7.2506914138793945, + 1.8740041255950928 + ], + [ + -29.955066680908203, + -7.148894309997559, + 1.8740041255950928 + ], + [ + -29.85947608947754, + -6.239409446716309, + 1.8740041255950928 + ], + [ + -28.890941619873047, + -6.3412065505981445, + 1.8740041255950928 + ] + ], + "corners_2d": [ + [ + 807.2060857018928, + 347.02953148695775 + ], + [ + 835.1877268868506, + 354.0193247231062 + ], + [ + 841.918055896871, + 339.16393873578903 + ], + [ + 814.4270708570903, + 332.44871380774333 + ], + [ + 813.284850312728, + 301.9680457887995 + ], + [ + 842.3533975738435, + 308.7722435839361 + ], + [ + 849.1777680896847, + 294.31690080316855 + ], + [ + 820.6386809199413, + 287.78944576218885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 741, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -36.66718292236328, + "y": -13.687763214111328, + "z": 1.144766092300415 + }, + "extent": { + "x": 0.31397947669029236, + "y": 0.38898253440856934, + "z": 0.8954763412475586 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 972.4242421424477, + "ymin": 495.71265279914905, + "xmax": 1025.0366977563096, + "ymax": 570.3277329979177 + }, + "corners_3d": [ + [ + -36.278202056884766, + -14.001742362976074, + 0.24928975105285645 + ], + [ + -37.0561637878418, + -14.001742362976074, + 0.24928975105285645 + ], + [ + -37.0561637878418, + -13.373784065246582, + 0.24928975105285645 + ], + [ + -36.278202056884766, + -13.373784065246582, + 0.24928975105285645 + ], + [ + -36.278202056884766, + -14.001742362976074, + 2.0402424335479736 + ], + [ + -37.0561637878418, + -14.001742362976074, + 2.0402424335479736 + ], + [ + -37.0561637878418, + -13.373784065246582, + 2.0402424335479736 + ], + [ + -36.278202056884766, + -13.373784065246582, + 2.0402424335479736 + ] + ], + "corners_2d": [ + [ + 972.4242421424477, + 558.7525736821539 + ], + [ + 1002.6052887239521, + 570.3277329979177 + ], + [ + 1008.2223005454799, + 553.9710251820313 + ], + [ + 978.482020629016, + 542.783961324569 + ], + [ + 987.6842687595453, + 511.57274821858056 + ], + [ + 1019.4629954623174, + 523.0845543799842 + ], + [ + 1025.0366977563096, + 506.8211271783277 + ], + [ + 993.7472137471362, + 495.71265279914905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 731, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -15.921846389770508, + "y": -21.85797882080078, + "z": 1.1261723041534424 + }, + "extent": { + "x": 0.3321459889411926, + "y": 0.5823535323143005, + "z": 0.9046865105628967 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 153.71133116280976, + "ymin": 410.4148963810922, + "xmax": 215.151760740577, + "ymax": 488.09214139633036 + }, + "corners_3d": [ + [ + -15.283161163330078, + -22.06178855895996, + 0.22148579359054565 + ], + [ + -16.42241668701172, + -22.303945541381836, + 0.22148579359054565 + ], + [ + -16.560531616210938, + -21.6541690826416, + 0.22148579359054565 + ], + [ + -15.421276092529297, + -21.412012100219727, + 0.22148579359054565 + ], + [ + -15.283161163330078, + -22.06178855895996, + 2.0308587551116943 + ], + [ + -16.42241668701172, + -22.303945541381836, + 2.0308587551116943 + ], + [ + -16.560531616210938, + -21.6541690826416, + 2.0308587551116943 + ], + [ + -15.421276092529297, + -21.412012100219727, + 2.0308587551116943 + ] + ], + "corners_2d": [ + [ + 173.20605182460002, + 468.83629420331084 + ], + [ + 193.4807520042666, + 488.09214139633036 + ], + [ + 215.151760740577, + 475.6295265507699 + ], + [ + 194.6902611583928, + 456.90972756241297 + ], + [ + 153.71133116280976, + 422.15856861280605 + ], + [ + 174.3974985237163, + 441.14785706591294 + ], + [ + 197.26280378114723, + 428.85370759935915 + ], + [ + 176.3612406542702, + 410.4148963810922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 227, + "instance_id": 58112, + "pixel_count": 2022, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": 17.90445327758789, + "y": -4.494433403015137, + "z": 0.9348407983779907 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 20.039346144023796, + "xmax": 70.86689300323235, + "ymax": 79.83419558389198 + }, + "corners_3d": [ + [ + 20.20905303955078, + -3.534245252609253, + 0.007417736109346151 + ], + [ + 20.204349517822266, + -5.465832710266113, + 0.007417736109346151 + ], + [ + 15.599854469299316, + -5.454621315002441, + 0.007417736109346151 + ], + [ + 15.604557037353516, + -3.523033857345581, + 0.007417736109346151 + ], + [ + 20.20905303955078, + -3.534245252609253, + 1.862263798713684 + ], + [ + 20.204349517822266, + -5.465832710266113, + 1.862263798713684 + ], + [ + 15.599854469299316, + -5.454621315002441, + 1.862263798713684 + ], + [ + 15.604557037353516, + -3.523033857345581, + 1.862263798713684 + ] + ], + "corners_2d": [ + [ + 18.83238264154477, + 52.932441668503316 + ], + [ + -13.827154824880836, + 64.00900352528396 + ], + [ + 38.4146669755504, + 79.83419558389198 + ], + [ + 70.86689300323235, + 67.98446196842679 + ], + [ + 5.509269087794792, + 20.039346144023796 + ], + [ + -28.208047254015355, + 30.521516075754562 + ], + [ + 24.71255510754679, + 45.51696760032826 + ], + [ + 58.23714015073301, + 34.28637844401328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 235, + "instance_id": 60160, + "pixel_count": 2064, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 16.361892700195312, + "y": -0.9905077219009399, + "z": 0.7436257004737854 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 50.66014850137458, + "ymin": 13.01229354356252, + "xmax": 144.86871528390708, + "ymax": 64.23994693935731 + }, + "corners_3d": [ + [ + 18.810312271118164, + -0.0781099796295166, + -0.0015131211839616299 + ], + [ + 18.80583953857422, + -1.9148178100585938, + -0.0015131211839616299 + ], + [ + 13.913473129272461, + -1.9029054641723633, + -0.0015131211839616299 + ], + [ + 13.917945861816406, + -0.06619763374328613, + -0.0015131211839616299 + ], + [ + 18.810312271118164, + -0.0781099796295166, + 1.4887645244598389 + ], + [ + 18.80583953857422, + -1.9148178100585938, + 1.4887645244598389 + ], + [ + 13.913473129272461, + -1.9029054641723633, + 1.4887645244598389 + ], + [ + 13.917945861816406, + -0.06619763374328613, + 1.4887645244598389 + ] + ], + "corners_2d": [ + [ + 88.88378803961132, + 38.6967570189783 + ], + [ + 60.50018286128011, + 48.54108502167378 + ], + [ + 116.79941773753842, + 64.23994693935731 + ], + [ + 144.86871528390708, + 53.68893152367906 + ], + [ + 79.73859101092296, + 13.01229354356252 + ], + [ + 50.66014850137458, + 22.425909886049283 + ], + [ + 107.59275626265014, + 37.452720157800286 + ], + [ + 136.3612085947653, + 27.351375485667575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3544, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 665.7096889765277, + "ymin": 85.06108762886282, + "xmax": 774.3444087576305, + "ymax": 156.68580985112152 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 752.9604412837293, + 156.68580985112152 + ], + [ + 771.1331741843726, + 139.39352261473516 + ], + [ + 685.8554138522912, + 119.61293429973955 + ], + [ + 665.7096889765277, + 135.6209604135757 + ], + [ + 755.8190552034825, + 120.50202484720788 + ], + [ + 774.3444087576305, + 103.95585346476878 + ], + [ + 686.9355041566694, + 85.06108762886282 + ], + [ + 666.3346931923385, + 100.34957474387227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 421, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1265.0388281442497, + "ymin": 488.0357499330696, + "xmax": 1280.0, + "ymax": 696.7511477458245 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1347.7283855149915, + 565.1179408396316 + ], + [ + 1271.7396644678993, + 539.9432838640269 + ], + [ + 1265.0388281442497, + 664.2884246959397 + ], + [ + 1351.2784515065878, + 696.7511477458245 + ], + [ + 1383.8273940110307, + 513.0198385036699 + ], + [ + 1303.07242630996, + 488.0357499330696 + ], + [ + 1300.4122265912179, + 612.0961704467943 + ], + [ + 1392.8428758137657, + 644.7572109395735 + ] + ], + "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": 314.47050590159836, + "ymin": 58.1612783759914, + "xmax": 328.4885184308133, + "ymax": 74.54193206327244 + }, + "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": [ + [ + 327.39908277644804, + 74.54193206327244 + ], + [ + 328.4885184308133, + 74.03708389785697 + ], + [ + 318.40406528517957, + 71.47712238277074 + ], + [ + 317.3097499507406, + 71.97642933737256 + ], + [ + 324.6332484346154, + 61.16425694131374 + ], + [ + 325.7353359702486, + 60.66956980748779 + ], + [ + 315.5775256040671, + 58.1612783759914 + ], + [ + 314.47050590159836, + 58.65048821131177 + ] + ], + "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": 314.47050855086064, + "ymin": 58.16127902986625, + "xmax": 328.4885210889709, + "ymax": 74.54193273951643 + }, + "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": [ + [ + 327.3990854359077, + 74.54193273951643 + ], + [ + 328.4885210889709, + 74.03708457263633 + ], + [ + 318.40406791417684, + 71.47712305014772 + ], + [ + 317.3097525809943, + 71.97643000619007 + ], + [ + 324.6332511135558, + 61.16425760395339 + ], + [ + 325.73533864787254, + 60.669570468679524 + ], + [ + 315.5775282520598, + 58.16127902986625 + ], + [ + 314.47050855086064, + 58.65048886661049 + ] + ], + "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": 271.8853167306514, + "ymin": 48.790100668967966, + "xmax": 285.7919226576164, + "ymax": 64.84973147509271 + }, + "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": [ + [ + 284.67979994740097, + 64.84973147509271 + ], + [ + 285.7919226576164, + 64.36565716482846 + ], + [ + 276.1458750257693, + 61.910698762238155 + ], + [ + 275.0295590555251, + 62.38956944703875 + ], + [ + 281.6019557342451, + 51.66878693714489 + ], + [ + 282.72699536622605, + 51.19462990821472 + ], + [ + 273.0145862052578, + 48.790100668967966 + ], + [ + 271.8853167306514, + 49.25911691149787 + ] + ], + "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": 272.5606465134673, + "ymin": 47.81709619534888, + "xmax": 286.4337634912304, + "ymax": 63.843345627839426 + }, + "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": [ + [ + 285.32477405505404, + 63.843345627839426 + ], + [ + 286.4337634912304, + 63.36140335175617 + ], + [ + 276.8054066390308, + 60.917222842769434 + ], + [ + 275.6922349313604, + 61.39399574149684 + ], + [ + 282.25935207003585, + 50.68302879781237 + ], + [ + 283.3811894043647, + 50.21097814378447 + ], + [ + 273.6867026547908, + 47.81709619534888 + ], + [ + 272.5606465134673, + 48.28404018834232 + ] + ], + "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": 313.82446453407243, + "ymin": 51.70767900952444, + "xmax": 326.07192708925584, + "ymax": 69.01970462298709 + }, + "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": [ + [ + 325.9277241228622, + 69.01970462298709 + ], + [ + 326.07192708925584, + 68.9537689583135 + ], + [ + 317.15856789771374, + 66.71285097201337 + ], + [ + 317.01379655046156, + 66.778146222222 + ], + [ + 322.81108947641053, + 53.961114366769095 + ], + [ + 322.95717396438994, + 53.896702420107545 + ], + [ + 313.97112422770317, + 51.70767900952444 + ], + [ + 313.82446453407243, + 51.771459179184376 + ] + ], + "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": 313.82457514555307, + "ymin": 51.707699503411845, + "xmax": 326.07203770294126, + "ymax": 69.01972581556402 + }, + "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": [ + [ + 325.9278347457531, + 69.01972581556402 + ], + [ + 326.07203770294126, + 68.95379014482097 + ], + [ + 317.15867756472744, + 66.71287195275698 + ], + [ + 317.013906226475, + 66.7781672089468 + ], + [ + 322.8112010521662, + 53.961135069632746 + ], + [ + 322.9572855307984, + 53.896723116983196 + ], + [ + 313.9712348300479, + 51.707699503411845 + ], + [ + 313.82457514555307, + 51.7714796789719 + ] + ], + "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": 314.47050590159836, + "ymin": 58.1612783759914, + "xmax": 328.4885184308133, + "ymax": 74.54193206327244 + }, + "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": [ + [ + 327.39908277644804, + 74.54193206327244 + ], + [ + 328.4885184308133, + 74.03708389785697 + ], + [ + 318.40406528517957, + 71.47712238277074 + ], + [ + 317.3097499507406, + 71.97642933737256 + ], + [ + 324.6332484346154, + 61.16425694131374 + ], + [ + 325.7353359702486, + 60.66956980748779 + ], + [ + 315.5775256040671, + 58.1612783759914 + ], + [ + 314.47050590159836, + 58.65048821131177 + ] + ], + "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": 314.4705060646657, + "ymin": 58.16127832805449, + "xmax": 328.48851853756605, + "ymax": 74.54193198890704 + }, + "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": [ + [ + 327.39908293692463, + 74.54193198890704 + ], + [ + 328.48851853756605, + 74.03708384838751 + ], + [ + 318.40406539241104, + 71.47712233384402 + ], + [ + 317.30975011193505, + 71.97642926382383 + ], + [ + 324.63324859695723, + 61.16425686844434 + ], + [ + 325.73533607824004, + 60.669569759014394 + ], + [ + 315.57752571254247, + 58.16127832805449 + ], + [ + 314.4705060646657, + 58.6504881392496 + ] + ], + "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": 314.4705081636728, + "ymin": 58.161278920887185, + "xmax": 328.48852064594456, + "ymax": 74.54193260202067 + }, + "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": [ + [ + 327.3990850461566, + 74.54193260202067 + ], + [ + 328.48852064594456, + 74.03708446017316 + ], + [ + 318.40406747601065, + 71.47712293891834 + ], + [ + 317.30975219635025, + 71.9764298702043 + ], + [ + 324.63325072117965, + 61.164257469223685 + ], + [ + 325.73533820160185, + 60.66957035848094 + ], + [ + 315.57752781072764, + 58.161278920887185 + ], + [ + 314.4705081636728, + 58.65048873337338 + ] + ], + "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": 273.244635545586, + "ymin": 56.893495636231364, + "xmax": 287.400579024397, + "ymax": 73.23077105599924 + }, + "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": [ + [ + 286.26976661766236, + 73.23077105599924 + ], + [ + 287.400579024397, + 72.72875850187546 + ], + [ + 277.5696749544163, + 70.18312899098629 + ], + [ + 276.43449644962516, + 70.67964682670674 + ], + [ + 283.14891266291363, + 59.879505219445605 + ], + [ + 284.2930926974981, + 59.38762109236882 + ], + [ + 274.3932207832645, + 56.893495636231364 + ], + [ + 273.244635545586, + 57.37994882397015 + ] + ], + "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": 313.82433901854887, + "ymin": 51.707642134212506, + "xmax": 326.0718011966272, + "ymax": 69.01966649050036 + }, + "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": [ + [ + 325.9275982241452, + 69.01966649050036 + ], + [ + 326.0718011966272, + 68.95373083674775 + ], + [ + 317.15844335243537, + 66.71281322068529 + ], + [ + 317.0136719993634, + 66.77810846013159 + ], + [ + 322.8109625890495, + 53.961077115439195 + ], + [ + 322.9570470831633, + 53.8966651795522 + ], + [ + 313.9709987180385, + 51.707642134212506 + ], + [ + 313.82433901854887, + 51.77142229325602 + ] + ], + "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": 314.47050855086064, + "ymin": 58.16127902986625, + "xmax": 328.4885210889709, + "ymax": 74.54193273951643 + }, + "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": [ + [ + 327.3990854359077, + 74.54193273951643 + ], + [ + 328.4885210889709, + 74.03708457263633 + ], + [ + 318.40406791417684, + 71.47712305014772 + ], + [ + 317.3097525809943, + 71.97643000619007 + ], + [ + 324.6332511135558, + 61.16425760395339 + ], + [ + 325.73533864787254, + 60.669570468679524 + ], + [ + 315.5775282520598, + 58.16127902986625 + ], + [ + 314.47050855086064, + 58.65048886661049 + ] + ], + "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": 312.7190722175364, + "ymin": 51.16135536307962, + "xmax": 328.14344686142977, + "ymax": 70.004722292716 + }, + "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": [ + [ + 327.970772692743, + 70.004722292716 + ], + [ + 328.14344686142977, + 69.92543861749772 + ], + [ + 316.2553098952795, + 66.93370436252155 + ], + [ + 316.08172586555, + 67.01196295303231 + ], + [ + 324.710172750998, + 54.15767808185103 + ], + [ + 324.88521712428974, + 54.080317552309054 + ], + [ + 312.89503796828194, + 51.16135536307962 + ], + [ + 312.7190722175364, + 51.23770532446139 + ] + ], + "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": 313.8244440381321, + "ymin": 51.70764851499416, + "xmax": 326.0719058586346, + "ymax": 69.01967308881933 + }, + "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": [ + [ + 325.9277028990767, + 69.01967308881933 + ], + [ + 326.0719058586346, + 68.95373743317697 + ], + [ + 317.15854737786344, + 66.71281975304993 + ], + [ + 317.0137760375537, + 66.77811499435842 + ], + [ + 322.81106825759355, + 53.96108356128576 + ], + [ + 322.9571527385385, + 53.8966716235343 + ], + [ + 313.9711037246194, + 51.70764851499416 + ], + [ + 313.8244440381321, + 51.77142867587469 + ] + ], + "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": 314.4705060646657, + "ymin": 58.16127832805449, + "xmax": 328.48851853756605, + "ymax": 74.54193198890704 + }, + "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": [ + [ + 327.39908293692463, + 74.54193198890704 + ], + [ + 328.48851853756605, + 74.03708384838751 + ], + [ + 318.40406539241104, + 71.47712233384402 + ], + [ + 317.30975011193505, + 71.97642926382383 + ], + [ + 324.63324859695723, + 61.16425686844434 + ], + [ + 325.73533607824004, + 60.669569759014394 + ], + [ + 315.57752571254247, + 58.16127832805449 + ], + [ + 314.4705060646657, + 58.6504881392496 + ] + ], + "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": 312.71902375508546, + "ymin": 51.16137640694711, + "xmax": 328.1433992682855, + "ymax": 70.00474412809399 + }, + "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": [ + [ + 327.9707251368528, + 70.00474412809399 + ], + [ + 328.1433992682855, + 69.92546046998098 + ], + [ + 316.25526205130245, + 66.93372593249097 + ], + [ + 316.0816780591298, + 67.01198450606955 + ], + [ + 324.7101245422473, + 54.15769938761724 + ], + [ + 324.88516887794685, + 54.08033887468895 + ], + [ + 312.8949894679306, + 51.16137640694711 + ], + [ + 312.71902375508546, + 51.237726351884305 + ] + ], + "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": 312.719169235242, + "ymin": 51.16137445281038, + "xmax": 328.1435441009759, + "ymax": 70.00474209817145 + }, + "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": [ + [ + 327.97086999519405, + 70.00474209817145 + ], + [ + 328.1435441009759, + 69.92545844075607 + ], + [ + 316.25540599668557, + 66.93372392950033 + ], + [ + 316.0818220298499, + 67.0119825023948 + ], + [ + 324.71027092880416, + 54.15769740692991 + ], + [ + 324.885315238309, + 54.08033689468954 + ], + [ + 312.89513492221636, + 51.16137445281038 + ], + [ + 312.719169235242, + 51.23772439707324 + ] + ], + "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": 314.47050495745765, + "ymin": 58.161277905243026, + "xmax": 328.4885174219927, + "ymax": 74.54193155163108 + }, + "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": [ + [ + 327.3990818211635, + 74.54193155163108 + ], + [ + 328.4885174219927, + 74.03708341205868 + ], + [ + 318.40406429237544, + 71.47712190230175 + ], + [ + 317.309749011734, + 71.97642883135 + ], + [ + 324.63324747394273, + 61.1642564399653 + ], + [ + 325.73533495541096, + 60.66956933147168 + ], + [ + 315.5775246054969, + 58.161277905243026 + ], + [ + 314.47050495745765, + 58.65048771551744 + ] + ], + "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": 312.7191231663368, + "ymin": 51.161334763169236, + "xmax": 328.1434968920128, + "ymax": 70.00470089389552 + }, + "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": [ + [ + 327.9708227399327, + 70.00470089389552 + ], + [ + 328.1434968920128, + 69.92541722603073 + ], + [ + 316.2553601490851, + 66.93368324760843 + ], + [ + 316.0817761359345, + 67.01194183090786 + ], + [ + 324.7102234739641, + 54.15765720205394 + ], + [ + 324.8852678302473, + 54.08029667976194 + ], + [ + 312.89508890010336, + 51.161334763169236 + ], + [ + 312.7191231663368, + 51.23768471744262 + ] + ], + "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": 263.56283522792853, + "ymin": 45.596139971535706, + "xmax": 277.4037524223637, + "ymax": 61.54615874504668 + }, + "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": [ + [ + 276.29083759523127, + 61.54615874504668 + ], + [ + 277.4037524223637, + 61.069065539317705 + ], + [ + 267.87196078964416, + 58.64939859389443 + ], + [ + 266.7550069730629, + 59.12140003628622 + ], + [ + 273.16333506769394, + 48.43306805677793 + ], + [ + 274.2891321435412, + 47.96580766333648 + ], + [ + 264.692704652568, + 45.596139971535706 + ], + [ + 263.56283522792853, + 46.058371030163926 + ] + ], + "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": 312.71907127763114, + "ymin": 51.16135519497681, + "xmax": 328.143445865014, + "ymax": 70.00472209347652 + }, + "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": [ + [ + 327.9707717498357, + 70.00472209347652 + ], + [ + 328.143445865014, + 69.92543844293556 + ], + [ + 316.2553089097949, + 66.93370419021619 + ], + [ + 316.08172493385916, + 67.0119627563692 + ], + [ + 324.7101717996603, + 54.157677887444095 + ], + [ + 324.88521611870937, + 54.080317381981445 + ], + [ + 312.895036973845, + 51.16135519497681 + ], + [ + 312.71907127763114, + 51.23770513259433 + ] + ], + "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": 314.4191149570343, + "ymin": 61.65835805188334, + "xmax": 328.4182990435495, + "ymax": 78.00922058374897 + }, + "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": [ + [ + 327.3302694331128, + 78.00922058374897 + ], + [ + 328.4182990435495, + 77.5013067521731 + ], + [ + 318.34786022565754, + 74.92577682120384 + ], + [ + 317.2549649030544, + 75.42812331066193 + ], + [ + 324.56762341344506, + 64.68054322715216 + ], + [ + 325.6682716686316, + 64.18269595438528 + ], + [ + 315.52468117776255, + 61.65835805188334 + ], + [ + 314.4191149570343, + 62.150700534463 + ] + ], + "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": 313.82446453407243, + "ymin": 51.70767900952444, + "xmax": 326.07192708925584, + "ymax": 69.01970462298709 + }, + "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": [ + [ + 325.9277241228622, + 69.01970462298709 + ], + [ + 326.07192708925584, + 68.9537689583135 + ], + [ + 317.15856789771374, + 66.71285097201337 + ], + [ + 317.01379655046156, + 66.778146222222 + ], + [ + 322.81108947641053, + 53.961114366769095 + ], + [ + 322.95717396438994, + 53.896702420107545 + ], + [ + 313.97112422770317, + 51.70767900952444 + ], + [ + 313.82446453407243, + 51.771459179184376 + ] + ], + "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": 257.24399801504853, + "ymin": 45.11218372066031, + "xmax": 271.09610329350613, + "ymax": 61.045585026640424 + }, + "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": [ + [ + 269.9777747829551, + 61.045585026640424 + ], + [ + 271.09610329350613, + 60.56954521346961 + ], + [ + 261.60847318691106, + 58.15520367984277 + ], + [ + 260.48618534138916, + 58.62616853886823 + ], + [ + 266.79953338422723, + 47.942811298691595 + ], + [ + 267.93083009339693, + 47.476591439381195 + ], + [ + 258.37928547535637, + 45.11218372066031 + ], + [ + 257.24399801504853, + 45.573390990250516 + ] + ], + "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": 313.8245605604824, + "ymin": 51.707695617076695, + "xmax": 326.07202308501405, + "ymax": 69.01972179673373 + }, + "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": [ + [ + 325.9278201269909, + 69.01972179673373 + ], + [ + 326.07202308501405, + 68.95378612714165 + ], + [ + 317.1586630953706, + 66.71286797409738 + ], + [ + 317.01389175631346, + 66.77816322915317 + ], + [ + 322.81118631581177, + 53.961131143668695 + ], + [ + 322.9572707952876, + 53.89671919215459 + ], + [ + 313.9712202457899, + 51.707695617076695 + ], + [ + 313.8245605604824, + 51.77147579151796 + ] + ], + "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": 1211.4313263854615, + "ymin": 80.89663492095576, + "xmax": 1229.6923895913624, + "ymax": 109.07707780283152 + }, + "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": [ + [ + 1211.4313263854615, + 107.53295652781654 + ], + [ + 1219.8382815025757, + 109.07707780283152 + ], + [ + 1220.6756899296465, + 105.36920522289441 + ], + [ + 1212.3282643974521, + 103.84784439628629 + ], + [ + 1220.3437315264268, + 84.46577866427799 + ], + [ + 1228.9102333073765, + 85.96155180028097 + ], + [ + 1229.6923895913624, + 82.37001972657532 + ], + [ + 1221.1877073846035, + 80.89663492095576 + ] + ], + "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": 1198.7239906603086, + "ymin": 109.21212878072214, + "xmax": 1214.5367168258538, + "ymax": 133.63943281251537 + }, + "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": [ + [ + 1198.7239906603086, + 132.21826305456457 + ], + [ + 1206.0622913739428, + 133.63943281251537 + ], + [ + 1206.882528883498, + 130.24326697365007 + ], + [ + 1199.5893620638858, + 128.8403987296655 + ], + [ + 1206.29696985978, + 112.50660423822632 + ], + [ + 1213.7558415790818, + 113.89286196974956 + ], + [ + 1214.5367168258538, + 110.58029466519076 + ], + [ + 1207.1244823167851, + 109.21212878072214 + ] + ], + "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": 1203.8504339075816, + "ymin": 110.62983425151745, + "xmax": 1223.17528278129, + "ymax": 140.42214570012226 + }, + "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": [ + [ + 1203.8504339075816, + 138.67888486018794 + ], + [ + 1212.758992850771, + 140.42214570012226 + ], + [ + 1213.7041450312486, + 136.2372103773767 + ], + [ + 1204.8623867111135, + 134.5212331580405 + ], + [ + 1213.2026895395168, + 114.66443962296023 + ], + [ + 1222.2907722298341, + 116.35642076784083 + ], + [ + 1223.17528278129, + 112.29489965175435 + ], + [ + 1214.1567315953018, + 110.62983425151745 + ] + ], + "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": 1196.7701867934093, + "ymin": 138.4256040921712, + "xmax": 1217.0803579359686, + "ymax": 169.70746327383642 + }, + "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": [ + [ + 1196.7701867934093, + 167.76727549437342 + ], + [ + 1206.1447410329647, + 169.70746327383642 + ], + [ + 1207.196397577195, + 165.05095895967338 + ], + [ + 1197.8957682666844, + 163.1427846839435 + ], + [ + 1206.5206515311672, + 142.92134655363824 + ], + [ + 1216.0943845684178, + 144.807906267632 + ], + [ + 1217.0803579359686, + 140.28049595324774 + ], + [ + 1207.5837385781783, + 138.4256040921712 + ] + ], + "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": 1119.2869474528034, + "ymin": 388.04061776108165, + "xmax": 1142.745566187972, + "ymax": 424.17261802640735 + }, + "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": [ + [ + 1130.3510545804274, + 424.17261802640735 + ], + [ + 1132.3786443955328, + 416.00719112134766 + ], + [ + 1121.416422404999, + 412.651221668973 + ], + [ + 1119.2869474528034, + 420.7485700972062 + ], + [ + 1140.781917981253, + 399.446946633282 + ], + [ + 1142.745566187972, + 391.3623627318323 + ], + [ + 1131.509523039772, + 388.04061776108165 + ], + [ + 1129.4387415373878, + 396.0563797761099 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 276.29946623582623, + "ymin": 49.413838004072375, + "xmax": 288.55052966257244, + "ymax": 93.95091402077242 + }, + "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": [ + [ + 287.7725411315476, + 93.95091402077242 + ], + [ + 288.55052966257244, + 93.58961291150388 + ], + [ + 287.468934708622, + 93.29714247363808 + ], + [ + 286.690610419951, + 93.65800778694978 + ], + [ + 277.406777780751, + 50.025916151911304 + ], + [ + 278.2155877086693, + 49.68765053535964 + ], + [ + 277.10862209317816, + 49.413838004072375 + ], + [ + 276.29946623582623, + 49.75168361808653 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 267.25711620452887, + "ymin": 47.17781640084502, + "xmax": 279.7060687615742, + "ymax": 91.55570643792498 + }, + "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": [ + [ + 278.9253632691585, + 91.55570643792498 + ], + [ + 279.7060687615742, + 91.19796128893739 + ], + [ + 278.6351117371409, + 90.90836744815755 + ], + [ + 277.8540816557849, + 91.26568321713415 + ], + [ + 268.35321063027254, + 47.78369645694028 + ], + [ + 269.1648179268226, + 47.44885727717809 + ], + [ + 268.0690574011805, + 47.17781640084502 + ], + [ + 267.25711620452887, + 47.512241941503305 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 1189.0624396893713, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 83.84690778141425 + }, + "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": [ + [ + 1189.8902773429359, + 67.53854846478805 + ], + [ + 1189.0624396893713, + 70.19602589069274 + ], + [ + 1268.7356558756442, + 83.84690778141425 + ], + [ + 1269.1156508835425, + 81.03040392239876 + ], + [ + 1245.271808994384, + -85.44355653117458 + ], + [ + 1244.7132576621673, + -83.49236264952197 + ], + [ + 1334.543701115872, + -73.43350570740438 + ], + [ + 1334.5326466022761, + -75.51383791851623 + ] + ], + "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": 277.0630230354389, + "ymin": 58.55254686267182, + "xmax": 289.5384642795229, + "ymax": 103.73334532415714 + }, + "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": [ + [ + 288.74554604956904, + 103.73334532415714 + ], + [ + 289.5384642795229, + 103.35733876085902 + ], + [ + 288.43449137257903, + 103.05297253193339 + ], + [ + 287.6412228170833, + 103.4285164324645 + ], + [ + 278.19380801390696, + 59.19028509289592 + ], + [ + 279.01878063153015, + 58.83783392057393 + ], + [ + 277.8883568619507, + 58.55254686267182 + ], + [ + 277.0630230354389, + 58.90455134600114 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 787.5882068682142, + "ymin": 0.0, + "xmax": 846.0384259676001, + "ymax": 137.47431883710092 + }, + "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": [ + [ + 825.5389549853713, + 108.57697871651587 + ], + [ + 817.2763644874615, + 106.8043983018851 + ], + [ + 787.5882068682142, + 135.491316945214 + ], + [ + 796.216618534848, + 137.47431883710092 + ], + [ + 846.0384259676001, + -54.714851819444846 + ], + [ + 836.7858508499605, + -56.03986795676121 + ], + [ + 804.8752678322958, + -34.467895188513694 + ], + [ + 814.5912943030833, + -32.966547050106385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 284.6777727513918, + "ymin": 317.8580971906318, + "xmax": 492.3805969754221, + "ymax": 490.8400638295417 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 492.3805969754221, + 325.55591127858906 + ], + [ + 480.9321161191145, + 321.4465060417586 + ], + [ + 285.91286846464317, + 484.6257228552237 + ], + [ + 298.6172199241277, + 490.8400638295417 + ], + [ + 491.9594496366308, + 321.958480723509 + ], + [ + 480.4809156122966, + 317.8580971906318 + ], + [ + 284.6777727513918, + 480.78220103714705 + ], + [ + 297.4179615499975, + 486.9910115979884 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 319.0906378519375, + "ymin": 63.00941788604035, + "xmax": 330.3434410863927, + "ymax": 108.09913986750357 + }, + "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": [ + [ + 329.5809797424961, + 108.09913986750357 + ], + [ + 330.3434410863927, + 107.71954206091831 + ], + [ + 329.2135453684494, + 107.41226923842402 + ], + [ + 328.45069497628793, + 107.79139962406646 + ], + [ + 320.24895820156314, + 63.65395574347406 + ], + [ + 321.0416282495774, + 63.29774647900672 + ], + [ + 319.8837114037557, + 63.00941788604035 + ], + [ + 319.0906378519375, + 63.365175360820274 + ] + ], + "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": 1083.6676416587402, + "ymin": 229.54678972222695, + "xmax": 1280.0, + "ymax": 682.3623262445244 + }, + "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": [ + [ + 1086.4837482810394, + 485.54293978939523 + ], + [ + 1083.6676416587402, + 495.0125838295787 + ], + [ + 1621.5650574448377, + 682.3623262445244 + ], + [ + 1618.023364966767, + 668.4979815182243 + ], + [ + 1190.2991688523327, + 229.54678972222695 + ], + [ + 1188.2047266145678, + 237.8319491727362 + ], + [ + 1916.4071150693994, + 410.7726610435112 + ], + [ + 1906.8879522173054, + 397.35590739328046 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 364.4206414975718, + "ymin": 0.0, + "xmax": 436.9002240535276, + "ymax": 45.07315906625047 + }, + "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": [ + [ + 436.9002240535276, + 25.201579832097366 + ], + [ + 431.16021059684397, + 23.9701711767666 + ], + [ + 388.28233533743463, + 43.72166091490294 + ], + [ + 394.1629595063748, + 45.07315906625047 + ], + [ + 418.540833124586, + -115.93499361700111 + ], + [ + 412.3427756087223, + -116.82258623398201 + ], + [ + 364.4206414975718, + -102.52837781134764 + ], + [ + 370.7794529450445, + -101.54579672063113 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 284.88194506706304, + "ymin": 317.9709173201187, + "xmax": 492.2289180593376, + "ymax": 490.6782893249565 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 492.2289180593376, + 325.5711591368551 + ], + [ + 480.9258841273591, + 321.5136335510047 + ], + [ + 286.10049421000537, + 484.54480185923967 + ], + [ + 298.6422524399593, + 490.6782893249565 + ], + [ + 491.81271456294974, + 322.0196509305972 + ], + [ + 480.48038784276343, + 317.9709173201187 + ], + [ + 284.88194506706304, + 480.7504826453254 + ], + [ + 297.4586285150359, + 486.8785767648819 + ] + ], + "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": 275.6303878912346, + "ymin": 50.393438617776496, + "xmax": 287.92716277403656, + "ymax": 95.00004550998733 + }, + "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": [ + [ + 287.147027084751, + 95.00004550998733 + ], + [ + 287.92716277403656, + 94.63718128579274 + ], + [ + 286.8436097201105, + 94.34344639388644 + ], + [ + 286.0631373853909, + 94.70587199183143 + ], + [ + 276.73974676446136, + 51.00824212154089 + ], + [ + 277.5508675541339, + 50.66846985484483 + ], + [ + 276.44185551283925, + 50.393438617776496 + ], + [ + 275.6303878912346, + 50.73278807363806 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 260.91634565719073, + "ymin": 46.69062134645327, + "xmax": 273.5327884873665, + "ymax": 91.03373937261586 + }, + "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": [ + [ + 272.7483554306681, + 91.03373937261586 + ], + [ + 273.5327884873665, + 90.67676678725138 + ], + [ + 272.4666878386173, + 90.38779793598525 + ], + [ + 271.68193637356046, + 90.74434253107847 + ], + [ + 262.0073035344285, + 47.295155146278375 + ], + [ + 262.82284161346223, + 46.961060193238495 + ], + [ + 261.7322109309778, + 46.69062134645327 + ], + [ + 260.91634565719073, + 47.02430403826787 + ] + ], + "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": 273.28842101545143, + "ymin": 305.9584098536661, + "xmax": 526.5662209426469, + "ymax": 720.0 + }, + "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": [ + [ + 526.5662209426469, + 571.5772936460965 + ], + [ + 511.3281338803039, + 564.3543269504942 + ], + [ + 360.8394403194525, + 739.4278217219401 + ], + [ + 377.54632553128914, + 749.5533632458798 + ], + [ + 497.6189139581761, + 312.57348189518297 + ], + [ + 478.8007538503218, + 305.9584098536661 + ], + [ + 273.28842101545143, + 473.76152900850684 + ], + [ + 294.26405929736507, + 483.96646656025587 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 0.0, + "xmax": 124.35242076373049, + "ymax": 100.22191952822885 + }, + "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": [ + [ + -84.41176982919762, + 98.51964431455337 + ], + [ + -79.62762084454243, + 100.22191952822885 + ], + [ + 124.35242076373049, + 29.94375817114218 + ], + [ + 119.64451238780487, + 28.692768262360573 + ], + [ + -169.75488000869143, + -76.7816922580082 + ], + [ + -164.73652585059506, + -75.55923766682628 + ], + [ + 72.95471382294943, + -125.20932724364161 + ], + [ + 67.94683658288284, + -126.07817526210448 + ] + ], + "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": 318.42022077273094, + "ymin": 59.829127250236354, + "xmax": 329.71552984947624, + "ymax": 105.09896812802288 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 328.9510427121713, + 105.09896812802288 + ], + [ + 329.71552984947624, + 104.72088522926367 + ], + [ + 328.5837317275155, + 104.4148395323947 + ], + [ + 327.8188545546632, + 104.79245593208177 + ], + [ + 319.58053591315974, + 60.47049205874214 + ], + [ + 320.3753860237622, + 60.11603593694258 + ], + [ + 319.2154754079174, + 59.829127250236354 + ], + [ + 318.42022077273094, + 60.183132867376514 + ] + ], + "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": 1126.078097579964, + "ymin": 0.0, + "xmax": 1256.312917363135, + "ymax": 325.2179671299322 + }, + "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": [ + [ + 1179.8831757450741, + 185.0617903242405 + ], + [ + 1169.1659223839658, + 182.72265467112834 + ], + [ + 1126.078097579964, + 321.6066686201579 + ], + [ + 1139.1828371074553, + 325.2179671299322 + ], + [ + 1256.312917363135, + -13.338327578047426 + ], + [ + 1243.7316402475967, + -15.088568960459952 + ], + [ + 1214.1434805350905, + 92.43599948283509 + ], + [ + 1230.1640333034575, + 95.33320872609141 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00153/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00153/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..987ce37e921ffaa164495cdb6d5fc5fa9fa75675 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00153/meta.json @@ -0,0 +1,7900 @@ +{ + "frame_id": 153, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 76.5, + "sim_timestamp": 17096.078645420494 + }, + "drone_pose": { + "x": -36.76519295731216, + "y": -32.18102176699905, + "z": 20.163431225843784, + "pitch": -41.97458218192926, + "yaw": 62.35903797166583, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.34490448236465454, + -0.6585941910743713, + 0.6688008308410645, + 20.389392852783203 + ], + [ + 0.8858721852302551, + 0.4639294743537903, + -2.9802322387695312e-08, + -17.639535903930664 + ], + [ + -0.3102763891220093, + 0.5924720764160156, + 0.7434415817260742, + -45.46406173706055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -36.603385737339316, + "y": -31.699329169940846, + "z": 19.92758690354566 + }, + "t1_image_uv": [ + 784.9292163642621, + 70.14860980471991 + ], + "t1_depth": 0.5307808668835662 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -27.16718292236328, + "y": -13.187763214111328, + "z": 1.1350346547365189 + }, + "image_uv": [ + 650.3892580769315, + 357.15789229176863 + ], + "depth": 28.545454416551244, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 687, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -27.16718292236328, + "y": -13.187763214111328, + "z": 1.1350346803665161 + }, + "extent": { + "x": 0.5283886790275574, + "y": 0.4453381299972534, + "z": 0.8894789218902588 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.5612788072435, + "ymin": 319.6115575785861, + "xmax": 672.3548928976384, + "ymax": 394.45960784251287 + }, + "corners_3d": [ + [ + -26.721845626831055, + -13.71615219116211, + 0.24555575847625732 + ], + [ + -27.61252212524414, + -13.71615219116211, + 0.24555575847625732 + ], + [ + -27.612520217895508, + -12.659374237060547, + 0.24555575847625732 + ], + [ + -26.721843719482422, + -12.659374237060547, + 0.24555575847625732 + ], + [ + -26.721845626831055, + -13.71615219116211, + 2.0245137214660645 + ], + [ + -27.61252212524414, + -13.71615219116211, + 2.0245137214660645 + ], + [ + -27.612520217895508, + -12.659374237060547, + 2.0245137214660645 + ], + [ + -26.721843719482422, + -12.659374237060547, + 2.0245137214660645 + ] + ], + "corners_2d": [ + [ + 629.0314459483465, + 384.9284751865446 + ], + [ + 655.3627303892546, + 394.45960784251287 + ], + [ + 671.0426315819428, + 373.15206829392906 + ], + [ + 645.167101220905, + 364.0655489864088 + ], + [ + 628.5612788072435, + 340.254085580459 + ], + [ + 656.0286238680488, + 349.69836419931187 + ], + [ + 672.3548928976384, + 328.5969811668519 + ], + [ + 645.3831710782102, + 319.6115575785861 + ] + ], + "center_offset_px": [ + 10.389258076931469, + -2.8421077082313673 + ] + }, + "trace_timestep_index": 153, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 79, + "semantic_pixel_counts": { + "1": 252577, + "2": 137755, + "3": 3935, + "5": 4069, + "6": 12084, + "7": 836, + "10": 379, + "12": 3453, + "14": 28934, + "15": 20897, + "20": 1667, + "24": 34419, + "25": 420595 + }, + "instance_pixel_counts": { + "70": 52, + "108": 40, + "4714": 2, + "5224": 7, + "6508": 3158, + "7274": 482, + "7784": 16679, + "7786": 4252, + "7825": 1085, + "8064": 380, + "8088": 1691, + "8296": 37214, + "8298": 1100, + "8337": 362, + "8600": 1587, + "8780": 4069, + "8808": 18401, + "9322": 2484, + "9624": 5226, + "9832": 78116, + "10316": 1108, + "10624": 1816, + "10828": 482, + "11136": 1595, + "12652": 890, + "21332": 15701, + "21602": 32164, + "21844": 14433, + "23380": 265, + "24946": 2446, + "25168": 207, + "25698": 2040, + "25856": 2235, + "25940": 834, + "26112": 5703, + "27988": 8290, + "29327": 4151, + "29839": 8434, + "30351": 20732, + "31375": 30975, + "31812": 1052, + "31848": 5639, + "32324": 1211, + "32360": 26579, + "33384": 6344, + "33906": 1489, + "34408": 63598, + "35399": 6566, + "39239": 414029, + "40855": 1069, + "41367": 3062, + "41879": 5665, + "42903": 6663, + "46184": 448, + "46672": 4775, + "46696": 2369, + "46917": 274, + "47208": 346, + "48232": 3700, + "50756": 368, + "53926": 616, + "54950": 995, + "55462": 355, + "56320": 687, + "56576": 553, + "56832": 501, + "57088": 699, + "57344": 334, + "57487": 2672, + "57600": 679, + "57999": 2953, + "58112": 14, + "58951": 77, + "59023": 10711, + "60160": 52, + "60833": 830, + "60928": 3778, + "61440": 6464, + "64837": 2117 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 687, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -27.16718292236328, + "y": -13.187763214111328, + "z": 1.1350346803665161 + }, + "extent": { + "x": 0.4986523389816284, + "y": 0.35286620259284973, + "z": 0.8629438877105713 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 631.8733239591426, + "ymin": 321.7944169696592, + "xmax": 669.059136993421, + "ymax": 392.20803735716856 + }, + "corners_3d": [ + [ + -26.81431770324707, + -13.686415672302246, + 0.2720907926559448 + ], + [ + -27.520050048828125, + -13.686415672302246, + 0.2720907926559448 + ], + [ + -27.520048141479492, + -12.68911075592041, + 0.2720907926559448 + ], + [ + -26.814315795898438, + -12.68911075592041, + 0.2720907926559448 + ], + [ + -26.81431770324707, + -13.686415672302246, + 1.9979785680770874 + ], + [ + -27.520050048828125, + -13.686415672302246, + 1.9979785680770874 + ], + [ + -27.520048141479492, + -12.68911075592041, + 1.9979785680770874 + ], + [ + -26.814315795898438, + -12.68911075592041, + 1.9979785680770874 + ] + ], + "corners_2d": [ + [ + 632.1977276623547, + 384.6670963165411 + ], + [ + 653.0637979691666, + 392.20803735716856 + ], + [ + 667.9154940912338, + 372.14633167473767 + ], + [ + 647.3906233519334, + 364.93800356201126 + ], + [ + 631.8733239591426, + 341.3230616260704 + ], + [ + 653.6117704933648, + 348.7969175931576 + ], + [ + 669.059136993421, + 328.9253291229048 + ], + [ + 647.6908092856627, + 321.7944169696592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 553, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -23.041194915771484, + "y": -10.190058708190918, + "z": 1.129531741142273 + }, + "extent": { + "x": 0.43228885531425476, + "y": 0.5286625027656555, + "z": 0.8836221098899841 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 560.4596055347185, + "ymin": 234.0788779432939, + "xmax": 601.0083336578381, + "ymax": 297.0594903993589 + }, + "corners_3d": [ + [ + -22.613964080810547, + -10.722816467285156, + 0.24590963125228882 + ], + [ + -23.648183822631836, + -10.502985000610352, + 0.24590963125228882 + ], + [ + -23.468425750732422, + -9.65730094909668, + 0.24590963125228882 + ], + [ + -22.434206008911133, + -9.877132415771484, + 0.24590963125228882 + ], + [ + -22.613964080810547, + -10.722816467285156, + 2.0131537914276123 + ], + [ + -23.648183822631836, + -10.502985000610352, + 2.0131537914276123 + ], + [ + -23.468425750732422, + -9.65730094909668, + 2.0131537914276123 + ], + [ + -22.434206008911133, + -9.877132415771484, + 2.0131537914276123 + ] + ], + "corners_2d": [ + [ + 563.3671252278373, + 291.81159068452826 + ], + [ + 593.2907054217152, + 297.0594903993589 + ], + [ + 601.0083336578381, + 281.922845306078 + ], + [ + 571.5971814321501, + 276.87086524138647 + ], + [ + 560.4596055347185, + 248.73622970138473 + ], + [ + 591.5063742582854, + 253.88955394641758 + ], + [ + 599.5480354071573, + 239.03270286697446 + ], + [ + 569.0524783719804, + 234.0788779432939 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 501, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -29.423004150390625, + "y": -6.245050430297852, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.48463377356529236, + "y": 0.3304644823074341, + "z": 0.9546613097190857 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 787.2961578323276, + "ymin": 227.6544722135463, + "xmax": 820.0023913491669, + "ymax": 293.5625533791327 + }, + "corners_3d": [ + [ + -29.145008087158203, + -6.761572360992432, + -0.012839555740356445 + ], + [ + -29.802316665649414, + -6.69248628616333, + -0.012839555740356445 + ], + [ + -29.701000213623047, + -5.7285284996032715, + -0.012839555740356445 + ], + [ + -29.043691635131836, + -5.797614574432373, + -0.012839555740356445 + ], + [ + -29.145008087158203, + -6.761572360992432, + 1.896483063697815 + ], + [ + -29.802316665649414, + -6.69248628616333, + 1.896483063697815 + ], + [ + -29.701000213623047, + -5.7285284996032715, + 1.896483063697815 + ], + [ + -29.043691635131836, + -5.797614574432373, + 1.896483063697815 + ] + ], + "corners_2d": [ + [ + 787.2961578323276, + 289.1668796310172 + ], + [ + 806.1585111664413, + 293.5625533791327 + ], + [ + 813.1105598224772, + 277.5528782030662 + ], + [ + 794.5874019998541, + 273.3315198373813 + ], + [ + 793.250982330574, + 243.16141458443775 + ], + [ + 812.9146542773551, + 247.4703660918741 + ], + [ + 820.0023913491669, + 231.78583492631728 + ], + [ + 800.7072202142117, + 227.6544722135463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 699, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -36.66718292236328, + "y": -13.187763214111328, + "z": 1.1446391344070435 + }, + "extent": { + "x": 0.3128759562969208, + "y": 0.3367626965045929, + "z": 0.8740452527999878 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 948.6520375345857, + "ymin": 433.58625671937074, + "xmax": 995.3592319608312, + "ymax": 502.7557790348018 + }, + "corners_3d": [ + [ + -36.330421447753906, + -13.500638961791992, + 0.27059388160705566 + ], + [ + -37.003944396972656, + -13.500638961791992, + 0.27059388160705566 + ], + [ + -37.003944396972656, + -12.874887466430664, + 0.27059388160705566 + ], + [ + -36.330421447753906, + -12.874887466430664, + 0.27059388160705566 + ], + [ + -36.330421447753906, + -13.500638961791992, + 2.0186843872070312 + ], + [ + -37.003944396972656, + -13.500638961791992, + 2.0186843872070312 + ], + [ + -37.003944396972656, + -12.874887466430664, + 2.0186843872070312 + ], + [ + -36.330421447753906, + -12.874887466430664, + 2.0186843872070312 + ] + ], + "corners_2d": [ + [ + 948.6520375345857, + 493.6793863140132 + ], + [ + 973.9015755275434, + 502.7557790348018 + ], + [ + 979.341163856515, + 486.7653364634907 + ], + [ + 954.4409724493371, + 477.9738253514056 + ], + [ + 963.3280218051551, + 449.29462045952795 + ], + [ + 989.9295695065684, + 458.38336363372 + ], + [ + 995.3592319608312, + 442.3764391052848 + ], + [ + 969.1457475401726, + 433.58625671937074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 334, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -30.782682418823242, + "y": -24.31512451171875, + "z": 1.1410210132598877 + }, + "extent": { + "x": 0.48126959800720215, + "y": 0.48532843589782715, + "z": 0.9388338923454285 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 524.1830590888021, + "ymin": 673.6006628493549, + "xmax": 594.5398058143413, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -30.249706268310547, + -24.743026733398438, + 0.20218712091445923 + ], + [ + -31.215045928955078, + -24.8444881439209, + 0.20218712091445923 + ], + [ + -31.315658569335938, + -23.887222290039062, + 0.20218712091445923 + ], + [ + -30.350318908691406, + -23.7857608795166, + 0.20218712091445923 + ], + [ + -30.249706268310547, + -24.743026733398438, + 2.079854965209961 + ], + [ + -31.215045928955078, + -24.8444881439209, + 2.079854965209961 + ], + [ + -31.315658569335938, + -23.887222290039062, + 2.079854965209961 + ], + [ + -30.350318908691406, + -23.7857608795166, + 2.079854965209961 + ] + ], + "corners_2d": [ + [ + 531.2791616234352, + 753.9877472392275 + ], + [ + 567.7194039706255, + 779.0052059675015 + ], + [ + 594.5398058143413, + 742.0767902028858 + ], + [ + 558.6204871470104, + 718.4659066528313 + ], + [ + 524.1830590888021, + 710.0517812829949 + ], + [ + 562.9016163426247, + 735.8044803824762 + ], + [ + 591.6025814527688, + 697.8142565518162 + ], + [ + 553.4684526255527, + 673.6006628493549 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 679, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -15.921846389770508, + "y": -21.35797882080078, + "z": 1.1261284351348877 + }, + "extent": { + "x": 0.3924230933189392, + "y": 0.5319921970367432, + "z": 0.9404761791229248 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 128.07467294754088, + "ymin": 365.18565488017447, + "xmax": 196.17159118357506, + "ymax": 444.76784795222375 + }, + "corners_3d": [ + [ + -15.319890022277832, + -21.6312198638916, + 0.1856522560119629 + ], + [ + -16.360624313354492, + -21.852434158325195, + 0.1856522560119629 + ], + [ + -16.523801803588867, + -21.08473777770996, + 0.1856522560119629 + ], + [ + -15.48306941986084, + -20.863523483276367, + 0.1856522560119629 + ], + [ + -15.319890022277832, + -21.6312198638916, + 2.0666046142578125 + ], + [ + -16.360624313354492, + -21.852434158325195, + 2.0666046142578125 + ], + [ + -16.523801803588867, + -21.08473777770996, + 2.0666046142578125 + ], + [ + -15.48306941986084, + -20.863523483276367, + 2.0666046142578125 + ] + ], + "corners_2d": [ + [ + 151.31867653009135, + 427.4935761748416 + ], + [ + 171.16881498440176, + 444.76784795222375 + ], + [ + 196.17159118357506, + 429.3565965905769 + ], + [ + 176.19013957604705, + 412.6342489024403 + ], + [ + 128.07467294754088, + 379.9456625713369 + ], + [ + 148.4352033002383, + 397.13266452509714 + ], + [ + 175.01675254060285, + 381.79781156322036 + ], + [ + 154.49767214439464, + 365.18565488017447 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 227, + "instance_id": 58112, + "pixel_count": 14, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": 17.90445327758789, + "y": -4.494433403015137, + "z": 0.9348407983779907 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 9.780590898538776, + "ymax": 26.004968053250366 + }, + "corners_3d": [ + [ + 20.20905303955078, + -3.534245252609253, + 0.007417736109346151 + ], + [ + 20.204349517822266, + -5.465832710266113, + 0.007417736109346151 + ], + [ + 15.599854469299316, + -5.454621315002441, + 0.007417736109346151 + ], + [ + 15.604557037353516, + -3.523033857345581, + 0.007417736109346151 + ], + [ + 20.20905303955078, + -3.534245252609253, + 1.862263798713684 + ], + [ + 20.204349517822266, + -5.465832710266113, + 1.862263798713684 + ], + [ + 15.599854469299316, + -5.454621315002441, + 1.862263798713684 + ], + [ + 15.604557037353516, + -3.523033857345581, + 1.862263798713684 + ] + ], + "corners_2d": [ + [ + -46.46471991067608, + -3.069362409586631 + ], + [ + -80.58401721034215, + 9.500159209067306 + ], + [ + -23.978354745685806, + 26.004968053250366 + ], + [ + 9.780590898538776, + 12.624371458929375 + ], + [ + -63.24217313552606, + -38.02420337881739 + ], + [ + -98.64869354819325, + -26.039345255204864 + ], + [ + -41.17323994446406, + -10.279874890156293 + ], + [ + -6.11731409423578, + -23.05816937711637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 235, + "instance_id": 60160, + "pixel_count": 52, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 16.361892700195312, + "y": -0.9905077219009399, + "z": 0.7436257004737854 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 87.41009430007807, + "ymax": 7.884708816953889 + }, + "corners_3d": [ + [ + 18.810312271118164, + -0.0781099796295166, + -0.0015131211839616299 + ], + [ + 18.80583953857422, + -1.9148178100585938, + -0.0015131211839616299 + ], + [ + 13.913473129272461, + -1.9029054641723633, + -0.0015131211839616299 + ], + [ + 13.917945861816406, + -0.06619763374328613, + -0.0015131211839616299 + ], + [ + 18.810312271118164, + -0.0781099796295166, + 1.4887645244598389 + ], + [ + 18.80583953857422, + -1.9148178100585938, + 1.4887645244598389 + ], + [ + 13.913473129272461, + -1.9029054641723633, + 1.4887645244598389 + ], + [ + 13.917945861816406, + -0.06619763374328613, + 1.4887645244598389 + ] + ], + "corners_2d": [ + [ + 27.224029151772015, + -19.600267977596218 + ], + [ + -2.3731368556583448, + -8.452182340097863 + ], + [ + 58.268401400596645, + 7.884708816953889 + ], + [ + 87.41009430007807, + -4.002296026567819 + ], + [ + 15.656879688162007, + -46.909852352136 + ], + [ + -14.783664804187765, + -36.18754635762559 + ], + [ + 46.65124696605392, + -20.457750294220773 + ], + [ + 76.636349757184, + -31.905009720492444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3778, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 631.8161086542818, + "ymin": 23.222713425749248, + "xmax": 742.2755128992688, + "ymax": 97.3887620023902 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 721.279660899122, + 97.3887620023902 + ], + [ + 739.5701558961919, + 78.78758144490718 + ], + [ + 652.372905778725, + 59.10352968962542 + ], + [ + 632.0317172410415, + 76.44987210937421 + ], + [ + 723.5605710000157, + 60.0726334601714 + ], + [ + 742.2755128992688, + 42.152369537159984 + ], + [ + 652.6974220296836, + 23.222713425749248 + ], + [ + 631.8161086542818, + 39.90243435780667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 6464, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1223.9762725369533, + "ymin": 429.4075312805074, + "xmax": 1280.0, + "ymax": 631.7603409525284 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1305.5437644819385, + 502.6148629954847 + ], + [ + 1232.9909683935482, + 479.60475393146857 + ], + [ + 1223.9762725369533, + 602.5504995440992 + ], + [ + 1305.6024507244233, + 631.7603409525284 + ], + [ + 1341.672183859098, + 452.4282069921248 + ], + [ + 1264.4056762852003, + 429.4075312805074 + ], + [ + 1259.013817460054, + 553.0769418980034 + ], + [ + 1346.6572173918953, + 582.7015017077134 + ] + ], + "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": 265.73696664999744, + "ymin": 0.0, + "xmax": 281.1946739224729, + "ymax": 16.90504481103494 + }, + "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": [ + [ + 280.07467044088423, + 16.90504481103494 + ], + [ + 281.1946739224729, + 16.342410040110508 + ], + [ + 270.5375798664051, + 13.712374039891131 + ], + [ + 269.4117742606005, + 14.269328368538822 + ], + [ + 276.4872522989977, + 2.849070259238829 + ], + [ + 277.6223230647089, + 2.2961781990735517 + ], + [ + 266.8779149573917, + -0.28815751237954146 + ], + [ + 265.73696664999744, + 0.25909728839485524 + ] + ], + "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": 265.7369694536648, + "ymin": 0.0, + "xmax": 281.19467673032466, + "ymax": 16.905045505477744 + }, + "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": [ + [ + 280.07467325028017, + 16.905045505477744 + ], + [ + 281.19467673032466, + 16.342410733052816 + ], + [ + 270.5375826459237, + 13.712374725841244 + ], + [ + 269.41177704161714, + 14.26932905596658 + ], + [ + 276.4872551315615, + 2.8490709416639106 + ], + [ + 277.6223258957082, + 2.2961788800093927 + ], + [ + 266.8779177595418, + -0.28815683838269024 + ], + [ + 265.7369694536648, + 0.25909796385809614 + ] + ], + "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": 220.63516853046247, + "ymin": 0.0, + "xmax": 236.0581070118704, + "ymax": 7.000274202495291 + }, + "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": [ + [ + 234.91150386196847, + 7.000274202495291 + ], + [ + 236.0581070118704, + 6.458836826576203 + ], + [ + 225.82657107850378, + 3.9275924863258638 + ], + [ + 224.6748572813687, + 4.4636666213123135 + ], + [ + 230.95151909579903, + -6.882446290208009 + ], + [ + 232.11355898992258, + -7.414306467333404 + ], + [ + 221.80237629147126, + -9.900630708675351 + ], + [ + 220.63516853046247, + -9.374089992171662 + ] + ], + "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": 221.30329465884108, + "ymin": 0.0, + "xmax": 236.68914937880783, + "ymax": 5.898129820465954 + }, + "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": [ + [ + 235.54568945942577, + 5.898129820465954 + ], + [ + 236.68914937880783, + 5.3590259979398525 + ], + [ + 226.47644032449824, + 2.8386585133611106 + ], + [ + 225.32788499504386, + 3.3724336448906342 + ], + [ + 231.60052155104296, + -7.965083802862296 + ], + [ + 232.759338148962, + -8.494629380087076 + ], + [ + 222.4672637158174, + -10.9701660597093 + ], + [ + 221.30329465884108, + -10.445905342675587 + ] + ], + "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": 264.6959408761036, + "ymin": 0.0, + "xmax": 278.40114900931025, + "ymax": 11.10335439633883 + }, + "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": [ + [ + 278.25278787289125, + 11.10335439633883 + ], + [ + 278.40114900931025, + 11.029785096811395 + ], + [ + 268.97787881658223, + 8.72494623907204 + ], + [ + 268.8288411754544, + 8.797858009257595 + ], + [ + 274.20649527057344, + -4.735599076464041 + ], + [ + 274.3571004550884, + -4.807701970231278 + ], + [ + 264.84723239578307, + -7.06648332971622 + ], + [ + 264.6959408761036, + -6.995032017911626 + ] + ], + "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": 264.6960577239872, + "ymin": 0.0, + "xmax": 278.40126564389385, + "ymax": 11.103375810209172 + }, + "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": [ + [ + 278.2529045179758, + 11.103375810209172 + ], + [ + 278.40126564389385, + 11.029806504560725 + ], + [ + 268.97799453859557, + 8.724967455502224 + ], + [ + 268.8289569077635, + 8.79787923172671 + ], + [ + 274.20661305016125, + -4.735578089387957 + ], + [ + 274.3572182239883, + -4.807680989221296 + ], + [ + 264.84734923319024, + -7.066462538294445 + ], + [ + 264.6960577239872, + -6.995011220506058 + ] + ], + "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": 265.73696664999744, + "ymin": 0.0, + "xmax": 281.1946739224729, + "ymax": 16.90504481103494 + }, + "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": [ + [ + 280.07467044088423, + 16.90504481103494 + ], + [ + 281.1946739224729, + 16.342410040110508 + ], + [ + 270.5375798664051, + 13.712374039891131 + ], + [ + 269.4117742606005, + 14.269328368538822 + ], + [ + 276.4872522989977, + 2.849070259238829 + ], + [ + 277.6223230647089, + 2.2961781990735517 + ], + [ + 266.8779149573917, + -0.28815751237954146 + ], + [ + 265.73696664999744, + 0.25909728839485524 + ] + ], + "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": 265.73696681806246, + "ymin": 0.0, + "xmax": 281.1946740322212, + "ymax": 16.905044728157634 + }, + "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": [ + [ + 280.0746706058631, + 16.905044728157634 + ], + [ + 281.1946740322212, + 16.34240998497836 + ], + [ + 270.53757997672255, + 13.71237398531531 + ], + [ + 269.41177442643317, + 14.269328286498649 + ], + [ + 276.48725246619784, + 2.849070177795795 + ], + [ + 277.6223231759325, + 2.2961781448966576 + ], + [ + 266.8779150691917, + -0.28815756600437226 + ], + [ + 265.73696681806246, + 0.259097207782645 + ] + ], + "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": 265.73696904240865, + "ymin": 0.0, + "xmax": 281.1946762623494, + "ymax": 16.90504536211148 + }, + "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": [ + [ + 280.0746728370405, + 16.90504536211148 + ], + [ + 281.1946762623494, + 16.34241061756245 + ], + [ + 270.5375821826706, + 13.712374611516111 + ], + [ + 269.411776633392, + 14.269328914048572 + ], + [ + 276.4872547152009, + 2.849070800778634 + ], + [ + 277.62232542387494, + 2.296178766520086 + ], + [ + 266.87791729251677, + -0.2881569507155177 + ], + [ + 265.73696904240865, + 0.2590978244102189 + ] + ], + "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": 222.4133076711828, + "ymin": 0.0, + "xmax": 238.09964561961186, + "ymax": 16.07467210841469 + }, + "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": [ + [ + 236.93487081168206, + 16.07467210841469 + ], + [ + 238.09964561961186, + 15.513829853752725 + ], + [ + 227.67708234086808, + 12.89214776281716 + ], + [ + 226.50699305333046, + 13.447336631449502 + ], + [ + 232.92394581125308, + 2.033080661181316 + ], + [ + 234.10467027640993, + 1.4819675844435665 + ], + [ + 223.59940757037646, + -1.094078049471534 + ], + [ + 222.4133076711828, + -0.5485751155914045 + ] + ], + "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": 264.6958077391212, + "ymin": 0.0, + "xmax": 278.40101571144726, + "ymax": 11.103314825445295 + }, + "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": [ + [ + 278.25265456737907, + 11.103314825445295 + ], + [ + 278.40101571144726, + 11.029745537228905 + ], + [ + 268.97774683679074, + 8.724907033030263 + ], + [ + 268.8287091882871, + 8.797818792056091 + ], + [ + 274.206360788536, + -4.735637858680377 + ], + [ + 274.3569659807814, + -4.807740741238206 + ], + [ + 264.84709926624964, + -7.0665217503809 + ], + [ + 264.6958077391212, + -6.9950704496343405 + ] + ], + "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": 265.7369694536648, + "ymin": 0.0, + "xmax": 281.19467673032466, + "ymax": 16.905045505477744 + }, + "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": [ + [ + 280.07467325028017, + 16.905045505477744 + ], + [ + 281.19467673032466, + 16.342410733052816 + ], + [ + 270.5375826459237, + 13.712374725841244 + ], + [ + 269.41177704161714, + 14.26932905596658 + ], + [ + 276.4872551315615, + 2.8490709416639106 + ], + [ + 277.6223258957082, + 2.2961788800093927 + ], + [ + 266.8779177595418, + -0.28815683838269024 + ], + [ + 265.7369694536648, + 0.25909796385809614 + ] + ], + "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": 263.51499011332317, + "ymin": 0.0, + "xmax": 280.6173998246171, + "ymax": 12.118136553385227 + }, + "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": [ + [ + 280.4397834486464, + 12.118136553385227 + ], + [ + 280.6173998246171, + 12.029700194856787 + ], + [ + 268.05014008312446, + 8.953140859788505 + ], + [ + 267.8714411249249, + 9.04052498209137 + ], + [ + 276.2049008639748, + -4.547917604249278 + ], + [ + 276.38534356739945, + -4.634503894306988 + ], + [ + 263.69653197427976, + -7.646484604115017 + ], + [ + 263.51499011332317, + -7.560940560859478 + ] + ], + "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": 264.69591815680093, + "ymin": 0.0, + "xmax": 278.4011255397525, + "ymax": 11.103320493908313 + }, + "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": [ + [ + 278.2527644097504, + 11.103320493908313 + ], + [ + 278.4011255397525, + 11.029751204071715 + ], + [ + 268.9778560699352, + 8.724912649228884 + ], + [ + 268.8288184353426, + 8.797824409853206 + ], + [ + 274.2064718144807, + -4.735632303194052 + ], + [ + 274.3570769923566, + -4.807735187357423 + ], + [ + 264.84720966972003, + -7.066516246686206 + ], + [ + 264.69591815680093, + -6.995064944355704 + ] + ], + "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": 265.73696681806246, + "ymin": 0.0, + "xmax": 281.1946740322212, + "ymax": 16.905044728157634 + }, + "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": [ + [ + 280.0746706058631, + 16.905044728157634 + ], + [ + 281.1946740322212, + 16.34240998497836 + ], + [ + 270.53757997672255, + 13.71237398531531 + ], + [ + 269.41177442643317, + 14.269328286498649 + ], + [ + 276.48725246619784, + 2.849070177795795 + ], + [ + 277.6223231759325, + 2.2961781448966576 + ], + [ + 266.8779150691917, + -0.28815756600437226 + ], + [ + 265.73696681806246, + 0.259097207782645 + ] + ], + "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": 263.51494011516644, + "ymin": 0.0, + "xmax": 280.6173508692646, + "ymax": 12.118160909479116 + }, + "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": [ + [ + 280.43973453164887, + 12.118160909479116 + ], + [ + 280.6173508692646, + 12.029724570047847 + ], + [ + 268.0500908293358, + 8.953164944982575 + ], + [ + 267.87139190982566, + 9.040549048366131 + ], + [ + 276.2048511684833, + -4.54789375763113 + ], + [ + 276.3852938331434, + -4.63448002908757 + ], + [ + 263.69648193701767, + -7.6464610261385815 + ], + [ + 263.51494011516644, + -7.560917001309917 + ] + ], + "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": 263.515092655947, + "ymin": 0.0, + "xmax": 280.617502382662, + "ymax": 12.11815664442122 + }, + "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": [ + [ + 280.4398860725006, + 12.11815664442122 + ], + [ + 280.617502382662, + 12.029720306452646 + ], + [ + 268.0502415420338, + 8.953160732112451 + ], + [ + 267.87154264968666, + 9.04054483405946 + ], + [ + 276.2050045296102, + -4.5478979334733936 + ], + [ + 276.38544716615326, + -4.634484203480838 + ], + [ + 263.69663444998315, + -7.646465150288691 + ], + [ + 263.515092655947, + -7.560921126882761 + ] + ], + "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": 265.7369656403153, + "ymin": 0.0, + "xmax": 281.1946728477918, + "ymax": 16.905044270433223 + }, + "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": [ + [ + 280.07466942113706, + 16.905044270433223 + ], + [ + 281.1946728477918, + 16.342409528242968 + ], + [ + 270.537578807598, + 13.712373533188554 + ], + [ + 269.41177325703495, + 14.269327833397995 + ], + [ + 276.48725127284956, + 2.849069727992571 + ], + [ + 277.62232198287984, + 2.2961776960750058 + ], + [ + 266.8779138917167, + -0.2881580102524026 + ], + [ + 265.7369656403153, + 0.259096762568106 + ] + ], + "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": 263.51504273668087, + "ymin": 0.0, + "xmax": 280.61745134931283, + "ymax": 12.118112635206842 + }, + "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": [ + [ + 280.43983499041616, + 12.118112635206842 + ], + [ + 280.61745134931283, + 12.029676284880509 + ], + [ + 268.0501918796561, + 8.953117234274544 + ], + [ + 267.87149293852485, + 9.040501348521275 + ], + [ + 276.20495321151475, + -4.54794102211207 + ], + [ + 276.3853958973919, + -4.634527304044809 + ], + [ + 263.6965845800971, + -7.646507732091891 + ], + [ + 263.51504273668087, + -7.560963696815122 + ] + ], + "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": 211.74240660855997, + "ymin": 0.0, + "xmax": 227.11135111081154, + "ymax": 3.529399499297199 + }, + "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": [ + [ + 225.96310960718068, + 3.529399499297199 + ], + [ + 227.11135111081154, + 2.9952939992779193 + ], + [ + 216.99304559041605, + 0.49822437203107484 + ], + [ + 215.83985487741023, + 1.0270749353368842 + ], + [ + 221.9434282301698, + -10.29173532862751 + ], + [ + 223.10708001087687, + -10.816323674693649 + ], + [ + 212.91106095219436, + -13.268756047310546 + ], + [ + 211.74240660855997, + -12.749378709117025 + ] + ], + "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": 263.51498911960846, + "ymin": 0.0, + "xmax": 280.617398774826, + "ymax": 12.118136350760892 + }, + "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": [ + [ + 280.4397824538844, + 12.118136350760892 + ], + [ + 280.617398774826, + 12.02970001975143 + ], + [ + 268.05013904383895, + 8.95314068676663 + ], + [ + 267.87144014100744, + 9.040524781878275 + ], + [ + 276.20489985917993, + -4.547917802635084 + ], + [ + 276.3853425067001, + -4.634504065748786 + ], + [ + 263.69653092431645, + -7.646484773493285 + ], + [ + 263.51498911960846, + -7.560940756857008 + ] + ], + "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": 265.8634674946041, + "ymin": 3.413053563882727, + "xmax": 281.2953985562798, + "ymax": 20.5647140708719 + }, + "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": [ + [ + 280.17731991471584, + 20.5647140708719 + ], + [ + 281.2953985562798, + 19.99904125075841 + ], + [ + 270.65496940692714, + 17.354777463870732 + ], + [ + 269.53110618321097, + 17.914748354027893 + ], + [ + 276.5967983581478, + 6.56817571047452 + ], + [ + 277.729892986146, + 6.01213468831088 + ], + [ + 267.00242179230884, + 3.413053563882727 + ], + [ + 265.8634674946041, + 3.963434427756738 + ] + ], + "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": 264.6959408761036, + "ymin": 0.0, + "xmax": 278.40114900931025, + "ymax": 11.10335439633883 + }, + "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": [ + [ + 278.25278787289125, + 11.10335439633883 + ], + [ + 278.40114900931025, + 11.029785096811395 + ], + [ + 268.97787881658223, + 8.72494623907204 + ], + [ + 268.8288411754544, + 8.797858009257595 + ], + [ + 274.20649527057344, + -4.735599076464041 + ], + [ + 274.3571004550884, + -4.807701970231278 + ], + [ + 264.84723239578307, + -7.06648332971622 + ], + [ + 264.6959408761036, + -6.995032017911626 + ] + ], + "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": 205.07120230763917, + "ymin": 0.0, + "xmax": 220.46438196375362, + "ymax": 3.073917572353423 + }, + "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": [ + [ + 219.31017032946545, + 3.073917572353423 + ], + [ + 220.46438196375362, + 2.5407705263987737 + ], + [ + 210.38784306582397, + 0.048168518377224245 + ], + [ + 209.22875985313618, + 0.5760747315022741 + ], + [ + 215.2296025986319, + -10.739101757809692 + ], + [ + 216.39933308339658, + -11.262739606294872 + ], + [ + 206.2458555665072, + -13.710741832066049 + ], + [ + 205.07120230763917, + -13.192300870341853 + ] + ], + "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": 264.69604226923644, + "ymin": 0.0, + "xmax": 278.4012501822412, + "ymax": 11.103371658983349 + }, + "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": [ + [ + 278.2528890553092, + 11.103371658983349 + ], + [ + 278.4012501822412, + 11.029802354521621 + ], + [ + 268.97797922183514, + 8.724963342551575 + ], + [ + 268.82894159001995, + 8.797875117605429 + ], + [ + 274.2065974475367, + -4.735582157876763 + ], + [ + 274.3572026223909, + -4.807685056534069 + ], + [ + 264.8473337794349, + -7.06646656885431 + ], + [ + 264.69604226923644, + -6.995015252225869 + ] + ], + "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": 1182.3270633809834, + "ymin": 15.048413935458939, + "xmax": 1200.9902214977105, + "ymax": 44.120594450143415 + }, + "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": [ + [ + 1182.3270633809834, + 42.60537142106887 + ], + [ + 1190.6713637188464, + 44.120594450143415 + ], + [ + 1191.576539365636, + 40.17238417687145 + ], + [ + 1183.2897353269282, + 38.67889674352159 + ], + [ + 1191.6250077434615, + 18.868177151969576 + ], + [ + 1200.1390068668084, + 20.342472104794865 + ], + [ + 1200.9902214977105, + 16.501201287392348 + ], + [ + 1192.5360885641967, + 15.048413935458939 + ] + ], + "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": 1169.3103575895097, + "ymin": 42.59443998668962, + "xmax": 1185.4148423460904, + "ymax": 67.69864116586803 + }, + "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": [ + [ + 1169.3103575895097, + 66.31512588429717 + ], + [ + 1176.5808154766012, + 67.69864116586803 + ], + [ + 1177.4578804866458, + 64.11093507817645 + ], + [ + 1170.2308585930334, + 62.74472065601765 + ], + [ + 1177.17757352929, + 46.08899507410467 + ], + [ + 1184.5757417935656, + 47.44329373044468 + ], + [ + 1185.4148423460904, + 43.9315535158176 + ], + [ + 1178.0616561477898, + 42.59443998668962 + ] + ], + "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": 1174.2058825644067, + "ymin": 46.82493557441171, + "xmax": 1193.907788855534, + "ymax": 77.43377326664978 + }, + "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": [ + [ + 1174.2058825644067, + 75.7289217396721 + ], + [ + 1183.0337814947757, + 77.43377326664978 + ], + [ + 1184.0519661010308, + 72.99264286655392 + ], + [ + 1175.2883800816562, + 71.31371538489441 + ], + [ + 1183.9300976471332, + 51.12902646681823 + ], + [ + 1192.94831149004, + 52.79129237929948 + ], + [ + 1193.907788855534, + 48.46146956259514 + ], + [ + 1184.9567001534047, + 46.82493557441171 + ] + ], + "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": 1166.6456386881578, + "ymin": 76.43968703986712, + "xmax": 1187.3048295888123, + "ymax": 108.4554197489482 + }, + "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": [ + [ + 1166.6456386881578, + 106.56396408453838 + ], + [ + 1175.921413540063, + 108.4554197489482 + ], + [ + 1177.0507605858238, + 103.52942903556357 + ], + [ + 1167.8459470320663, + 101.66824887458154 + ], + [ + 1176.7522612600953, + 81.22138220346443 + ], + [ + 1186.238537702107, + 83.06918068534236 + ], + [ + 1187.3048295888123, + 78.25734728248699 + ], + [ + 1177.8927831374344, + 76.43968703986712 + ] + ], + "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": 1086.5240116175878, + "ymin": 334.04739367151126, + "xmax": 1109.8708325115992, + "ymax": 369.78139428801245 + }, + "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": [ + [ + 1097.3314944156061, + 369.78139428801245 + ], + [ + 1099.4261449355229, + 361.42444849813876 + ], + [ + 1088.7140219900318, + 358.2565943275191 + ], + [ + 1086.5240116175878, + 366.55215104033255 + ], + [ + 1107.8313112714904, + 345.5056372838333 + ], + [ + 1109.8708325115992, + 337.19626157579773 + ], + [ + 1098.8769743834653, + 334.04739367151126 + ], + [ + 1096.7369299915379, + 342.29434303677374 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 225.29925052589323, + "ymin": 0.0, + "xmax": 240.56926693876085, + "ymax": 37.54200119252147 + }, + "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": [ + [ + 239.77027845609558, + 37.54200119252147 + ], + [ + 240.56926693876085, + 37.14033912509649 + ], + [ + 239.42440693343337, + 36.84072375235553 + ], + [ + 238.62501156789466, + 37.2419406832347 + ], + [ + 226.47492386618438, + -8.61947240072567 + ], + [ + 227.3106295534932, + -8.999067652203507 + ], + [ + 226.13537887991532, + -9.282210339073117 + ], + [ + 225.29925052589323, + -8.903049726278141 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 215.69439311556016, + "ymin": 0.0, + "xmax": 231.20417590353645, + "ymax": 35.08742338023404 + }, + "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": [ + [ + 230.4018868348008, + 35.08742338023404 + ], + [ + 231.20417590353645, + 34.68939541005682 + ], + [ + 230.06966740631464, + 34.392489106764 + ], + [ + 229.26698277078287, + 34.790077966213744 + ], + [ + 216.85907769905913, + -10.938906465466061 + ], + [ + 217.6982099775003, + -11.314954026987039 + ], + [ + 216.53393574784582, + -11.595452227460157 + ], + [ + 215.69439311556016, + -11.219833227417723 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 1160.8177675560519, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 12.800240526554433 + }, + "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": [ + [ + 1161.6897373851325, + -3.3407074112919872 + ], + [ + 1160.8177675560519, + -0.5180229331912756 + ], + [ + 1239.8794028151756, + 12.800240526554433 + ], + [ + 1240.3190650364731, + 9.82657285859176 + ], + [ + 1220.0289356387004, + -163.30758477052336 + ], + [ + 1219.4250486514861, + -161.1714046605548 + ], + [ + 1309.3774646256984, + -151.05577539134947 + ], + [ + 1309.4214823989855, + -153.31960517028745 + ] + ], + "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": 226.49268180405107, + "ymin": 0.6575565046484826, + "xmax": 242.02053824755842, + "ymax": 48.08101304224954 + }, + "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": [ + [ + 241.20708879505753, + 48.08101304224954 + ], + [ + 242.02053824755842, + 47.66356016463578 + ], + [ + 240.85259193670686, + 47.35217356403115 + ], + [ + 240.03871838441745, + 47.76915480639366 + ], + [ + 227.69272502503208, + 1.3472326652841957 + ], + [ + 228.5442913974037, + 0.9522035633456767 + ], + [ + 227.34468913277516, + 0.6575565046484826 + ], + [ + 226.49268180405107, + 1.052124200388846 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 756.2391840208347, + "ymin": 0.0, + "xmax": 813.7212235022528, + "ymax": 76.4416137200239 + }, + "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": [ + [ + 794.583891355578, + 45.330462814938585 + ], + [ + 786.1783870306, + 43.569536987161484 + ], + [ + 756.2391840208347, + 74.47578712635647 + ], + [ + 765.0192502995717, + 76.4416137200239 + ], + [ + 813.7212235022528, + -125.73614378889914 + ], + [ + 804.2099142045337, + -127.09784365398713 + ], + [ + 771.4937713554865, + -103.04033606823117 + ], + [ + 781.4892270346172, + -101.4987073317875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 247.46454676219867, + "ymin": 283.615305161312, + "xmax": 455.9117267796957, + "ymax": 470.2911640611371 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 455.9117267796957, + 291.3165454045443 + ], + [ + 444.08487987879585, + 287.19600086777814 + ], + [ + 248.96866340915125, + 464.1135264628387 + ], + [ + 262.2127048098416, + 470.2911640611371 + ], + [ + 455.33046163586613, + 287.7301442754594 + ], + [ + 443.4694876892904, + 283.615305161312 + ], + [ + 247.46454676219867, + 460.4092104248864 + ], + [ + 260.7502194278108, + 466.5870242762137 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 270.80944857210943, + "ymin": 4.814188178126358, + "xmax": 284.86722906197804, + "ymax": 52.07292170373705 + }, + "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": [ + [ + 284.0867857837434, + 52.07292170373705 + ], + [ + 284.86722906197804, + 51.65274999499053 + ], + [ + 283.675936511346, + 51.33933517241496 + ], + [ + 282.89503313747235, + 51.75903251483618 + ], + [ + 272.0344956692588, + 5.509032824380199 + ], + [ + 272.8507678468689, + 5.111043458742756 + ], + [ + 271.62620150872135, + 4.814188178126358 + ], + [ + 270.80944857210943, + 5.211713024746302 + ] + ], + "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": 1051.0239373265451, + "ymin": 176.50907011141527, + "xmax": 1280.0, + "ymax": 609.8876603434239 + }, + "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": [ + [ + 1053.8709742783783, + 429.78444295585143 + ], + [ + 1051.0239373265451, + 439.3758765823753 + ], + [ + 1561.7132765461633, + 609.8876603434239 + ], + [ + 1558.946601631625, + 596.5385363201542 + ], + [ + 1158.9722688322363, + 176.50907011141527 + ], + [ + 1156.7506989127396, + 185.29562131589483 + ], + [ + 1855.3308130073697, + 349.5469151602153 + ], + [ + 1847.073014320669, + 336.1119520935247 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 247.67362012406937, + "ymin": 283.73388607416877, + "xmax": 455.7563410941974, + "ymax": 470.12296009084855 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 455.7563410941974, + 291.3374512414402 + ], + [ + 444.07969597303725, + 287.26892369544476 + ], + [ + 249.1576488710823, + 464.02563780498065 + ], + [ + 262.2321297940061, + 470.12296009084855 + ], + [ + 455.1820047354731, + 287.7968544389015 + ], + [ + 443.47209581420344, + 283.73388607416877 + ], + [ + 247.67362012406937, + 460.3686929936927 + ], + [ + 260.78867196217436, + 466.4661820223773 + ] + ], + "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": 224.6379155610411, + "ymin": 0.0, + "xmax": 239.96154473707634, + "ymax": 38.68387054106768 + }, + "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": [ + [ + 239.160417944482, + 38.68387054106768 + ], + [ + 239.96154473707634, + 38.280512240321116 + ], + [ + 238.81460959184471, + 37.97963242437146 + ], + [ + 238.01307470264004, + 38.3825427666564 + ], + [ + 225.81577229785086, + -7.540233682537746 + ], + [ + 226.6538053036228, + -7.9214853832219205 + ], + [ + 225.47637249577105, + -8.205862777299103 + ], + [ + 224.6379155610411, + -7.8250485625306965 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 209.00211678482316, + "ymin": 0.0, + "xmax": 224.71341385201288, + "ymax": 34.615408386966465 + }, + "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": [ + [ + 223.90703258229678, + 34.615408386966465 + ], + [ + 224.71341385201288, + 34.218077334273175 + ], + [ + 223.58347502237768, + 33.92169057714602 + ], + [ + 222.7767041630093, + 34.318583671579916 + ], + [ + 210.16193247602854, + -11.384853219228376 + ], + [ + 211.00541297401668, + -11.760220616174593 + ], + [ + 209.84600107972506, + -12.040211792678463 + ], + [ + 209.00211678482316, + -11.665271795331364 + ] + ], + "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": 235.28409606159198, + "ymin": 271.493287761088, + "xmax": 500.2540745215899, + "ymax": 713.7615710555561 + }, + "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": [ + [ + 500.2540745215899, + 531.3088732161275 + ], + [ + 484.7952159745719, + 524.4305568469629 + ], + [ + 339.3589899334314, + 704.2553830932192 + ], + [ + 356.3985634004124, + 713.7615710555561 + ], + [ + 460.76152854217077, + 278.14486327584905 + ], + [ + 441.30714908807266, + 271.493287761088 + ], + [ + 235.28409606159198, + 454.00973212923583 + ], + [ + 257.17938595535816, + 464.18318784861646 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 0.0, + "xmax": 64.3914639391071, + "ymax": 49.988281312951926 + }, + "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": [ + [ + -153.63044358639308, + 48.20703865468954 + ], + [ + -148.40234682680318, + 49.988281312951926 + ], + [ + 64.3914639391071, + -29.644234415113715 + ], + [ + 59.32686183165981, + -30.950495603369802 + ], + [ + -261.57420592312883, + -139.3452122222481 + ], + [ + -256.0284121093239, + -138.00885705504282 + ], + [ + -1.5873735164033178, + -196.62735281473238 + ], + [ + -7.0281048274059685, + -197.57009250908368 + ] + ], + "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": 269.94039193666623, + "ymin": 1.4687249052107632, + "xmax": 284.0588467682486, + "ymax": 48.940508284764974 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.2760125387988, + 48.940508284764974 + ], + [ + 284.0588467682486, + 48.52175403783235 + ], + [ + 282.8653013529642, + 48.20939746886944 + ], + [ + 282.08200562634914, + 48.62767787412264 + ], + [ + 271.1678154192796, + 2.1606233129407997 + ], + [ + 271.986687768732, + 1.76432093365338 + ], + [ + 270.759746516014, + 1.4687249052107632 + ], + [ + 269.94039193666623, + 1.8645636463955384 + ] + ], + "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": 1094.6040234907143, + "ymin": 0.0, + "xmax": 1229.560466096925, + "ymax": 265.77497325094714 + }, + "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": [ + [ + 1149.7733221762105, + 120.1309215074319 + ], + [ + 1139.1809015726533, + 117.87060433970731 + ], + [ + 1094.6040234907143, + 262.3387619667384 + ], + [ + 1107.4697746944107, + 265.77497325094714 + ], + [ + 1229.560466096925, + -84.43548174301452 + ], + [ + 1216.9829238340872, + -86.1912508796301 + ], + [ + 1185.2115273783215, + 30.18133000262725 + ], + [ + 1201.1433045224148, + 33.055904987248766 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00159/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00159/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..384a7a82835c0ca0a779df3de79513b56c854e11 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00159/meta.json @@ -0,0 +1,7369 @@ +{ + "frame_id": 159, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 79.5, + "sim_timestamp": 17166.836320664035 + }, + "drone_pose": { + "x": -35.2661455162533, + "y": -29.406628828284124, + "z": 20.05857642935474, + "pitch": -43.338111507574624, + "yaw": 61.51675752345417, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3468583822250366, + -0.6392796635627747, + 0.6863023042678833, + 17.26517105102539 + ], + [ + 0.8789567351341248, + 0.476901650428772, + 0.0, + -16.973337173461914 + ], + [ + -0.32729876041412354, + 0.6032299995422363, + 0.7273163795471191, + -43.87045669555664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -35.16486942739941, + "y": -28.964265225196797, + "z": 20.05977633738809 + }, + "t1_image_uv": [ + 1009.1869316882926, + -550.8592221679772 + ], + "t1_depth": 0.3170989856252699 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -25.66718292236328, + "y": -10.187763214111328, + "z": 1.1312651228904724 + }, + "image_uv": [ + 664.4463082549566, + 327.48113917166904 + ], + "depth": 28.605566734326153, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 701, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -25.66718292236328, + "y": -10.187763214111328, + "z": 1.1312651634216309 + }, + "extent": { + "x": 0.5100439190864563, + "y": 0.3247778117656708, + "z": 0.8762946724891663 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 646.6132761907304, + "ymin": 291.81124114835245, + "xmax": 682.7697518423051, + "ymax": 362.74759547973963 + }, + "corners_3d": [ + [ + -25.342405319213867, + -10.697807312011719, + 0.2549704909324646 + ], + [ + -25.991960525512695, + -10.697807312011719, + 0.2549704909324646 + ], + [ + -25.991960525512695, + -9.677719116210938, + 0.2549704909324646 + ], + [ + -25.342405319213867, + -9.677719116210938, + 0.2549704909324646 + ], + [ + -25.342405319213867, + -10.697807312011719, + 2.0075597763061523 + ], + [ + -25.991960525512695, + -10.697807312011719, + 2.0075597763061523 + ], + [ + -25.991960525512695, + -9.677719116210938, + 2.0075597763061523 + ], + [ + -25.342405319213867, + -9.677719116210938, + 2.0075597763061523 + ] + ], + "corners_2d": [ + [ + 646.6132761907304, + 355.68693468699377 + ], + [ + 665.7170966002442, + 362.74759547973963 + ], + [ + 681.0211776052513, + 342.6076232110403 + ], + [ + 662.22127824613, + 335.85533850304364 + ], + [ + 646.8995040627182, + 311.4676516826479 + ], + [ + 666.8392505331619, + 318.47497894672995 + ], + [ + 682.7697518423051, + 298.4996787833687 + ], + [ + 663.1609823590827, + 291.81124114835245 + ] + ], + "center_offset_px": [ + 24.446308254956648, + -32.51886082833096 + ] + }, + "trace_timestep_index": 159, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 253950, + "2": 152060, + "3": 4413, + "5": 4422, + "6": 13863, + "7": 994, + "10": 337, + "12": 2629, + "14": 28948, + "15": 17576, + "20": 1927, + "24": 32185, + "25": 408296 + }, + "instance_pixel_counts": { + "108": 71, + "6508": 2611, + "7274": 516, + "7784": 17728, + "7786": 4430, + "7825": 936, + "8088": 2033, + "8296": 33736, + "8298": 624, + "8600": 1638, + "8780": 4422, + "8808": 4208, + "9322": 3001, + "9624": 6021, + "9832": 95629, + "10316": 1233, + "10624": 827, + "10828": 603, + "11136": 2134, + "12652": 1127, + "21332": 14856, + "21602": 37798, + "21844": 17576, + "24946": 2719, + "25168": 230, + "25698": 603, + "25856": 2917, + "26112": 5514, + "27988": 9733, + "29327": 4255, + "29839": 11136, + "30351": 14092, + "31375": 38614, + "31812": 1357, + "31848": 4985, + "32324": 1572, + "32360": 20981, + "33384": 190, + "33906": 1694, + "34408": 76493, + "35399": 5051, + "39239": 403245, + "40855": 1166, + "41367": 4086, + "41879": 3438, + "42903": 8586, + "46184": 443, + "46672": 6196, + "46696": 3212, + "46917": 361, + "48232": 4475, + "50756": 1146, + "53926": 728, + "54950": 975, + "55462": 195, + "56320": 701, + "56576": 558, + "56832": 547, + "57088": 696, + "57344": 52, + "57487": 3146, + "57600": 75, + "57999": 3419, + "58951": 91, + "59023": 12632, + "60833": 796, + "60928": 4359, + "64837": 45 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 701, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -25.66718292236328, + "y": -10.187763214111328, + "z": 1.1312651634216309 + }, + "extent": { + "x": 0.492805153131485, + "y": 0.41168150305747986, + "z": 0.8619030714035034 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 644.3516097234107, + "ymin": 291.62519473064526, + "xmax": 685.1388383666448, + "ymax": 363.00349002381773 + }, + "corners_3d": [ + [ + -25.25550079345703, + -10.68056869506836, + 0.26936209201812744 + ], + [ + -26.07886505126953, + -10.68056869506836, + 0.26936209201812744 + ], + [ + -26.07886505126953, + -9.694957733154297, + 0.26936209201812744 + ], + [ + -25.25550079345703, + -9.694957733154297, + 0.26936209201812744 + ], + [ + -25.25550079345703, + -10.68056869506836, + 1.9931682348251343 + ], + [ + -26.07886505126953, + -10.68056869506836, + 1.9931682348251343 + ], + [ + -26.07886505126953, + -9.694957733154297, + 1.9931682348251343 + ], + [ + -25.25550079345703, + -9.694957733154297, + 1.9931682348251343 + ] + ], + "corners_2d": [ + [ + 644.3516097234107, + 354.0606555818136 + ], + [ + 668.5692225483004, + 363.00349002381773 + ], + [ + 683.3205611429983, + 343.50490624263625 + ], + [ + 659.4754398440472, + 334.93986150327765 + ], + [ + 644.5365180945303, + 310.5782248028939 + ], + [ + 669.795765875539, + 319.45434669063957 + ], + [ + 685.1388383666448, + 300.11086122666035 + ], + [ + 660.2846755888711, + 291.62519473064526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 558, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -21.541194915771484, + "y": -7.190057754516602, + "z": 1.0942240953445435 + }, + "extent": { + "x": 0.4532434344291687, + "y": 0.5593985915184021, + "z": 0.9115871787071228 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 574.2523374444938, + "ymin": 203.81790084003794, + "xmax": 616.4861929602936, + "ymax": 269.5710380781612 + }, + "corners_3d": [ + [ + -21.088254928588867, + -7.749702453613281, + 0.18263691663742065 + ], + [ + -22.18260383605957, + -7.517090797424316, + 0.18263691663742065 + ], + [ + -21.9941349029541, + -6.630413055419922, + 0.18263691663742065 + ], + [ + -20.8997859954834, + -6.863024711608887, + 0.18263691663742065 + ], + [ + -21.088254928588867, + -7.749702453613281, + 2.0058112144470215 + ], + [ + -22.18260383605957, + -7.517090797424316, + 2.0058112144470215 + ], + [ + -21.9941349029541, + -6.630413055419922, + 2.0058112144470215 + ], + [ + -20.8997859954834, + -6.863024711608887, + 2.0058112144470215 + ] + ], + "corners_2d": [ + [ + 576.7911617233215, + 263.76091667916853 + ], + [ + 608.349460808781, + 269.5710380781612 + ], + [ + 616.4861929602936, + 253.8561294391827 + ], + [ + 585.474962291692, + 248.26702561619513 + ], + [ + 574.2523374444938, + 219.03205770324055 + ], + [ + 607.0687040757301, + 224.7433119242283 + ], + [ + 615.5537578885488, + 209.3034008260479 + ], + [ + 583.3284893429094, + 203.81790084003794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 547, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -27.923004150390625, + "y": -3.2450506687164307, + "z": 0.9418412446975708 + }, + "extent": { + "x": 0.45781370997428894, + "y": 0.448170930147171, + "z": 0.9299748539924622 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 798.7891741224438, + "ymin": 199.97003892554906, + "xmax": 838.7374549382521, + "ymax": 265.85919982807064 + }, + "corners_3d": [ + [ + -27.525142669677734, + -3.7472028732299805, + 0.011866390705108643 + ], + [ + -28.416574478149414, + -3.6535098552703857, + 0.011866390705108643 + ], + [ + -28.320865631103516, + -2.742898464202881, + 0.011866390705108643 + ], + [ + -27.429433822631836, + -2.8365914821624756, + 0.011866390705108643 + ], + [ + -27.525142669677734, + -3.7472028732299805, + 1.8718161582946777 + ], + [ + -28.416574478149414, + -3.6535098552703857, + 1.8718161582946777 + ], + [ + -28.320865631103516, + -2.742898464202881, + 1.8718161582946777 + ], + [ + -27.429433822631836, + -2.8365914821624756, + 1.8718161582946777 + ] + ], + "corners_2d": [ + [ + 798.7891741224438, + 259.6982582274085 + ], + [ + 824.3946277139413, + 265.85919982807064 + ], + [ + 831.0992365567714, + 250.82037297200182 + ], + [ + 805.914689558175, + 244.88476979326697 + ], + [ + 805.2095476841628, + 214.50705567033273 + ], + [ + 831.909659752805, + 220.5593793973224 + ], + [ + 838.7374549382521, + 205.7922685038299 + ], + [ + 812.4949165750731, + 199.97003892554906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 696, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -35.16718292236328, + "y": -10.187763214111328, + "z": 1.1329594850540161 + }, + "extent": { + "x": 0.31490111351013184, + "y": 0.47014951705932617, + "z": 0.881052553653717 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 955.9144977512201, + "ymin": 404.21024828644323, + "xmax": 1014.0991785175528, + "ymax": 477.3726701111484 + }, + "corners_3d": [ + [ + -34.6970329284668, + -10.502664566040039, + 0.2519069314002991 + ], + [ + -35.637332916259766, + -10.502664566040039, + 0.2519069314002991 + ], + [ + -35.637332916259766, + -9.872861862182617, + 0.2519069314002991 + ], + [ + -34.6970329284668, + -9.872861862182617, + 0.2519069314002991 + ], + [ + -34.6970329284668, + -10.502664566040039, + 2.014012098312378 + ], + [ + -35.637332916259766, + -10.502664566040039, + 2.014012098312378 + ], + [ + -35.637332916259766, + -9.872861862182617, + 2.014012098312378 + ], + [ + -34.6970329284668, + -9.872861862182617, + 2.014012098312378 + ] + ], + "corners_2d": [ + [ + 955.9144977512201, + 464.47523835100947 + ], + [ + 991.0016152742752, + 477.3726701111484 + ], + [ + 996.6666389219791, + 461.49823269034994 + ], + [ + 962.0467936849166, + 448.9954317273411 + ], + [ + 971.4030925102472, + 419.7179832116452 + ], + [ + 1008.4410474839858, + 432.65648761861974 + ], + [ + 1014.0991785175528, + 416.73379732652364 + ], + [ + 977.5824583193953, + 404.21024828644323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 52, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -29.282682418823242, + "y": -21.31512451171875, + "z": 1.1393218040466309 + }, + "extent": { + "x": 0.46540164947509766, + "y": 0.3638916313648224, + "z": 0.9365893602371216 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 543.1245464049553, + "ymin": 639.820056891203, + "xmax": 601.7495084558914, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -28.87213706970215, + -21.739938735961914, + 0.20273244380950928 + ], + [ + -29.595932006835938, + -21.81601333618164, + 0.20273244380950928 + ], + [ + -29.693227767944336, + -20.890310287475586, + 0.20273244380950928 + ], + [ + -28.969432830810547, + -20.81423568725586, + 0.20273244380950928 + ], + [ + -28.87213706970215, + -21.739938735961914, + 2.075911045074463 + ], + [ + -29.595932006835938, + -21.81601333618164, + 2.075911045074463 + ], + [ + -29.693227767944336, + -20.890310287475586, + 2.075911045074463 + ], + [ + -28.969432830810547, + -20.81423568725586, + 2.075911045074463 + ] + ], + "corners_2d": [ + [ + 549.1276000472606, + 717.4165853351373 + ], + [ + 575.9623888301676, + 735.9327736464469 + ], + [ + 601.7495084558914, + 701.878626420222 + ], + [ + 575.2548737725065, + 684.3264901480911 + ], + [ + 543.1245464049553, + 673.8198590921378 + ], + [ + 571.6658829375871, + 692.8964829159081 + ], + [ + 599.255776848546, + 657.8400917310901 + ], + [ + 571.0970218521877, + 639.820056891203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 75, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -14.421846389770508, + "y": -18.35797882080078, + "z": 1.1235893964767456 + }, + "extent": { + "x": 0.4031915068626404, + "y": 0.5070129036903381, + "z": 0.9398183226585388 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 146.68856481891078, + "ymin": 330.4134989006028, + "xmax": 213.43016726580504, + "ymax": 409.0802345592538 + }, + "corners_3d": [ + [ + -13.842084884643555, + -18.64694595336914, + 0.1837710738182068 + ], + [ + -14.833951950073242, + -18.857772827148438, + 0.1837710738182068 + ], + [ + -15.001607894897461, + -18.069011688232422, + 0.1837710738182068 + ], + [ + -14.009740829467773, + -17.858184814453125, + 0.1837710738182068 + ], + [ + -13.842084884643555, + -18.64694595336914, + 2.0634076595306396 + ], + [ + -14.833951950073242, + -18.857772827148438, + 2.0634076595306396 + ], + [ + -15.001607894897461, + -18.069011688232422, + 2.0634076595306396 + ], + [ + -14.009740829467773, + -17.858184814453125, + 2.0634076595306396 + ] + ], + "corners_2d": [ + [ + 169.4570210583069, + 392.72077697572325 + ], + [ + 188.20818912752839, + 409.0802345592538 + ], + [ + 213.43016726580504, + 393.8211383396985 + ], + [ + 194.54827473428952, + 377.97598287768517 + ], + [ + 146.68856481891078, + 345.0759142911335 + ], + [ + 165.9472451127753, + 361.3700806207554 + ], + [ + 192.7640963420472, + 346.17102185965956 + ], + [ + 173.3486495651834, + 330.4134989006028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4359, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 645.5254021998925, + "ymin": 24.577707769224844, + "xmax": 763.6422911954634, + "ymax": 105.94531325256287 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 740.4931227351443, + 105.94531325256287 + ], + [ + 760.0666951447301, + 85.08189098713581 + ], + [ + 667.321712621228, + 62.285486524896214 + ], + [ + 645.5254021998925, + 81.64540323865367 + ], + [ + 743.5878226331687, + 66.79159316629153 + ], + [ + 763.6422911954634, + 46.597428038698126 + ], + [ + 668.1051152400368, + 24.577707769224844 + ], + [ + 645.6890263772455, + 43.274990359325614 + ] + ], + "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": 258.10303406116486, + "ymin": 0.0, + "xmax": 274.52292556733073, + "ymax": 14.605738104553609 + }, + "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": [ + [ + 273.3194099269809, + 14.605738104553609 + ], + [ + 274.52292556733073, + 13.98280648264847 + ], + [ + 263.3873066322675, + 10.967029293222595 + ], + [ + 262.1779576715402, + 11.583264101177008 + ], + [ + 269.3429750276404, + -0.17264331392641452 + ], + [ + 270.56399488290435, + -0.7857194007571024 + ], + [ + 259.3299648213589, + -3.7535743806616892 + ], + [ + 258.10303406116486, + -3.147160006731781 + ] + ], + "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": 258.10303699154076, + "ymin": 0.0, + "xmax": 274.5229285022302, + "ymax": 14.605738901160521 + }, + "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": [ + [ + 273.3194128634354, + 14.605738901160521 + ], + [ + 274.5229285022302, + 13.98280727748562 + ], + [ + 263.38730953563277, + 10.967030079519532 + ], + [ + 262.17796057640885, + 11.58326488921523 + ], + [ + 269.3429779902259, + -0.1726425299134462 + ], + [ + 270.56399784391374, + -0.7857186185048022 + ], + [ + 259.3299677502117, + -3.7535736069045242 + ], + [ + 258.10303699154076, + -3.14715923124254 + ] + ], + "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": 210.97348426329052, + "ymin": 0.0, + "xmax": 227.35636877417312, + "ymax": 3.2249702647179674 + }, + "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": [ + [ + 226.1258758137829, + 3.2249702647179674 + ], + [ + 227.35636877417312, + 2.6270665096209314 + ], + [ + 216.6943781555055, + -0.2679259273241428 + ], + [ + 215.45882581082805, + 0.32367949222555126 + ], + [ + 221.72975955955854, + -11.371022655409831 + ], + [ + 222.9781459924909, + -11.959208063265066 + ], + [ + 212.22698569953366, + -14.806952780773884 + ], + [ + 210.97348426329052, + -14.225028585540883 + ] + ], + "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": 211.7261811014834, + "ymin": 0.0, + "xmax": 228.0677480683733, + "ymax": 1.996947252297673 + }, + "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": [ + [ + 226.84078074092162, + 1.996947252297673 + ], + [ + 228.0677480683733, + 1.4017134168391863 + ], + [ + 217.42570495099187, + -1.4803923876750673 + ], + [ + 216.193692488335, + -0.8914148579007701 + ], + [ + 222.46217693242687, + -12.579070616371553 + ], + [ + 223.70694078345122, + -13.164601712453248 + ], + [ + 212.97604560075814, + -15.999536426448799 + ], + [ + 211.7261811014834, + -15.420224320460363 + ] + ], + "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": 256.8977423785348, + "ymin": 0.0, + "xmax": 271.4928695279366, + "ymax": 8.487445151501504 + }, + "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": [ + [ + 271.33337939021794, + 8.487445151501504 + ], + [ + 271.4928695279366, + 8.40594476184657 + ], + [ + 261.6441322955071, + 5.76137752143336 + ], + [ + 261.48396198190267, + 5.842101991213042 + ], + [ + 266.8448197050336, + -8.178868650152594 + ], + [ + 267.00691930268573, + -8.258881073264149 + ], + [ + 257.060532253329, + -10.855010561976997 + ], + [ + 256.8977423785348, + -10.775769099265801 + ] + ], + "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": 256.89786485106373, + "ymin": 0.0, + "xmax": 271.4929917486502, + "ymax": 8.487469919632645 + }, + "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": [ + [ + 271.3335016217771, + 8.487469919632645 + ], + [ + 271.4929917486502, + 8.405969522695273 + ], + [ + 261.64425349520224, + 5.761402046564967 + ], + [ + 261.4840831922119, + 5.842126523523234 + ], + [ + 266.8449432217885, + -8.178844334174073 + ], + [ + 267.0070428083899, + -8.25885676452208 + ], + [ + 257.0606547150461, + -10.854986487444648 + ], + [ + 256.89786485106373, + -10.775745017601423 + ] + ], + "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": 258.10303406116486, + "ymin": 0.0, + "xmax": 274.52292556733073, + "ymax": 14.605738104553609 + }, + "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": [ + [ + 273.3194099269809, + 14.605738104553609 + ], + [ + 274.52292556733073, + 13.98280648264847 + ], + [ + 263.3873066322675, + 10.967029293222595 + ], + [ + 262.1779576715402, + 11.583264101177008 + ], + [ + 269.3429750276404, + -0.17264331392641452 + ], + [ + 270.56399488290435, + -0.7857194007571024 + ], + [ + 259.3299648213589, + -3.7535743806616892 + ], + [ + 258.10303406116486, + -3.147160006731781 + ] + ], + "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": 258.1030342419009, + "ymin": 0.0, + "xmax": 274.52292568525866, + "ymax": 14.605738012791676 + }, + "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": [ + [ + 273.31941010426675, + 14.605738012791676 + ], + [ + 274.52292568525866, + 13.98280642160978 + ], + [ + 263.3873067507677, + 10.967029232839764 + ], + [ + 262.17795784968416, + 11.583264010402047 + ], + [ + 269.3429752075069, + -0.17264340423770363 + ], + [ + 270.5639950025461, + -0.7857194608292843 + ], + [ + 259.32996494158044, + -3.753574440081536 + ], + [ + 258.1030342419009, + -3.1471600960611568 + ] + ], + "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": 258.10303656339016, + "ymin": 0.0, + "xmax": 274.5229280130801, + "ymax": 14.605738737805495 + }, + "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": [ + [ + 273.3194124331216, + 14.605738737805495 + ], + [ + 274.5229280130801, + 13.982807145012657 + ], + [ + 263.38730905173844, + 10.967029948470099 + ], + [ + 262.1779601516455, + 11.583264727617177 + ], + [ + 269.3429775564172, + -0.1726426906858478 + ], + [ + 270.5639973504121, + -0.7857187488800719 + ], + [ + 259.32996726206943, + -3.7535737358641086 + ], + [ + 258.10303656339016, + -3.147159390267234 + ] + ], + "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": 212.44417315300802, + "ymin": 0.0, + "xmax": 229.12062842545652, + "ymax": 13.390853158288223 + }, + "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": [ + [ + 227.86931234475884, + 13.390853158288223 + ], + [ + 229.12062842545652, + 12.770617456587217 + ], + [ + 218.25303465492505, + 9.76785018497634 + ], + [ + 216.9964510258983, + 10.381432382875005 + ], + [ + 223.4097905115185, + -1.368293610050216 + ], + [ + 224.67963070332434, + -1.9786877645929621 + ], + [ + 213.71934029428485, + -4.933601697420954 + ], + [ + 212.44417315300802, + -4.329825708951205 + ] + ], + "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": 256.8976034643338, + "ymin": 0.0, + "xmax": 271.49273044820904, + "ymax": 8.487399920307894 + }, + "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": [ + [ + 271.3332403030533, + 8.487399920307894 + ], + [ + 271.49273044820904, + 8.405899543951591 + ], + [ + 261.643994679, + 5.7613327340012574 + ], + [ + 261.48382435826323, + 5.842057190671653 + ], + [ + 266.84467929516, + -8.178913055632052 + ], + [ + 267.0067789003211, + -8.258925465528762 + ], + [ + 257.0603933463225, + -10.855054526531262 + ], + [ + 256.8976034643338, + -10.775813076844486 + ] + ], + "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": 258.10303699154076, + "ymin": 0.0, + "xmax": 274.5229285022302, + "ymax": 14.605738901160521 + }, + "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": [ + [ + 273.3194128634354, + 14.605738901160521 + ], + [ + 274.5229285022302, + 13.98280727748562 + ], + [ + 263.38730953563277, + 10.967030079519532 + ], + [ + 262.17796057640885, + 11.58326488921523 + ], + [ + 269.3429779902259, + -0.1726425299134462 + ], + [ + 270.56399784391374, + -0.7857186185048022 + ], + [ + 259.3299677502117, + -3.7535736069045242 + ], + [ + 258.10303699154076, + -3.14715923124254 + ] + ], + "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": 255.6752278900173, + "ymin": 0.0, + "xmax": 273.8355205072278, + "ymax": 9.580515465112626 + }, + "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": [ + [ + 273.64458760189825, + 9.580515465112626 + ], + [ + 273.8355205072278, + 9.482546532240804 + ], + [ + 260.7012229779299, + 5.952901314739677 + ], + [ + 260.5092015105377, + 6.049628765466082 + ], + [ + 268.94769540565096, + -7.95535870033882 + ], + [ + 269.1419147989102, + -8.051450819419074 + ], + [ + 255.87055288553637, + -11.513187941046965 + ], + [ + 255.6752278900173, + -11.418328980402862 + ] + ], + "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": 256.8977198034791, + "ymin": 0.0, + "xmax": 271.4928461149883, + "ymax": 8.48740699329511 + }, + "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": [ + [ + 271.3333559848054, + 8.48740699329511 + ], + [ + 271.4928461149883, + 8.405906614859248 + ], + [ + 261.6441096688611, + 5.76133973759579 + ], + [ + 261.483939362918, + 5.842064196316187 + ], + [ + 266.844796327384, + -8.178906111765173 + ], + [ + 267.0068959172229, + -8.258918523728312 + ], + [ + 257.06050967033093, + -10.855047651613518 + ], + [ + 256.8977198034791, + -10.775806199890042 + ] + ], + "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": 258.1030342419009, + "ymin": 0.0, + "xmax": 274.52292568525866, + "ymax": 14.605738012791676 + }, + "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": [ + [ + 273.31941010426675, + 14.605738012791676 + ], + [ + 274.52292568525866, + 13.98280642160978 + ], + [ + 263.3873067507677, + 10.967029232839764 + ], + [ + 262.17795784968416, + 11.583264010402047 + ], + [ + 269.3429752075069, + -0.17264340423770363 + ], + [ + 270.5639950025461, + -0.7857194608292843 + ], + [ + 259.32996494158044, + -3.753574440081536 + ], + [ + 258.1030342419009, + -3.1471600960611568 + ] + ], + "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": 255.67517409559804, + "ymin": 0.0, + "xmax": 273.8354678817769, + "ymax": 9.580542446687446 + }, + "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": [ + [ + 273.6445350171622, + 9.580542446687446 + ], + [ + 273.8354678817769, + 9.48257353470683 + ], + [ + 260.7011700523873, + 5.952927975054706 + ], + [ + 260.5091486260606, + 6.049655405095052 + ], + [ + 268.94764191566384, + -7.955332235596472 + ], + [ + 269.1418612677495, + -8.05142433430558 + ], + [ + 255.87049904958536, + -11.51316179578913 + ], + [ + 255.67517409559804, + -11.418302855314835 + ] + ], + "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": 255.67533530791894, + "ymin": 0.0, + "xmax": 273.83562793271386, + "ymax": 9.58053865909983 + }, + "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": [ + [ + 273.6446950976357, + 9.58053865909983 + ], + [ + 273.83562793271386, + 9.482569748455148 + ], + [ + 260.7013291750592, + 5.95292423677904 + ], + [ + 260.50930777792604, + 6.049651665508804 + ], + [ + 268.9478040809023, + -7.9553359506327865 + ], + [ + 269.1420234026776, + -8.051428048014714 + ], + [ + 255.87066023195257, + -11.513165461844096 + ], + [ + 255.67533530791894, + -11.418306522671571 + ] + ], + "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": 258.10303301769443, + "ymin": 0.0, + "xmax": 274.52292445366487, + "ymax": 14.605737492139099 + }, + "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": [ + [ + 273.31940887242064, + 14.605737492139099 + ], + [ + 274.52292445366487, + 13.982805902113853 + ], + [ + 263.3873055360856, + 10.967028718925633 + ], + [ + 262.1779566347753, + 11.583263495349854 + ], + [ + 269.3429739660361, + -0.1726439166591831 + ], + [ + 270.5639937613247, + -0.7857199721000825 + ], + [ + 259.32996371759725, + -3.753574945799869 + ], + [ + 258.10303301769443, + -3.147160602911356 + ] + ], + "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": 255.67528443762626, + "ymin": 0.0, + "xmax": 273.83557582549497, + "ymax": 9.580488991629863 + }, + "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": [ + [ + 273.64464293902427, + 9.580488991629863 + ], + [ + 273.83557582549497, + 9.482520068096107 + ], + [ + 260.7012785665234, + 5.9528751859244835 + ], + [ + 260.5092571179692, + 6.049602627489946 + ], + [ + 268.9477516789635, + -7.955384666721557 + ], + [ + 269.14197105279635, + -8.051476776525362 + ], + [ + 255.8706094137421, + -11.513213565072931 + ], + [ + 255.67528443762626, + -11.418354613527242 + ] + ], + "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": 255.67522684938706, + "ymin": 0.0, + "xmax": 273.83551940639404, + "ymax": 9.580515231457866 + }, + "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": [ + [ + 273.6445865602241, + 9.580515231457866 + ], + [ + 273.83551940639404, + 9.48254632907674 + ], + [ + 260.7012218888672, + 5.952901114149768 + ], + [ + 260.5092004809758, + 6.049628534772523 + ], + [ + 268.94769435262305, + -7.955358929517843 + ], + [ + 269.1419136857047, + -8.05145101869067 + ], + [ + 255.87055178438203, + -11.513188137761517 + ], + [ + 255.67522684938706, + -11.418329206640635 + ] + ], + "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": 258.2692526178386, + "ymin": 0.1606421353255314, + "xmax": 274.65848995125367, + "ymax": 18.470446446889866 + }, + "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": [ + [ + 273.4572961508202, + 18.470446446889866 + ], + [ + 274.65848995125367, + 17.84434974650611 + ], + [ + 263.5421011908958, + 14.813213922087925 + ], + [ + 262.3350932825424, + 15.432591820656057 + ], + [ + 269.489605896452, + 3.7608513519356848 + ], + [ + 270.70823711315757, + 3.144480872761733 + ], + [ + 259.4937751655656, + 0.1606421353255314 + ], + [ + 258.2692526178386, + 0.7703272117629467 + ] + ], + "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": 256.8977423785348, + "ymin": 0.0, + "xmax": 271.4928695279366, + "ymax": 8.487445151501504 + }, + "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": [ + [ + 271.33337939021794, + 8.487445151501504 + ], + [ + 271.4928695279366, + 8.40594476184657 + ], + [ + 261.6441322955071, + 5.76137752143336 + ], + [ + 261.48396198190267, + 5.842101991213042 + ], + [ + 266.8448197050336, + -8.178868650152594 + ], + [ + 267.00691930268573, + -8.258881073264149 + ], + [ + 257.060532253329, + -10.855010561976997 + ], + [ + 256.8977423785348, + -10.775769099265801 + ] + ], + "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": 256.8978487072766, + "ymin": 0.0, + "xmax": 271.49297559883627, + "ymax": 8.487465164936737 + }, + "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": [ + [ + 271.3334854709565, + 8.487465164936737 + ], + [ + 271.49297559883627, + 8.405964769397428 + ], + [ + 261.6442375065008, + 5.76139733851744 + ], + [ + 261.4840672025379, + 5.842121814097595 + ], + [ + 266.84492691329694, + -8.178849002070933 + ], + [ + 267.00702650091813, + -8.258861431029686 + ], + [ + 257.06063857224353, + -10.854991108991442 + ], + [ + 256.8978487072766, + -10.775749640517404 + ] + ], + "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": 1245.8416029218374, + "ymin": 28.616988218786048, + "xmax": 1267.6363817685112, + "ymax": 60.28965915953438 + }, + "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": [ + [ + 1245.8416029218374, + 58.451267632257384 + ], + [ + 1255.085094393015, + 60.28965915953438 + ], + [ + 1255.8559427184287, + 55.666761188332316 + ], + [ + 1246.68041539279, + 53.85626221730428 + ], + [ + 1257.4851583049458, + 33.103206661618856 + ], + [ + 1266.9429532985348, + 34.898441430922276 + ], + [ + 1267.6363817685112, + 30.384467022178853 + ], + [ + 1258.2497450153023, + 28.616988218786048 + ] + ], + "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": 1225.3030827364678, + "ymin": 53.48422962507743, + "xmax": 1243.8137603102773, + "ymax": 80.55325397114842 + }, + "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": [ + [ + 1225.3030827364678, + 78.90733822219113 + ], + [ + 1233.2537582033815, + 80.55325397114842 + ], + [ + 1234.0619704198257, + 76.43398479441703 + ], + [ + 1226.161331773935, + 74.80961660169146 + ], + [ + 1234.949908467499, + 57.50637718133021 + ], + [ + 1243.057809832646, + 59.122182192558626 + ], + [ + 1243.8137603102773, + 55.07853565515438 + ], + [ + 1235.7579017020726, + 53.48422962507743 + ] + ], + "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": 1238.7372452391824, + "ymin": 66.05866878588324, + "xmax": 1261.8479102232307, + "ymax": 99.45129556442214 + }, + "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": [ + [ + 1238.7372452391824, + 97.36809385860545 + ], + [ + 1248.5549198399353, + 99.45129556442214 + ], + [ + 1249.4281616178766, + 94.21433487464236 + ], + [ + 1239.687109517422, + 92.16475407426128 + ], + [ + 1251.000471664777, + 71.15131803807753 + ], + [ + 1261.0604270698232, + 73.19067692979036 + ], + [ + 1261.8479102232307, + 68.06444747492884 + ], + [ + 1251.868413624077, + 66.05866878588324 + ] + ], + "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": 1232.0781717806326, + "ymin": 101.20232955778471, + "xmax": 1256.4124233482576, + "ymax": 136.1713603174505 + }, + "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": [ + [ + 1232.0781717806326, + 133.844761276821 + ], + [ + 1242.4317025283117, + 136.1713603174505 + ], + [ + 1243.4067028335166, + 130.32415387414642 + ], + [ + 1233.1383370078063, + 128.03720867605597 + ], + [ + 1244.9076024603094, + 106.8994542839769 + ], + [ + 1255.5311321926338, + 109.18240602079192 + ], + [ + 1256.4124233482576, + 103.44553780796974 + ], + [ + 1245.878568018488, + 101.20232955778471 + ] + ], + "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": 1145.2812372603537, + "ymin": 397.70068628876714, + "xmax": 1172.9040103700222, + "ymax": 436.36519010506265 + }, + "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": [ + [ + 1157.4174250551146, + 436.36519010506265 + ], + [ + 1159.4590303629248, + 426.2750591219259 + ], + [ + 1147.4386932362363, + 422.3167716465232 + ], + [ + 1145.2812372603537, + 432.3244784514495 + ], + [ + 1170.9521999652623, + 411.75006249798037 + ], + [ + 1172.9040103700222, + 401.6581801780397 + ], + [ + 1160.517699118655, + 397.70068628876714 + ], + [ + 1158.4427598890807, + 407.7079984768375 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 215.87606946362735, + "ymin": 0.0, + "xmax": 232.68657490314195, + "ymax": 35.083482875222785 + }, + "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": [ + [ + 231.83144333487593, + 35.083482875222785 + ], + [ + 232.68657490314195, + 34.641630154325014 + ], + [ + 231.49523153458506, + 34.300171209050575 + ], + [ + 230.6396970869381, + 34.74150408182328 + ], + [ + 217.10181278046468, + -13.355801583853406 + ], + [ + 217.99938617769948, + -13.775416925279444 + ], + [ + 216.77406116764882, + -14.09967528956139 + ], + [ + 215.87606946362735, + -13.680571425948926 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 205.8655579170433, + "ymin": 0.0, + "xmax": 222.94363636215883, + "ymax": 32.28669008925283 + }, + "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": [ + [ + 222.08524141420952, + 32.28669008925283 + ], + [ + 222.94363636215883, + 31.84907984870216 + ], + [ + 221.76372397802993, + 31.510897250606433 + ], + [ + 220.9049386546086, + 31.947995109893498 + ], + [ + 207.0791098558248, + -16.01145008240013 + ], + [ + 207.9800690221802, + -16.42689220653432 + ], + [ + 206.76692170083436, + -16.74792794759867 + ], + [ + 205.8655579170433, + -16.332989692346246 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 1209.57456001825, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 14.542603956792448 + }, + "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": [ + [ + 1210.4246938427195, + -4.10086966207308 + ], + [ + 1209.57456001825, + -0.9401896574018451 + ], + [ + 1294.877790409998, + 14.542603956792448 + ], + [ + 1295.243183412761, + 11.200316067291396 + ], + [ + 1280.8717637441887, + -174.71167211017564 + ], + [ + 1280.3780326246758, + -172.27717455669404 + ], + [ + 1378.895011630102, + -160.30073322502676 + ], + [ + 1378.742031998753, + -162.89328105736865 + ] + ], + "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": 216.6831309324084, + "ymin": 0.0, + "xmax": 233.80473585547645, + "ymax": 46.83901819795659 + }, + "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": [ + [ + 232.93316923378643, + 46.83901819795659 + ], + [ + 233.80473585547645, + 46.37910993508399 + ], + [ + 232.5886477082492, + 46.02370743997528 + ], + [ + 231.7166607262617, + 46.48306367711564 + ], + [ + 217.9350939701389, + -2.1834291678382556 + ], + [ + 218.8508131751119, + -2.6208294294738153 + ], + [ + 217.5992869988787, + -2.9588213260939824 + ], + [ + 216.6831309324084, + -2.521965391698359 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 777.9089460303326, + "ymin": 0.0, + "xmax": 843.2357076090962, + "ymax": 82.85239190027664 + }, + "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": [ + [ + 818.7912113898797, + 48.0261774621581 + ], + [ + 809.8295437200456, + 45.988165357540254 + ], + [ + 777.9089460303326, + 80.56880537797139 + ], + [ + 787.2797661807184, + 82.85239190027664 + ], + [ + 843.2357076090962, + -133.7229902535277 + ], + [ + 832.9582613862563, + -135.32991959893144 + ], + [ + 797.9472771061754, + -107.85800633406222 + ], + [ + 808.7690815914387, + -106.02833528064957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 193.72437894689392, + "ymin": 361.1337645577901, + "xmax": 443.0404267283308, + "ymax": 603.448896830287 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 443.0404267283308, + 370.27261172185234 + ], + [ + 429.7948114601959, + 364.8449394353317 + ], + [ + 195.76585015853698, + 594.9195613955884 + ], + [ + 210.63298303662964, + 603.448896830287 + ], + [ + 442.31419935320207, + 366.5592501865461 + ], + [ + 429.024353710947, + 361.1337645577901 + ], + [ + 193.72437894689392, + 591.3238198260426 + ], + [ + 208.64501249416588, + 599.8656372446475 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 263.4464263436213, + "ymin": 1.7489582316977135, + "xmax": 278.8938737625174, + "ymax": 51.36828902763483 + }, + "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": [ + [ + 278.0576192837799, + 51.36828902763483 + ], + [ + 278.8938737625174, + 50.90503126914808 + ], + [ + 277.65117060153744, + 50.547040336832424 + ], + [ + 276.81445406429873, + 51.00974224725877 + ], + [ + 264.72705209403887, + 2.5307851024065826 + ], + [ + 265.6048022820436, + 2.0897550424011797 + ], + [ + 264.3246598835124, + 1.7489582316977135 + ], + [ + 263.4464263436213, + 2.1894396500044877 + ] + ], + "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": 1101.3875989800586, + "ymin": 234.42667655569693, + "xmax": 1280.0, + "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": [ + [ + 1104.3103410889316, + 494.8752768957987 + ], + [ + 1101.3875989800586, + 506.2635552674039 + ], + [ + 1679.115668169042, + 720.0433764015269 + ], + [ + 1675.117112109944, + 703.593184923445 + ], + [ + 1241.3410765900599, + 234.42667655569693 + ], + [ + 1239.491768044357, + 245.52072198270605 + ], + [ + 2077.5795274826896, + 467.98180464047005 + ], + [ + 2064.947107539274, + 449.84543978543655 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 193.97356442434796, + "ymin": 361.2803193593041, + "xmax": 442.86194034170524, + "ymax": 603.2311757988183 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 442.86194034170524, + 370.303373719914 + ], + [ + 429.78447259034965, + 364.9440865013934 + ], + [ + 195.98771476867626, + 594.8128862963019 + ], + [ + 210.66457736624568, + 603.2311757988183 + ], + [ + 442.1443244694283, + 366.63747885186166 + ], + [ + 429.0237450134514, + 361.2803193593041 + ], + [ + 193.97356442434796, + 591.2630097022278 + ], + [ + 208.70256600576477, + 599.6934516863369 + ] + ], + "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": 215.13048977802748, + "ymin": 0.0, + "xmax": 232.00378073609818, + "ymax": 36.3510717431202 + }, + "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": [ + [ + 231.14626242775194, + 36.3510717431202 + ], + [ + 232.00378073609818, + 35.907289440252555 + ], + [ + 230.81024395145664, + 35.5643403675208 + ], + [ + 229.95232162098824, + 36.00759941428828 + ], + [ + 216.35854829037658, + -12.151879563141279 + ], + [ + 217.2587364374972, + -12.57339370103574 + ], + [ + 216.03109740673523, + -12.8991183120894 + ], + [ + 215.13048977802748, + -12.478119126575166 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 198.83968429239377, + "ymin": 0.0, + "xmax": 216.1452650908269, + "ymax": 31.71718562227187 + }, + "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": [ + [ + 215.28257104001574, + 31.71718562227187 + ], + [ + 216.1452650908269, + 31.28043673235527 + ], + [ + 214.97048913651463, + 30.942919357842186 + ], + [ + 214.10741149518964, + 31.379157378110392 + ], + [ + 200.04773608593695, + -16.55210061002856 + ], + [ + 200.95328418536292, + -16.96669571064723 + ], + [ + 199.74562951177552, + -17.28707734101755 + ], + [ + 198.83968429239377, + -16.8729845695471 + ] + ], + "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": 178.73189566877693, + "ymin": 347.56071792386314, + "xmax": 495.97318977418104, + "ymax": 720.0 + }, + "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": [ + [ + 495.97318977418104, + 609.8924670868323 + ], + [ + 479.1840960909308, + 601.4140981736966 + ], + [ + 313.870732743801, + 817.68133508976 + ], + [ + 332.3985049623637, + 829.6741023919938 + ], + [ + 448.39172623266654, + 356.3443179849002 + ], + [ + 426.573334367194, + 347.56071792386314 + ], + [ + 178.73189566877693, + 585.7617887579685 + ], + [ + 203.34566360071585, + 599.8904833419822 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 0.0, + "xmax": 51.198674726049376, + "ymax": 46.425291025382876 + }, + "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": [ + [ + -180.62535122660654, + 44.41039359054122 + ], + [ + -175.29583919196557, + 46.425291025382876 + ], + [ + 51.198674726049376, + -40.30725759078098 + ], + [ + 45.98931947119786, + -41.7759847333063 + ], + [ + -302.42824544461735, + -153.43678059324543 + ], + [ + -296.7823145787405, + -151.89762753230343 + ], + [ + -22.091046245437383, + -216.7695167851482 + ], + [ + -27.70737209520678, + -217.84420879220022 + ] + ], + "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": 262.48219588961837, + "ymin": 0.0, + "xmax": 278.0022639346667, + "ymax": 48.09169908400605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 277.1632492016469, + 48.09169908400605 + ], + [ + 278.0022639346667, + 47.62984533181867 + ], + [ + 276.7570304311108, + 47.27294058385189 + ], + [ + 275.9175521918068, + 47.73423880501423 + ], + [ + 263.76550085899606, + -0.9919278885195126 + ], + [ + 264.6462735457481, + -1.4312467899910644 + ], + [ + 263.36345343918003, + -1.7707200984352198 + ], + [ + 262.48219588961837, + -1.331949108420872 + ] + ], + "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": 1144.9435791808028, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 302.4893756081144 + }, + "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": [ + [ + 1200.9487326897658, + 135.146322536792 + ], + [ + 1189.4435409285652, + 132.48390182161341 + ], + [ + 1144.9435791808028, + 298.3616919226471 + ], + [ + 1159.058336476686, + 302.4893756081144 + ], + [ + 1299.2500069474754, + -82.54242310270047 + ], + [ + 1285.2865422044008, + -84.66975491989291 + ], + [ + 1259.4468351810133, + 53.68083180209925 + ], + [ + 1277.469093487594, + 57.280915526304284 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00161/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00161/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..567322a3af2895b8184e575f020788bf7dbcaf2a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00161/meta.json @@ -0,0 +1,7796 @@ +{ + "frame_id": 161, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 80.5, + "sim_timestamp": 17190.777064609574 + }, + "drone_pose": { + "x": -34.93542464297207, + "y": -28.31308095953094, + "z": 20.0, + "pitch": -38.606871453901526, + "yaw": 67.85855429162143, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2945225238800049, + -0.7238188982009888, + 0.6239733099937439, + 18.303348541259766 + ], + [ + 0.9262561798095703, + 0.376894474029541, + 0.0, + -21.6881103515625 + ], + [ + -0.2351720780134201, + 0.5779591798782349, + 0.7814456224441528, + -40.20855712890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -34.747453744933416, + "y": -27.655283710806227, + "z": 20.052541567619507 + }, + "t1_image_uv": [ + 782.0853826022009, + -535.9759678833049 + ], + "t1_depth": 0.4987032025722138 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -25.16718292236328, + "y": -9.187763214111328, + "z": 1.0930766505002976 + }, + "image_uv": [ + 578.070517561938, + 407.9320050838851 + ], + "depth": 28.51764901136582, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 707, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -25.16718292236328, + "y": -9.187763214111328, + "z": 1.0930767059326172 + }, + "extent": { + "x": 0.47953733801841736, + "y": 0.4945715367794037, + "z": 0.8819833993911743 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 554.3061477078204, + "ymin": 371.5084408432672, + "xmax": 600.6141355513469, + "ymax": 444.2087933186749 + }, + "corners_3d": [ + [ + -24.672611236572266, + -9.667301177978516, + 0.21109330654144287 + ], + [ + -25.661754608154297, + -9.6673002243042, + 0.21109330654144287 + ], + [ + -25.661754608154297, + -8.70822525024414, + 0.21109330654144287 + ], + [ + -24.672611236572266, + -8.708226203918457, + 0.21109330654144287 + ], + [ + -24.672611236572266, + -9.667301177978516, + 1.9750601053237915 + ], + [ + -25.661754608154297, + -9.6673002243042, + 1.9750601053237915 + ], + [ + -25.661754608154297, + -8.70822525024414, + 1.9750601053237915 + ], + [ + -24.672611236572266, + -8.708226203918457, + 1.9750601053237915 + ] + ], + "corners_2d": [ + [ + 557.5736150656063, + 435.62288087954073 + ], + [ + 587.5135305741036, + 444.2087933186749 + ], + [ + 600.6141355513469, + 424.0310305662106 + ], + [ + 571.248213163836, + 415.8456013914494 + ], + [ + 554.3061477078204, + 390.9612039292901 + ], + [ + 585.4108508396299, + 399.41751320611644 + ], + [ + 599.075168870702, + 379.5551684890537 + ], + [ + 568.5892986675605, + 371.5084408432672 + ] + ], + "center_offset_px": [ + -61.929482438061996, + 47.93200508388509 + ] + }, + "trace_timestep_index": 161, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 79, + "semantic_pixel_counts": { + "1": 325726, + "2": 191402, + "3": 41326, + "5": 4096, + "6": 13881, + "7": 861, + "10": 260, + "12": 2907, + "14": 14038, + "15": 15424, + "20": 3223, + "24": 24117, + "25": 284339 + }, + "instance_pixel_counts": { + "108": 49, + "3992": 427, + "4504": 14, + "6018": 231, + "6508": 1133, + "7274": 186, + "7576": 2089, + "7784": 9417, + "7786": 5215, + "8088": 1816, + "8296": 51030, + "8298": 171, + "8600": 1908, + "8780": 4096, + "8808": 1705, + "9112": 204, + "9322": 3276, + "9624": 6597, + "9832": 101150, + "10316": 2357, + "10624": 85, + "10828": 785, + "12652": 499, + "21090": 15407, + "21602": 59726, + "21844": 11315, + "24656": 249, + "24946": 17412, + "25168": 428, + "25856": 3321, + "26112": 6744, + "26218": 166, + "26730": 12, + "27988": 9775, + "29327": 168, + "29800": 675, + "29839": 11529, + "30312": 188, + "30351": 6098, + "31375": 42033, + "31812": 1683, + "31848": 18285, + "32324": 1142, + "32360": 39427, + "33384": 21518, + "33650": 6501, + "33896": 4723, + "33906": 5489, + "34408": 77608, + "34418": 11924, + "34560": 113, + "39239": 284339, + "40855": 236, + "41367": 4190, + "41879": 1224, + "42903": 9554, + "46184": 973, + "46672": 3656, + "46696": 3997, + "46917": 2, + "47208": 711, + "47720": 123, + "48232": 4571, + "53391": 985, + "53903": 233, + "54950": 123, + "56320": 707, + "56576": 558, + "56832": 494, + "56975": 4285, + "57088": 641, + "57487": 2742, + "57600": 507, + "57999": 4485, + "58511": 735, + "58951": 81, + "59023": 14717, + "60928": 4263, + "61440": 4109 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 707, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -25.16718292236328, + "y": -9.187763214111328, + "z": 1.0930767059326172 + }, + "extent": { + "x": 0.49513548612594604, + "y": 0.6031078696250916, + "z": 0.8930075764656067 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 550.6714158539984, + "ymin": 370.03994310963367, + "xmax": 604.0873355898818, + "ymax": 445.76778066217275 + }, + "corners_3d": [ + [ + -24.564075469970703, + -9.68289852142334, + 0.2000691294670105 + ], + [ + -25.77029037475586, + -9.68289852142334, + 0.2000691294670105 + ], + [ + -25.77029037475586, + -8.692627906799316, + 0.2000691294670105 + ], + [ + -24.564075469970703, + -8.692627906799316, + 0.2000691294670105 + ], + [ + -24.564075469970703, + -9.68289852142334, + 1.986084222793579 + ], + [ + -25.77029037475586, + -9.68289852142334, + 1.986084222793579 + ], + [ + -25.77029037475586, + -8.692627906799316, + 1.986084222793579 + ], + [ + -24.564075469970703, + -8.692627906799316, + 1.986084222793579 + ] + ], + "corners_2d": [ + [ + 554.1167582598094, + 435.28844708637706 + ], + [ + 590.6305999357556, + 445.76778066217275 + ], + [ + 604.0873355898818, + 424.8856779712606 + ], + [ + 568.2959196899916, + 414.91054633215583 + ], + [ + 550.6714158539984, + 390.0775756669175 + ], + [ + 588.624412264873, + 400.39708608846377 + ], + [ + 602.6651501582995, + 379.8436509737096 + ], + [ + 565.4917505407067, + 370.03994310963367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 558, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -21.041194915771484, + "y": -6.190057754516602, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.46760743856430054, + "y": 0.43887758255004883, + "z": 0.8957613706588745 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 484.43534745295256, + "ymin": 293.8197435088979, + "xmax": 522.6206695502976, + "ymax": 356.25435289903453 + }, + "corners_3d": [ + [ + -20.709129333496094, + -6.73869514465332, + 0.046060383319854736 + ], + [ + -21.567703247070312, + -6.556198596954346, + 0.046060383319854736 + ], + [ + -21.373260498046875, + -5.641420364379883, + 0.046060383319854736 + ], + [ + -20.514686584472656, + -5.823916912078857, + 0.046060383319854736 + ], + [ + -20.709129333496094, + -6.73869514465332, + 1.837583065032959 + ], + [ + -21.567703247070312, + -6.556198596954346, + 1.837583065032959 + ], + [ + -21.373260498046875, + -5.641420364379883, + 1.837583065032959 + ], + [ + -20.514686584472656, + -5.823916912078857, + 1.837583065032959 + ] + ], + "corners_2d": [ + [ + 489.82648179829926, + 353.39828459125647 + ], + [ + 515.0737429774354, + 356.25435289903453 + ], + [ + 522.6206695502976, + 339.5520046146408 + ], + [ + 497.896559113288, + 336.81941637890253 + ], + [ + 484.43534745295256, + 310.0003578419462 + ], + [ + 510.571506970534, + 312.790377813582 + ], + [ + 518.4863067711966, + 296.4849468343158 + ], + [ + 492.9103326166986, + 293.8197435088979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 494, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -27.423004150390625, + "y": -2.2450506687164307, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4735705554485321, + "y": 0.2849501669406891, + "z": 0.9222845435142517 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 711.0468869982324, + "ymin": 272.4093833089466, + "xmax": 736.0804968183973, + "ymax": 334.32603551597384 + }, + "corners_3d": [ + [ + -27.189117431640625, + -2.74581241607666, + 0.01953721046447754 + ], + [ + -27.755895614624023, + -2.686241626739502, + 0.01953721046447754 + ], + [ + -27.656890869140625, + -1.7442889213562012, + 0.01953721046447754 + ], + [ + -27.090112686157227, + -1.8038597106933594, + 0.01953721046447754 + ], + [ + -27.189117431640625, + -2.74581241607666, + 1.864106297492981 + ], + [ + -27.755895614624023, + -2.686241626739502, + 1.864106297492981 + ], + [ + -27.656890869140625, + -1.7442889213562012, + 1.864106297492981 + ], + [ + -27.090112686157227, + -1.8038597106933594, + 1.864106297492981 + ] + ], + "corners_2d": [ + [ + 711.0468869982324, + 331.56770502672373 + ], + [ + 727.174765325183, + 334.32603551597384 + ], + [ + 732.8128082428533, + 318.76155920768633 + ], + [ + 717.0019627472398, + 316.1177002457283 + ], + [ + 713.5940041080808, + 287.4453380722762 + ], + [ + 730.3121860980009, + 290.1321215289445 + ], + [ + 736.0804968183973, + 274.98078913556725 + ], + [ + 719.7027653740419, + 272.4093833089466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 641, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -34.66718292236328, + "y": -9.187763214111328, + "z": 1.0938432216644287 + }, + "extent": { + "x": 0.32761716842651367, + "y": 0.5810656547546387, + "z": 0.8869583010673523 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 870.7104797529788, + "ymin": 459.0362476843932, + "xmax": 929.9756935364207, + "ymax": 533.576482056719 + }, + "corners_3d": [ + [ + -34.086116790771484, + -9.515380859375, + 0.20688492059707642 + ], + [ + -35.24824905395508, + -9.515379905700684, + 0.20688492059707642 + ], + [ + -35.24824905395508, + -8.860145568847656, + 0.20688492059707642 + ], + [ + -34.086116790771484, + -8.860146522521973, + 0.20688492059707642 + ], + [ + -34.086116790771484, + -9.515380859375, + 1.9808015823364258 + ], + [ + -35.24824905395508, + -9.515379905700684, + 1.9808015823364258 + ], + [ + -35.24824905395508, + -8.860145568847656, + 1.9808015823364258 + ], + [ + -34.086116790771484, + -8.860146522521973, + 1.9808015823364258 + ] + ], + "corners_2d": [ + [ + 870.7104797529788, + 521.2979537632334 + ], + [ + 913.7171808389553, + 533.576482056719 + ], + [ + 917.7895185151322, + 516.6480084565776 + ], + [ + 875.4950484931143, + 504.80490430741975 + ], + [ + 880.8845987523803, + 475.3918068381393 + ], + [ + 925.9547331818462, + 487.5846384414602 + ], + [ + 929.9756935364207, + 470.7780296784444 + ], + [ + 885.6875704466129, + 459.0362476843932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 507, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -13.921846389770508, + "y": -17.35797882080078, + "z": 1.1829253435134888 + }, + "extent": { + "x": 0.38943541049957275, + "y": 0.3356793224811554, + "z": 0.905529260635376 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 36.66201039085968, + "ymin": 449.8511219657824, + "xmax": 103.04695439881687, + "ymax": 524.4182707836927 + }, + "corners_3d": [ + [ + -13.512534141540527, + -17.669113159179688, + 0.2773960828781128 + ], + [ + -14.169221878051758, + -17.808696746826172, + 0.2773960828781128 + ], + [ + -14.331158638000488, + -17.046844482421875, + 0.2773960828781128 + ], + [ + -13.674470901489258, + -16.90726089477539, + 0.2773960828781128 + ], + [ + -13.512534141540527, + -17.669113159179688, + 2.0884547233581543 + ], + [ + -14.169221878051758, + -17.808696746826172, + 2.0884547233581543 + ], + [ + -14.331158638000488, + -17.046844482421875, + 2.0884547233581543 + ], + [ + -13.674470901489258, + -16.90726089477539, + 2.0884547233581543 + ] + ], + "corners_2d": [ + [ + 62.566194182062304, + 514.0036254996892 + ], + [ + 76.52949828869475, + 524.4182707836927 + ], + [ + 103.04695439881687, + 506.74087874535945 + ], + [ + 89.054800492298, + 496.7158607064082 + ], + [ + 36.66201039085968, + 466.97723669283295 + ], + [ + 50.952759242272464, + 477.30843484913896 + ], + [ + 79.15727360071912, + 459.7788868324956 + ], + [ + 64.82349284924567, + 449.8511219657824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4263, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 541.7588063955177, + "ymin": 121.92349224697821, + "xmax": 659.3647373726358, + "ymax": 198.15232987176446 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 640.9906061848017, + 198.15232987176446 + ], + [ + 658.8578825763975, + 176.34314251926588 + ], + [ + 565.0398090226447, + 158.46725521896 + ], + [ + 544.3416196453672, + 178.9357920953921 + ], + [ + 641.0182553118807, + 160.0778510521408 + ], + [ + 659.3647373726358, + 139.09259504503942 + ], + [ + 563.0884545483963, + 121.92349224697821 + ], + [ + 541.7588063955177, + 141.58508586555948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 4109, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1234.8988547021318, + "ymin": 567.4926061375525, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1315.6455349182138, + 641.6528366567527 + ], + [ + 1234.8988547021318, + 619.1113241100717 + ], + [ + 1251.2361868131948, + 779.0873268954567 + ], + [ + 1345.3143479042674, + 809.3125674214225 + ], + [ + 1353.4819907800484, + 590.0984728029325 + ], + [ + 1267.4576612087535, + 567.4926061375525 + ], + [ + 1290.2397304996825, + 729.1125755450903 + ], + [ + 1391.5439001345908, + 759.9614452764554 + ] + ], + "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": 137.05599539768787, + "ymin": 113.19795968747346, + "xmax": 155.38306575394682, + "ymax": 130.9579687914281 + }, + "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": [ + [ + 154.10102574556254, + 130.9579687914281 + ], + [ + 155.38306575394682, + 130.2589215997031 + ], + [ + 143.3942290680768, + 127.71972206269706 + ], + [ + 142.10272288404803, + 128.41216735689997 + ], + [ + 149.15223733281113, + 116.3802728774254 + ], + [ + 150.4538190925876, + 115.69326712510775 + ], + [ + 138.36717384005362, + 113.19795968747346 + ], + [ + 137.05599539768787, + 113.8784116990393 + ] + ], + "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": 137.0559985534245, + "ymin": 113.19796033846754, + "xmax": 155.38306891163552, + "ymax": 130.95796946196 + }, + "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": [ + [ + 154.10102890576405, + 130.95796946196 + ], + [ + 155.38306891163552, + 130.258922268492 + ], + [ + 143.39423219596313, + 127.71972272517394 + ], + [ + 142.10272601438476, + 128.41216802109517 + ], + [ + 149.15224051896223, + 116.38027353641581 + ], + [ + 150.45382227619086, + 115.69326778236774 + ], + [ + 138.36717699330654, + 113.19796033846754 + ], + [ + 137.0559985534245, + 113.87841235173912 + ] + ], + "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": 86.16476116110778, + "ymin": 104.12540812252206, + "xmax": 104.5044823487226, + "ymax": 121.61247359419139 + }, + "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": [ + [ + 103.17962907598053, + 121.61247359419139 + ], + [ + 104.5044823487226, + 120.93750827198039 + ], + [ + 92.9593658473259, + 118.48552608456947 + ], + [ + 91.62597462814915, + 119.15422693046739 + ], + [ + 97.80822807661605, + 107.19726301964539 + ], + [ + 99.15325368787126, + 106.53415887808228 + ], + [ + 87.51843031493581, + 104.12540812252206 + ], + [ + 86.16476116110778, + 104.78229676601705 + ] + ], + "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": 86.97403382651282, + "ymin": 102.8663456026726, + "xmax": 105.26352513211373, + "ymax": 120.31542910886526 + }, + "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": [ + [ + 103.94289423007183, + 120.31542910886526 + ], + [ + 105.26352513211373, + 119.64377271390686 + ], + [ + 93.74307374225123, + 117.20377568510747 + ], + [ + 92.41393749627002, + 117.86921350714351 + ], + [ + 98.59243415009132, + 105.92302654299453 + ], + [ + 99.93311837012061, + 105.26320556652368 + ], + [ + 88.32332848747706, + 102.8663456026726 + ], + [ + 86.97403382651282, + 103.51999707768914 + ] + ], + "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": 135.41501586515824, + "ymin": 106.22831213101901, + "xmax": 151.8672115331708, + "ymax": 124.92950376352871 + }, + "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": [ + [ + 151.6972283749746, + 124.92950376352871 + ], + [ + 151.8672115331708, + 124.8380809339024 + ], + [ + 141.2647887849917, + 122.61210829605409 + ], + [ + 141.0937013423196, + 122.70276672316876 + ], + [ + 146.1155833630704, + 108.499625747084 + ], + [ + 146.28848032080788, + 108.4100165880543 + ], + [ + 135.58903414147034, + 106.22831213101901 + ], + [ + 135.41501586515824, + 106.31716354277165 + ] + ], + "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": 135.41514761541532, + "ymin": 106.22833093460233, + "xmax": 151.8673429252937, + "ymax": 124.92952311798172 + }, + "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": [ + [ + 151.69735978351292, + 124.92952311798172 + ], + [ + 151.8673429252937, + 124.8381002816974 + ], + [ + 141.2649192422935, + 122.61212748209263 + ], + [ + 141.09383181576777, + 122.70278591578202 + ], + [ + 146.11571606811407, + 108.4996447176155 + ], + [ + 146.2886130091303, + 108.41003555198526 + ], + [ + 135.58916587528364, + 106.22833093460233 + ], + [ + 135.41514761541532, + 106.31718235287198 + ] + ], + "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": 137.05599539768787, + "ymin": 113.19795968747346, + "xmax": 155.38306575394682, + "ymax": 130.9579687914281 + }, + "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": [ + [ + 154.10102574556254, + 130.9579687914281 + ], + [ + 155.38306575394682, + 130.2589215997031 + ], + [ + 143.3942290680768, + 127.71972206269706 + ], + [ + 142.10272288404803, + 128.41216735689997 + ], + [ + 149.15223733281113, + 116.3802728774254 + ], + [ + 150.4538190925876, + 115.69326712510775 + ], + [ + 138.36717384005362, + 113.19795968747346 + ], + [ + 137.05599539768787, + 113.8784116990393 + ] + ], + "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": 137.05599559087102, + "ymin": 113.19795962081156, + "xmax": 155.38306587954526, + "ymax": 130.95796868843436 + }, + "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": [ + [ + 154.10102593445134, + 130.95796868843436 + ], + [ + 155.38306587954526, + 130.25892153121907 + ], + [ + 143.39422919460344, + 127.71972199485938 + ], + [ + 142.10272307433024, + 128.41216725487948 + ], + [ + 149.15223752458155, + 116.38027277620444 + ], + [ + 150.45381922009886, + 115.69326705780429 + ], + [ + 138.36717396850582, + 113.19795962081156 + ], + [ + 137.05599559087102, + 113.87841159878451 + ] + ], + "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": 137.05599809186288, + "ymin": 113.19796022996857, + "xmax": 155.38306838535402, + "ymax": 130.95796931587347 + }, + "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": [ + [ + 154.10102844202663, + 130.95796931587347 + ], + [ + 155.38306838535402, + 130.2589221570272 + ], + [ + 143.39423167464884, + 127.71972261476114 + ], + [ + 142.10272555608947, + 128.41216787638905 + ], + [ + 149.15224005186042, + 116.38027339284378 + ], + [ + 150.45382174559023, + 115.69326767282445 + ], + [ + 138.36717646776447, + 113.19796022996857 + ], + [ + 137.05599809186288, + 113.87841220953746 + ] + ], + "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": 87.79947143630443, + "ymin": 114.19638628415711, + "xmax": 106.48810972813976, + "ymax": 131.9863531579734 + }, + "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": [ + [ + 105.13982179809807, + 131.9863531579734 + ], + [ + 106.48810972813976, + 131.28462999824444 + ], + [ + 94.70819472577477, + 128.73574016260523 + ], + [ + 93.3510082528735, + 129.43082357029022 + ], + [ + 99.68184413033237, + 117.39097588794283 + ], + [ + 101.05105692023903, + 116.7013134201735 + ], + [ + 89.17769541062296, + 114.19638628415711 + ], + [ + 87.79947143630443, + 114.87945704977446 + ] + ], + "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": 135.41486626308517, + "ymin": 106.2282737557895, + "xmax": 151.86706179542915, + "ymax": 124.92946426405842 + }, + "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": [ + [ + 151.69707862410445, + 124.92946426405842 + ], + [ + 151.86706179542915, + 124.83804144802008 + ], + [ + 141.2646404590422, + 122.61206914029205 + ], + [ + 141.09355300362006, + 122.70272755398884 + ], + [ + 146.11543232001384, + 108.49958703113867 + ], + [ + 146.28832929103572, + 108.4099778855796 + ], + [ + 135.58888455229186, + 106.2282737557895 + ], + [ + 135.41486626308517, + 106.31712515424204 + ] + ], + "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": 137.0559985534245, + "ymin": 113.19796033846754, + "xmax": 155.38306891163552, + "ymax": 130.95796946196 + }, + "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": [ + [ + 154.10102890576405, + 130.95796946196 + ], + [ + 155.38306891163552, + 130.258922268492 + ], + [ + 143.39423219596313, + 127.71972272517394 + ], + [ + 142.10272601438476, + 128.41216802109517 + ], + [ + 149.15224051896223, + 116.38027353641581 + ], + [ + 150.45382227619086, + 115.69326778236774 + ], + [ + 138.36717699330654, + 113.19796033846754 + ], + [ + 137.0559985534245, + 113.87841235173912 + ] + ], + "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": 134.0958513391895, + "ymin": 105.61143464432541, + "xmax": 154.42196699286887, + "ymax": 125.91391123361691 + }, + "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": [ + [ + 154.21858499449456, + 125.91391123361691 + ], + [ + 154.42196699286887, + 125.80404241211787 + ], + [ + 140.28342537734653, + 122.83326629166379 + ], + [ + 140.0782768959835, + 122.94191216603471 + ], + [ + 148.37235057406258, + 108.6277282773543 + ], + [ + 148.5794005401322, + 108.52014727246993 + ], + [ + 134.30469648836487, + 105.61143464432541 + ], + [ + 134.0958513391895, + 105.7178038798437 + ] + ], + "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": 135.4149912572716, + "ymin": 106.22827525000571, + "xmax": 151.86718592913843, + "ymax": 124.92946580204918 + }, + "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": [ + [ + 151.6972027786785, + 124.92946580204918 + ], + [ + 151.86718592913843, + 124.83804298548174 + ], + [ + 141.26476404220716, + 122.61207066489987 + ], + [ + 141.093676607465, + 122.70272907911911 + ], + [ + 146.11555787742537, + 108.49958853862134 + ], + [ + 146.28845482710835, + 108.4099793925377 + ], + [ + 135.5890095253307, + 106.22827525000571 + ], + [ + 135.4149912572716, + 106.31712664897611 + ] + ], + "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": 137.05599559087102, + "ymin": 113.19795962081156, + "xmax": 155.38306587954526, + "ymax": 130.95796868843436 + }, + "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": [ + [ + 154.10102593445134, + 130.95796868843436 + ], + [ + 155.38306587954526, + 130.25892153121907 + ], + [ + 143.39422919460344, + 127.71972199485938 + ], + [ + 142.10272307433024, + 128.41216725487948 + ], + [ + 149.15223752458155, + 116.38027277620444 + ], + [ + 150.45381922009886, + 115.69326705780429 + ], + [ + 138.36717396850582, + 113.19795962081156 + ], + [ + 137.05599559087102, + 113.87841159878451 + ] + ], + "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": 134.095793819452, + "ymin": 105.61146396118912, + "xmax": 154.42191093784425, + "ymax": 125.91394149344117 + }, + "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": [ + [ + 154.21852897948094, + 125.91394149344117 + ], + [ + 154.42191093784425, + 125.80407269355649 + ], + [ + 140.28336883538844, + 122.83329623607486 + ], + [ + 140.07822039451406, + 122.94194208900313 + ], + [ + 148.37229354868373, + 108.62775790714682 + ], + [ + 148.57934347430432, + 108.52017692327959 + ], + [ + 134.3046389276917, + 105.61146396118912 + ], + [ + 134.095793819452, + 105.71783317585806 + ] + ], + "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": 134.0959669207175, + "ymin": 105.61145254022554, + "xmax": 154.42208246635698, + "ymax": 125.9139296918386 + }, + "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": [ + [ + 154.21870054790236, + 125.9139296918386 + ], + [ + 154.42208246635698, + 125.80406089682361 + ], + [ + 140.28353971824583, + 122.8332845706378 + ], + [ + 140.0783913169637, + 122.94193041877742 + ], + [ + 148.37246731301724, + 108.62774635126232 + ], + [ + 148.5795171977079, + 108.52016537222065 + ], + [ + 134.3048119883565, + 105.61145254022554 + ], + [ + 134.0959669207175, + 105.71782175015 + ] + ], + "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": 137.05599427058024, + "ymin": 113.19795916199087, + "xmax": 155.38306455189803, + "ymax": 130.95796821584338 + }, + "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": [ + [ + 154.10102460620226, + 130.95796821584338 + ], + [ + 155.38306455189803, + 130.2589210598565 + ], + [ + 143.3942278837136, + 127.71972152794561 + ], + [ + 142.10272176287157, + 128.4121667867546 + ], + [ + 149.15223618720006, + 116.38027231174792 + ], + [ + 150.45381788331986, + 115.69326659456732 + ], + [ + 138.36717264878394, + 113.19795916199087 + ], + [ + 137.05599427058024, + 113.8784111387616 + ] + ], + "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": 134.09591182054203, + "ymin": 105.61140573275179, + "xmax": 154.42202594186335, + "ymax": 125.91388135847538 + }, + "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": [ + [ + 154.21864396706655, + 125.91388135847538 + ], + [ + 154.42202594186335, + 125.80401254930413 + ], + [ + 140.28348478606847, + 122.83323676121822 + ], + [ + 140.07833632834428, + 122.94188262346674 + ], + [ + 148.37241058831836, + 108.62769902423514 + ], + [ + 148.5794605301012, + 108.52011803156716 + ], + [ + 134.30475694536938, + 105.61140573275179 + ], + [ + 134.09591182054203, + 105.71777495625963 + ] + ], + "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": 76.17983976635503, + "ymin": 100.63943271379543, + "xmax": 94.45949971317953, + "ymax": 118.02127527840258 + }, + "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": [ + [ + 93.13088863155974, + 118.02127527840258 + ], + [ + 94.45949971317953, + 117.35545177171804 + ], + [ + 83.0388001757816, + 114.93658216653276 + ], + [ + 81.70188369441576, + 115.59626774451422 + ], + [ + 87.69651642857934, + 103.66936781837722 + ], + [ + 89.0452795179192, + 103.01533372680791 + ], + [ + 77.53700819702397, + 100.63943271379543 + ], + [ + 76.17983976635503, + 101.2873781009755 + ] + ], + "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": 134.09585021938807, + "ymin": 105.61143449541649, + "xmax": 154.42196581002827, + "ymax": 125.9139110456303 + }, + "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": [ + [ + 154.2185838746197, + 125.9139110456303 + ], + [ + 154.42196581002827, + 125.80404225830955 + ], + [ + 140.2834242051689, + 122.83326613956734 + ], + [ + 140.07827578732366, + 122.94191198014079 + ], + [ + 148.3723494427993, + 108.62772809328175 + ], + [ + 148.5793993447678, + 108.52014712186477 + ], + [ + 134.30469530390133, + 105.61143449541649 + ], + [ + 134.09585021938807, + 105.71780369784469 + ] + ], + "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": 137.3980771718376, + "ymin": 117.11205103163994, + "xmax": 155.69493240319537, + "ymax": 134.82921857204065 + }, + "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": [ + [ + 154.41525598836358, + 134.82921857204065 + ], + [ + 155.69493240319537, + 134.12621062101763 + ], + [ + 143.72282286405527, + 131.57260051060643 + ], + [ + 142.4337051322267, + 132.26897921983257 + ], + [ + 149.4772989033259, + 120.31338288264851 + ], + [ + 150.7764487453162, + 119.6222764486626 + ], + [ + 138.70679836219796, + 117.11205103163994 + ], + [ + 137.3980771718376, + 117.79657469824099 + ] + ], + "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": 135.41501586515824, + "ymin": 106.22831213101901, + "xmax": 151.8672115331708, + "ymax": 124.92950376352871 + }, + "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": [ + [ + 151.6972283749746, + 124.92950376352871 + ], + [ + 151.8672115331708, + 124.8380809339024 + ], + [ + 141.2647887849917, + 122.61210829605409 + ], + [ + 141.0937013423196, + 122.70276672316876 + ], + [ + 146.1155833630704, + 108.499625747084 + ], + [ + 146.28848032080788, + 108.4100165880543 + ], + [ + 135.58903414147034, + 106.22831213101901 + ], + [ + 135.41501586515824, + 106.31716354277165 + ] + ], + "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": 68.58752740907164, + "ymin": 100.42058222912539, + "xmax": 86.90834930306505, + "ymax": 117.79581240822179 + }, + "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": [ + [ + 85.57071668477056, + 117.79581240822179 + ], + [ + 86.90834930306505, + 117.13056076679189 + ], + [ + 75.52737858303772, + 114.71376258200974 + ], + [ + 74.18153604193412, + 115.37288418246106 + ], + [ + 80.06360874556435, + 103.44789526278555 + ], + [ + 81.42156732863407, + 102.79442848566691 + ], + [ + 69.95379307658914, + 100.42058222912539 + ], + [ + 68.58752740907164, + 101.06796820377838 + ] + ], + "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": 135.41513023436767, + "ymin": 106.22832697401068, + "xmax": 151.86732554434582, + "ymax": 124.92951904136066 + }, + "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": [ + [ + 151.6973424008786, + 124.92951904136066 + ], + [ + 151.86732554434582, + 124.83809620647864 + ], + [ + 141.26490201512473, + 122.61212344094463 + ], + [ + 141.0938145869543, + 122.7027818732492 + ], + [ + 146.1156985300866, + 108.49964072185966 + ], + [ + 146.28859547281297, + 108.41003155761962 + ], + [ + 135.58914849590303, + 106.22832697401068 + ], + [ + 135.41513023436767, + 106.31717839090766 + ] + ], + "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": 1118.2502342704338, + "ymin": 102.18179572166571, + "xmax": 1135.100554271778, + "ymax": 131.73425744644837 + }, + "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": [ + [ + 1118.2502342704338, + 130.40553726791524 + ], + [ + 1126.904713001713, + 131.73425744644837 + ], + [ + 1127.011933999608, + 127.28429712921832 + ], + [ + 1118.4285641027473, + 125.9774285012956 + ], + [ + 1126.2405525879071, + 106.48271240564782 + ], + [ + 1135.0600926675002, + 107.77349788029622 + ], + [ + 1135.100554271778, + 103.45100286163273 + ], + [ + 1126.3548510230435, + 102.18179572166571 + ] + ], + "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": 1100.3728174313096, + "ymin": 124.57828839566076, + "xmax": 1114.7258942551116, + "ymax": 149.87692570589743 + }, + "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": [ + [ + 1100.3728174313096, + 148.68757935715857 + ], + [ + 1107.826163817242, + 149.87692570589743 + ], + [ + 1108.0545343316028, + 145.91195447467763 + ], + [ + 1100.6537017444248, + 144.7394800049885 + ], + [ + 1106.9681269173266, + 128.4364930484117 + ], + [ + 1114.5428124885366, + 129.59891311112125 + ], + [ + 1114.7258942551116, + 125.72398461764905 + ], + [ + 1107.2054419306871, + 124.57828839566076 + ] + ], + "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": 1116.7304383893343, + "ymin": 138.2465463408893, + "xmax": 1134.761086721959, + "ymax": 169.6627190970454 + }, + "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": [ + [ + 1116.7304383893343, + 168.14041751245588 + ], + [ + 1125.9907052085332, + 169.6627190970454 + ], + [ + 1126.1134983729037, + 164.56651900436628 + ], + [ + 1116.9345966504293, + 163.07099095645304 + ], + [ + 1125.2651295099329, + 143.1818431458716 + ], + [ + 1134.7146393306568, + 144.6641711550902 + ], + [ + 1134.761086721959, + 139.7023427841245 + ], + [ + 1125.3962879982926, + 138.2465463408893 + ] + ], + "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": 1115.290458554584, + "ymin": 172.45181662555794, + "xmax": 1134.4388504415138, + "ymax": 205.6074851127195 + }, + "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": [ + [ + 1115.290458554584, + 203.88961501259627 + ], + [ + 1125.1243419035545, + 205.6074851127195 + ], + [ + 1125.2628590166844, + 199.85881105079162 + ], + [ + 1115.5206828752275, + 198.17300881794495 + ], + [ + 1124.3387557425033, + 178.02947256851925 + ], + [ + 1134.3863372031299, + 179.70597602806487 + ], + [ + 1134.4388504415138, + 174.09643629513187 + ], + [ + 1124.4869879552664, + 172.45181662555794 + ] + ], + "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": 1069.145042174129, + "ymin": 471.3456804584588, + "xmax": 1092.4279257062904, + "ymax": 510.2674675512999 + }, + "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": [ + [ + 1081.3156385063176, + 510.2674675512999 + ], + [ + 1082.0000244800967, + 499.5525275096917 + ], + [ + 1069.9687942896721, + 496.40285132329734 + ], + [ + 1069.145042174129, + 507.04299139871637 + ], + [ + 1091.8534559518016, + 485.14742336868744 + ], + [ + 1092.4279257062904, + 474.48019873707267 + ], + [ + 1080.0767577571946, + 471.3456804584588 + ], + [ + 1079.3553504858671, + 481.9366801443812 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 91.47667946657918, + "ymin": 104.63007314357097, + "xmax": 111.71657454146816, + "ymax": 153.2838402585212 + }, + "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": [ + [ + 110.79649314924359, + 153.2838402585212 + ], + [ + 111.71657454146816, + 152.78330537575135 + ], + [ + 110.42483115784671, + 152.49324085276007 + ], + [ + 109.50407198057678, + 152.9932564902761 + ], + [ + 92.8033630530773, + 105.37756324584655 + ], + [ + 93.77133248637449, + 104.90431287536833 + ], + [ + 92.44535567573894, + 104.63007314357097 + ], + [ + 91.47667946657918, + 105.10281590217605 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 80.63452132349335, + "ymin": 102.38881263739478, + "xmax": 101.1472682533198, + "ymax": 150.90616985327748 + }, + "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": [ + [ + 100.22167643815771, + 150.90616985327748 + ], + [ + 101.1472682533198, + 150.40987572777414 + ], + [ + 99.86646127547351, + 150.12226703720708 + ], + [ + 98.9402071407037, + 150.61804850068626 + ], + [ + 81.94958308026276, + 103.1297575975907 + ], + [ + 82.92329597827234, + 102.6606521859822 + ], + [ + 81.60892414134719, + 102.38881263739478 + ], + [ + 80.63452132349335, + 102.85741708960842 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 1075.5876478882944, + "ymin": 0.0, + "xmax": 1209.6875477938945, + "ymax": 83.73413863936719 + }, + "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": [ + [ + 1075.987624948564, + 69.84778751701441 + ], + [ + 1075.5876478882944, + 72.83093383456571 + ], + [ + 1154.1647328278636, + 83.73413863936719 + ], + [ + 1154.0737163352844, + 80.61419027810393 + ], + [ + 1121.5953993693477, + -86.27202284623252 + ], + [ + 1121.4689665529554, + -84.05524045341195 + ], + [ + 1209.6875477938945, + -75.92826490267765 + ], + [ + 1209.1955617005365, + -78.25778011489137 + ] + ], + "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": 92.4048794403817, + "ymin": 116.03401740054417, + "xmax": 113.0498875108409, + "ymax": 165.37170766310112 + }, + "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": [ + [ + 112.11115894445311, + 165.37170766310112 + ], + [ + 113.0498875108409, + 164.84933456641235 + ], + [ + 111.72958665933118, + 164.5466237266218 + ], + [ + 110.79014947558665, + 165.0684432374405 + ], + [ + 93.76171410002075, + 116.81525667321043 + ], + [ + 94.75038394538365, + 116.32063319540728 + ], + [ + 93.39428896144625, + 116.03401740054417 + ], + [ + 92.4048794403817, + 116.52809850331292 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 676.0996578920222, + "ymin": 0.0, + "xmax": 722.4902369372999, + "ymax": 172.79907444094607 + }, + "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": [ + [ + 713.5942890130485, + 136.9658637869114 + ], + [ + 704.7020293642288, + 135.4031638091593 + ], + [ + 676.0996578920222, + 171.02385934833808 + ], + [ + 685.4902595482671, + 172.79907444094607 + ], + [ + 722.4902369372999, + -35.32304953459095 + ], + [ + 712.4979001438057, + -36.51898870008637 + ], + [ + 680.7721523021737, + -9.050295883201613 + ], + [ + 691.3986572842173, + -7.669872164937658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 50.95174547627198, + "ymin": 506.07309135238313, + "xmax": 338.0932826809423, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 338.0932826809423, + 514.9197224082523 + ], + [ + 323.2416157279198, + 509.8832447909303 + ], + [ + 53.77784859999679, + 812.2774532682959 + ], + [ + 71.59286158455996, + 821.2022597374053 + ], + [ + 336.99420979690746, + 511.1068880392178 + ], + [ + 322.09480181963045, + 506.07309135238313 + ], + [ + 50.95174547627198, + 808.661807308766 + ], + [ + 68.83247976610369, + 817.603351679484 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 142.980307316302, + "ymin": 118.49958116964575, + "xmax": 161.82951439442877, + "ymax": 167.55218835042777 + }, + "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": [ + [ + 160.93911616654492, + 167.55218835042777 + ], + [ + 161.82951439442877, + 167.03001249954255 + ], + [ + 160.48898798491842, + 166.7274142413059 + ], + [ + 159.59784017470673, + 167.24903902469936 + ], + [ + 144.3589213057711, + 119.28111330277346 + ], + [ + 145.29570911855183, + 118.78630551664065 + ], + [ + 143.9178804126676, + 118.49958116964575 + ], + [ + 142.980307316302, + 118.99384872118509 + ] + ], + "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": 1034.1038380740347, + "ymin": 308.57555369606797, + "xmax": 1280.0, + "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": [ + [ + 1035.5769585151425, + 571.6433727134436 + ], + [ + 1034.1038380740347, + 583.9527127642791 + ], + [ + 1605.9064170257725, + 753.6254497684799 + ], + [ + 1599.322609676595, + 736.77359619487 + ], + [ + 1140.6246017817866, + 308.57555369606797 + ], + [ + 1140.4325796943817, + 320.0024077975922 + ], + [ + 1925.9385082857043, + 485.69684484951034 + ], + [ + 1911.056157670079, + 468.52532696820236 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 182.1686843491094, + "ymin": 0.0, + "xmax": 281.9748801936494, + "ymax": 87.40139172315332 + }, + "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": [ + [ + 281.9748801936494, + 61.11383280335053 + ], + [ + 275.38878285422936, + 59.956412316803835 + ], + [ + 226.9225226760309, + 86.11037129123241 + ], + [ + 233.7518166378822, + 87.40139172315332 + ], + [ + 245.3549565999453, + -92.42965231002682 + ], + [ + 238.19692605389702, + -93.28636474171594 + ], + [ + 182.1686843491094, + -73.8210169812848 + ], + [ + 189.6100087614484, + -72.8543610637484 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 51.256430151468294, + "ymin": 506.23875014699286, + "xmax": 337.89508705657835, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 337.89508705657835, + 514.9734748506557 + ], + [ + 323.23157796016267, + 510.00025561150755 + ], + [ + 54.044724354017035, + 812.1185670737294 + ], + [ + 71.63109503838598, + 820.9265112353476 + ], + [ + 336.80928991342, + 511.20936022859706 + ], + [ + 322.09924477574816, + 506.23875014699286 + ], + [ + 51.256430151468294, + 808.5489121096283 + ], + [ + 68.90684501383168, + 817.3731501767775 + ] + ], + "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": 90.67629247485308, + "ymin": 105.89724843012104, + "xmax": 110.99139408290773, + "ymax": 154.62784938373343 + }, + "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": [ + [ + 110.0684532380966, + 154.62784938373343 + ], + [ + 110.99139408290773, + 154.12490934928087 + ], + [ + 109.69693091949216, + 153.83345202703518 + ], + [ + 108.77330971253525, + 154.33586907014868 + ], + [ + 92.00583878803684, + 106.64845184570163 + ], + [ + 92.9769482184247, + 106.17284986067219 + ], + [ + 91.64811139700043, + 105.89724843012104 + ], + [ + 90.67629247485308, + 106.3723390160803 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 73.02057390362347, + "ymin": 102.16859221861398, + "xmax": 93.77654928070444, + "ymax": 150.67251078078866 + }, + "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": [ + [ + 92.84478020155132, + 150.67251078078866 + ], + [ + 93.77654928070444, + 150.17663239760222 + ], + [ + 92.50008300406455, + 149.8892644851818 + ], + [ + 91.56765893840509, + 150.3846308502409 + ], + [ + 74.3309969448635, + 102.90889565739002 + ], + [ + 75.31129745364024, + 102.44019650096834 + ], + [ + 74.00155625318428, + 102.16859221861398 + ], + [ + 73.02057390362347, + 102.63679106610556 + ] + ], + "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": 31.92964637406112, + "ymin": 491.5973371778118, + "xmax": 415.9904401487474, + "ymax": 720.0 + }, + "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": [ + [ + 415.9904401487474, + 760.8437551576233 + ], + [ + 397.0293154243701, + 752.9246279947713 + ], + [ + 216.42826893006895, + 1034.8166089338383 + ], + [ + 238.50251442932023, + 1047.074789052775 + ], + [ + 343.0061446464492, + 499.73021369558114 + ], + [ + 318.57771318944447, + 491.5973371778118 + ], + [ + 31.92964637406112, + 805.067012402244 + ], + [ + 61.4758633039487, + 819.9145814874614 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 0.0, + "xmax": 63.28119734375662, + "ymax": 21.653335655945682 + }, + "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": [ + [ + 57.35498245568215, + 21.653335655945682 + ], + [ + 63.28119734375662, + 19.336509506649634 + ], + [ + -76.76605151948377, + -5.859413612258834 + ], + [ + -83.05642887211002, + -3.8092725159701786 + ], + [ + -1.5762779714067392, + -134.1719126554002 + ], + [ + 5.296683885710195, + -135.7937980539017 + ], + [ + -144.1668017618241, + -153.31822220909123 + ], + [ + -151.4294750946524, + -151.9000446619251 + ] + ], + "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": 141.784438592517, + "ymin": 115.02901706016141, + "xmax": 160.7179800078136, + "ymax": 164.30711660443205 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.82449583060497, + 164.30711660443205 + ], + [ + 160.7179800078136, + 163.78668536737172 + ], + [ + 159.37492688435793, + 163.48509911208475 + ], + [ + 158.48069071059803, + 164.00497984651838 + ], + [ + 143.1657162086974, + 115.80725227328972 + ], + [ + 144.10588263053165, + 115.31453120390657 + ], + [ + 142.72539284829378, + 115.02901706016141 + ], + [ + 141.784438592517, + 115.52119887984156 + ] + ], + "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": 1051.0246536247173, + "ymin": 0.0, + "xmax": 1150.3771181097204, + "ymax": 369.1986286170145 + }, + "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": [ + [ + 1083.7380151310213, + 202.13064765007113 + ], + [ + 1072.841330901605, + 200.17277483529264 + ], + [ + 1051.0246536247173, + 366.02126966924675 + ], + [ + 1064.8225025423903, + 369.1986286170145 + ], + [ + 1150.3771181097204, + -2.13139019837314 + ], + [ + 1137.6036341669667, + -3.626866913177196 + ], + [ + 1132.6727549542193, + 128.39103570902375 + ], + [ + 1149.627833635003, + 131.030272647836 + ] + ], + "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": 102.02080553053486, + "ymin": 0.0, + "xmax": 324.2826402976533, + "ymax": 1.1579818294580946 + }, + "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": [ + [ + 275.42663425827124, + 1.1579818294580946 + ], + [ + 324.2826402976533, + -33.28563246976995 + ], + [ + 223.7638922664591, + -38.84778486543513 + ], + [ + 166.5771541161866, + -5.468943022856934 + ], + [ + 224.77757228962656, + -215.72329393419716 + ], + [ + 284.5923427788015, + -233.87103943008697 + ], + [ + 172.31305166661303, + -236.76222840687444 + ], + [ + 102.02080553053486, + -219.2479273874925 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00164/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00164/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76ea02c2f3f463a1a6f0b56f1e96d680885e5d55 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00164/meta.json @@ -0,0 +1,7578 @@ +{ + "frame_id": 164, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 82.0, + "sim_timestamp": 17225.145454372512 + }, + "drone_pose": { + "x": -34.296630017538085, + "y": -26.82840479314243, + "z": 20.0, + "pitch": -41.423997819341764, + "yaw": 63.293532448118555, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33699023723602295, + -0.6698422431945801, + 0.6616259813308716, + 16.295913696289062 + ], + [ + 0.8933206796646118, + 0.4494197964668274, + 0.0, + -18.580673217773438 + ], + [ + -0.2973478138446808, + 0.5910441279411316, + 0.7498340606689453, + -41.051483154296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -34.15472305113362, + "y": -26.300983672709307, + "z": 20.05170133876819 + }, + "t1_image_uv": [ + 928.5078958557604, + -667.4769406615965 + ], + "t1_depth": 0.366903255957904 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -24.66718292236328, + "y": -7.687763214111328, + "z": 1.0941362273693085 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.57485076785134, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 728, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -24.66718292236328, + "y": -7.68776273727417, + "z": 1.094136118888855 + }, + "extent": { + "x": 0.4946960210800171, + "y": 0.592153012752533, + "z": 0.9031124711036682 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 614.0979179983145, + "ymin": 321.42093919315255, + "xmax": 665.6591600438192, + "ymax": 398.3996273448274 + }, + "corners_3d": [ + [ + -24.075029373168945, + -8.182458877563477, + 0.19102364778518677 + ], + [ + -25.259336471557617, + -8.182458877563477, + 0.19102364778518677 + ], + [ + -25.259336471557617, + -7.193066596984863, + 0.19102364778518677 + ], + [ + -24.075029373168945, + -7.1930670738220215, + 0.19102364778518677 + ], + [ + -24.075029373168945, + -8.182458877563477, + 1.997248649597168 + ], + [ + -25.259336471557617, + -8.182458877563477, + 1.997248649597168 + ], + [ + -25.259336471557617, + -7.193066596984863, + 1.997248649597168 + ], + [ + -24.075029373168945, + -7.1930670738220215, + 1.997248649597168 + ] + ], + "corners_2d": [ + [ + 615.1638123423633, + 386.2307689768746 + ], + [ + 650.2784817516992, + 398.3996273448274 + ], + [ + 664.6127616023408, + 378.37408319505334 + ], + [ + 630.0889614177131, + 366.7458119226011 + ], + [ + 614.0979179983145, + 340.66337833232046 + ], + [ + 650.7260175951097, + 352.69948320678355 + ], + [ + 665.6591600438192, + 332.900048002711 + ], + [ + 629.6734977367769, + 321.42093919315255 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 164, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 303697, + "2": 188809, + "3": 24808, + "5": 4320, + "6": 13172, + "7": 1044, + "10": 274, + "12": 3271, + "14": 16950, + "15": 9475, + "20": 2975, + "24": 26338, + "25": 326467 + }, + "instance_pixel_counts": { + "108": 121, + "6018": 98, + "6508": 1264, + "7274": 396, + "7576": 1519, + "7784": 16259, + "7786": 4686, + "8088": 2090, + "8296": 36202, + "8600": 2120, + "8780": 4320, + "9322": 3539, + "9624": 7490, + "9832": 112954, + "10316": 2033, + "10624": 153, + "10828": 854, + "12652": 1028, + "21090": 1117, + "21602": 62551, + "21844": 9475, + "24656": 224, + "24946": 12204, + "25168": 388, + "25856": 4077, + "26112": 5898, + "26218": 180, + "27988": 12231, + "29327": 2358, + "29800": 790, + "29839": 14266, + "30351": 1922, + "31375": 48508, + "31812": 1788, + "31848": 21268, + "32324": 1569, + "32360": 25781, + "33384": 2686, + "33650": 1370, + "33896": 30, + "33906": 4660, + "34408": 87727, + "34418": 6574, + "35399": 619, + "39239": 325848, + "40855": 824, + "41367": 4973, + "42903": 10514, + "46184": 1174, + "46672": 3531, + "46696": 3811, + "47208": 554, + "47720": 6, + "48232": 5116, + "53926": 156, + "54950": 489, + "56320": 728, + "56576": 547, + "56832": 524, + "56975": 2386, + "57088": 679, + "57487": 3406, + "57600": 793, + "57999": 5839, + "58951": 88, + "59023": 16926, + "60160": 18, + "60833": 308, + "60928": 4701 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 728, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -24.66718292236328, + "y": -7.68776273727417, + "z": 1.094136118888855 + }, + "extent": { + "x": 0.48439085483551025, + "y": 0.5446078181266785, + "z": 0.9058571457862854 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 615.7123900567639, + "ymin": 321.9998398328754, + "xmax": 664.0441408396189, + "ymax": 397.7579672561106 + }, + "corners_3d": [ + [ + -24.122575759887695, + -8.17215347290039, + 0.18827897310256958 + ], + [ + -25.211790084838867, + -8.17215347290039, + 0.18827897310256958 + ], + [ + -25.211790084838867, + -7.203371524810791, + 0.18827897310256958 + ], + [ + -24.122575759887695, + -7.203372001647949, + 0.18827897310256958 + ], + [ + -24.122575759887695, + -8.17215347290039, + 1.9999933242797852 + ], + [ + -25.211790084838867, + -8.17215347290039, + 1.9999933242797852 + ], + [ + -25.211790084838867, + -7.203371524810791, + 1.9999933242797852 + ], + [ + -24.122575759887695, + -7.203372001647949, + 1.9999933242797852 + ] + ], + "corners_2d": [ + [ + 616.7151370711141, + 386.57149217734707 + ], + [ + 649.0022987314791, + 397.7579672561106 + ], + [ + 663.0609909291993, + 378.17110022798806 + ], + [ + 631.3058529809135, + 367.4714146365332 + ], + [ + 615.7123900567639, + 340.862332521877 + ], + [ + 649.3951573199616, + 351.92616144370675 + ], + [ + 664.0441408396189, + 332.5620589951352 + ], + [ + 630.9399753780024, + 321.9998398328754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 547, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -20.541194915771484, + "y": -4.69005823135376, + "z": 0.941704511642456 + }, + "extent": { + "x": 0.4454297125339508, + "y": 0.43850070238113403, + "z": 0.8688524961471558 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 551.6822486616012, + "ymin": 242.81903161966835, + "xmax": 587.418404292843, + "ymax": 304.19884575660427 + }, + "corners_3d": [ + [ + -20.20488739013672, + -5.216923713684082, + 0.07285201549530029 + ], + [ + -21.06272315979004, + -5.0345845222473145, + 0.07285201549530029 + ], + [ + -20.87750244140625, + -4.1631927490234375, + 0.07285201549530029 + ], + [ + -20.01966667175293, + -4.345531940460205, + 0.07285201549530029 + ], + [ + -20.20488739013672, + -5.216923713684082, + 1.8105570077896118 + ], + [ + -21.06272315979004, + -5.0345845222473145, + 1.8105570077896118 + ], + [ + -20.87750244140625, + -4.1631927490234375, + 1.8105570077896118 + ], + [ + -20.01966667175293, + -4.345531940460205, + 1.8105570077896118 + ] + ], + "corners_2d": [ + [ + 554.8152880717364, + 300.1229507002928 + ], + [ + 579.6309498636969, + 304.19884575660427 + ], + [ + 587.418404292843, + 288.65398512826346 + ], + [ + 563.0484670075588, + 284.73626667079077 + ], + [ + 551.6822486616012, + 257.9052321068979 + ], + [ + 577.3986931994465, + 261.9051644731598 + ], + [ + 585.5136835269819, + 246.65818448739185 + ], + [ + 560.2755526104575, + 242.81903161966835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 524, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -26.923004150390625, + "y": -0.7450506687164307, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.46361449360847473, + "y": 0.3726097047328949, + "z": 0.9322736859321594 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 774.6623271442372, + "ymin": 229.76975023515757, + "xmax": 808.5105736614971, + "ymax": 294.20021243268815 + }, + "corners_3d": [ + [ + -26.60089683532715, + -1.2450737953186035, + 0.00955289602279663 + ], + [ + -27.34203338623047, + -1.1671772003173828, + 0.00955289602279663 + ], + [ + -27.2451114654541, + -0.2450276017189026, + 0.00955289602279663 + ], + [ + -26.50397491455078, + -0.3229241967201233, + 0.00955289602279663 + ], + [ + -26.60089683532715, + -1.2450737953186035, + 1.8741002082824707 + ], + [ + -27.34203338623047, + -1.1671772003173828, + 1.8741002082824707 + ], + [ + -27.2451114654541, + -0.2450276017189026, + 1.8741002082824707 + ], + [ + -26.50397491455078, + -0.3229241967201233, + 1.8741002082824707 + ] + ], + "corners_2d": [ + [ + 774.6623271442372, + 289.51641319823415 + ], + [ + 795.9025365298392, + 294.20021243268815 + ], + [ + 802.2883223331062, + 278.991709662302 + ], + [ + 781.4216100973428, + 274.4879634695374 + ], + [ + 779.8990701638627, + 244.46584575549034 + ], + [ + 802.0032648305698, + 249.05058496087025 + ], + [ + 808.5105736614971, + 234.17157617053138 + ], + [ + 786.8107241774287, + 229.76975023515757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 679, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -34.16718292236328, + "y": -7.68776273727417, + "z": 1.094136118888855 + }, + "extent": { + "x": 0.30204832553863525, + "y": 0.5033831596374512, + "z": 0.9005529880523682 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 932.4468549415841, + "ymin": 429.5233150836892, + "xmax": 991.0274290632443, + "ymax": 503.5753260386564 + }, + "corners_3d": [ + [ + -33.66379928588867, + -7.989811420440674, + 0.19358313083648682 + ], + [ + -34.67056655883789, + -7.989810943603516, + 0.19358313083648682 + ], + [ + -34.67056655883789, + -7.385714054107666, + 0.19358313083648682 + ], + [ + -33.66379928588867, + -7.385714530944824, + 0.19358313083648682 + ], + [ + -33.66379928588867, + -7.989811420440674, + 1.9946891069412231 + ], + [ + -34.67056655883789, + -7.989810943603516, + 1.9946891069412231 + ], + [ + -34.67056655883789, + -7.385714054107666, + 1.9946891069412231 + ], + [ + -33.66379928588867, + -7.385714530944824, + 1.9946891069412231 + ] + ], + "corners_2d": [ + [ + 932.4468549415841, + 490.61693939516226 + ], + [ + 970.0527617781572, + 503.5753260386564 + ], + [ + 974.9399961124989, + 488.1586541125684 + ], + [ + 937.848838192109, + 475.5978960713019 + ], + [ + 946.5304211676826, + 444.5121910058859 + ], + [ + 986.1682971905976, + 457.4623825034029 + ], + [ + 991.0274290632443, + 442.0573257499211 + ], + [ + 951.9617651476174, + 429.5233150836892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 793, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -13.421846389770508, + "y": -15.857976913452148, + "z": 1.1217728853225708 + }, + "extent": { + "x": 0.3810485899448395, + "y": 0.3615216016769409, + "z": 0.9351182579994202 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 118.32875098211264, + "ymin": 375.02162174727545, + "xmax": 180.06101407234786, + "ymax": 448.9856193103258 + }, + "corners_3d": [ + [ + -12.98900032043457, + -16.155534744262695, + 0.18665462732315063 + ], + [ + -13.696243286132812, + -16.305862426757812, + 0.18665462732315063 + ], + [ + -13.854692459106445, + -15.560420036315918, + 0.18665462732315063 + ], + [ + -13.147449493408203, + -15.410090446472168, + 0.18665462732315063 + ], + [ + -12.98900032043457, + -16.155534744262695, + 2.0568912029266357 + ], + [ + -13.696243286132812, + -16.305862426757812, + 2.0568912029266357 + ], + [ + -13.854692459106445, + -15.560420036315918, + 2.0568912029266357 + ], + [ + -13.147449493408203, + -15.410090446472168, + 2.0568912029266357 + ] + ], + "corners_2d": [ + [ + 141.85450869533548, + 437.4197946959859 + ], + [ + 155.61039369952476, + 448.9856193103258 + ], + [ + 180.06101407234786, + 433.83189116355436 + ], + [ + 166.22788706956482, + 422.6352309178262 + ], + [ + 118.32875098211264, + 389.694047212127 + ], + [ + 132.4343958086393, + 401.1876067304424 + ], + [ + 158.42788765205887, + 386.13132105634304 + ], + [ + 144.2276383427095, + 375.02162174727545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 235, + "instance_id": 60160, + "pixel_count": 18, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 16.361892700195312, + "y": -0.9905077219009399, + "z": 0.7436257004737854 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 6.031281003440824, + "xmax": 11.372378032498204, + "ymax": 67.49639551850794 + }, + "corners_3d": [ + [ + 18.810312271118164, + -0.0781099796295166, + -0.0015131211839616299 + ], + [ + 18.80583953857422, + -1.9148178100585938, + -0.0015131211839616299 + ], + [ + 13.913473129272461, + -1.9029054641723633, + -0.0015131211839616299 + ], + [ + 13.917945861816406, + -0.06619763374328613, + -0.0015131211839616299 + ], + [ + 18.810312271118164, + -0.0781099796295166, + 1.4887645244598389 + ], + [ + 18.80583953857422, + -1.9148178100585938, + 1.4887645244598389 + ], + [ + 13.913473129272461, + -1.9029054641723633, + 1.4887645244598389 + ], + [ + 13.917945861816406, + -0.06619763374328613, + 1.4887645244598389 + ] + ], + "corners_2d": [ + [ + -53.24493655935953, + 35.01845186130157 + ], + [ + -87.5958216996006, + 48.46799926769421 + ], + [ + -22.475283684647593, + 67.49639551850794 + ], + [ + 11.372378032498204, + 53.08696257551475 + ], + [ + -67.4669129766844, + 6.031281003440824 + ], + [ + -102.91513355809866, + 19.001540349550794 + ], + [ + -36.929916136406746, + 37.37528926600652 + ], + [ + -1.9797684875709365, + 23.45906708669378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4701, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 609.1802204607444, + "ymin": 86.27194812995594, + "xmax": 731.8944709696079, + "ymax": 170.37816804773252 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 709.3232762351984, + 170.37816804773252 + ], + [ + 729.2304738572082, + 147.4520190782782 + ], + [ + 632.5869318431087, + 124.30784516262884 + ], + [ + 610.0710194925573, + 145.56401759725787 + ], + [ + 711.4700348494482, + 130.8139909592581 + ], + [ + 731.8944709696079, + 108.62422804400228 + ], + [ + 632.3739175069791, + 86.27194812995594 + ], + [ + 609.1802204607444, + 106.79900235503072 + ] + ], + "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": 202.42647719553264, + "ymin": 62.095088848203375, + "xmax": 220.10117133995215, + "ymax": 80.81761015501667 + }, + "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": [ + [ + 218.8012480972614, + 80.81761015501667 + ], + [ + 220.10117133995215, + 80.12464862386395 + ], + [ + 208.4497555544586, + 77.01463681493357 + ], + [ + 207.14281183222437, + 77.70001535124902 + ], + [ + 214.1863305790128, + 65.83804230478097 + ], + [ + 215.50617198871475, + 65.15597641658462 + ], + [ + 203.75342949654134, + 62.095088848203375 + ], + [ + 202.42647719553264, + 62.76960992327719 + ] + ], + "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": 202.4264802611512, + "ymin": 62.09508964613656, + "xmax": 220.10117441109236, + "ymax": 80.81761097677378 + }, + "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": [ + [ + 218.8012511702728, + 80.81761097677378 + ], + [ + 220.10117441109236, + 80.12464944361693 + ], + [ + 208.44975859201196, + 77.01463762572143 + ], + [ + 207.1428148715877, + 77.70001616400845 + ], + [ + 214.18633367894284, + 65.83804311362815 + ], + [ + 215.50617508674907, + 65.15597722343767 + ], + [ + 203.75343256032704, + 62.09508964613656 + ], + [ + 202.4264802611512, + 62.76961072317175 + ] + ], + "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": 153.06824855612297, + "ymin": 50.77233671151714, + "xmax": 170.6961901018779, + "ymax": 69.15580835131487 + }, + "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": [ + [ + 169.36384102389303, + 69.15580835131487 + ], + [ + 170.6961901018779, + 68.49099852329164 + ], + [ + 159.54784070902247, + 65.50692105950179 + ], + [ + 158.20938767816705, + 66.16460405562248 + ], + [ + 164.31428522619365, + 54.36203115454765 + ], + [ + 165.66701209133203, + 53.70796833489641 + ], + [ + 154.42714384328355, + 50.77233671151714 + ], + [ + 153.06824855612297, + 51.419313336564926 + ] + ], + "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": 153.92910641154572, + "ymin": 49.47163449447129, + "xmax": 171.5091441427948, + "ymax": 67.81603166316694 + }, + "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": [ + [ + 170.18097470286, + 67.81603166316694 + ], + [ + 171.5091441427948, + 67.15441869255318 + ], + [ + 160.38311584579776, + 64.18464392052448 + ], + [ + 159.048861156309, + 64.83918126635177 + ], + [ + 165.15245779627548, + 53.04392983806241 + ], + [ + 166.50088543927637, + 52.39304579913596 + ], + [ + 155.28368365199856, + 49.47163449447129 + ], + [ + 153.92910641154572, + 50.11548379576391 + ] + ], + "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": 200.93773359248775, + "ymin": 54.93901820603759, + "xmax": 216.72534061651783, + "ymax": 74.60074007861078 + }, + "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": [ + [ + 216.55300804229694, + 74.60074007861078 + ], + [ + 216.72534061651783, + 74.51007029023413 + ], + [ + 206.4204400543871, + 71.7823665874281 + ], + [ + 206.2472889727636, + 71.8721576408891 + ], + [ + 211.34398959345822, + 57.70607324801057 + ], + [ + 211.5192929939626, + 57.61704910547576 + ], + [ + 201.11386725999455, + 54.93901820603759 + ], + [ + 200.93773359248775, + 55.02716902813552 + ] + ], + "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": 200.9378620863605, + "ymin": 54.93904262209031, + "xmax": 216.72546886163383, + "ymax": 74.6007652005078 + }, + "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": [ + [ + 216.55313630041087, + 74.6007652005078 + ], + [ + 216.72546886163383, + 74.51009540402089 + ], + [ + 206.42056721799372, + 71.7823914578417 + ], + [ + 206.24741614909482, + 71.87218251929534 + ], + [ + 211.34411919348412, + 57.7060979139971 + ], + [ + 211.51942258074598, + 57.617073763401265 + ], + [ + 201.113995740907, + 54.93904262209031 + ], + [ + 200.9378620863605, + 55.027193452130916 + ] + ], + "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": 202.42647719553264, + "ymin": 62.095088848203375, + "xmax": 220.10117133995215, + "ymax": 80.81761015501667 + }, + "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": [ + [ + 218.8012480972614, + 80.81761015501667 + ], + [ + 220.10117133995215, + 80.12464862386395 + ], + [ + 208.4497555544586, + 77.01463681493357 + ], + [ + 207.14281183222437, + 77.70001535124902 + ], + [ + 214.1863305790128, + 65.83804230478097 + ], + [ + 215.50617198871475, + 65.15597641658462 + ], + [ + 203.75342949654134, + 62.095088848203375 + ], + [ + 202.42647719553264, + 62.76960992327719 + ] + ], + "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": 202.42647739102426, + "ymin": 62.09508878211716, + "xmax": 220.10117146731278, + "ymax": 80.81761005292776 + }, + "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": [ + [ + 218.80124828876973, + 80.81761005292776 + ], + [ + 220.10117146731278, + 80.12464855597062 + ], + [ + 208.44975568250788, + 77.01463674778279 + ], + [ + 207.1428120247656, + 77.70001525027794 + ], + [ + 214.18633077345805, + 65.8380422042959 + ], + [ + 215.50617211802512, + 65.15597634975978 + ], + [ + 203.7534296265493, + 62.09508878211716 + ], + [ + 202.42647739102426, + 62.76960982390432 + ] + ], + "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": 202.42647981537863, + "ymin": 62.095089513147684, + "xmax": 220.10117389923562, + "ymax": 80.81761080578468 + }, + "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": [ + [ + 218.80125072194028, + 80.81761080578468 + ], + [ + 220.10117389923562, + 80.12464930699139 + ], + [ + 208.4497580857531, + 77.01463749059019 + ], + [ + 207.14281442920753, + 77.70001599489149 + ], + [ + 214.18633322710292, + 65.83804294532536 + ], + [ + 215.50617457041, + 65.15597708896212 + ], + [ + 203.75343204969602, + 62.095089513147684 + ], + [ + 202.42647981537863, + 62.76961055673172 + ] + ], + "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": 154.10202444955098, + "ymin": 61.450901016351736, + "xmax": 172.07136148443186, + "ymax": 80.15418632646106 + }, + "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": [ + [ + 170.714345111503, + 80.15418632646106 + ], + [ + 172.07136148443186, + 79.46284170869444 + ], + [ + 160.6965137667505, + 76.36006286135535 + ], + [ + 159.33313378263585, + 77.04385093678127 + ], + [ + 165.57862989024233, + 65.18504931685345 + ], + [ + 166.95680667541671, + 64.50459231715502 + ], + [ + 155.48663375407398, + 61.450901016351736 + ], + [ + 154.10202444955098, + 62.12383980899534 + ] + ], + "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": 200.93758864883125, + "ymin": 54.93897245227629, + "xmax": 216.72519542684103, + "ymax": 74.60069300215304 + }, + "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": [ + [ + 216.55286284362285, + 74.60069300215304 + ], + [ + 216.72519542684103, + 74.51002322897409 + ], + [ + 206.42029642930027, + 71.78231998223015 + ], + [ + 206.24714533904267, + 71.87211102071387 + ], + [ + 211.3438430505937, + 57.70602702589315 + ], + [ + 211.51914646017372, + 57.61700289846374 + ], + [ + 201.11372232503896, + 54.93897245227629 + ], + [ + 200.93758864883125, + 55.02712325949051 + ] + ], + "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": 202.4264802611512, + "ymin": 62.09508964613656, + "xmax": 220.10117441109236, + "ymax": 80.81761097677378 + }, + "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": [ + [ + 218.8012511702728, + 80.81761097677378 + ], + [ + 220.10117441109236, + 80.12464944361693 + ], + [ + 208.44975859201196, + 77.01463762572143 + ], + [ + 207.1428148715877, + 77.70001616400845 + ], + [ + 214.18633367894284, + 65.83804311362815 + ], + [ + 215.50617508674907, + 65.15597722343767 + ], + [ + 203.75343256032704, + 62.09508964613656 + ], + [ + 202.4264802611512, + 62.76961072317175 + ] + ], + "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": 199.674444153909, + "ymin": 54.24190383784361, + "xmax": 219.2186701007576, + "ymax": 75.69520734383894 + }, + "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": [ + [ + 219.01240558084817, + 75.69520734383894 + ], + [ + 219.2186701007576, + 75.58622230669766 + ], + [ + 205.47632428709375, + 71.94593546188668 + ], + [ + 205.26874988490226, + 72.053514694932 + ], + [ + 213.55921688507186, + 57.91946348813212 + ], + [ + 213.7692224351024, + 57.81255404799714 + ], + [ + 199.88577942508016, + 54.24190383784361 + ], + [ + 199.674444153909, + 54.34741656123498 + ] + ], + "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": 200.93771147611034, + "ymin": 54.93897830565885, + "xmax": 216.72531751070636, + "ymax": 74.60069902475101 + }, + "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": [ + [ + 216.55298494535134, + 74.60069902475101 + ], + [ + 216.72531751070636, + 74.51002924962796 + ], + [ + 206.42041781023755, + 71.78232594453897 + ], + [ + 206.2472667376345, + 71.87211698493871 + ], + [ + 211.34396659781055, + 57.70603293919345 + ], + [ + 211.5192699891037, + 57.6170088098317 + ], + [ + 201.11384513424724, + 54.93897830565885 + ], + [ + 200.93771147611034, + 55.02712911477715 + ] + ], + "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": 202.42647739102426, + "ymin": 62.09508878211716, + "xmax": 220.10117146731278, + "ymax": 80.81761005292776 + }, + "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": [ + [ + 218.80124828876973, + 80.81761005292776 + ], + [ + 220.10117146731278, + 80.12464855597062 + ], + [ + 208.44975568250788, + 77.01463674778279 + ], + [ + 207.1428120247656, + 77.70001525027794 + ], + [ + 214.18633077345805, + 65.8380422042959 + ], + [ + 215.50617211802512, + 65.15597634975978 + ], + [ + 203.7534296265493, + 62.09508878211716 + ], + [ + 202.42647739102426, + 62.76960982390432 + ] + ], + "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": 199.6743859490901, + "ymin": 54.241932919011674, + "xmax": 219.21861325054738, + "ymax": 75.69523735987264 + }, + "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": [ + [ + 219.0123487726578, + 75.69523735987264 + ], + [ + 219.21861325054738, + 75.58625234493331 + ], + [ + 205.47626707578473, + 71.9459651126947 + ], + [ + 205.26869271602317, + 72.05354432375003 + ], + [ + 213.5591590464033, + 57.91949293259063 + ], + [ + 213.76916455394218, + 57.812583514087066 + ], + [ + 199.8857211773509, + 54.241932919011674 + ], + [ + 199.6743859490901, + 54.34744562097944 + ] + ], + "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": 199.67455678255806, + "ymin": 54.241926730791704, + "xmax": 219.21878275722702, + "ymax": 75.69523096552058 + }, + "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": [ + [ + 219.012518314514, + 75.69523096552058 + ], + [ + 219.21878275722702, + 75.5862459530577 + ], + [ + 205.47643564088912, + 71.94595880326023 + ], + [ + 205.26886131591016, + 72.05353801188693 + ], + [ + 213.55933084715411, + 57.91948666000195 + ], + [ + 213.7693363185748, + 57.81257724395908 + ], + [ + 199.8858919751105, + 54.241926730791704 + ], + [ + 199.67455678255806, + 54.34743943034681 + ] + ], + "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": 202.4264761188702, + "ymin": 62.095088250978336, + "xmax": 220.10117018646423, + "ymax": 80.81760950593048 + }, + "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": [ + [ + 218.8012470076082, + 80.81760950593048 + ], + [ + 220.10117018646423, + 80.12464801030762 + ], + [ + 208.44975441983001, + 77.01463620808727 + ], + [ + 207.14281076180538, + 77.70001470927014 + ], + [ + 214.18632948275325, + 65.83804166589204 + ], + [ + 215.5061708276291, + 65.15597581268355 + ], + [ + 203.7534283546725, + 62.095088250978336 + ], + [ + 202.4264761188702, + 62.769609291459915 + ] + ], + "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": 199.67450524950237, + "ymin": 54.24187528471009, + "xmax": 219.21872977679766, + "ymax": 75.69517783958906 + }, + "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": [ + [ + 219.0124652792614, + 75.69517783958906 + ], + [ + 219.21872977679766, + 75.58619281387422 + ], + [ + 205.47638429271495, + 71.94590634945627 + ], + [ + 205.2688099128834, + 72.05348557129554 + ], + [ + 213.55927764637772, + 57.91943454571185 + ], + [ + 213.7692831733383, + 57.812525116930885 + ], + [ + 199.88584049761948, + 54.24187528471009 + ], + [ + 199.67450524950237, + 54.34738799696919 + ] + ], + "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": 143.5167392809576, + "ymin": 46.761222601134875, + "xmax": 161.074546757471, + "ymax": 65.02411249380759 + }, + "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": [ + [ + 159.74066631029427, + 65.02411249380759 + ], + [ + 161.074546757471, + 64.36913672702536 + ], + [ + 150.0597686016726, + 61.42905734159649 + ], + [ + 148.71999527849164, + 62.07706340678112 + ], + [ + 154.62654459218032, + 50.29739819718475 + ], + [ + 155.98074372966067, + 49.65311304325701 + ], + [ + 144.87689044780973, + 46.761222601134875 + ], + [ + 143.5167392809576, + 47.39857944059611 + ] + ], + "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": 199.67444306321653, + "ymin": 54.241903639730594, + "xmax": 219.21866894481508, + "ymax": 75.69520710528684 + }, + "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": [ + [ + 219.01240448880208, + 75.69520710528684 + ], + [ + 219.21866894481508, + 75.58622210206465 + ], + [ + 205.4763231435955, + 71.94593525989302 + ], + [ + 205.2687488057109, + 72.05351445945723 + ], + [ + 213.5592157812216, + 57.91946325412255 + ], + [ + 213.76922126619712, + 57.812553847261825 + ], + [ + 199.88577826891583, + 54.241903639730594 + ], + [ + 199.67444306321653, + 54.3474163302829 + ] + ], + "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": 202.6801457586294, + "ymin": 66.10205041626699, + "xmax": 220.32214330183228, + "ymax": 84.7752631913454 + }, + "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": [ + [ + 219.02477543658745, + 84.7752631913454 + ], + [ + 220.32214330183228, + 84.0786978994073 + ], + [ + 208.6898691955421, + 80.95247544278533 + ], + [ + 207.3855023418048, + 81.64143158973854 + ], + [ + 214.42050722930122, + 69.86561196895985 + ], + [ + 215.73771686687905, + 69.17979751314277 + ], + [ + 204.00444442346384, + 66.10205041626699 + ], + [ + 202.6801457586294, + 66.78029195910744 + ] + ], + "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": 200.93773359248775, + "ymin": 54.93901820603759, + "xmax": 216.72534061651783, + "ymax": 74.60074007861078 + }, + "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": [ + [ + 216.55300804229694, + 74.60074007861078 + ], + [ + 216.72534061651783, + 74.51007029023413 + ], + [ + 206.4204400543871, + 71.7823665874281 + ], + [ + 206.2472889727636, + 71.8721576408891 + ], + [ + 211.34398959345822, + 57.70607324801057 + ], + [ + 211.5192929939626, + 57.61704910547576 + ], + [ + 201.11386725999455, + 54.93901820603759 + ], + [ + 200.93773359248775, + 55.02716902813552 + ] + ], + "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": 136.12621162080336, + "ymin": 46.27663420850388, + "xmax": 153.71505113779898, + "ymax": 64.52493970945216 + }, + "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": [ + [ + 152.37364330369354, + 64.52493970945216 + ], + [ + 153.71505113779898, + 63.8711470940047 + ], + [ + 142.7493702480444, + 60.93636140333376 + ], + [ + 141.40217293460302, + 61.583203143591504 + ], + [ + 147.18581740337862, + 49.8063715104347 + ], + [ + 148.54769365932486, + 49.16326256522086 + ], + [ + 137.4939333668525, + 46.27663420850388 + ], + [ + 136.12621162080336, + 46.91283375213533 + ] + ], + "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": 200.93784521843423, + "ymin": 54.93903783365863, + "xmax": 216.72545198058162, + "ymax": 74.60076027364715 + }, + "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": [ + [ + 216.553119418145, + 74.60076027364715 + ], + [ + 216.72545198058162, + 74.51009047875084 + ], + [ + 206.42055050887558, + 71.78238658030153 + ], + [ + 206.2473994388033, + 71.87217764018766 + ], + [ + 211.3441021497963, + 57.706093076548825 + ], + [ + 211.51940553828672, + 57.61706892753392 + ], + [ + 201.11397887416774, + 54.93903783365863 + ], + [ + 200.93784521843423, + 55.0271886621415 + ] + ], + "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": 1233.3942163197016, + "ymin": 91.58697845016684, + "xmax": 1255.0213923308634, + "ymax": 124.04545548722305 + }, + "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": [ + [ + 1233.3942163197016, + 122.1663055285228 + ], + [ + 1243.0738968831795, + 124.04545548722305 + ], + [ + 1243.4157692741874, + 118.95258127646835 + ], + [ + 1233.8154682723593, + 117.10457419192554 + ], + [ + 1244.8687854182908, + 96.5286703407109 + ], + [ + 1254.7723114034716, + 98.36366026829126 + ], + [ + 1255.0213923308634, + 93.39097585396132 + ], + [ + 1245.2009517129804, + 91.58697845016684 + ] + ], + "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": 1208.9975863621225, + "ymin": 112.14015488550564, + "xmax": 1227.180001003796, + "ymax": 139.69855307859677 + }, + "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": [ + [ + 1208.9975863621225, + 138.04257012259652 + ], + [ + 1217.2464682894467, + 139.69855307859677 + ], + [ + 1217.7229492498836, + 135.23120173459807 + ], + [ + 1209.5314579187261, + 133.59871030134587 + ], + [ + 1218.3545789420693, + 116.5009269409291 + ], + [ + 1226.7646728464324, + 118.12620841564564 + ], + [ + 1227.180001003796, + 113.74200481899808 + ], + [ + 1218.829562441749, + 112.14015488550564 + ] + ], + "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": 1229.8021783512631, + "ymin": 133.05088041054066, + "xmax": 1252.930888754524, + "ymax": 167.48152359213293 + }, + "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": [ + [ + 1229.8021783512631, + 165.32622327769062 + ], + [ + 1240.157993152693, + 167.48152359213293 + ], + [ + 1240.5499606825979, + 161.64240119024635 + ], + [ + 1230.2849475168737, + 159.52532124257905 + ], + [ + 1242.0320111394544, + 138.7296271921235 + ], + [ + 1252.6445269162784, + 140.84007483047546 + ], + [ + 1252.930888754524, + 135.12313630971053 + ], + [ + 1242.413721479506, + 133.05088041054066 + ] + ], + "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": 1226.3954710123855, + "ymin": 172.43159074483384, + "xmax": 1250.944367073047, + "ymax": 208.69189368002128 + }, + "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": [ + [ + 1226.3954710123855, + 206.25715893328504 + ], + [ + 1237.3913227906364, + 208.69189368002128 + ], + [ + 1237.8339545827605, + 202.09807159555484 + ], + [ + 1226.940416601652, + 199.70918658049973 + ], + [ + 1239.3343584653207, + 178.8582325406226 + ], + [ + 1250.620149273277, + 181.24853609145222 + ], + [ + 1250.944367073047, + 174.77590065014203 + ], + [ + 1239.766343360103, + 172.43159074483384 + ] + ], + "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": 1154.177343866184, + "ymin": 504.15160090010204, + "xmax": 1183.2358372743074, + "ymax": 545.4203537672356 + }, + "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": [ + [ + 1167.5266973507983, + 545.4203537672356 + ], + [ + 1168.8891071593755, + 533.3531377494949 + ], + [ + 1155.6892534891642, + 528.9710339541878 + ], + [ + 1154.177343866184, + 540.9342219679429 + ], + [ + 1182.010339942608, + 520.6396992299901 + ], + [ + 1183.2358372743074, + 508.54262627185693 + ], + [ + 1169.6162269132165, + 504.15160090010204 + ], + [ + 1168.2314548744441, + 516.1415612461138 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 158.24798934622999, + "ymin": 51.46391365169711, + "xmax": 177.34921629209646, + "ymax": 101.34421148708321 + }, + "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": [ + [ + 176.42483813301692, + 101.34421148708321 + ], + [ + 177.34921629209646, + 100.85316700756243 + ], + [ + 176.10318163907243, + 100.50134043179304 + ], + [ + 175.17831702130638, + 100.99179713640996 + ], + [ + 159.52942520872637, + 52.26459579776969 + ], + [ + 160.50207707058757, + 51.798119801370945 + ], + [ + 159.22114560991315, + 51.46391365169711 + ], + [ + 158.24798934622999, + 51.929810958950384 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 147.78368764225428, + "ymin": 48.73468363711396, + "xmax": 167.15975666230486, + "ymax": 98.46228331822556 + }, + "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": [ + [ + 166.23143715723938, + 98.46228331822556 + ], + [ + 167.15975666230486, + 97.9760351459941 + ], + [ + 165.9258839320649, + 97.62764261377129 + ], + [ + 164.99709280059272, + 98.1133115991816 + ], + [ + 149.05215306931774, + 49.52726482011826 + ], + [ + 150.02888855220954, + 49.06550988266912 + ], + [ + 148.76091129636308, + 48.73468363711396 + ], + [ + 147.78368764225428, + 49.19586864556214 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 1183.9467980413563, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 64.69700858616301 + }, + "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": [ + [ + 1184.5663133383905, + 46.294264332791954 + ], + [ + 1183.9467980413563, + 49.614590920363185 + ], + [ + 1270.7519320185647, + 64.69700858616301 + ], + [ + 1270.8367084885335, + 61.188047407180875 + ], + [ + 1250.4156630340788, + -123.19946236106512 + ], + [ + 1250.1805572532242, + -120.65845901271678 + ], + [ + 1349.9850764030045, + -109.06771987183106 + ], + [ + 1349.5136982108997, + -111.77143305711525 + ] + ], + "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": 158.51825360374318, + "ymin": 63.52741995578242, + "xmax": 178.02249828696284, + "ymax": 114.07086738817563 + }, + "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": [ + [ + 177.07870177659737, + 114.07086738817563 + ], + [ + 178.02249828696284, + 113.55836123188163 + ], + [ + 176.7491412487301, + 113.19116891265008 + ], + [ + 175.80483634694747, + 113.70304835397977 + ], + [ + 159.82860979141503, + 64.36440326232804 + ], + [ + 160.82279864933605, + 63.87677156495283 + ], + [ + 159.51297006355225, + 63.52741995578242 + ], + [ + 158.51825360374318, + 64.01443316656446 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 747.6091159782434, + "ymin": 0.0, + "xmax": 809.2859852403985, + "ymax": 144.82893082506217 + }, + "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": [ + [ + 788.9868038057655, + 106.90103112387209 + ], + [ + 779.6990638195057, + 104.85316396241566 + ], + [ + 747.6091159782434, + 142.5116859091505 + ], + [ + 757.3718091499231, + 144.82893082506217 + ], + [ + 809.2859852403985, + -75.81953533046021 + ], + [ + 798.6582775855309, + -77.42985368806728 + ], + [ + 763.2776655673418, + -47.57359612991519 + ], + [ + 774.5339664777867, + -45.719454330965334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 56.70193275035024, + "ymin": 515.9308418443875, + "xmax": 371.1224046233106, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 371.1224046233106, + 526.369927756665 + ], + [ + 356.1184908635028, + 519.6890103889375 + ], + [ + 59.80486264768274, + 841.1584492406475 + ], + [ + 77.0419854680299, + 852.8118346061913 + ], + [ + 370.0266142455881, + 522.6139456692636 + ], + [ + 354.96921095286467, + 515.9308418443875 + ], + [ + 56.70193275035024, + 837.9130801990643 + ], + [ + 74.00468337891527, + 849.6007112328487 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 208.1086723637256, + "ymin": 67.7439519267702, + "xmax": 225.79699002537177, + "ymax": 118.0738274445381 + }, + "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": [ + [ + 224.8951817857162, + 118.0738274445381 + ], + [ + 225.79699002537177, + 117.55860666659504 + ], + [ + 224.49618810940194, + 117.18946881235948 + ], + [ + 223.5938231373811, + 117.70406040812836 + ], + [ + 209.44863596034958, + 68.58616008073034 + ], + [ + 210.39761212030328, + 68.09548472150067 + ], + [ + 209.05823014316667, + 67.7439519267702 + ], + [ + 208.1086723637256, + 68.23400581221932 + ] + ], + "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": 1107.892040159341, + "ymin": 339.0410787905132, + "xmax": 1280.0, + "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": [ + [ + 1110.2326303775053, + 602.8331684933322 + ], + [ + 1107.892040159341, + 616.389340824137 + ], + [ + 1748.9376069696664, + 855.577356186959 + ], + [ + 1742.2210001545573, + 835.5606073727428 + ], + [ + 1257.0030782763488, + 339.0410787905132 + ], + [ + 1256.3246182330197, + 352.5758621354392 + ], + [ + 2208.598005009152, + 610.0203636748965 + ], + [ + 2189.5218690764254, + 587.0269784668868 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 253.29208074728797, + "ymin": 0.0, + "xmax": 350.1506520088627, + "ymax": 36.44447646744294 + }, + "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": [ + [ + 350.1506520088627, + 10.140895464806363 + ], + [ + 343.638808770943, + 8.705091277724478 + ], + [ + 294.0377645427736, + 34.8529786835046 + ], + [ + 300.7428450647171, + 36.44447646744294 + ], + [ + 317.81033141476223, + -150.28869847020133 + ], + [ + 310.67802880422033, + -151.36938911705283 + ], + [ + 253.29208074728797, + -131.57883872856223 + ], + [ + 260.6506154247579, + -130.366739156059 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 57.02040104101684, + "ymin": 516.1145160507926, + "xmax": 370.91240508624605, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 370.91240508624605, + 526.4215995348544 + ], + [ + 356.09875406244305, + 519.8245769939134 + ], + [ + 60.081784176739575, + 841.0085865031824 + ], + [ + 77.09821259509033, + 852.509607097336 + ], + [ + 369.8297300217986, + 522.7136761422755 + ], + [ + 354.96394125942453, + 516.1145160507926 + ], + [ + 57.02040104101684, + 837.8043513189415 + ], + [ + 74.10078864029049, + 849.3387181500316 + ] + ], + "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": 157.3949906310749, + "ymin": 52.77364644703056, + "xmax": 176.57130644019492, + "ymax": 102.7268729453001 + }, + "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": [ + [ + 175.6441048472381, + 102.7268729453001 + ], + [ + 176.57130644019492, + 102.2335189610032 + ], + [ + 175.32281465272416, + 101.88003887096306 + ], + [ + 174.39512509776324, + 102.37280093007433 + ], + [ + 158.6790165332011, + 53.57823085197714 + ], + [ + 159.65477278007972, + 53.10948068564625 + ], + [ + 158.3712528207618, + 52.77364644703056 + ], + [ + 157.3949906310749, + 53.24181368855318 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 140.36809554537365, + "ymin": 48.246783265381, + "xmax": 159.98790825589185, + "ymax": 97.94698152655212 + }, + "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": [ + [ + 159.05445017139266, + 97.94698152655212 + ], + [ + 159.98790825589185, + 97.46158844397956 + ], + [ + 158.7593869225734, + 97.11380816343302 + ], + [ + 157.825465127413, + 97.59862358586798 + ], + [ + 141.63082576141227, + 49.037920629092525 + ], + [ + 142.61305177950373, + 48.57700710155882 + ], + [ + 141.35080097756986, + 48.246783265381 + ], + [ + 140.36809554537365, + 48.70712842053041 + ] + ], + "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": 36.59763116287115, + "ymin": 500.73418516821556, + "xmax": 447.0217692910936, + "ymax": 720.0 + }, + "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": [ + [ + 447.0217692910936, + 762.0935260360665 + ], + [ + 428.3008452284034, + 752.1501576734184 + ], + [ + 233.25153109639524, + 1034.5881939286182 + ], + [ + 254.35609441125797, + 1049.6080554619664 + ], + [ + 376.5321230499583, + 511.5553785662729 + ], + [ + 351.81089263724056, + 500.73418516821556 + ], + [ + 36.59763116287115, + 834.7188651157308 + ], + [ + 65.16249975372114, + 854.1666200634461 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 206.9912958823117, + "ymin": 64.17618664075911, + "xmax": 224.76414309345603, + "ymax": 114.75475345208116 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 223.85920188904072, + 114.75475345208116 + ], + [ + 224.76414309345603, + 114.24108085101312 + ], + [ + 223.4607316599845, + 113.87305355420557 + ], + [ + 222.555232025929, + 114.38609730028594 + ], + [ + 208.33401796039135, + 65.0151452115636 + ], + [ + 209.28643548732072, + 64.52636227781602 + ], + [ + 207.9442967880704, + 64.17618664075911 + ], + [ + 206.9912958823117, + 64.66434889717158 + ] + ], + "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": 1139.3405071936786, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 379.61065816073864 + }, + "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": [ + [ + 1185.170017372305, + 194.24514605121018 + ], + [ + 1173.2318391823248, + 191.56487632703724 + ], + [ + 1139.3405071936786, + 375.27817242819503 + ], + [ + 1154.3564401853566, + 379.61065816073864 + ], + [ + 1280.3970972261409, + -24.75112845245252 + ], + [ + 1265.943503331685, + -26.886093433581323 + ], + [ + 1255.1114919949896, + 126.57295310154396 + ], + [ + 1274.3477352666193, + 130.3751376819241 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00166/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00166/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a16f4b3f3781f7c710194cf85a94a9cdda5a6f55 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00166/meta.json @@ -0,0 +1,8101 @@ +{ + "frame_id": 166, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 83.0, + "sim_timestamp": 17249.96623582882 + }, + "drone_pose": { + "x": -33.85223499384778, + "y": -25.902643001751414, + "z": 20.15887509839783, + "pitch": -37.75173251993426, + "yaw": 67.62851384652069, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.30093735456466675, + -0.7311616539955139, + 0.6122412085533142, + 16.784332275390625 + ], + [ + 0.9247356057167053, + 0.3806101083755493, + 2.9802322387695312e-08, + -21.445556640625 + ], + [ + -0.23302523791790009, + 0.5661612749099731, + 0.7906710505485535, + -38.49253463745117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -33.49103529161608, + "y": -25.283707530725064, + "z": 20.045552252999922 + }, + "t1_image_uv": [ + 490.1423922765105, + -165.17319392706963 + ], + "t1_depth": 0.6306213232306233 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -24.16718292236328, + "y": -6.687763214111328, + "z": 0.9418217730522156 + }, + "image_uv": [ + 585.1074019057501, + 428.79522989797704 + ], + "depth": 28.72924997638551, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 694, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -24.16718292236328, + "y": -6.68776273727417, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4828588664531708, + "y": 0.47493162751197815, + "z": 0.8834015727043152 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 562.2585419566636, + "ymin": 392.67316929975703, + "xmax": 606.792173140673, + "ymax": 464.8045842611497 + }, + "corners_3d": [ + [ + -23.692251205444336, + -7.170621871948242, + 0.05842018127441406 + ], + [ + -24.642114639282227, + -7.170621395111084, + 0.05842018127441406 + ], + [ + -24.642114639282227, + -6.204903602600098, + 0.05842018127441406 + ], + [ + -23.692251205444336, + -6.204904079437256, + 0.05842018127441406 + ], + [ + -23.692251205444336, + -7.170621871948242, + 1.8252233266830444 + ], + [ + -24.642114639282227, + -7.170621395111084, + 1.8252233266830444 + ], + [ + -24.642114639282227, + -6.204903602600098, + 1.8252233266830444 + ], + [ + -23.692251205444336, + -6.204904079437256, + 1.8252233266830444 + ] + ], + "corners_2d": [ + [ + 565.1523388783396, + 456.4616153846944 + ], + [ + 593.7141947373757, + 464.8045842611497 + ], + [ + 606.792173140673, + 444.4898182103545 + ], + [ + 578.782256903158, + 436.5398434812063 + ], + [ + 562.2585419566636, + 412.2580904554117 + ], + [ + 591.9061982846939, + 420.4706673225459 + ], + [ + 605.5272752335086, + 400.4844153943804 + ], + [ + 576.4736885582016, + 392.67316929975703 + ] + ], + "center_offset_px": [ + -54.892598094249934, + 68.79522989797704 + ] + }, + "trace_timestep_index": 166, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 72, + "semantic_pixel_counts": { + "1": 351588, + "2": 223035, + "3": 66387, + "5": 5549, + "6": 12746, + "7": 987, + "9": 5, + "10": 1029, + "12": 3189, + "14": 11684, + "20": 3637, + "24": 21615, + "25": 220149 + }, + "instance_pixel_counts": { + "108": 73, + "3992": 347, + "4504": 130, + "6018": 320, + "7274": 137, + "7576": 2273, + "7784": 8401, + "7786": 5267, + "8088": 1730, + "8296": 44731, + "8600": 1622, + "8780": 4102, + "9112": 637, + "9322": 3876, + "9624": 7495, + "9832": 121287, + "10316": 2488, + "10828": 1060, + "12652": 1, + "17736": 1447, + "21090": 24502, + "21602": 70243, + "24656": 357, + "24946": 27545, + "25168": 713, + "25856": 3835, + "26112": 6693, + "26218": 78, + "26730": 119, + "27988": 6968, + "29800": 217, + "29839": 9706, + "30312": 2606, + "31375": 53457, + "31812": 493, + "31848": 19308, + "32360": 38824, + "33384": 18242, + "33424": 8, + "33650": 12483, + "33896": 7711, + "33906": 7696, + "34162": 5, + "34408": 90253, + "34418": 18658, + "34560": 391, + "39239": 220149, + "40802": 825, + "40855": 41, + "41367": 3345, + "42903": 12080, + "46184": 983, + "46672": 1424, + "46696": 4402, + "47208": 633, + "47720": 229, + "48232": 5324, + "53391": 1073, + "53903": 1363, + "56173": 5, + "56320": 694, + "56576": 550, + "56832": 509, + "56975": 4762, + "57088": 627, + "57487": 3352, + "57600": 809, + "57999": 5976, + "58511": 1906, + "58951": 89, + "59023": 16995, + "60928": 4716 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 694, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -24.16718292236328, + "y": -6.68776273727417, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4851721227169037, + "y": 0.5578848123550415, + "z": 0.8741115927696228 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 559.6794024077767, + "ymin": 392.19194159537176, + "xmax": 609.2886446110743, + "ymax": 465.3665599422195 + }, + "corners_3d": [ + [ + -23.609298706054688, + -7.1729350090026855, + 0.06771016120910645 + ], + [ + -24.725067138671875, + -7.172934532165527, + 0.06771016120910645 + ], + [ + -24.725067138671875, + -6.202590465545654, + 0.06771016120910645 + ], + [ + -23.609298706054688, + -6.2025909423828125, + 0.06771016120910645 + ], + [ + -23.609298706054688, + -7.1729350090026855, + 1.815933346748352 + ], + [ + -24.725067138671875, + -7.172934532165527, + 1.815933346748352 + ], + [ + -24.725067138671875, + -6.202590465545654, + 1.815933346748352 + ], + [ + -23.609298706054688, + -6.2025909423828125, + 1.815933346748352 + ] + ], + "corners_2d": [ + [ + 562.6359732839644, + 455.56582722050723 + ], + [ + 596.1948535452337, + 465.3665599422195 + ], + [ + 609.2886446110743, + 444.9208664387669 + ], + [ + 576.3814811067782, + 435.58404630745775 + ], + [ + 559.6794024077767, + 411.8381457811582 + ], + [ + 594.5004667984441, + 421.4873629910683 + ], + [ + 608.1304228653569, + 401.3675084848971 + ], + [ + 574.0102805767738, + 392.19194159537176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 550, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -20.041194915771484, + "y": -3.690058469772339, + "z": 0.9417728781700134 + }, + "extent": { + "x": 0.47521790862083435, + "y": 0.5365488529205322, + "z": 0.9328192472457886 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 488.7675436060799, + "ymin": 309.5781464188298, + "xmax": 532.3388963615795, + "ymax": 374.36283135782855 + }, + "corners_3d": [ + [ + -19.615175247192383, + -4.266447067260742, + 0.008953630924224854 + ], + [ + -20.66482162475586, + -4.043336391448975, + 0.008953630924224854 + ], + [ + -20.467214584350586, + -3.1136701107025146, + 0.008953630924224854 + ], + [ + -19.41756820678711, + -3.336780548095703, + 0.008953630924224854 + ], + [ + -19.615175247192383, + -4.266447067260742, + 1.8745920658111572 + ], + [ + -20.66482162475586, + -4.043336391448975, + 1.8745920658111572 + ], + [ + -20.467214584350586, + -3.1136701107025146, + 1.8745920658111572 + ], + [ + -19.41756820678711, + -3.336780548095703, + 1.8745920658111572 + ] + ], + "corners_2d": [ + [ + 494.0923730680893, + 370.79507434146626 + ], + [ + 524.7866685978856, + 374.36283135782855 + ], + [ + 532.3388963615795, + 357.4037246869519 + ], + [ + 502.2936655095844, + 353.9935223854659 + ], + [ + 488.7675436060799, + 325.94386357434854 + ], + [ + 520.5613919232464, + 329.4224985372925 + ], + [ + 528.4821220988608, + 312.89773637488616 + ], + [ + 497.38409229492, + 309.5781464188298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 509, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -26.423004150390625, + "y": 0.25494933128356934, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.46281614899635315, + "y": 0.4740999639034271, + "z": 0.9383036494255066 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 711.749465225494, + "ymin": 288.9845825449012, + "xmax": 747.4547425868612, + "ymax": 352.7612755486478 + }, + "corners_3d": [ + [ + -25.9998779296875, + -0.2548884153366089, + 0.0035181045532226562 + ], + [ + -26.94288444519043, + -0.1557745635509491, + 0.0035181045532226562 + ], + [ + -26.84613037109375, + 0.7647870779037476, + 0.0035181045532226562 + ], + [ + -25.90312385559082, + 0.6656732559204102, + 0.0035181045532226562 + ], + [ + -25.9998779296875, + -0.2548884153366089, + 1.8801254034042358 + ], + [ + -26.94288444519043, + -0.1557745635509491, + 1.8801254034042358 + ], + [ + -26.84613037109375, + 0.7647870779037476, + 1.8801254034042358 + ], + [ + -25.90312385559082, + 0.6656732559204102, + 1.8801254034042358 + ] + ], + "corners_2d": [ + [ + 711.749465225494, + 348.11168759500515 + ], + [ + 738.4766311148768, + 352.7612755486478 + ], + [ + 743.8178874734845, + 337.53438930624134 + ], + [ + 717.6071188106328, + 333.0745854760586 + ], + [ + 714.3011184783013, + 303.59814545364287 + ], + [ + 742.0018510387661, + 308.12109779241956 + ], + [ + 747.4547425868612, + 293.31654254979475 + ], + [ + 720.3083773456793, + 288.9845825449012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 627, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -33.66718292236328, + "y": -6.68776273727417, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.32349729537963867, + "y": 0.5795043706893921, + "z": 0.8762975931167603 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 876.2488888811986, + "ymin": 481.6174878132821, + "xmax": 934.8979720470884, + "ymax": 555.1166332788104 + }, + "corners_3d": [ + [ + -33.087677001953125, + -7.011260032653809, + 0.065524160861969 + ], + [ + -34.24668884277344, + -7.011260032653809, + 0.065524160861969 + ], + [ + -34.24668884277344, + -6.364265441894531, + 0.065524160861969 + ], + [ + -33.087677001953125, + -6.364265441894531, + 0.065524160861969 + ], + [ + -33.087677001953125, + -7.011260032653809, + 1.8181192874908447 + ], + [ + -34.24668884277344, + -7.011260032653809, + 1.8181192874908447 + ], + [ + -34.24668884277344, + -6.364265441894531, + 1.8181192874908447 + ], + [ + -33.087677001953125, + -6.364265441894531, + 1.8181192874908447 + ] + ], + "corners_2d": [ + [ + 876.2488888811986, + 542.6917273140846 + ], + [ + 918.9982631963701, + 555.1166332788104 + ], + [ + 922.9432724703454, + 538.344076910849 + ], + [ + 880.8966760162871, + 526.3564853386774 + ], + [ + 886.2797767190268, + 497.80884431967934 + ], + [ + 931.0100276801918, + 510.1405570984692 + ], + [ + 934.8979720470884, + 493.49712119914426 + ], + [ + 890.9369614285597, + 481.6174878132821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 809, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -12.921846389770508, + "y": -14.857976913452148, + "z": 1.1210356950759888 + }, + "extent": { + "x": 0.39644408226013184, + "y": 0.37958312034606934, + "z": 0.9095759987831116 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 46.67004489240958, + "ymin": 466.4320739055332, + "xmax": 114.07319608275441, + "ymax": 542.5054000243664 + }, + "corners_3d": [ + [ + -12.468132972717285, + -15.166837692260742, + 0.2114596962928772 + ], + [ + -13.210709571838379, + -15.324677467346191, + 0.2114596962928772 + ], + [ + -13.37555980682373, + -14.549116134643555, + 0.2114596962928772 + ], + [ + -12.632983207702637, + -14.391276359558105, + 0.2114596962928772 + ], + [ + -12.468132972717285, + -15.166837692260742, + 2.030611753463745 + ], + [ + -13.210709571838379, + -15.324677467346191, + 2.030611753463745 + ], + [ + -13.37555980682373, + -14.549116134643555, + 2.030611753463745 + ], + [ + -12.632983207702637, + -14.391276359558105, + 2.030611753463745 + ] + ], + "corners_2d": [ + [ + 71.60925257849908, + 530.6645772271986 + ], + [ + 87.24207485730824, + 542.5054000243664 + ], + [ + 114.07319608275441, + 524.5459122449622 + ], + [ + 98.4032392263806, + 513.1571750377346 + ], + [ + 46.67004489240958, + 483.75514903094523 + ], + [ + 62.660621804050265, + 495.48782100631234 + ], + [ + 91.15837986791314, + 477.69759562188426 + ], + [ + 75.11441350300345, + 466.4320739055332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4716, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 542.9150395492885, + "ymin": 167.26978139683246, + "xmax": 666.0818997263118, + "ymax": 248.50316448382665 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 646.7122039059316, + 248.50316448382665 + ], + [ + 665.3808046222374, + 224.40856994344006 + ], + [ + 567.3254060085048, + 204.51605631568307 + ], + [ + 545.5359902072584, + 227.02999191346612 + ], + [ + 646.9051772870368, + 209.6544625931699 + ], + [ + 666.0818997263118, + 186.41663059097874 + ], + [ + 565.3853727737273, + 167.26978139683246 + ], + [ + 542.9150395492885, + 188.9423715638137 + ] + ], + "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": 120.78375874403957, + "ymin": 157.6183981645757, + "xmax": 139.85816503805046, + "ymax": 176.00138744363304 + }, + "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": [ + [ + 138.48505543659195, + 176.00138744363304 + ], + [ + 139.85816503805046, + 175.23428342157075 + ], + [ + 127.50193551698374, + 172.4168653549035 + ], + [ + 126.11887817289528, + 173.17624541806575 + ], + [ + 133.251614964034, + 161.14388557360502 + ], + [ + 134.64628539058208, + 160.3893755861953 + ], + [ + 122.18851035017929, + 157.6183981645757 + ], + [ + 120.78375874403957, + 158.36523238435285 + ] + ], + "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": 120.78376199568322, + "ymin": 157.61839888725768, + "xmax": 139.85816829353092, + "ymax": 176.0013881879749 + }, + "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": [ + [ + 138.48505869471592, + 176.0013881879749 + ], + [ + 139.85816829353092, + 175.2342841638724 + ], + [ + 127.50193873970716, + 172.416866089736 + ], + [ + 126.11888139819075, + 173.17624615490766 + ], + [ + 133.25161824912055, + 161.14388630573706 + ], + [ + 134.6462886729891, + 160.38937631629966 + ], + [ + 122.18851359921678, + 157.61839888725768 + ], + [ + 120.78376199568322, + 158.36523310903152 + ] + ], + "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": 68.3273474866794, + "ymin": 147.54582283693998, + "xmax": 87.3890212218488, + "ymax": 165.6261731012856 + }, + "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": [ + [ + 85.97066228351105, + 165.6261731012856 + ], + [ + 87.3890212218488, + 164.88724349441455 + ], + [ + 75.52030346024696, + 162.1729816030106 + ], + [ + 74.09305851695399, + 162.90460782697403 + ], + [ + 80.29755481682002, + 150.94083655854212 + ], + [ + 81.73813166723869, + 150.21431931780435 + ], + [ + 69.77691492684755, + 147.54582283693998 + ], + [ + 68.3273474866794, + 148.26508644795652 + ] + ], + "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": 69.24808218590465, + "ymin": 146.1642139656785, + "xmax": 88.25444237450506, + "ymax": 164.20293581004103 + }, + "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": [ + [ + 86.84092385095823, + 164.20293581004103 + ], + [ + 88.25444237450506, + 163.46782997546566 + ], + [ + 76.41202763092826, + 160.76756979625685 + ], + [ + 74.9896572750871, + 161.49542872502042 + ], + [ + 81.19156198235157, + 149.54152433362177 + ], + [ + 82.62715873772981, + 148.8188049542638 + ], + [ + 70.69263490942501, + 146.1642139656785 + ], + [ + 69.24808218590465, + 146.87973637723601 + ] + ], + "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": 119.03268035381473, + "ymin": 150.56192215290952, + "xmax": 136.14808154358747, + "ymax": 169.83322405997808 + }, + "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": [ + [ + 135.96598671256447, + 169.83322405997808 + ], + [ + 136.14808154358747, + 169.73286889209862 + ], + [ + 125.2203843796409, + 167.26197696975566 + ], + [ + 125.03712928169023, + 167.36143740129822 + ], + [ + 130.06228116513154, + 153.0843878205754 + ], + [ + 130.24759200696258, + 152.98593142945074 + ], + [ + 119.21916886044903, + 150.56192215290952 + ], + [ + 119.03268035381473, + 150.659490525529 + ] + ], + "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": 119.03281658166861, + "ymin": 150.56194311176756, + "xmax": 136.14821744827913, + "ymax": 169.8332456253248 + }, + "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": [ + [ + 135.96612263481654, + 169.8332456253248 + ], + [ + 136.14821744827913, + 169.73289044962166 + ], + [ + 125.22051925316816, + 167.26199833509565 + ], + [ + 125.0372641724681, + 167.36145877435752 + ], + [ + 130.06241844658587, + 153.0844089779385 + ], + [ + 130.24772927052834, + 152.98595257904827 + ], + [ + 119.21930507073375, + 150.56194311176756 + ], + [ + 119.03281658166861, + 150.65951149204778 + ] + ], + "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": 120.78375874403957, + "ymin": 157.6183981645757, + "xmax": 139.85816503805046, + "ymax": 176.00138744363304 + }, + "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": [ + [ + 138.48505543659195, + 176.00138744363304 + ], + [ + 139.85816503805046, + 175.23428342157075 + ], + [ + 127.50193551698374, + 172.4168653549035 + ], + [ + 126.11887817289528, + 173.17624541806575 + ], + [ + 133.251614964034, + 161.14388557360502 + ], + [ + 134.64628539058208, + 160.3893755861953 + ], + [ + 122.18851035017929, + 157.6183981645757 + ], + [ + 120.78375874403957, + 158.36523238435285 + ] + ], + "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": 120.78375895102408, + "ymin": 157.61839809141577, + "xmax": 139.8581651725613, + "ymax": 176.00138733060422 + }, + "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": [ + [ + 138.48505563891274, + 176.00138733060422 + ], + [ + 139.8581651725613, + 175.2342833464246 + ], + [ + 127.50193565247002, + 172.4168652805135 + ], + [ + 126.11887837668041, + 173.17624530617573 + ], + [ + 133.2516151695346, + 161.1438854624303 + ], + [ + 134.64628552720296, + 160.38937551228395 + ], + [ + 122.1885104877889, + 157.61839809141577 + ], + [ + 120.78375895102408, + 158.3652322743098 + ] + ], + "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": 120.78376152273745, + "ymin": 157.61839876681063, + "xmax": 139.85816775095088, + "ymax": 176.0013880262416 + }, + "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": [ + [ + 138.4850582191355, + 176.0013880262416 + ], + [ + 139.85816775095088, + 175.2342840401554 + ], + [ + 127.50193820258653, + 172.41686596726387 + ], + [ + 126.11888092856998, + 173.17624599480405 + ], + [ + 133.2516177701063, + 161.14388614665677 + ], + [ + 134.64628812592122, + 160.38937619461555 + ], + [ + 122.18851305771057, + 157.61839876681063 + ], + [ + 120.78376152273745, + 158.3652329515708 + ] + ], + "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": 69.40043922381233, + "ymin": 158.6258325748666, + "xmax": 88.85073252028201, + "ymax": 177.03900940976638 + }, + "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": [ + [ + 87.4048977955432, + 177.03900940976638 + ], + [ + 88.85073252028201, + 176.26905845783546 + ], + [ + 76.72947166179745, + 173.44121828937514 + ], + [ + 75.27436045988259, + 174.20340235288614 + ], + [ + 81.62761367565668, + 162.16450660222813 + ], + [ + 83.09656386743973, + 161.40716714495923 + ], + [ + 70.87877770472346, + 158.6258325748666 + ], + [ + 69.40043922381233, + 159.37545315746272 + ] + ], + "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": 119.03252664970296, + "ymin": 150.56187959892196, + "xmax": 136.14792760232535, + "ymax": 169.83318027460123 + }, + "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": [ + [ + 135.96583275778346, + 169.83318027460123 + ], + [ + 136.14792760232535, + 169.7328251226067 + ], + [ + 125.220231987013, + 167.2619335904641 + ], + [ + 125.03697687597503, + 167.36139400633374 + ], + [ + 130.06212587984675, + 153.08434486355154 + ], + [ + 130.24743673534175, + 152.98588848819372 + ], + [ + 119.21901516955666, + 150.56187959892196 + ], + [ + 119.03252664970296, + 150.65944795598745 + ] + ], + "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": 120.78376199568322, + "ymin": 157.61839888725768, + "xmax": 139.85816829353092, + "ymax": 176.0013881879749 + }, + "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": [ + [ + 138.48505869471592, + 176.0013881879749 + ], + [ + 139.85816829353092, + 175.2342841638724 + ], + [ + 127.50193873970716, + 172.416866089736 + ], + [ + 126.11888139819075, + 173.17624615490766 + ], + [ + 133.25161824912055, + 161.14388630573706 + ], + [ + 134.6462886729891, + 160.38937631629966 + ], + [ + 122.18851359921678, + 157.61839888725768 + ], + [ + 120.78376199568322, + 158.36523310903152 + ] + ], + "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": 117.6924449540096, + "ymin": 149.88004334544988, + "xmax": 138.80914484769426, + "ymax": 170.8515171712727 + }, + "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": [ + [ + 138.59128416025828, + 170.8515171712727 + ], + [ + 138.80914484769426, + 170.7309144652567 + ], + [ + 124.23697150627197, + 167.43360132293282 + ], + [ + 124.01725466748178, + 167.55277276215918 + ], + [ + 132.40786401603907, + 153.22983799809273 + ], + [ + 132.62977296816848, + 153.11163030693348 + ], + [ + 117.91623937869485, + 149.88004334544988 + ], + [ + 117.6924449540096, + 149.99683105100146 + ] + ], + "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": 119.03265683497705, + "ymin": 150.56188147546916, + "xmax": 136.1480569009923, + "ymax": 169.83318220545027 + }, + "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": [ + [ + 135.9659620792754, + 169.83318220545027 + ], + [ + 136.1480569009923, + 169.73282705275528 + ], + [ + 125.22036067008321, + 167.2619355034056 + ], + [ + 125.03710558165301, + 167.36139591996638 + ], + [ + 130.06225669522212, + 153.08434675787183 + ], + [ + 130.24756752736215, + 152.98589038181876 + ], + [ + 119.21914533170036, + 150.56188147546916 + ], + [ + 119.03265683497705, + 150.65944983322055 + ] + ], + "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": 120.78375895102408, + "ymin": 157.61839809141577, + "xmax": 139.8581651725613, + "ymax": 176.00138733060422 + }, + "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": [ + [ + 138.48505563891274, + 176.00138733060422 + ], + [ + 139.8581651725613, + 175.2342833464246 + ], + [ + 127.50193565247002, + 172.4168652805135 + ], + [ + 126.11887837668041, + 173.17624530617573 + ], + [ + 133.2516151695346, + 161.1438854624303 + ], + [ + 134.64628552720296, + 160.38937551228395 + ], + [ + 122.1885104877889, + 157.61839809141577 + ], + [ + 120.78375895102408, + 158.3652322743098 + ] + ], + "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": 117.69238331627253, + "ymin": 149.8800755334267, + "xmax": 138.80908480280988, + "ymax": 170.8515503877739 + }, + "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": [ + [ + 138.59122415687983, + 170.8515503877739 + ], + [ + 138.80908480280988, + 170.7309477047348 + ], + [ + 124.23691094973287, + 167.43363416797996 + ], + [ + 124.01719415295906, + 167.55280558441714 + ], + [ + 132.40780289752007, + 153.2298705550443 + ], + [ + 132.62971180770046, + 153.11166288623085 + ], + [ + 117.91617769848858, + 149.8800755334267 + ], + [ + 117.69238331627253, + 149.99686321681557 + ] + ], + "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": 117.69256437280217, + "ymin": 149.88006327125328, + "xmax": 138.8092642161218, + "ymax": 170.8515377195127 + }, + "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": [ + [ + 138.59140361422266, + 170.8515377195127 + ], + [ + 138.8092642161218, + 170.73093504198653 + ], + [ + 124.23708962641865, + 167.43362165549223 + ], + [ + 124.0173728732965, + 167.55279306651423 + ], + [ + 132.40798471103335, + 153.22985813832517 + ], + [ + 132.62989357602726, + 153.11165047498176 + ], + [ + 117.9163587102264, + 149.88006327125328 + ], + [ + 117.69256437280217, + 149.99685094927025 + ] + ], + "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": 120.78375760118183, + "ymin": 157.618397583755, + "xmax": 139.85816381384296, + "ymax": 176.001386807728 + }, + "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": [ + [ + 138.48505427961192, + 176.001386807728 + ], + [ + 139.85816381384296, + 175.2342828249817 + ], + [ + 127.50193431208095, + 172.4168647643174 + ], + [ + 126.11887703574621, + 173.176244788568 + ], + [ + 133.2516138009923, + 161.1438849481311 + ], + [ + 134.64628415924165, + 160.38937499940926 + ], + [ + 122.18850913848917, + 157.618397583755 + ], + [ + 120.78375760118183, + 158.36523176524634 + ] + ], + "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": 117.69250965662832, + "ymin": 149.88001160925128, + "xmax": 138.80920788654902, + "ymax": 170.85148438406313 + }, + "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": [ + [ + 138.5913472257227, + 170.85148438406313 + ], + [ + 138.80920788654902, + 170.73088169231536 + ], + [ + 124.23703502676835, + 167.43356893888628 + ], + [ + 124.01731821464273, + 167.55274036409753 + ], + [ + 132.40792822955717, + 153.22980586190883 + ], + [ + 132.62983715425366, + 153.1115981849069 + ], + [ + 117.91630405382637, + 149.88001160925128 + ], + [ + 117.69250965662832, + 149.99679930089977 + ] + ], + "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": 58.15844817555228, + "ymin": 143.6993026362329, + "xmax": 77.14827042249851, + "ymax": 161.66368560979768 + }, + "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": [ + [ + 75.72644604450068, + 161.66368560979768 + ], + [ + 77.14827042249851, + 160.93537740553154 + ], + [ + 65.41502079888949, + 158.26000895355787 + ], + [ + 63.98457166965716, + 158.98117029360816 + ], + [ + 69.99056937321848, + 147.0451442321543 + ], + [ + 71.43456979451446, + 146.32917567235012 + ], + [ + 59.61117157863464, + 143.6993026362329 + ], + [ + 58.15844817555228, + 144.40817458248364 + ] + ], + "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": 117.69244379754389, + "ymin": 149.88004317923918, + "xmax": 138.809143623056, + "ymax": 170.85151696210943 + }, + "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": [ + [ + 138.59128300306844, + 170.85151696210943 + ], + [ + 138.809143623056, + 170.7309142936163 + ], + [ + 124.23697029340872, + 167.43360115332916 + ], + [ + 124.01725352264737, + 167.55277255547844 + ], + [ + 132.40786284694104, + 153.22983779308265 + ], + [ + 132.6297717303691, + 153.1116301387021 + ], + [ + 117.91623815293781, + 149.88004317923918 + ], + [ + 117.69244379754389, + 149.99683084845432 + ] + ], + "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": 121.13335641761432, + "ymin": 161.64291204311462, + "xmax": 140.17614561480156, + "ymax": 179.98203272471778 + }, + "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": [ + [ + 138.80558469663248, + 179.98203272471778 + ], + [ + 140.17614561480156, + 179.210656699191 + ], + [ + 127.83720387712128, + 176.3775203545799 + ], + [ + 126.45672117721347, + 177.14114125804974 + ], + [ + 133.58362060829853, + 165.18910529726284 + ], + [ + 134.97566648069653, + 164.43016996552245 + ], + [ + 122.53545703683812, + 161.64291204311462 + ], + [ + 121.13335641761432, + 162.39413849023396 + ] + ], + "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": 119.03268035381473, + "ymin": 150.56192215290952, + "xmax": 136.14808154358747, + "ymax": 169.83322405997808 + }, + "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": [ + [ + 135.96598671256447, + 169.83322405997808 + ], + [ + 136.14808154358747, + 169.73286889209862 + ], + [ + 125.2203843796409, + 167.26197696975566 + ], + [ + 125.03712928169023, + 167.36143740129822 + ], + [ + 130.06228116513154, + 153.0843878205754 + ], + [ + 130.24759200696258, + 152.98593142945074 + ], + [ + 119.21916886044903, + 150.56192215290952 + ], + [ + 119.03268035381473, + 150.659490525529 + ] + ], + "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": 50.27526604607783, + "ymin": 143.44529647050996, + "xmax": 69.30677410946532, + "ymax": 161.40201381560126 + }, + "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": [ + [ + 67.87514485109887, + 161.40201381560126 + ], + [ + 69.30677410946532, + 160.6744043167642 + ], + [ + 57.61764757946082, + 158.0015944764268 + ], + [ + 56.17750464705591, + 158.72206736790034 + ], + [ + 62.06227975620425, + 146.78790367514006 + ], + [ + 63.51627767477544, + 146.072628954946 + ], + [ + 51.737872572146216, + 143.44529647050996 + ], + [ + 50.27526604607783, + 144.15348486498846 + ] + ], + "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": 119.03279869530877, + "ymin": 150.56193871632172, + "xmax": 136.1481995520358, + "ymax": 169.83324110268745 + }, + "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": [ + [ + 135.96610473681466, + 169.83324110268745 + ], + [ + 136.1481995520358, + 169.7328859286251 + ], + [ + 125.22050152579948, + 167.26199385440327 + ], + [ + 125.03724644338877, + 167.36145429204626 + ], + [ + 130.0624003877776, + 153.0844045408626 + ], + [ + 130.24771121350204, + 152.98594814360095 + ], + [ + 119.21928718610673, + 150.56193871632172 + ], + [ + 119.03279869530877, + 150.65950709499535 + ] + ], + "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": 1154.1520803825083, + "ymin": 156.87523868129807, + "xmax": 1172.7307250063097, + "ymax": 187.9308756810446 + }, + "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": [ + [ + 1154.2806968954528, + 186.4006933341446 + ], + [ + 1163.5843928021177, + 187.9308756810446 + ], + [ + 1163.3729591986807, + 182.86655664690457 + ], + [ + 1154.1520803825083, + 181.36334766078983 + ], + [ + 1163.2400236363942, + 161.77809964706873 + ], + [ + 1172.7307250063097, + 163.2677289856983 + ], + [ + 1172.4331479149998, + 158.33815761034094 + ], + [ + 1163.0286079601094, + 156.87523868129807 + ] + ], + "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": 1130.651569320667, + "ymin": 174.65248661521534, + "xmax": 1145.9810670386375, + "ymax": 201.04013201682702 + }, + "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": [ + [ + 1130.651569320667, + 199.6963102456126 + ], + [ + 1138.5814255294238, + 201.04013201682702 + ], + [ + 1138.5901524706806, + 196.61249123867898 + ], + [ + 1130.7202191065553, + 195.28893196922107 + ], + [ + 1137.9165279726626, + 178.9656149328745 + ], + [ + 1145.9810670386375, + 180.28089171037414 + ], + [ + 1145.93303410791, + 175.94764068914614 + ], + [ + 1137.9304628231484, + 174.65248661521534 + ] + ], + "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": 13.0280755727739, + "ymin": 0.0, + "xmax": 28.521809258710277, + "ymax": 10.209543512651578 + }, + "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": [ + [ + 24.916213264823, + 7.5927235679960745 + ], + [ + 19.193476649759873, + 9.599606341419644 + ], + [ + 22.808727461767717, + 10.209543512651578 + ], + [ + 28.521809258710277, + 8.196441811805414 + ], + [ + 18.839151710146666, + -8.138171445207263 + ], + [ + 13.0280755727739, + -6.192911790200412 + ], + [ + 16.66962177719438, + -5.601664181303931 + ], + [ + 22.47094949195923, + -7.553011657571062 + ] + ], + "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": 1155.2341327837921, + "ymin": 198.17539959657742, + "xmax": 1175.2853606838648, + "ymax": 231.34490962986263 + }, + "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": [ + [ + 1155.3828786352433, + 229.57368429192334 + ], + [ + 1165.3967768070156, + 231.34490962986263 + ], + [ + 1165.1521529662703, + 225.48557707438067 + ], + [ + 1155.2341327837921, + 223.74790963727273 + ], + [ + 1165.0545144588327, + 203.8605019714033 + ], + [ + 1175.2853606838648, + 205.5893604040943 + ], + [ + 1174.9401628697046, + 199.8708961681078 + ], + [ + 1164.8093691944246, + 198.17539959657742 + ] + ], + "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": 1156.2680266341695, + "ymin": 237.7441337154221, + "xmax": 1177.7370666011016, + "ymax": 272.90443021988153 + }, + "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": [ + [ + 1156.4373880066655, + 270.88599876360576 + ], + [ + 1167.1315704797876, + 272.90443021988153 + ], + [ + 1166.8529335315932, + 266.23033012669345 + ], + [ + 1156.2680266341695, + 264.2526813816345 + ], + [ + 1166.7951271618235, + 244.23352355203247 + ], + [ + 1177.7370666011016, + 246.20868349623518 + ], + [ + 1177.3428778622592, + 239.67859599696735 + ], + [ + 1166.515303586103, + 237.7441337154221 + ] + ], + "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": 1117.847085287882, + "ymin": 578.8830201388099, + "xmax": 1144.0939193852328, + "ymax": 620.9773739054338 + }, + "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": [ + [ + 1131.424466565114, + 620.9773739054338 + ], + [ + 1131.5320666506698, + 607.9711209126574 + ], + [ + 1118.1294101710878, + 604.11043013634 + ], + [ + 1117.847085287882, + 617.014916375565 + ], + [ + 1144.0939193852328, + 595.7427932637629 + ], + [ + 1144.0360121029576, + 582.7407816370862 + ], + [ + 1130.2438407420416, + 578.8830201388099 + ], + [ + 1130.1166461286393, + 591.7807083991233 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 73.84782400712106, + "ymin": 148.09477022036899, + "xmax": 95.18188449265563, + "ymax": 197.69029107635782 + }, + "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": [ + [ + 94.19806048358214, + 197.69029107635782 + ], + [ + 95.18188449265563, + 197.14353846454185 + ], + [ + 93.85411230643717, + 196.82306610873454 + ], + [ + 92.86958205174176, + 197.36921492128405 + ], + [ + 75.2116325668527, + 148.91679243593012 + ], + [ + 76.24813350708928, + 148.39852851032896 + ], + [ + 74.88506001226335, + 148.09477022036899 + ], + [ + 73.84782400712106, + 148.61244192504225 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 62.70585924401291, + "ymin": 145.61306392942552, + "xmax": 84.3203988783074, + "ymax": 195.06375331154078 + }, + "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": [ + [ + 83.3308383076502, + 195.06375331154078 + ], + [ + 84.3203988783074, + 194.5219302432855 + ], + [ + 83.00458890341497, + 194.2043451364902 + ], + [ + 82.01433964310843, + 194.74557255063414 + ], + [ + 64.05694474759241, + 146.4274210493503 + ], + [ + 65.09941314484752, + 145.91399114031842 + ], + [ + 63.74904355749561, + 145.61306392942552 + ], + [ + 62.70585924401291, + 146.12590988159545 + ] + ], + "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": 691.7962990264382, + "ymin": 34.90738016586073, + "xmax": 702.9534798209137, + "ymax": 42.32595334890681 + }, + "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": [ + [ + 702.8377758973998, + 38.805896798371805 + ], + [ + 695.4913347716603, + 37.7764887324081 + ], + [ + 691.7962990264382, + 41.27932418143075 + ], + [ + 699.1948840234234, + 42.32595334890681 + ], + [ + 702.9534798209137, + 35.93165761703261 + ], + [ + 695.5932620015615, + 34.90738016586073 + ], + [ + 691.8922319701787, + 38.39279493096143 + ], + [ + 699.304790760183, + 39.43423955318252 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 1097.5223568451738, + "ymin": 0.0, + "xmax": 1239.3677088256968, + "ymax": 124.18961968716815 + }, + "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": [ + [ + 1097.7975339865795, + 108.9903115007238 + ], + [ + 1097.5223568451738, + 112.22198898439541 + ], + [ + 1179.8090880921459, + 124.18961968716815 + ], + [ + 1179.541402549075, + 120.80050940483761 + ], + [ + 1146.6336324348306, + -50.04142990028873 + ], + [ + 1146.683881392165, + -47.61852053157804 + ], + [ + 1239.3677088256968, + -38.61629440234765 + ], + [ + 1238.6294553250568, + -41.17038311308556 + ] + ], + "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": 74.10932766254803, + "ymin": 160.64241985017458, + "xmax": 95.92098192960418, + "ymax": 210.95816233589284 + }, + "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": [ + [ + 94.91540528106611, + 210.95816233589284 + ], + [ + 95.92098192960418, + 210.38616761920807 + ], + [ + 94.5625198479753, + 210.05091122367352 + ], + [ + 93.55620358210899, + 210.62225986054327 + ], + [ + 75.50554001018202, + 161.50374761411743 + ], + [ + 76.56623386562705, + 160.96069528850666 + ], + [ + 75.17079206854658, + 160.64241985017458 + ], + [ + 74.10932766254803, + 161.18483697492945 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 683.4312258331627, + "ymin": 4.121041492201243, + "xmax": 732.5853923661597, + "ymax": 220.79752892893498 + }, + "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": [ + [ + 722.3666912081624, + 181.425552178506 + ], + [ + 713.0765126063541, + 179.69521428439822 + ], + [ + 683.4312258331627, + 218.81795029531156 + ], + [ + 693.2715790904481, + 220.79752892893498 + ], + [ + 732.5853923661597, + 5.459548018251155 + ], + [ + 722.1114313499747, + 4.121041492201243 + ], + [ + 689.2237718037491, + 34.635154010600104 + ], + [ + 700.4030444486485, + 36.19320523080239 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 663.3399748217109, + "xmax": 302.9864793380163, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 302.9864793380163, + 673.8915240361725 + ], + [ + 286.2848248404062, + 667.1336435270471 + ], + [ + -56.98439903358519, + 1089.6571424811839 + ], + [ + -36.60884049685842, + 1102.9790049295536 + ], + [ + 301.60677473412557, + 670.1010166865315 + ], + [ + 284.8460387850668, + 663.3399748217109 + ], + [ + -60.96630800955609, + 1086.7427849549877 + ], + [ + -40.50950374327476, + 1100.114938970638 + ] + ], + "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": 691.736161676397, + "ymin": 34.867620928779445, + "xmax": 703.0133863131704, + "ymax": 42.366022655407846 + }, + "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": [ + [ + 702.8963320393947, + 38.80787457579197 + ], + [ + 695.471179874189, + 37.76745250062015 + ], + [ + 691.736161676397, + 41.30800649266871 + ], + [ + 699.2145856120619, + 42.366022655407846 + ], + [ + 703.0133863131704, + 35.902801711423876 + ], + [ + 695.5741605488965, + 34.867620928779445 + ], + [ + 691.8330174071002, + 38.39037764026466 + ], + [ + 699.3257184733791, + 39.44309682067018 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 126.89524430532174, + "ymin": 163.16553554185873, + "xmax": 146.78931328963426, + "ymax": 213.1886379151559 + }, + "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": [ + [ + 145.83673536137917, + 213.1886379151559 + ], + [ + 146.78931328963426, + 212.61689126714717 + ], + [ + 145.4079117381267, + 212.28177824757415 + ], + [ + 144.4545454545888, + 212.85288178886668 + ], + [ + 128.31620056977152, + 164.02711723547282 + ], + [ + 129.31990552610358, + 163.48390611491212 + ], + [ + 127.89977420631385, + 163.16553554185873 + ], + [ + 126.89524430532174, + 163.70811401911095 + ] + ], + "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": 1077.0331797642207, + "ymin": 413.89782615411445, + "xmax": 1280.0, + "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": [ + [ + 1078.0659120087766, + 680.4423709814964 + ], + [ + 1077.0331797642207, + 695.223120078798 + ], + [ + 1723.8659067060528, + 905.740108065232 + ], + [ + 1714.5309590847253, + 884.682806643905 + ], + [ + 1205.0748683763034, + 413.89782615411445 + ], + [ + 1206.022874433435, + 428.2445771698878 + ], + [ + 2129.5773521264446, + 645.9479895241033 + ], + [ + 2107.773507169598, + 622.9811443929568 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 170.986471138201, + "ymin": 0.0, + "xmax": 275.4498709095316, + "ymax": 126.51518674611395 + }, + "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": [ + [ + 275.4498709095316, + 98.18474147267034 + ], + [ + 268.6933160484634, + 96.92630386509836 + ], + [ + 217.5896455497753, + 125.10453196924021 + ], + [ + 224.60192063686083, + 126.51518674611395 + ], + [ + 237.5807950911509, + -57.799333448528614 + ], + [ + 230.23361651200537, + -58.73825564056182 + ], + [ + 170.986471138201, + -37.59163527941456 + ], + [ + 178.63116961627395, + -36.526197140798445 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 663.5520698639517, + "xmax": 302.7546214553875, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 302.7546214553875, + 673.9704359459856 + ], + [ + 286.26436703076394, + 667.2971424573961 + ], + [ + -56.64985865494714, + 1089.4392562986327 + ], + [ + -36.53581459242423, + 1102.585919689613 + ], + [ + 301.3915258576142, + 670.2284526310144 + ], + [ + 284.84368032270055, + 663.5520698639517 + ], + [ + -60.578281550489805, + 1086.561435833835 + ], + [ + -40.38506165258866, + 1099.757064528306 + ] + ], + "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": 72.93639972665403, + "ymin": 149.48579709303885, + "xmax": 94.35549391150812, + "ymax": 199.16215322767297 + }, + "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": [ + [ + 93.3683973769638, + 199.16215322767297 + ], + [ + 94.35549391150812, + 198.61262840470252 + ], + [ + 93.02482072967484, + 198.29053239098823 + ], + [ + 92.03701523658242, + 198.8394488179886 + ], + [ + 74.30326065150246, + 150.3121314515776 + ], + [ + 75.34336293812089, + 149.79114803787203 + ], + [ + 73.9772399177258, + 149.48579709303885 + ], + [ + 72.93639972665403, + 150.00618361972306 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 54.79869731911435, + "ymin": 145.3573720011069, + "xmax": 76.67043112973317, + "ymax": 194.79309455087952 + }, + "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": [ + [ + 75.67416423964983, + 194.79309455087952 + ], + [ + 76.67043112973317, + 194.25177815649585 + ], + [ + 75.35943816750091, + 193.9344898334752 + ], + [ + 74.36249110894096, + 194.4752114088623 + ], + [ + 56.14462823198335, + 146.1709414592811 + ], + [ + 57.19425685127885, + 145.6580082775631 + ], + [ + 55.84903244935549, + 145.3573720011069 + ], + [ + 54.79869731911435, + 145.86972207297705 + ] + ], + "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": 646.9748186792758, + "xmax": 397.32988458549477, + "ymax": 720.0 + }, + "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": [ + [ + 397.32988458549477, + 910.5768945990501 + ], + [ + 376.47203655878934, + 900.6079068824912 + ], + [ + 161.7078293815452, + 1261.8870988012213 + ], + [ + 186.35178146242833, + 1278.2913020295418 + ], + [ + 308.36427415365455, + 657.9073341966237 + ], + [ + 280.8740611652187, + 646.9748186792758 + ], + [ + -85.89261786018699, + 1086.9681414822994 + ], + [ + -52.06321986578723, + 1109.3329286030914 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 0.0, + "xmax": 52.43720391404179, + "ymax": 55.329423814226345 + }, + "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": [ + [ + 46.22113430671993, + 55.329423814226345 + ], + [ + 52.43720391404179, + 52.86426139903671 + ], + [ + -89.4064100337257, + 25.837969980994217 + ], + [ + -95.9869760968503, + 28.0063756586527 + ], + [ + -14.43732514986425, + -102.44644525224777 + ], + [ + -7.214702750885522, + -104.18526258210505 + ], + [ + -158.4367455322963, + -123.1183958830976 + ], + [ + -166.0443296060439, + -121.60806784350592 + ] + ], + "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": 125.63049757396209, + "ymin": 159.62796040515846, + "xmax": 145.61577170351757, + "ymax": 209.88622142672216 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 144.65979652421476, + 209.88622142672216 + ], + [ + 145.61577170351757, + 209.31628702762737 + ], + [ + 144.23174655334464, + 208.98223741561523 + ], + [ + 143.2749805373321, + 209.55152922163484 + ], + [ + 127.0542190729119, + 160.48607638294362 + ], + [ + 128.06165247947098, + 159.94504955521728 + ], + [ + 126.63875852981823, + 159.62796040515846 + ], + [ + 125.63049757396209, + 160.16835558158215 + ] + ], + "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": 1085.127848333159, + "ymin": 42.76562432016891, + "xmax": 1197.3233653082839, + "ymax": 442.73404257490193 + }, + "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": [ + [ + 1112.0174805566505, + 253.87431261763106 + ], + [ + 1100.4554244910494, + 251.67434626862325 + ], + [ + 1085.127848333159, + 439.0405761104008 + ], + [ + 1100.0477717032907, + 442.73404257490193 + ], + [ + 1185.4563473039204, + 44.471540429651384 + ], + [ + 1171.8097526223673, + 42.76562432016891 + ], + [ + 1178.7393592162084, + 194.93419906070739 + ], + [ + 1197.3233653082839, + 198.08052297009158 + ] + ], + "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": 93.94640015730442, + "ymin": 0.0, + "xmax": 322.2728152166259, + "ymax": 33.50933750096857 + }, + "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": [ + [ + 271.12978491786174, + 33.50933750096857 + ], + [ + 322.2728152166259, + -2.926695597399828 + ], + [ + 219.7848508263574, + -8.926066754476778 + ], + [ + 159.87778213408728, + 26.316612846126986 + ], + [ + 219.46184732208974, + -185.87937385021587 + ], + [ + 282.14961389406824, + -205.31955288240044 + ], + [ + 167.65991661017574, + -208.47547434019145 + ], + [ + 93.94640015730442, + -189.75461705268674 + ] + ], + "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": 514.4926463903223, + "ymin": 0.0, + "xmax": 672.6550130449242, + "ymax": 7.8807767634690435 + }, + "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": [ + [ + 529.2949748398673, + 0.5632474329955812 + ], + [ + 648.1860068116515, + 7.8807767634690435 + ], + [ + 669.0966130618897, + -28.637572196067822 + ], + [ + 560.759175331365, + -34.66333386153326 + ], + [ + 514.4926463903223, + -213.2674045434601 + ], + [ + 649.3042667444339, + -209.58261689150152 + ], + [ + 672.6550130449242, + -227.78652829803082 + ], + [ + 551.2527091439944, + -230.7463230508489 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00169/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00169/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..71ec5a1d41472b332d19a4dae9c6d5cabfa63e59 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00169/meta.json @@ -0,0 +1,7257 @@ +{ + "frame_id": 169, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 84.5, + "sim_timestamp": 17284.191528530093 + }, + "drone_pose": { + "x": -33.27152366170063, + "y": -24.402421385445265, + "z": 20.00312320644362, + "pitch": -42.70666730814348, + "yaw": 59.62959388649376, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.37152421474456787, + -0.6339977383613586, + 0.6782451868057251, + 14.26523494720459 + ], + [ + 0.8627749085426331, + 0.5055882334709167, + 0.0, + -16.36825942993164 + ], + [ + -0.34291279315948486, + 0.5851729512214661, + 0.7348356246948242, + -40.38787078857422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -32.97337880971992, + "y": -24.015787963165206, + "z": 19.94028681322122 + }, + "t1_image_uv": [ + 491.2352631474069, + -320.0767453617309 + ], + "t1_depth": 0.39851125962697365 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -23.66718292236328, + "y": -5.187763214111328, + "z": 0.9418217730522156 + }, + "image_uv": [ + 687.8123229654105, + 342.2442899157549 + ], + "depth": 28.678532275824224, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 710, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -23.66718292236328, + "y": -5.18776273727417, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.591400146484375, + "y": 0.43236953020095825, + "z": 0.905333936214447 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 667.8803977465619, + "ymin": 304.28338686686095, + "xmax": 709.1164002567428, + "ymax": 379.9064134341435 + }, + "corners_3d": [ + [ + -23.779634475708008, + -5.911677360534668, + 0.03648781776428223 + ], + [ + -24.391098022460938, + -5.3002142906188965, + 0.03648781776428223 + ], + [ + -23.554731369018555, + -4.463848114013672, + 0.03648781776428223 + ], + [ + -22.943267822265625, + -5.075311183929443, + 0.03648781776428223 + ], + [ + -23.779634475708008, + -5.911677360534668, + 1.8471556901931763 + ], + [ + -24.391098022460938, + -5.3002142906188965, + 1.8471556901931763 + ], + [ + -23.554731369018555, + -4.463848114013672, + 1.8471556901931763 + ], + [ + -22.943267822265625, + -5.075311183929443, + 1.8471556901931763 + ] + ], + "corners_2d": [ + [ + 678.6555621972964, + 379.9064134341435 + ], + [ + 706.1846755854697, + 374.88427778913217 + ], + [ + 694.6904829074747, + 349.45278579813106 + ], + [ + 667.8803977465619, + 354.19465417413056 + ], + [ + 680.377823805388, + 334.452701121466 + ], + [ + 709.1164002567428, + 329.4712310032133 + ], + [ + 697.041736665701, + 304.28338686686095 + ], + [ + 669.0858046039381, + 308.9750530357634 + ] + ], + "center_offset_px": [ + 47.812322965410544, + -17.755710084245095 + ] + }, + "trace_timestep_index": 169, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 321842, + "2": 199460, + "3": 30939, + "5": 4481, + "6": 5030, + "7": 45, + "10": 47, + "12": 4006, + "14": 20301, + "20": 2391, + "24": 25514, + "25": 307544 + }, + "instance_pixel_counts": { + "108": 202, + "6018": 5, + "6508": 420, + "7274": 550, + "7576": 1064, + "7784": 20945, + "7786": 5341, + "8088": 1175, + "8296": 22973, + "8780": 4481, + "9322": 4442, + "9624": 8901, + "9832": 136430, + "10316": 2106, + "10624": 133, + "10828": 175, + "12652": 1190, + "21090": 300, + "21602": 72783, + "24946": 16385, + "25168": 458, + "25856": 88, + "26112": 2626, + "26218": 82, + "27988": 13519, + "29327": 3918, + "29800": 315, + "29839": 8662, + "31375": 60356, + "31812": 1939, + "31848": 20523, + "32324": 191, + "32360": 15082, + "33650": 1045, + "33906": 6077, + "34408": 105574, + "34418": 7432, + "35399": 2047, + "39239": 305497, + "40855": 1256, + "41367": 2892, + "42903": 13783, + "46184": 1162, + "46672": 1898, + "46696": 2346, + "48232": 6234, + "53926": 273, + "54950": 594, + "56320": 710, + "56576": 583, + "56832": 500, + "56975": 1483, + "57088": 648, + "57344": 924, + "57487": 2438, + "57600": 641, + "58951": 110, + "59023": 20449, + "60160": 1407, + "60833": 415, + "60928": 5375 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 710, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -23.66718292236328, + "y": -5.18776273727417, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.44761839509010315, + "y": 0.5796539187431335, + "z": 0.9106389880180359 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 664.5444342019724, + "ymin": 306.3280654277782, + "xmax": 712.4642861145032, + "ymax": 377.6832968088273 + }, + "corners_3d": [ + [ + -23.573820114135742, + -5.914154052734375, + 0.03118276596069336 + ], + [ + -24.393573760986328, + -5.094399452209473, + 0.03118276596069336 + ], + [ + -23.76054573059082, + -4.461371421813965, + 0.03118276596069336 + ], + [ + -22.940792083740234, + -5.281126022338867, + 0.03118276596069336 + ], + [ + -23.573820114135742, + -5.914154052734375, + 1.8524607419967651 + ], + [ + -24.393573760986328, + -5.094399452209473, + 1.8524607419967651 + ], + [ + -23.76054573059082, + -4.461371421813965, + 1.8524607419967651 + ], + [ + -22.940792083740234, + -5.281126022338867, + 1.8524607419967651 + ] + ], + "corners_2d": [ + [ + 672.6041963672725, + 377.6832968088273 + ], + [ + 709.3866972833559, + 370.9976514720659 + ], + [ + 700.597551192617, + 351.78615470191943 + ], + [ + 664.5444342019724, + 358.18748643003653 + ], + [ + 674.0615876478126, + 331.9818186932415 + ], + [ + 712.4642861145032, + 325.35271608287866 + ], + [ + 703.2252481430512, + 306.3280654277782 + ], + [ + 665.6168568195086, + 312.6631269369596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 583, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -19.541194915771484, + "y": -2.190058469772339, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.37884521484375, + "y": 0.426410973072052, + "z": 0.8596206307411194 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 604.5929420489388, + "ymin": 218.92572465418536, + "xmax": 638.0883510886504, + "ymax": 279.515253358702 + }, + "corners_3d": [ + [ + -19.626680374145508, + -2.7540106773376465, + 0.08220595121383667 + ], + [ + -20.091161727905273, + -2.038774251937866, + 0.08220595121383667 + ], + [ + -19.45570945739746, + -1.6261061429977417, + 0.08220595121383667 + ], + [ + -18.991228103637695, + -2.3413426876068115, + 0.08220595121383667 + ], + [ + -19.626680374145508, + -2.7540106773376465, + 1.8014471530914307 + ], + [ + -20.091161727905273, + -2.038774251937866, + 1.8014471530914307 + ], + [ + -19.45570945739746, + -1.6261061429977417, + 1.8014471530914307 + ], + [ + -18.991228103637695, + -2.3413426876068115, + 1.8014471530914307 + ] + ], + "corners_2d": [ + [ + 615.4174110166658, + 279.515253358702 + ], + [ + 638.0883510886504, + 272.5712178390875 + ], + [ + 628.262659820999, + 260.5565597311065 + ], + [ + 605.8515610391277, + 267.29235701194125 + ], + [ + 614.4968816517146, + 237.55342442639954 + ], + [ + 638.0174066738896, + 230.72681344173483 + ], + [ + 627.833860342737, + 218.92572465418536 + ], + [ + 604.5929420489388, + 225.54016569268094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 500, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -25.923004150390625, + "y": 1.7549493312835693, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3740942180156708, + "y": 0.4330883026123047, + "z": 0.9098495244979858 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 824.6336947747784, + "ymin": 215.10157962152974, + "xmax": 866.3347130307848, + "ymax": 276.97022691600847 + }, + "corners_3d": [ + [ + -25.941179275512695, + 1.1829514503479004, + 0.03197222948074341 + ], + [ + -26.48628044128418, + 1.8560974597930908, + 0.03197222948074341 + ], + [ + -25.904829025268555, + 2.3269472122192383, + 0.03197222948074341 + ], + [ + -25.35972785949707, + 1.6538012027740479, + 0.03197222948074341 + ], + [ + -25.941179275512695, + 1.1829514503479004, + 1.8516712188720703 + ], + [ + -26.48628044128418, + 1.8560974597930908, + 1.8516712188720703 + ], + [ + -25.904829025268555, + 2.3269472122192383, + 1.8516712188720703 + ], + [ + -25.35972785949707, + 1.6538012027740479, + 1.8516712188720703 + ] + ], + "corners_2d": [ + [ + 835.3466854397636, + 276.97022691600847 + ], + [ + 857.7957926885166, + 271.46539327107473 + ], + [ + 846.8074805895567, + 259.115661686801 + ], + [ + 824.6336947747784, + 264.4507616668793 + ], + [ + 843.0604148893535, + 232.6208041379217 + ], + [ + 866.3347130307848, + 227.21608190339373 + ], + [ + 854.7851957986785, + 215.10157962152974 + ], + [ + 831.8063179566002, + 220.33325618510236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 648, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -33.16718292236328, + "y": -5.18776273727417, + "z": 0.9418412446975708 + }, + "extent": { + "x": 0.3063647449016571, + "y": 0.3912023901939392, + "z": 0.8804313540458679 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 979.9595465792129, + "ymin": 430.02983683984786, + "xmax": 1036.5046597917847, + "ymax": 497.3591831372793 + }, + "corners_3d": [ + [ + -33.10719299316406, + -5.6810173988342285, + 0.06140989065170288 + ], + [ + -33.660438537597656, + -5.127773284912109, + 0.06140989065170288 + ], + [ + -33.2271728515625, + -4.694508075714111, + 0.06140989065170288 + ], + [ + -32.673927307128906, + -5.2477521896362305, + 0.06140989065170288 + ], + [ + -33.10719299316406, + -5.6810173988342285, + 1.822272539138794 + ], + [ + -33.660438537597656, + -5.127773284912109, + 1.822272539138794 + ], + [ + -33.2271728515625, + -4.694508075714111, + 1.822272539138794 + ], + [ + -32.673927307128906, + -5.2477521896362305, + 1.822272539138794 + ] + ], + "corners_2d": [ + [ + 991.6139956665713, + 497.3591831372793 + ], + [ + 1018.0075371983218, + 491.5541866417744 + ], + [ + 1005.9764572376049, + 474.52679606923357 + ], + [ + 979.9595465792129, + 480.1386179206402 + ], + [ + 1008.9225777298902, + 452.9208240404771 + ], + [ + 1036.5046597917847, + 447.09616362951135 + ], + [ + 1023.5708022063889, + 430.02983683984786 + ], + [ + 996.3992218751946, + 435.6514053124807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 924, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -27.282682418823242, + "y": -16.31512451171875, + "z": 1.135942816734314 + }, + "extent": { + "x": 0.41914916038513184, + "y": 0.3353869616985321, + "z": 0.9293442964553833 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 568.5481051562798, + "ymin": 653.8983379290906, + "xmax": 608.0011512904878, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -27.285816192626953, + -16.851930618286133, + 0.20659852027893066 + ], + [ + -27.807106018066406, + -16.429798126220703, + 0.20659852027893066 + ], + [ + -27.27954864501953, + -15.778318405151367, + 0.20659852027893066 + ], + [ + -26.758258819580078, + -16.200450897216797, + 0.20659852027893066 + ], + [ + -27.285816192626953, + -16.851930618286133, + 2.0652871131896973 + ], + [ + -27.807106018066406, + -16.429798126220703, + 2.0652871131896973 + ], + [ + -27.27954864501953, + -15.778318405151367, + 2.0652871131896973 + ], + [ + -26.758258819580078, + -16.200450897216797, + 2.0652871131896973 + ] + ], + "corners_2d": [ + [ + 576.7344476654828, + 739.3583834155236 + ], + [ + 608.0011512904878, + 734.7956138642285 + ], + [ + 603.2066651681118, + 698.437319207814 + ], + [ + 572.8278882652145, + 702.7402897615068 + ], + [ + 572.575550746698, + 695.9231696850285 + ], + [ + 605.9057196099736, + 691.2284798025128 + ], + [ + 600.8711560214904, + 653.8983379290906 + ], + [ + 568.5481051562798, + 658.3089827141499 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 641, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -12.421846389770508, + "y": -13.357976913452148, + "z": 1.1201567649841309 + }, + "extent": { + "x": 0.3616839647293091, + "y": 0.46604490280151367, + "z": 0.9297809600830078 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 176.8727174743567, + "ymin": 336.0250850276624, + "xmax": 236.8216183222039, + "ymax": 401.4940692462622 + }, + "corners_3d": [ + [ + -12.227975845336914, + -13.91513729095459, + 0.19037580490112305 + ], + [ + -13.009692192077637, + -13.40748405456543, + 0.19037580490112305 + ], + [ + -12.615716934204102, + -12.800816535949707, + 0.19037580490112305 + ], + [ + -11.834000587463379, + -13.308469772338867, + 0.19037580490112305 + ], + [ + -12.227975845336914, + -13.91513729095459, + 2.0499377250671387 + ], + [ + -13.009692192077637, + -13.40748405456543, + 2.0499377250671387 + ], + [ + -12.615716934204102, + -12.800816535949707, + 2.0499377250671387 + ], + [ + -11.834000587463379, + -13.308469772338867, + 2.0499377250671387 + ] + ], + "corners_2d": [ + [ + 197.80495450678472, + 401.4940692462622 + ], + [ + 230.29873400499662, + 400.450694030443 + ], + [ + 236.8216183222039, + 383.1684995484634 + ], + [ + 204.94181703454484, + 384.1732929355179 + ], + [ + 176.8727174743567, + 354.2229866943144 + ], + [ + 210.92750570744982, + 353.18596654701054 + ], + [ + 218.13085967128518, + 336.0250850276624 + ], + [ + 184.7498348241749, + 337.0219971438313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 235, + "instance_id": 60160, + "pixel_count": 1407, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 16.361892700195312, + "y": -0.9905077219009399, + "z": 0.7436257004737854 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 53.843423546860095, + "ymax": 50.04579229504168 + }, + "corners_3d": [ + [ + 18.810312271118164, + -0.0781099796295166, + -0.0015131211839616299 + ], + [ + 18.80583953857422, + -1.9148178100585938, + -0.0015131211839616299 + ], + [ + 13.913473129272461, + -1.9029054641723633, + -0.0015131211839616299 + ], + [ + 13.917945861816406, + -0.06619763374328613, + -0.0015131211839616299 + ], + [ + 18.810312271118164, + -0.0781099796295166, + 1.4887645244598389 + ], + [ + 18.80583953857422, + -1.9148178100585938, + 1.4887645244598389 + ], + [ + 13.913473129272461, + -1.9029054641723633, + 1.4887645244598389 + ], + [ + 13.917945861816406, + -0.06619763374328613, + 1.4887645244598389 + ] + ], + "corners_2d": [ + [ + -8.155067206521949, + 14.574838140189911 + ], + [ + -42.99696580783154, + 27.93968151774675 + ], + [ + 19.20503175245676, + 50.04579229504168 + ], + [ + 53.843423546860095, + 35.60699843019552 + ], + [ + -21.997425728373855, + -15.015186530604694 + ], + [ + -57.95190302969729, + -2.1051941019534297 + ], + [ + 5.057324613444393, + 19.27853310153739 + ], + [ + 40.82733843056167, + 5.30733644108966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5375, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 658.027377260658, + "ymin": 92.98437919792593, + "xmax": 789.031276134658, + "ymax": 186.68937461552244 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 761.9097920994019, + 186.68937461552244 + ], + [ + 784.3274670790843, + 161.6991898707482 + ], + [ + 682.9804693404016, + 132.48803689256005 + ], + [ + 658.027377260658, + 155.3652122785948 + ], + [ + 766.03222997556, + 145.6573428161445 + ], + [ + 789.031276134658, + 121.33821686696263 + ], + [ + 684.3199067396065, + 92.98437919792593 + ], + [ + 658.6093260369914, + 115.18347156704667 + ] + ], + "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": 240.584577991167, + "ymin": 53.83503931680036, + "xmax": 258.0734560586281, + "ymax": 73.65805764373755 + }, + "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": [ + [ + 256.70040796727005, + 73.65805764373755 + ], + [ + 258.0734560586281, + 72.94130069407373 + ], + [ + 246.52587655562576, + 69.19713516215802 + ], + [ + 245.14769002622586, + 69.90495452458066 + ], + [ + 252.2425854426628, + 58.23138056221569 + ], + [ + 253.63697254928547, + 57.52494888876555 + ], + [ + 241.9841544183521, + 53.83503931680036 + ], + [ + 240.584577991167, + 54.53256073844642 + ] + ], + "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": 240.58458102784994, + "ymin": 53.83504027795698, + "xmax": 258.07345910474913, + "ymax": 73.65805863377113 + }, + "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": [ + [ + 256.7004110147694, + 73.65805863377113 + ], + [ + 258.07345910474913, + 72.94130168174229 + ], + [ + 246.52587956378574, + 69.1971361375181 + ], + [ + 245.14769303570193, + 69.90495550226177 + ], + [ + 252.24258851816035, + 58.231381538000846 + ], + [ + 253.63697562339053, + 57.52494986219267 + ], + [ + 241.98415745370647, + 53.83504027795698 + ], + [ + 240.58458102784994, + 54.53256170191662 + ] + ], + "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": 191.72116459873018, + "ymin": 40.06842243991912, + "xmax": 209.10173436154776, + "ymax": 59.47648892833786 + }, + "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": [ + [ + 207.70394203890777, + 59.47648892833786 + ], + [ + 209.10173436154776, + 58.79320977549503 + ], + [ + 198.12414954022455, + 55.223296097029674 + ], + [ + 196.72215259526058, + 55.898254626138225 + ], + [ + 202.7965215181975, + 44.25775377143077 + ], + [ + 204.21595428655797, + 43.58468744537822 + ], + [ + 193.14482553232483, + 40.06842243991912 + ], + [ + 191.72116459873018, + 40.73320038044136 + ] + ], + "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": 192.6999877670853, + "ymin": 38.678379266490595, + "xmax": 210.03200871860855, + "ymax": 58.04439745449861 + }, + "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": [ + [ + 208.63871911715813, + 58.04439745449861 + ], + [ + 210.03200871860855, + 57.364454483657994 + ], + [ + 199.07541317789423, + 53.811908346127495 + ], + [ + 197.6779260373682, + 54.483591373699255 + ], + [ + 203.7540221046562, + 42.847087940069855 + ], + [ + 205.16882100985015, + 42.1773450772406 + ], + [ + 194.11900804267924, + 38.678379266490595 + ], + [ + 192.6999877670853, + 39.33989486945035 + ] + ], + "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": 239.18189396109625, + "ymin": 46.49263343334354, + "xmax": 254.71736810858215, + "ymax": 67.22488363604771 + }, + "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": [ + [ + 254.53534616139558, + 67.22488363604771 + ], + [ + 254.71736810858215, + 67.1310608163808 + ], + [ + 244.50371886924768, + 63.845559987409274 + ], + [ + 244.32109874696454, + 63.93834630946856 + ], + [ + 249.50055497072464, + 49.81539198162153 + ], + [ + 249.68576063135777, + 49.72313295056273 + ], + [ + 239.36770433619142, + 46.49263343334354 + ], + [ + 239.18189396109625, + 46.58386004289571 + ] + ], + "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": 239.18202201583352, + "ymin": 46.49266384021672, + "xmax": 254.71749602448477, + "ymax": 67.22491491819693 + }, + "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": [ + [ + 254.53547408793253, + 67.22491491819693 + ], + [ + 254.71749602448477, + 67.13109208863693 + ], + [ + 244.50384554121558, + 63.84559091421556 + ], + [ + 244.32122542928073, + 63.93837724600439 + ], + [ + 249.50068429925614, + 49.81542274244015 + ], + [ + 249.6858899490615, + 49.72316370152612 + ], + [ + 239.36783238039686, + 46.49266384021672 + ], + [ + 239.18202201583352, + 46.5838904594591 + ] + ], + "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": 240.584577991167, + "ymin": 53.83503931680036, + "xmax": 258.0734560586281, + "ymax": 73.65805764373755 + }, + "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": [ + [ + 256.70040796727005, + 73.65805764373755 + ], + [ + 258.0734560586281, + 72.94130069407373 + ], + [ + 246.52587655562576, + 69.19713516215802 + ], + [ + 245.14769002622586, + 69.90495452458066 + ], + [ + 252.2425854426628, + 58.23138056221569 + ], + [ + 253.63697254928547, + 57.52494888876555 + ], + [ + 241.9841544183521, + 53.83503931680036 + ], + [ + 240.584577991167, + 54.53256073844642 + ] + ], + "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": 240.5845781973524, + "ymin": 53.835039248459, + "xmax": 258.0734561931565, + "ymax": 73.65805753814556 + }, + "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": [ + [ + 256.70040816954605, + 73.65805753814556 + ], + [ + 258.0734561931565, + 72.94130062384721 + ], + [ + 246.52587669065883, + 69.19713509280672 + ], + [ + 245.1476902292573, + 69.90495442030618 + ], + [ + 252.24258564808525, + 58.23138045814335 + ], + [ + 253.63697268590283, + 57.52494881955164 + ], + [ + 241.984154555479, + 53.835039248459 + ], + [ + 240.5845781973524, + 54.53256063568756 + ] + ], + "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": 240.58458059046455, + "ymin": 53.83504011776421, + "xmax": 258.0734585970622, + "ymax": 73.65805843356821 + }, + "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": [ + [ + 256.7004105742782, + 73.65805843356821 + ], + [ + 258.0734585970622, + 72.9413015171308 + ], + [ + 246.52587906242582, + 69.19713597495809 + ], + [ + 245.1476926017997, + 69.90495530455672 + ], + [ + 252.24258807405164, + 58.23138134067921 + ], + [ + 253.63697511103953, + 57.524949699954846 + ], + [ + 241.9841569478142, + 53.83504011776421 + ], + [ + 240.58458059046455, + 54.53256150708529 + ] + ], + "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": 191.83988252982567, + "ymin": 51.72029326253778, + "xmax": 209.57556373278186, + "ymax": 71.47974524964343 + }, + "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": [ + [ + 208.14968205280724, + 71.47974524964343 + ], + [ + 209.57556373278186, + 70.76818227844569 + ], + [ + 198.3716613915995, + 67.0510490444189 + ], + [ + 196.9413964423506, + 67.75377110072793 + ], + [ + 203.14566233627346, + 56.084508798509205 + ], + [ + 204.5940741293868, + 55.38325545716066 + ], + [ + 193.2927027698741, + 51.72029326253778 + ], + [ + 191.83988252982567, + 52.412733837323515 + ] + ], + "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": 239.18175105225134, + "ymin": 46.492579231233606, + "xmax": 254.71722480876338, + "ymax": 67.22482787370456 + }, + "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": [ + [ + 254.5352028560198, + 67.22482787370456 + ], + [ + 254.71722480876338, + 67.13100507167263 + ], + [ + 244.5035773175988, + 63.84550485848649 + ], + [ + 244.3209571901201, + 63.938291163202166 + ], + [ + 249.50041027293832, + 49.81533714858216 + ], + [ + 249.68561593912113, + 49.72307813509087 + ], + [ + 239.3675614325228, + 46.492579231233606 + ], + [ + 239.18175105225134, + 46.58380582351231 + ] + ], + "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": 240.58458102784994, + "ymin": 53.83504027795698, + "xmax": 258.07345910474913, + "ymax": 73.65805863377113 + }, + "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": [ + [ + 256.7004110147694, + 73.65805863377113 + ], + [ + 258.07345910474913, + 72.94130168174229 + ], + [ + 246.52587956378574, + 69.1971361375181 + ], + [ + 245.14769303570193, + 69.90495550226177 + ], + [ + 252.24258851816035, + 58.231381538000846 + ], + [ + 253.63697562339053, + 57.52494986219267 + ], + [ + 241.98415745370647, + 53.83504027795698 + ], + [ + 240.58458102784994, + 54.53256170191662 + ] + ], + "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": 237.96015309510824, + "ymin": 45.6953469286243, + "xmax": 257.2151500192906, + "ymax": 68.43125947252616 + }, + "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": [ + [ + 256.9972336394361, + 68.43125947252616 + ], + [ + 257.2151500192906, + 68.31846529859189 + ], + [ + 243.59399478526234, + 63.934014583422595 + ], + [ + 243.37512039757826, + 64.0451507060298 + ], + [ + 251.7288440134904, + 50.11351877157557 + ], + [ + 251.95077067742136, + 50.0026965657695 + ], + [ + 238.1830488401273, + 45.6953469286243 + ], + [ + 237.96015309510824, + 45.804517915228644 + ] + ], + "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": 239.18187493784194, + "ymin": 46.492589188053444, + "xmax": 254.7173480358902, + "ymax": 67.22483811713619 + }, + "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": [ + [ + 254.5353260994939, + 67.22483811713619 + ], + [ + 254.7173480358902, + 67.13101531186476 + ], + [ + 244.50369968688193, + 63.845514985560044 + ], + [ + 244.32107957551472, + 63.93830129346168 + ], + [ + 249.50053503810835, + 49.81534722130243 + ], + [ + 249.68574068754225, + 49.72308820458409 + ], + [ + 239.36768530160919, + 46.492589188053444 + ], + [ + 239.18187493784194, + 46.5838157835052 + ] + ], + "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": 240.5845781973524, + "ymin": 53.835039248459, + "xmax": 258.0734561931565, + "ymax": 73.65805753814556 + }, + "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": [ + [ + 256.70040816954605, + 73.65805753814556 + ], + [ + 258.0734561931565, + 72.94130062384721 + ], + [ + 246.52587669065883, + 69.19713509280672 + ], + [ + 245.1476902292573, + 69.90495442030618 + ], + [ + 252.24258564808525, + 58.23138045814335 + ], + [ + 253.63697268590283, + 57.52494881955164 + ], + [ + 241.984154555479, + 53.835039248459 + ], + [ + 240.5845781973524, + 54.53256063568756 + ] + ], + "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": 237.96009170661057, + "ymin": 45.69537701819405, + "xmax": 257.21508995738213, + "ymax": 68.4312905375283 + }, + "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": [ + [ + 256.99717362239323, + 68.4312905375283 + ], + [ + 257.21508995738213, + 68.31849638681632 + ], + [ + 243.59393445922422, + 63.93404521469944 + ], + [ + 243.37506011677164, + 64.04518131433969 + ], + [ + 251.7287828918029, + 50.11354929355133 + ], + [ + 251.95070951036178, + 50.00272711040225 + ], + [ + 238.1829874058829, + 45.69537701819405 + ], + [ + 237.96009170661057, + 45.80454798239231 + ] + ], + "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": 237.96026519464584, + "ymin": 45.695375200484364, + "xmax": 257.2152622873078, + "ymax": 68.43128865877702 + }, + "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": [ + [ + 256.9973459857098, + 68.43128865877702 + ], + [ + 257.2152622873078, + 68.31849450877803 + ], + [ + 243.59410556069304, + 63.93404336426522 + ], + [ + 243.3752312511566, + 64.04517946320834 + ], + [ + 251.72895764293918, + 50.113547447641224 + ], + [ + 251.95088422717583, + 50.00272526520223 + ], + [ + 238.1831608600907, + 45.695375200484364 + ], + [ + 237.96026519464584, + 45.804546163988505 + ] + ], + "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": 240.5845769539249, + "ymin": 53.835038631198074, + "xmax": 258.07345493915324, + "ymax": 73.65805690233947 + }, + "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": [ + [ + 256.70040691549764, + 73.65805690233947 + ], + [ + 258.07345493915324, + 72.9412999895602 + ], + [ + 246.52587545664477, + 69.19713446642419 + ], + [ + 245.147688995228, + 69.90495379243299 + ], + [ + 252.2425843842331, + 58.231379831487686 + ], + [ + 253.63697142208525, + 57.52494819441057 + ], + [ + 241.98415331205558, + 53.835038631198074 + ], + [ + 240.5845769539249, + 54.53256001694069 + ] + ], + "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": 237.96021736853737, + "ymin": 45.69531749777849, + "xmax": 257.21521290116, + "ymax": 68.43122905334656 + }, + "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": [ + [ + 256.9972965443886, + 68.43122905334656 + ], + [ + 257.21521290116, + 68.31843489095388 + ], + [ + 243.59405789497873, + 63.933984622728815 + ], + [ + 243.37518353029895, + 64.04512073404783 + ], + [ + 251.7289080570102, + 50.113488884133176 + ], + [ + 251.95083469711352, + 50.00266668982289 + ], + [ + 238.1831130898134, + 45.69531749777849 + ], + [ + 237.96021736853737, + 45.8044884731429 + ] + ], + "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": 182.45946268354504, + "ymin": 35.43679963978121, + "xmax": 199.75585098169904, + "ymax": 54.704654340505385 + }, + "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": [ + [ + 198.35862023343049, + 54.704654340505385 + ], + [ + 199.75585098169904, + 54.03246001765399 + ], + [ + 188.9236664353282, + 50.520253106506345 + ], + [ + 187.5224291798034, + 51.184327855078834 + ], + [ + 193.38642867591568, + 39.55761532174546 + ], + [ + 194.80519123166005, + 38.895590495714316 + ], + [ + 183.88225029928128, + 35.43679963978121 + ], + [ + 182.45946268354504, + 36.09073857882453 + ] + ], + "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": 237.96015201034203, + "ymin": 45.69534667868976, + "xmax": 257.2151488642488, + "ymax": 68.43125917917598 + }, + "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": [ + [ + 256.99723255193277, + 68.43125917917598 + ], + [ + 257.2151488642488, + 68.31846504036224 + ], + [ + 243.5939936446145, + 63.934014328988496 + ], + [ + 243.3751193247702, + 64.0451504169921 + ], + [ + 251.7288429136633, + 50.11351848335329 + ], + [ + 251.95076950881298, + 50.00269631205515 + ], + [ + 238.1830476862749, + 45.69534667868976 + ], + [ + 237.96015201034203, + 45.80451763130111 + ] + ], + "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": 240.75456507215824, + "ymin": 57.964515880624845, + "xmax": 258.20864059814585, + "ymax": 77.73277176733592 + }, + "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": [ + [ + 256.8384043661397, + 77.73277176733592 + ], + [ + 258.20864059814585, + 77.01253627732592 + ], + [ + 246.68234214157974, + 73.25014548475087 + ], + [ + 245.30698502221782, + 73.96141717517696 + ], + [ + 252.3908890681958, + 62.38351751986113 + ], + [ + 253.78237765821405, + 61.67345341767157 + ], + [ + 242.1512252166222, + 57.964515880624845 + ], + [ + 240.75456507215824, + 58.66564122739578 + ] + ], + "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": 239.18189396109625, + "ymin": 46.49263343334354, + "xmax": 254.71736810858215, + "ymax": 67.22488363604771 + }, + "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": [ + [ + 254.53534616139558, + 67.22488363604771 + ], + [ + 254.71736810858215, + 67.1310608163808 + ], + [ + 244.50371886924768, + 63.845559987409274 + ], + [ + 244.32109874696454, + 63.93834630946856 + ], + [ + 249.50055497072464, + 49.81539198162153 + ], + [ + 249.68576063135777, + 49.72313295056273 + ], + [ + 239.36770433619142, + 46.49263343334354 + ], + [ + 239.18189396109625, + 46.58386004289571 + ] + ], + "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": 175.0739199171494, + "ymin": 34.70161682568926, + "xmax": 192.39340518263992, + "ymax": 53.947187488068266 + }, + "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": [ + [ + 190.98947662988058, + 53.947187488068266 + ], + [ + 192.39340518263992, + 53.27674441089766 + ], + [ + 181.61976467431026, + 49.77365481845055 + ], + [ + 180.21194269323775, + 50.43600993545641 + ], + [ + 185.94098728659327, + 38.81160927075126 + ], + [ + 187.3665836843387, + 38.151328564432106 + ], + [ + 176.50342473543606, + 34.70161682568926 + ], + [ + 175.0739199171494, + 35.353843480205285 + ] + ], + "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": 239.182005339385, + "ymin": 46.49265811837614, + "xmax": 254.71747931865843, + "ymax": 67.22490903165061 + }, + "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": [ + [ + 254.5354573812698, + 67.22490903165061 + ], + [ + 254.71747931865843, + 67.13108620395218 + ], + [ + 244.5038290286766, + 63.845585094536034 + ], + [ + 244.32120891594633, + 63.938371424494164 + ], + [ + 249.500667424984, + 49.81541695399568 + ], + [ + 249.6858730756315, + 49.72315791493605 + ], + [ + 239.36781570474807, + 46.49265811837614 + ], + [ + 239.182005339385, + 46.58388473579515 + ] + ], + "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": 1243.110997961437, + "ymin": 615.4745419982456, + "xmax": 1279.767755103072, + "ymax": 660.2392479075816 + }, + "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": [ + [ + 1258.452686731673, + 660.2392479075816 + ], + [ + 1260.2833303802236, + 645.4767078231887 + ], + [ + 1245.12179941153, + 639.2435109948624 + ], + [ + 1243.110997961437, + 653.848401980693 + ], + [ + 1278.1321933611812, + 636.69649614476 + ], + [ + 1279.767755103072, + 621.7724041945777 + ], + [ + 1264.025675953375, + 615.4745419982456 + ], + [ + 1262.1956650914449, + 630.2342623028995 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 196.90648090636176, + "ymin": 40.94501359449225, + "xmax": 215.535915406796, + "ymax": 92.23803430228355 + }, + "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": [ + [ + 214.56729666266568, + 92.23803430228355 + ], + [ + 215.535915406796, + 91.73517388576903 + ], + [ + 214.30992606606702, + 91.31552708512788 + ], + [ + 213.34096858369082, + 91.81770431513945 + ], + [ + 198.16846848316737, + 41.824914331521654 + ], + [ + 199.18824287918522, + 41.345266239781154 + ], + [ + 197.92660108948297, + 40.94501359449225 + ], + [ + 196.90648090636176, + 41.423984954526645 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 186.60905353093125, + "ymin": 37.67898692738572, + "xmax": 205.51619835321196, + "ymax": 88.8027174239163 + }, + "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": [ + [ + 204.5448510454798, + 88.8027174239163 + ], + [ + 205.51619835321196, + 88.30542702401829 + ], + [ + 204.30377868965462, + 87.8904250704536 + ], + [ + 203.33210734524613, + 88.38704359969739 + ], + [ + 187.85652771252666, + 38.54877255267951 + ], + [ + 188.87908338849354, + 38.074640299400244 + ], + [ + 187.63193887272058, + 37.67898692738572 + ], + [ + 186.60905353093125, + 38.15245408465495 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 196.14113304923825, + "ymin": 54.086625972688125, + "xmax": 215.21539036904454, + "ymax": 106.046588367672 + }, + "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": [ + [ + 214.22487324795316, + 106.046588367672 + ], + [ + 215.21539036904454, + 105.52102627920198 + ], + [ + 213.9622855505463, + 105.08244895544024 + ], + [ + 212.9714148029584, + 105.60728109184586 + ], + [ + 197.43186271278523, + 55.00781899464431 + ], + [ + 198.4759255641261, + 54.5056536743607 + ], + [ + 197.18555699238, + 54.086625972688125 + ], + [ + 196.14113304923825, + 54.58806636988942 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 804.2068778760195, + "ymin": 0.0, + "xmax": 881.860414124449, + "ymax": 160.0084426766581 + }, + "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": [ + [ + 850.2449698754266, + 118.5604473337686 + ], + [ + 840.3895529205098, + 115.95631746737016 + ], + [ + 804.2068778760195, + 157.05943013699437 + ], + [ + 814.5397698858507, + 160.0084426766581 + ], + [ + 881.860414124449, + -74.15006462213466 + ], + [ + 870.38304441217, + -76.24894929864075 + ], + [ + 830.6112067278696, + -42.820320795796476 + ], + [ + 842.7463569840404, + -40.39704028054143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 625.3375145179326, + "xmax": 357.1780368768742, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 357.1780368768742, + 638.4502327258363 + ], + [ + 341.27634316645646, + 628.9370528986921 + ], + [ + -27.791108198144343, + 1029.4648385025428 + ], + [ + -10.419428618602865, + 1046.7693064765485 + ], + [ + 355.8469899718587, + 634.8656792541537 + ], + [ + 339.88199656206314, + 625.3375145179326 + ], + [ + -31.995860923407918, + 1027.1311361487392 + ], + [ + -14.560649252995972, + 1044.5196552156558 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 246.1432945784777, + "ymin": 59.89333541582448, + "xmax": 263.3303424574019, + "ymax": 111.68811992340528 + }, + "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": [ + [ + 262.37901254700273, + 111.68811992340528 + ], + [ + 263.3303424574019, + 111.15739323182618 + ], + [ + 262.0426776326694, + 110.71450684382927 + ], + [ + 261.09093775677326, + 111.24449575191028 + ], + [ + 247.47140402231236, + 60.82461373681065 + ], + [ + 248.47315285090707, + 60.31695024897141 + ], + [ + 247.14546771292333, + 59.89333541582448 + ], + [ + 246.1432945784777, + 60.40026536313911 + ] + ], + "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": 1182.5345767049694, + "ymin": 453.3950680956006, + "xmax": 1280.0, + "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": [ + [ + 1185.616435859304, + 709.9160743048994 + ], + [ + 1182.5345767049694, + 726.082546373108 + ], + [ + 1942.0755929631284, + 1074.820632337657 + ], + [ + 1933.509001523035, + 1048.4897541415037 + ], + [ + 1388.4062168065484, + 453.3950680956006 + ], + [ + 1387.8143377803558, + 471.0536952713227 + ], + [ + 2646.1541478627164, + 898.9309695435181 + ], + [ + 2615.3865458969503, + 863.1376930385479 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 300.2683806484155, + "ymin": 0.0, + "xmax": 397.03745979063234, + "ymax": 25.961759735193652 + }, + "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": [ + [ + 397.03745979063234, + -1.1926664063663566 + ], + [ + 390.4987149034268, + -2.9204190030254153 + ], + [ + 338.1665078967644, + 24.050934591999066 + ], + [ + 344.8617531138032, + 25.961759735193652 + ], + [ + 368.09774759109627, + -168.10309704940755 + ], + [ + 360.8895955822274, + -169.42126152385435 + ], + [ + 300.2683806484155, + -148.72528865617306 + ], + [ + 307.6593360009443, + -147.24938230463374 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 625.5640919497599, + "xmax": 356.9367879615527, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 356.9367879615527, + 638.5112406935987 + ], + [ + 341.23689078039314, + 629.1172902646294 + ], + [ + -27.469654117641085, + 1029.3010115784298 + ], + [ + -10.319629958137853, + 1046.3790019841354 + ], + [ + 355.6215862111258, + 634.9726608839582 + ], + [ + 339.85999125086107, + 625.5640919497599 + ], + [ + -31.618071009354253, + 1026.9964494153494 + ], + [ + -14.406115254826773, + 1044.1562915418708 + ] + ], + "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": 195.9347590658441, + "ymin": 42.34554176475581, + "xmax": 214.64478177755382, + "ymax": 93.71072521838954 + }, + "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": [ + [ + 213.67312883749298, + 93.71072521838954 + ], + [ + 214.64478177755382, + 93.20546745719514 + ], + [ + 213.41648347646117, + 92.78382155294594 + ], + [ + 212.44449117683928, + 93.28839123796081 + ], + [ + 197.1991803953066, + 43.22979801016152 + ], + [ + 198.2222961832124, + 42.74777480510369 + ], + [ + 196.9582211913829, + 42.34554176475581 + ], + [ + 195.9347590658441, + 42.82688320715454 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 179.19465146379076, + "ymin": 36.93832818073764, + "xmax": 198.35193090162198, + "ymax": 88.0234714913521 + }, + "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": [ + [ + 197.37602295602062, + 88.0234714913521 + ], + [ + 198.35193090162198, + 87.52744021275271 + ], + [ + 197.14587874012187, + 87.11348827900991 + ], + [ + 196.16965539140784, + 87.60885023623104 + ], + [ + 180.43528303262406, + 37.80582811347523 + ], + [ + 181.4627181126026, + 37.33294224437219 + ], + [ + 180.2224066245085, + 36.93832818073764 + ], + [ + 179.19465146379076, + 37.41055157378764 + ] + ], + "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": 608.5873268615514, + "xmax": 445.31802769875094, + "ymax": 720.0 + }, + "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": [ + [ + 445.31802769875094, + 854.5512720267255 + ], + [ + 426.01062565902635, + 841.4503763140475 + ], + [ + 196.29831000004629, + 1162.1448046723053 + ], + [ + 217.4642807127987, + 1182.1556596991713 + ], + [ + 363.0623387961272, + 624.0501271390331 + ], + [ + 336.8128693008559, + 608.5873268615514 + ], + [ + -56.75973599891108, + 1026.4314053001071 + ], + [ + -28.038249465273452, + 1055.525699758426 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 0.0, + "xmax": 34.52999782318125, + "ymax": 98.96913457540387 + }, + "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": [ + [ + -222.78637267581212, + 96.53821620279598 + ], + [ + -217.62539261599045, + 98.96913457540387 + ], + [ + 34.52999782318125, + 2.8010516866331727 + ], + [ + 29.3301658023895, + 1.0595859129838345 + ], + [ + -359.1652277288846, + -109.5129627281006 + ], + [ + -353.8017997358784, + -107.62830742162248 + ], + [ + -44.876669710429155, + -180.45292634349414 + ], + [ + -50.46028021728989, + -181.73967075504913 + ] + ], + "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": 245.06218160965034, + "ymin": 56.21773959761083, + "xmax": 262.33588671008266, + "ymax": 108.28371054684857 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.3812126301565, + 108.28371054684857 + ], + [ + 262.33588671008266, + 107.754423218005 + ], + [ + 261.04551764742973, + 107.31273974623096 + ], + [ + 260.09043259519103, + 107.8412893511508 + ], + [ + 246.39315487574652, + 57.14571835622638 + ], + [ + 247.39858829860202, + 56.639852540736 + ], + [ + 246.06804031513826, + 56.21773959761083 + ], + [ + 245.06218160965034, + 56.722872465296916 + ] + ], + "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": 1225.2799985256906, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 446.91872710022096 + }, + "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": [ + [ + 1281.6349039776842, + 232.26352331881102 + ], + [ + 1268.3097737455385, + 228.68814569768938 + ], + [ + 1225.2799985256906, + 441.0406047343557 + ], + [ + 1242.115428959669, + 446.91872710022096 + ], + [ + 1409.574821366934, + -0.5991127192018553 + ], + [ + 1392.8849064362007, + -3.567803304963604 + ], + [ + 1382.7573689759497, + 182.9931401732461 + ], + [ + 1405.3742695584297, + 188.47138433262225 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00186/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00186/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf309ded26db8b84b0e895d24d14191fd03f506c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/frames_playback/frame_00186/meta.json @@ -0,0 +1,5455 @@ +{ + "frame_id": 186, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 93.0, + "sim_timestamp": 17484.252288378077 + }, + "drone_pose": { + "x": -27.694120338056837, + "y": -14.307496647149627, + "z": 19.947426477602463, + "pitch": -44.46780885386467, + "yaw": 65.50764127534221, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.295856773853302, + -0.6494280099868774, + 0.7005084156990051, + 3.511843681335449 + ], + [ + 0.9100165367126465, + 0.4145718216896057, + 2.9802322387695312e-08, + -19.27062225341797 + ], + [ + -0.290411114692688, + 0.6374742984771729, + 0.7136441469192505, + -31.398704528808594 + ], + [ + 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": 220, + "world_location": { + "x": -19.66718292236328, + "y": 3.312236785888672, + "z": 0.9418217730522156 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999983 + ], + "depth": 27.131158115945055, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 605, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -19.66718292236328, + "y": 3.312236785888672, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3195086419582367, + "y": 0.4548911452293396, + "z": 0.9216275811195374 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.4928197157338, + "ymin": 322.83360968410506, + "xmax": 657.2435993942931, + "ymax": 396.4724844540726 + }, + "corners_3d": [ + [ + -19.986692428588867, + 2.8573455810546875, + 0.020194172859191895 + ], + [ + -19.986692428588867, + 3.7671279907226562, + 0.020194172859191895 + ], + [ + -19.347673416137695, + 3.7671279907226562, + 0.020194172859191895 + ], + [ + -19.347673416137695, + 2.8573455810546875, + 0.020194172859191895 + ], + [ + -19.986692428588867, + 2.8573455810546875, + 1.8634493350982666 + ], + [ + -19.986692428588867, + 3.7671279907226562, + 1.8634493350982666 + ], + [ + -19.347673416137695, + 3.7671279907226562, + 1.8634493350982666 + ], + [ + -19.347673416137695, + 2.8573455810546875, + 1.8634493350982666 + ] + ], + "corners_2d": [ + [ + 643.5815365091918, + 396.4724844540726 + ], + [ + 656.447778354293, + 375.8019287768085 + ], + [ + 636.5176311455417, + 369.3708426426595 + ], + [ + 623.3125777945005, + 389.7618907024232 + ], + [ + 643.7587516725315, + 349.8854290166633 + ], + [ + 657.2435993942931, + 329.2461724868468 + ], + [ + 636.3503230090712, + 322.83360968410506 + ], + [ + 622.4928197157338, + 343.1802694794495 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 186, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 35, + "semantic_pixel_counts": { + "1": 483756, + "2": 274158, + "3": 107831, + "5": 767, + "6": 1775, + "10": 4, + "12": 2895, + "14": 9382, + "20": 4337, + "24": 20817, + "25": 15878 + }, + "instance_pixel_counts": { + "6018": 443, + "7576": 3206, + "7784": 1444, + "8088": 88, + "8780": 767, + "9322": 5766, + "9624": 17750, + "9832": 227120, + "10316": 4169, + "21090": 27099, + "21602": 125012, + "24946": 52426, + "25168": 1332, + "31375": 37739, + "31848": 23225, + "32360": 476, + "33650": 14230, + "33906": 12891, + "34408": 231491, + "34418": 28284, + "39239": 15878, + "42903": 14114, + "46184": 1092, + "46696": 24, + "48232": 13935, + "56320": 605, + "56576": 530, + "56832": 383, + "56975": 8107, + "57088": 547, + "57487": 167, + "57600": 830, + "58951": 168, + "59023": 40876, + "60928": 9382 + } + }, + "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": 220, + "instance_id": 56320, + "pixel_count": 605, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -19.66718292236328, + "y": 3.312236785888672, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.31886836886405945, + "y": 0.4547306299209595, + "z": 0.9214357733726501 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.516585923526, + "ymin": 322.8485857584992, + "xmax": 657.2200814709488, + "ymax": 396.45735901823775 + }, + "corners_3d": [ + [ + -19.986051559448242, + 2.857506275177002, + 0.0203859806060791 + ], + [ + -19.986051559448242, + 3.766967296600342, + 0.0203859806060791 + ], + [ + -19.34831428527832, + 3.766967296600342, + 0.0203859806060791 + ], + [ + -19.34831428527832, + 2.857506275177002, + 0.0203859806060791 + ], + [ + -19.986051559448242, + 2.857506275177002, + 1.8632575273513794 + ], + [ + -19.986051559448242, + 3.766967296600342, + 1.8632575273513794 + ], + [ + -19.34831428527832, + 3.766967296600342, + 1.8632575273513794 + ], + [ + -19.34831428527832, + 2.857506275177002, + 1.8632575273513794 + ] + ], + "corners_2d": [ + [ + 643.5634077981694, + 396.45735901823775 + ], + [ + 656.4255098268277, + 375.79438842172533 + ], + [ + 636.5351850178861, + 369.3761546081253 + ], + [ + 623.3350673138575, + 389.7602754684708 + ], + [ + 643.7396863606903, + 349.8800154655222 + ], + [ + 657.2200814709488, + 329.2483395224862 + ], + [ + 636.3687539017806, + 322.8485857584992 + ], + [ + 622.516585923526, + 343.1883564381621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 530, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -15.294536590576172, + "y": 6.324808120727539, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4416467249393463, + "y": 0.4435198903083801, + "z": 0.9260289669036865 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 533.9674047769955, + "ymin": 225.40739135612392, + "xmax": 572.3650673799106, + "ymax": 292.3772804085455 + }, + "corners_3d": [ + [ + -15.818745613098145, + 5.982804298400879, + 0.015792787075042725 + ], + [ + -15.634319305419922, + 6.850460052490234, + 0.015792787075042725 + ], + [ + -14.7703275680542, + 6.666811943054199, + 0.015792787075042725 + ], + [ + -14.954753875732422, + 5.799156188964844, + 0.015792787075042725 + ], + [ + -15.818745613098145, + 5.982804298400879, + 1.8678507804870605 + ], + [ + -15.634319305419922, + 6.850460052490234, + 1.8678507804870605 + ], + [ + -14.7703275680542, + 6.666811943054199, + 1.8678507804870605 + ], + [ + -14.954753875732422, + 5.799156188964844, + 1.8678507804870605 + ] + ], + "corners_2d": [ + [ + 564.9921288253623, + 292.3772804085455 + ], + [ + 572.3650673799106, + 275.0893694741188 + ], + [ + 546.2988963162054, + 271.366956434765 + ], + [ + 538.4353715783778, + 288.50358512965374 + ], + [ + 561.6771034395031, + 246.16518050129991 + ], + [ + 569.4375300705605, + 229.08185301209085 + ], + [ + 542.2614670898762, + 225.40739135612392 + ], + [ + 533.9674047769955, + 242.33473225375673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 383, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -21.923004150390625, + "y": 10.254949569702148, + "z": 1.0939799547195435 + }, + "extent": { + "x": 0.27018553018569946, + "y": 0.46788114309310913, + "z": 0.964595377445221 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 778.8918428074949, + "ymin": 204.90445061992375, + "xmax": 808.2433432503996, + "ymax": 273.12914482581465 + }, + "corners_3d": [ + [ + -22.240615844726562, + 9.81787395477295, + 0.1293845772743225 + ], + [ + -22.142803192138672, + 10.748509407043457, + 0.1293845772743225 + ], + [ + -21.605392456054688, + 10.692025184631348, + 0.1293845772743225 + ], + [ + -21.703205108642578, + 9.76138973236084, + 0.1293845772743225 + ], + [ + -22.240615844726562, + 9.81787395477295, + 2.058575391769409 + ], + [ + -22.142803192138672, + 10.748509407043457, + 2.058575391769409 + ], + [ + -21.605392456054688, + 10.692025184631348, + 2.058575391769409 + ], + [ + -21.703205108642578, + 9.76138973236084, + 2.058575391769409 + ] + ], + "corners_2d": [ + [ + 795.223556265085, + 273.12914482581465 + ], + [ + 801.092818026609, + 256.0905675364722 + ], + [ + 785.0626537404542, + 252.8777748117489 + ], + [ + 778.8918428074949, + 269.7847034029633 + ], + [ + 802.2599264620661, + 224.85788276685844 + ], + [ + 808.2433432503996, + 208.0671213032201 + ], + [ + 791.4758735161029, + 204.90445061992375 + ], + [ + 785.162161540955, + 221.55969305762085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 547, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -29.16718101501465, + "y": 3.312236785888672, + "z": 0.9418314695358276 + }, + "extent": { + "x": 0.17990964651107788, + "y": 0.31966808438301086, + "z": 0.9232497811317444 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.0158340414116, + "ymin": 433.9614922882038, + "xmax": 1000.2355935181365, + "ymax": 502.7501163828183 + }, + "corners_3d": [ + [ + -29.347089767456055, + 2.9925687313079834, + 0.018581688404083252 + ], + [ + -29.347089767456055, + 3.6319048404693604, + 0.018581688404083252 + ], + [ + -28.987272262573242, + 3.6319048404693604, + 0.018581688404083252 + ], + [ + -28.987272262573242, + 2.9925687313079834, + 0.018581688404083252 + ], + [ + -29.347089767456055, + 2.9925687313079834, + 1.8650813102722168 + ], + [ + -29.347089767456055, + 3.6319048404693604, + 1.8650813102722168 + ], + [ + -28.987272262573242, + 3.6319048404693604, + 1.8650813102722168 + ], + [ + -28.987272262573242, + 2.9925687313079834, + 1.8650813102722168 + ] + ], + "corners_2d": [ + [ + 977.1307343971309, + 502.7501163828183 + ], + [ + 981.6874103322587, + 484.8162428658976 + ], + [ + 967.785584696263, + 480.31322810178835 + ], + [ + 963.0158340414116, + 498.09480956343407 + ], + [ + 995.7561077557384, + 456.60519527717184 + ], + [ + 1000.2355935181365, + 438.5018683067462 + ], + [ + 985.4999794961407, + 433.9614922882038 + ], + [ + 980.7806318362482, + 451.9027250971149 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 830, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -8.421846389770508, + "y": -4.857977867126465, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.20938903093338013, + "y": 0.37029677629470825, + "z": 0.9634389281272888 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 87.77338070656504, + "ymin": 397.1626997517418, + "xmax": 150.50427178414634, + "ymax": 470.0385223471072 + }, + "corners_3d": [ + [ + -8.549670219421387, + -5.263717174530029, + -0.02161717414855957 + ], + [ + -8.703648567199707, + -4.539307594299316, + -0.02161717414855957 + ], + [ + -8.294022560119629, + -4.4522385597229, + -0.02161717414855957 + ], + [ + -8.140044212341309, + -5.176648139953613, + -0.02161717414855957 + ], + [ + -8.549670219421387, + -5.263717174530029, + 1.905260682106018 + ], + [ + -8.703648567199707, + -4.539307594299316, + 1.905260682106018 + ], + [ + -8.294022560119629, + -4.4522385597229, + 1.905260682106018 + ], + [ + -8.140044212341309, + -5.176648139953613, + 1.905260682106018 + ] + ], + "corners_2d": [ + [ + 125.79161434888886, + 470.0385223471072 + ], + [ + 150.50427178414634, + 452.8078596000832 + ], + [ + 141.4642127375663, + 445.76644845749604 + ], + [ + 116.77300115230821, + 462.7615647073484 + ], + [ + 97.08232344119324, + 421.5783925216683 + ], + [ + 123.64676277987132, + 404.2393061385829 + ], + [ + 114.30690170277433, + 397.1626997517418 + ], + [ + 87.77338070656504, + 414.25177924672266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 9382, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 577.8411984020827, + "ymin": 236.06041600782544, + "xmax": 746.5814017063957, + "ymax": 361.98965560839537 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 717.8212970179261, + 361.98965560839537 + ], + [ + 742.1484246832125, + 318.73164714135174 + ], + [ + 609.7305028826939, + 279.9185806509071 + ], + [ + 580.4285892085366, + 319.4484440104429 + ], + [ + 721.3680632275627, + 317.50715023569734 + ], + [ + 746.5814017063957, + 274.4979705758947 + ], + [ + 608.475814416558, + 236.06041600782544 + ], + [ + 577.8411984020827, + 275.20918404190894 + ] + ], + "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": 13.950864836518349, + "ymin": 211.18305950502284, + "xmax": 41.2987155213184, + "ymax": 235.53476356303713 + }, + "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": [ + [ + 39.32608613604896, + 235.53476356303713 + ], + [ + 41.2987155213184, + 234.2052718336069 + ], + [ + 25.745040955414197, + 228.81045225566143 + ], + [ + 23.760308664137824, + 230.12242009122818 + ], + [ + 29.699703786428813, + 217.86666234796613 + ], + [ + 31.71979293361892, + 216.5450795720577 + ], + [ + 15.983230992307995, + 211.18305950502284 + ], + [ + 13.950864836518349, + 212.4869465051928 + ] + ], + "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": 13.950868937161772, + "ymin": 211.18306090118776, + "xmax": 41.298719625673925, + "ymax": 235.53476499127993 + }, + "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": [ + [ + 39.3260902436424, + 235.53476499127993 + ], + [ + 41.298719625673925, + 234.2052732572099 + ], + [ + 25.745045005714246, + 228.8104536605152 + ], + [ + 23.76031271754607, + 230.12242150063025 + ], + [ + 29.699707942770374, + 217.86666376774946 + ], + [ + 31.71979708667436, + 216.54508098715505 + ], + [ + 15.983235089800246, + 211.18306090118776 + ], + [ + 13.950868937161772, + 212.48694790594996 + ] + ], + "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": 10.151314920716345, + "ymin": 203.1011013952729, + "xmax": 35.28346030097623, + "ymax": 228.01390015223606 + }, + "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": [ + [ + 35.02100386544623, + 228.01390015223606 + ], + [ + 35.28346030097623, + 227.83925873791003 + ], + [ + 21.509219900027688, + 223.08674358908667 + ], + [ + 21.245351607000885, + 223.25934187411062 + ], + [ + 24.10878580608278, + 207.99266281713403 + ], + [ + 24.378369381115476, + 207.81926471964022 + ], + [ + 10.422332757109189, + 203.1011013952729 + ], + [ + 10.151314920716345, + 203.2724346501625 + ] + ], + "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": 10.151489353218835, + "ymin": 203.10114331709062, + "xmax": 35.28363396083364, + "ymax": 228.01394290202856 + }, + "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": [ + [ + 35.02117754889207, + 228.01394290202856 + ], + [ + 35.28363396083364, + 227.83930146927818 + ], + [ + 21.50939181893898, + 223.08678582059406 + ], + [ + 21.245523548915116, + 223.25938412372014 + ], + [ + 24.10896203625873, + 207.9927052627449 + ], + [ + 24.3785455871016, + 207.81930714662795 + ], + [ + 10.422507166034734, + 203.10114331709062 + ], + [ + 10.151489353218835, + 203.27247659027176 + ] + ], + "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": 13.950864836518349, + "ymin": 211.18305950502284, + "xmax": 41.2987155213184, + "ymax": 235.53476356303713 + }, + "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": [ + [ + 39.32608613604896, + 235.53476356303713 + ], + [ + 41.2987155213184, + 234.2052718336069 + ], + [ + 25.745040955414197, + 228.81045225566143 + ], + [ + 23.760308664137824, + 230.12242009122818 + ], + [ + 29.699703786428813, + 217.86666234796613 + ], + [ + 31.71979293361892, + 216.5450795720577 + ], + [ + 15.983230992307995, + 211.18305950502284 + ], + [ + 13.950864836518349, + 212.4869465051928 + ] + ], + "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": 13.950865136058042, + "ymin": 211.18305937732748, + "xmax": 41.2987157145094, + "ymax": 235.53476336709346 + }, + "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": [ + [ + 39.32608642677985, + 235.53476336709346 + ], + [ + 41.2987157145094, + 234.20527170340196 + ], + [ + 25.74504114979254, + 228.81045212717135 + ], + [ + 23.760308956649624, + 230.1224198978693 + ], + [ + 29.69970408416225, + 217.866662153183 + ], + [ + 31.719793131452775, + 216.54507944263068 + ], + [ + 15.98323119134659, + 211.18305937732748 + ], + [ + 13.950865136058042, + 212.48694631301996 + ] + ], + "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": 13.950868353567785, + "ymin": 211.1830606684936, + "xmax": 41.29871894161465, + "ymax": 235.53476468792488 + }, + "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": [ + [ + 39.326089655953865, + 235.53476468792488 + ], + [ + 41.29871894161465, + 234.2052730199427 + ], + [ + 25.7450443306642, + 228.81045342637287 + ], + [ + 23.76031213948181, + 230.12242120127684 + ], + [ + 29.699707349291202, + 217.8666634661912 + ], + [ + 31.71979639449853, + 216.54508075130542 + ], + [ + 15.98323440688489, + 211.1830606684936 + ], + [ + 13.950868353567785, + 212.4869476084327 + ] + ], + "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": 10.151122939669563, + "ymin": 203.10101984682026, + "xmax": 35.28326805067047, + "ymax": 228.01381699316417 + }, + "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": [ + [ + 35.02081160063244, + 228.01381699316417 + ], + [ + 35.28326805067047, + 227.8391756146784 + ], + [ + 21.509030182422407, + 223.08666143820952 + ], + [ + 21.24516187565962, + 223.25925968802034 + ], + [ + 24.108591213353975, + 207.99258024977206 + ], + [ + 24.37817480292256, + 207.81918218850507 + ], + [ + 10.422140789792934, + 203.10101984682026 + ], + [ + 10.151122939669563, + 203.27235306612815 + ] + ], + "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": 13.950868937161772, + "ymin": 211.18306090118776, + "xmax": 41.298719625673925, + "ymax": 235.53476499127993 + }, + "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": [ + [ + 39.3260902436424, + 235.53476499127993 + ], + [ + 41.298719625673925, + 234.2052732572099 + ], + [ + 25.745045005714246, + 228.8104536605152 + ], + [ + 23.76031271754607, + 230.12242150063025 + ], + [ + 29.699707942770374, + 217.86666376774946 + ], + [ + 31.71979708667436, + 216.54508098715505 + ], + [ + 15.983235089800246, + 211.18306090118776 + ], + [ + 13.950868937161772, + 212.48694790594996 + ] + ], + "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": 8.551964803615078, + "ymin": 201.82892372348482, + "xmax": 38.910666460138486, + "ymax": 229.38277075753518 + }, + "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": [ + [ + 38.59681863264689, + 229.38277075753518 + ], + [ + 38.910666460138486, + 229.17296411537345 + ], + [ + 20.546132544455872, + 222.83602167086588 + ], + [ + 20.2300252543572, + 223.04256397210744 + ], + [ + 27.17393156729281, + 208.32596838440506 + ], + [ + 27.49674754911041, + 208.11772376841026 + ], + [ + 8.87707813377881, + 201.82892372348482 + ], + [ + 8.551964803615078, + 202.03386750296525 + ] + ], + "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": 10.151294271319216, + "ymin": 203.10102702589106, + "xmax": 35.283437548412735, + "ymax": 228.01382431402482 + }, + "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": [ + [ + 35.02098113254078, + 228.01382431402482 + ], + [ + 35.283437548412735, + 227.8391829323839 + ], + [ + 21.509198562193887, + 223.0866686703144 + ], + [ + 21.245330289144363, + 223.25926692322506 + ], + [ + 24.108763702806073, + 207.9925875185418 + ], + [ + 24.37834725700918, + 207.8191894540856 + ], + [ + 10.422312086553916, + 203.10102702589106 + ], + [ + 10.151294271319216, + 203.2723602483312 + ] + ], + "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": 13.950865136058042, + "ymin": 211.18305937732748, + "xmax": 41.2987157145094, + "ymax": 235.53476336709346 + }, + "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": [ + [ + 39.32608642677985, + 235.53476336709346 + ], + [ + 41.2987157145094, + 234.20527170340196 + ], + [ + 25.74504114979254, + 228.81045212717135 + ], + [ + 23.760308956649624, + 230.1224198978693 + ], + [ + 29.69970408416225, + 217.866662153183 + ], + [ + 31.719793131452775, + 216.54507944263068 + ], + [ + 15.98323119134659, + 211.18305937732748 + ], + [ + 13.950865136058042, + 212.48694631301996 + ] + ], + "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": 8.551875256708627, + "ymin": 201.82898020585554, + "xmax": 38.910579963640316, + "ymax": 229.3828285450239 + }, + "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": [ + [ + 38.596732188873716, + 229.3828285450239 + ], + [ + 38.910579963640316, + 229.17302193810852 + ], + [ + 20.546045425073885, + 222.83607859406314 + ], + [ + 20.22993818843122, + 223.04262086037693 + ], + [ + 27.173842652965277, + 208.32602574194328 + ], + [ + 27.49665858142464, + 208.11778116036905 + ], + [ + 8.876988532759015, + 201.82898020585554 + ], + [ + 8.551875256708627, + 202.03392395122424 + ] + ], + "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": 8.552117253118922, + "ymin": 201.82896325366403, + "xmax": 38.91081864328828, + "ymax": 229.38281118157062 + }, + "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": [ + [ + 38.59697093694331, + 229.38281118157062 + ], + [ + 38.91081864328828, + 229.17300458363022 + ], + [ + 20.546282630566225, + 222.8360615095653 + ], + [ + 20.230175461480826, + 223.0426037671129 + ], + [ + 27.174086184740077, + 208.32600850767753 + ], + [ + 27.496902042023066, + 208.11776393518068 + ], + [ + 8.877230458910617, + 201.82896325366403 + ], + [ + 8.552117253118922, + 202.03390699017046 + ] + ], + "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": 13.95086348512234, + "ymin": 211.18305842385456, + "xmax": 41.29871404871358, + "ymax": 235.5347623917138 + }, + "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": [ + [ + 39.32608476062444, + 235.5347623917138 + ], + [ + 41.29871404871358, + 234.20527073119092 + ], + [ + 25.745039513399433, + 228.81045116776463 + ], + [ + 23.760307319960816, + 230.12241893535625 + ], + [ + 29.69970240296948, + 217.86666118358048 + ], + [ + 31.71979145059288, + 216.54507847622844 + ], + [ + 15.983229540677144, + 211.18305842385456 + ], + [ + 13.95086348512234, + 212.48694535641076 + ] + ], + "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": 8.552058287440673, + "ymin": 201.8288681457691, + "xmax": 38.91075678496384, + "ymax": 229.38271383149907 + }, + "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": [ + [ + 38.59690900283533, + 229.38271383149907 + ], + [ + 38.91075678496384, + 229.17290721876145 + ], + [ + 20.54622344147549, + 222.835965659384 + ], + [ + 20.230116196689664, + 223.04250793188572 + ], + [ + 27.174024470259496, + 208.32591188191023 + ], + [ + 27.49684040454497, + 208.1176672956751 + ], + [ + 8.877171570135715, + 201.8288681457691 + ], + [ + 8.552058287440673, + 202.0338118961948 + ] + ], + "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": 8.551963329796877, + "ymin": 201.82892338706841, + "xmax": 38.91066488984006, + "ymax": 229.38277034780796 + }, + "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": [ + [ + 38.596817159532065, + 229.38277034780796 + ], + [ + 38.91066488984006, + 229.17296377097378 + ], + [ + 20.546130994152804, + 222.83602133182384 + ], + [ + 20.230023801947368, + 223.0425635687559 + ], + [ + 27.173930072073517, + 208.32596797772626 + ], + [ + 27.496745953930144, + 208.11772342657633 + ], + [ + 8.877076559277725, + 201.82892338706841 + ], + [ + 8.551963329796877, + 202.03386710273347 + ] + ], + "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": 14.967313050781627, + "ymin": 216.26587522946676, + "xmax": 42.23179394022122, + "ymax": 240.5149807582037 + }, + "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": [ + [ + 40.26591773804432, + 240.5149807582037 + ], + [ + 42.23179394022122, + 239.18093933125039 + ], + [ + 26.712931398748992, + 233.76753951672663 + ], + [ + 24.734995801598075, + 235.08404327188688 + ], + [ + 30.680527384500806, + 222.97414361797217 + ], + [ + 32.69356024479782, + 221.6477076292106 + ], + [ + 16.992579023885583, + 216.26587522946676 + ], + [ + 14.967313050781627, + 217.57459785225453 + ] + ], + "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": 10.151314920716345, + "ymin": 203.1011013952729, + "xmax": 35.28346030097623, + "ymax": 228.01390015223606 + }, + "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": [ + [ + 35.02100386544623, + 228.01390015223606 + ], + [ + 35.28346030097623, + 227.83925873791003 + ], + [ + 21.509219900027688, + 223.08674358908667 + ], + [ + 21.245351607000885, + 223.25934187411062 + ], + [ + 24.10878580608278, + 207.99266281713403 + ], + [ + 24.378369381115476, + 207.81926471964022 + ], + [ + 10.422332757109189, + 203.1011013952729 + ], + [ + 10.151314920716345, + 203.2724346501625 + ] + ], + "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": 10.151466870480021, + "ymin": 203.10113483550492, + "xmax": 35.28361148034776, + "ymax": 228.01393425292767 + }, + "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": [ + [ + 35.021155066361416, + 228.01393425292767 + ], + [ + 35.28361148034776, + 227.83929282390494 + ], + [ + 21.50936961644902, + 223.08677727635222 + ], + [ + 21.245501344467016, + 223.25937557581577 + ], + [ + 24.10893926677386, + 207.99269667518578 + ], + [ + 24.378522819683553, + 207.81929856283665 + ], + [ + 10.422484685272707, + 203.10113483550492 + ], + [ + 10.151466870480021, + 203.27246810498522 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 797.8147044781111, + "ymin": 79.82110902364394, + "xmax": 814.0682178370964, + "ymax": 93.1901058938094 + }, + "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": [ + [ + 813.5362132653381, + 85.97911521287085 + ], + [ + 802.6549592303602, + 83.65310161200557 + ], + [ + 797.8147044781111, + 90.81370732045286 + ], + [ + 808.7962730004068, + 93.1901058938094 + ], + [ + 814.0682178370964, + 82.14082875358736 + ], + [ + 803.1518646661975, + 79.82110902364394 + ], + [ + 798.3020228144011, + 86.96249750038083 + ], + [ + 809.3193472782276, + 89.33262211616079 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 766.7693752228499, + "ymin": 20.727327438157545, + "xmax": 852.7669217940869, + "ymax": 315.08451785578785 + }, + "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": [ + [ + 816.8358735960718, + 245.61874058581392 + ], + [ + 804.2420234411125, + 242.28707822786097 + ], + [ + 766.7693752228499, + 311.1716541886875 + ], + [ + 780.2557564283695, + 315.08451785578785 + ], + [ + 852.7669217940869, + 23.658901975439903 + ], + [ + 837.452700426827, + 20.727327438157545 + ], + [ + 795.0213820356415, + 82.33083836803519 + ], + [ + 811.6809123536212, + 85.89371445554889 + ] + ], + "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": 797.7270960041382, + "ymin": 79.74966100122629, + "xmax": 814.1554793323025, + "ymax": 93.26254219544126 + }, + "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": [ + [ + 813.6175154440792, + 85.97352326575606 + ], + [ + 802.6198800648804, + 83.62271219523109 + ], + [ + 797.7270960041382, + 90.86025573633992 + ], + [ + 808.8272142393763, + 93.26254219544126 + ], + [ + 814.1554793323025, + 82.09404196771976 + ], + [ + 803.1219892088682, + 79.74966100122629 + ], + [ + 798.219407306005, + 86.96757144044346 + ], + [ + 809.3560585257619, + 89.36344835930925 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 22.30776216109666, + "ymin": 219.0470496954809, + "xmax": 57.18596474652895, + "ymax": 278.20210466726337 + }, + "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": [ + [ + 55.845612972335516, + 278.20210466726337 + ], + [ + 57.18596474652895, + 277.2385037213081 + ], + [ + 55.46289677363711, + 276.6135745229916 + ], + [ + 54.12159035948457, + 277.5757740665082 + ], + [ + 24.101041420367437, + 220.60965589547234 + ], + [ + 25.551621807935817, + 219.66174298554552 + ], + [ + 23.759346178288524, + 219.0470496954809 + ], + [ + 22.30776216109666, + 219.9935092327766 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 77.9811676207014, + "ymin": 0.0, + "xmax": 237.28799278729173, + "ymax": 137.71542211033434 + }, + "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": [ + [ + 237.28799278729173, + 92.30034472778311 + ], + [ + 228.92028195796576, + 90.08669674806094 + ], + [ + 160.2337910859021, + 135.19425440361064 + ], + [ + 168.92345091897528, + 137.71542211033434 + ], + [ + 173.03171724585047, + -106.46235189692743 + ], + [ + 163.57829771449315, + -108.27200061954227 + ], + [ + 77.9811676207014, + -71.0188128621864 + ], + [ + 87.82798121483052, + -68.91293447393986 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "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": 19.971483047547054, + "ymin": 214.8198722107004, + "xmax": 55.096368601983045, + "ymax": 274.39807054914405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 53.748854876022165, + 274.39807054914405 + ], + [ + 55.096368601983045, + 273.43528968008627 + ], + [ + 53.368651958915166, + 272.81089646776894 + ], + [ + 52.020180174204484, + 273.77227210948087 + ], + [ + 21.769749258371235, + 216.3801193842602 + ], + [ + 23.228576476493004, + 215.4336347714301 + ], + [ + 21.431317247137827, + 214.8198722107004 + ], + [ + 19.971483047547054, + 215.76490015740796 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00000/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2eccefeeef28620696d6958c9647a75c1efa5a2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00000/meta.json @@ -0,0 +1,1714 @@ +{ + "frame_id": 0, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 0.0, + "sim_timestamp": 35.09625197551213 + }, + "drone_pose": { + "x": -136.1771085419433, + "y": -79.5885070183111, + "z": 22.0, + "pitch": -46.26532798655113, + "yaw": 95.71059313749961, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.06878888607025146, + -0.6878888607025146, + 0.7225489616394043, + 29.4844970703125 + ], + [ + 0.9950371980667114, + -0.09950375556945801, + 0.0, + -143.42063903808594 + ], + [ + 0.07189628481864929, + 0.718963086605072, + 0.6913197636604309, + -62.63959884643555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.17718284873558, + "y": -79.99164732718003, + "z": 21.2 + }, + "t1_image_uv": [ + 3329.497351582598, + 2363.0376596226247 + ], + "t1_depth": 0.3695174059705463 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -59.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.930171732784082, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 577, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -59.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37941405177116394, + "y": 0.5367382764816284, + "z": 0.9042067527770996 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.7386338996039, + "ymin": 328.53828267780887, + "xmax": 659.5685481814909, + "ymax": 390.69810031718214 + }, + "corners_3d": [ + [ + -137.63043212890625, + -60.067176818847656, + 0.1923285722732544 + ], + [ + -138.70391845703125, + -60.067176818847656, + 0.1923285722732544 + ], + [ + -138.70391845703125, + -59.308349609375, + 0.1923285722732544 + ], + [ + -137.63043212890625, + -59.308349609375, + 0.1923285722732544 + ], + [ + -137.63043212890625, + -60.067176818847656, + 2.000741958618164 + ], + [ + -138.70391845703125, + -60.067176818847656, + 2.000741958618164 + ], + [ + -138.70391845703125, + -59.308349609375, + 2.000741958618164 + ], + [ + -137.63043212890625, + -59.308349609375, + 2.000741958618164 + ] + ], + "corners_2d": [ + [ + 623.7298615286023, + 390.69810031718214 + ], + [ + 658.6976328659522, + 388.09725364940334 + ], + [ + 655.9452256472952, + 370.07895286196816 + ], + [ + 621.5829894928224, + 372.5896159159247 + ], + [ + 622.9700160919864, + 349.23574164021574 + ], + [ + 659.5685481814909, + 346.62289268571914 + ], + [ + 656.6743693775599, + 328.53828267780887 + ], + [ + 620.7386338996039, + 331.05642179250566 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 0, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 32, + "semantic_pixel_counts": { + "1": 375374, + "2": 116489, + "3": 246030, + "4": 49352, + "6": 13769, + "12": 3584, + "14": 8654, + "20": 104, + "24": 7985, + "25": 100259 + }, + "instance_pixel_counts": { + "2453": 5867, + "3413": 4085, + "3662": 12789, + "15704": 10982, + "15960": 2550, + "17240": 237, + "22933": 2118, + "23443": 99876, + "28298": 6, + "36096": 577, + "36352": 592, + "36608": 512, + "36864": 542, + "37120": 708, + "37376": 653, + "38144": 8654, + "47198": 80137, + "48980": 4307, + "49492": 237638, + "50246": 33505, + "51297": 15973, + "51526": 3058, + "51809": 2963, + "52321": 4310, + "54366": 18266, + "54878": 1856, + "57994": 12954, + "59737": 104, + "63382": 68458, + "63894": 11340, + "64406": 485, + "65426": 275498 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 577, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -59.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.405952125787735, + "y": 0.5620141625404358, + "z": 0.9090410470962524 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.8120118026669, + "ymin": 327.7425646894921, + "xmax": 660.5339934854683, + "ymax": 391.51043144111617 + }, + "corners_3d": [ + [ + -137.60516357421875, + -60.09371566772461, + 0.18749427795410156 + ], + [ + -138.72918701171875, + -60.09371566772461, + 0.18749427795410156 + ], + [ + -138.72918701171875, + -59.28181076049805, + 0.18749427795410156 + ], + [ + -137.60516357421875, + -59.28181076049805, + 0.18749427795410156 + ], + [ + -137.60516357421875, + -60.09371566772461, + 2.0055763721466064 + ], + [ + -138.72918701171875, + -60.09371566772461, + 2.0055763721466064 + ], + [ + -138.72918701171875, + -59.28181076049805, + 2.0055763721466064 + ], + [ + -137.60516357421875, + -59.28181076049805, + 2.0055763721466064 + ] + ], + "corners_2d": [ + [ + 622.9826290455585, + 391.51043144111617 + ], + [ + 659.6148163243314, + 388.7837943367363 + ], + [ + 656.655070149301, + 369.50748667943805 + ], + [ + 620.7011221447341, + 372.1331005904418 + ], + [ + 622.1829660912015, + 349.8295445934293 + ], + [ + 660.5339934854683, + 347.0900983269115 + ], + [ + 657.4203036987282, + 327.7425646894921 + ], + [ + 619.8120118026669, + 330.3758895329879 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 592, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -56.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4509228765964508, + "y": 0.4778711199760437, + "z": 0.9039440751075745 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 482.0272613142169, + "ymin": 272.252177238638, + "xmax": 523.0087055548344, + "ymax": 337.97530927344434 + }, + "corners_3d": [ + [ + -133.6675262451172, + -57.2304801940918, + 0.040193796157836914 + ], + [ + -134.60238647460938, + -57.031768798828125, + 0.040193796157836914 + ], + [ + -134.4148712158203, + -56.14963150024414, + 0.040193796157836914 + ], + [ + -133.48001098632812, + -56.34834289550781, + 0.040193796157836914 + ], + [ + -133.6675262451172, + -57.2304801940918, + 1.8480819463729858 + ], + [ + -134.60238647460938, + -57.031768798828125, + 1.8480819463729858 + ], + [ + -134.4148712158203, + -56.14963150024414, + 1.8480819463729858 + ], + [ + -133.48001098632812, + -56.34834289550781, + 1.8480819463729858 + ] + ], + "corners_2d": [ + [ + 494.1248011079242, + 337.97530927344434 + ], + [ + 523.0087055548344, + 331.6684342547194 + ], + [ + 516.9243436949954, + 313.497689180526 + ], + [ + 488.54351836636204, + 319.5709526665937 + ], + [ + 487.72345513867253, + 296.7025272606573 + ], + [ + 517.9092854136878, + 290.3975612089618 + ], + [ + 511.66396638810556, + 272.252177238638 + ], + [ + 482.0272613142169, + 278.31368610059377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 512, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -52.745052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.42545896768569946, + "y": 0.5400683283805847, + "z": 0.9341859817504883 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 665.9312185644175, + "ymin": 183.17153099358555, + "xmax": 703.1477161564951, + "ymax": 244.04110996951357 + }, + "corners_3d": [ + [ + -139.9303741455078, + -53.224632263183594, + 0.16234934329986572 + ], + [ + -141.0045928955078, + -53.11172866821289, + 0.16234934329986572 + ], + [ + -140.91563415527344, + -52.265472412109375, + 0.16234934329986572 + ], + [ + -139.84141540527344, + -52.37837600708008, + 0.16234934329986572 + ], + [ + -139.9303741455078, + -53.224632263183594, + 2.0307211875915527 + ], + [ + -141.0045928955078, + -53.11172866821289, + 2.0307211875915527 + ], + [ + -140.91563415527344, + -52.265472412109375, + 2.0307211875915527 + ], + [ + -139.84141540527344, + -52.37837600708008, + 2.0307211875915527 + ] + ], + "corners_2d": [ + [ + 671.2205983867951, + 244.04110996951357 + ], + [ + 700.6640614590948, + 240.12270746216427 + ], + [ + 694.9116980364815, + 225.54104082128754 + ], + [ + 665.9312185644175, + 229.33088966230565 + ], + [ + 672.5047068911404, + 201.49331053855397 + ], + [ + 703.1477161564951, + 197.6100483961198 + ], + [ + 697.1212466479695, + 183.17153099358555 + ], + [ + 666.979379454908, + 186.9222988810586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 542, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -59.68776321411133, + "z": 1.0951632261276245 + }, + "extent": { + "x": 0.3680956959724426, + "y": 0.5572118759155273, + "z": 0.8783292770385742 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 734.984116888906, + "ymin": 321.1017883819513, + "xmax": 780.7421604506237, + "ymax": 381.3164505300659 + }, + "corners_3d": [ + [ + -141.18972778320312, + -60.05585861206055, + 0.2168339490890503 + ], + [ + -142.30413818359375, + -60.05585861206055, + 0.2168339490890503 + ], + [ + -142.30413818359375, + -59.31966781616211, + 0.2168339490890503 + ], + [ + -141.18972778320312, + -59.31966781616211, + 0.2168339490890503 + ], + [ + -141.18972778320312, + -60.05585861206055, + 1.9734925031661987 + ], + [ + -142.30413818359375, + -60.05585861206055, + 1.9734925031661987 + ], + [ + -142.30413818359375, + -59.31966781616211, + 1.9734925031661987 + ], + [ + -141.18972778320312, + -59.31966781616211, + 1.9734925031661987 + ] + ], + "corners_2d": [ + [ + 738.9957412973213, + 381.3164505300659 + ], + [ + 774.7064459121694, + 378.662439392963 + ], + [ + 770.104293903069, + 361.46936338644554 + ], + [ + 734.984116888906, + 364.034719340777 + ], + [ + 743.4434227733976, + 341.00742028879364 + ], + [ + 780.7421604506237, + 338.34357399513937 + ], + [ + 775.8314187056479, + 321.1017883819513 + ], + [ + 739.17641503904, + 323.6727634935117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 708, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.78268432617188, + "y": -70.81512451171875, + "z": 1.096012830734253 + }, + "extent": { + "x": 0.39934083819389343, + "y": 0.5368677377700806, + "z": 0.9037868976593018 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 818.2666905137069, + "ymin": 669.80308678771, + "xmax": 884.2488128692532, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.20701599121094, + -71.15615844726562, + 0.19222593307495117 + ], + [ + -142.27487182617188, + -71.26839447021484, + 0.19222593307495117 + ], + [ + -142.3583526611328, + -70.47409057617188, + 0.19222593307495117 + ], + [ + -141.29049682617188, + -70.36185455322266, + 0.19222593307495117 + ], + [ + -141.20701599121094, + -71.15615844726562, + 1.9997997283935547 + ], + [ + -142.27487182617188, + -71.26839447021484, + 1.9997997283935547 + ], + [ + -142.3583526611328, + -70.47409057617188, + 1.9997997283935547 + ], + [ + -141.29049682617188, + -70.36185455322266, + 1.9997997283935547 + ] + ], + "corners_2d": [ + [ + 822.5836870547448, + 739.2001497292983 + ], + [ + 869.6824027079541, + 739.4368466483318 + ], + [ + 864.2064471456262, + 705.4313476942789 + ], + [ + 818.2666905137069, + 705.2061482499062 + ], + [ + 834.1609987251921, + 705.0035825771536 + ], + [ + 884.2488128692532, + 705.2490649845155 + ], + [ + 878.0543035319125, + 670.0359182801808 + ], + [ + 829.2751781845666, + 669.80308678771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 653, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -67.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.29868650436401367, + "y": 0.3699047863483429, + "z": 0.8798525929450989 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 166.1478582207476, + "ymin": 616.1784642152552, + "xmax": 231.7593979129083, + "ymax": 678.2085244811765 + }, + "corners_3d": [ + [ + -126.4979248046875, + -68.07322692871094, + 0.0642852783203125 + ], + [ + -127.22156524658203, + -68.22704315185547, + 0.0642852783203125 + ], + [ + -127.34576416015625, + -67.64273071289062, + 0.0642852783203125 + ], + [ + -126.62212371826172, + -67.4889144897461, + 0.0642852783203125 + ], + [ + -126.4979248046875, + -68.07322692871094, + 1.8239904642105103 + ], + [ + -127.22156524658203, + -68.22704315185547, + 1.8239904642105103 + ], + [ + -127.34576416015625, + -67.64273071289062, + 1.8239904642105103 + ], + [ + -126.62212371826172, + -67.4889144897461, + 1.8239904642105103 + ] + ], + "corners_2d": [ + [ + 192.22399777070683, + 675.0036868341497 + ], + [ + 221.76328575003282, + 678.2085244811765 + ], + [ + 231.7593979129083, + 655.0840990050261 + ], + [ + 202.71192832177803, + 651.990302983925 + ], + [ + 166.1478582207476, + 639.8587412237671 + ], + [ + 197.34469648477193, + 643.1602698707927 + ], + [ + 208.36538240066506, + 619.3591151748678 + ], + [ + 177.7164821259001, + 616.1784642152552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 8654, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 253.64895536940298, + "ymin": 293.0383836312844, + "xmax": 360.9744175329139, + "ymax": 447.2946926486545 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 271.269625300361, + 447.2946926486545 + ], + [ + 344.2874537999488, + 442.0860953230013 + ], + [ + 360.9744175329139, + 333.28538190436086 + ], + [ + 295.37891487783065, + 337.5001287208268 + ], + [ + 253.64895536940298, + 407.5731597591143 + ], + [ + 330.2268117828358, + 402.3156174475982 + ], + [ + 349.09367995014765, + 293.0383836312844 + ], + [ + 280.6391280201154, + 297.2522844462524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 106.83724601322024, + "ymin": 536.5196079944217, + "xmax": 740.9997047642449, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 701.4680765839802, + 856.3375464722355 + ], + [ + 696.5974238569611, + 819.8755543377066 + ], + [ + 325.7486302266557, + 859.1124300057556 + ], + [ + 321.2580438177744, + 897.5818038812024 + ], + [ + 740.9997047642449, + 584.8293561039168 + ], + [ + 731.5648929167609, + 536.5196079944217 + ], + [ + 123.0306885282074, + 588.5678303701538 + ], + [ + 106.83724601322024, + 641.3290519141492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 377.6543891038663, + "ymin": 0.0, + "xmax": 589.152287913551, + "ymax": 23.37552534489879 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 589.152287913551, + 15.534948355050801 + ], + [ + 588.1990927142565, + 8.399273300660298 + ], + [ + 424.15820823838476, + 16.069959814761376 + ], + [ + 423.3054188037639, + 23.37552534489879 + ], + [ + 578.592334765192, + -246.7568231024062 + ], + [ + 577.5815660372759, + -251.93233517746705 + ], + [ + 379.28864452652925, + -246.36784043150328 + ], + [ + 377.6543891038663, + -241.04313493205245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7756054829984019411, + "instance_id": 54131, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 121.57703879635528, + "ymin": 600.2012180499052, + "xmax": 185.92365499972738, + "ymax": 640.3600067703005 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.914763450622559 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 177.34088772218928, + 635.4875948097882 + ], + [ + 185.92365499972738, + 601.589203709175 + ], + [ + 132.7399996194702, + 606.2062682045794 + ], + [ + 122.67089855593986, + 640.3600067703005 + ], + [ + 176.36634504909023, + 634.1331400316622 + ], + [ + 184.9925958553872, + 600.2012180499052 + ], + [ + 131.69602494061962, + 604.8226266672422 + ], + [ + 121.57703879635528, + 639.0106830385002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12456936095367281392, + "instance_id": 61626, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 121.60533882595655, + "ymin": 600.2371253876929, + "xmax": 185.9476431286111, + "ymax": 640.3947689351635 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.913856506347656 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 177.36599473776448, + 635.5224894512946 + ], + [ + 185.9476431286111, + 601.6249642503672 + ], + [ + 132.76689673331998, + 606.2419165442482 + ], + [ + 122.69907929003875, + 640.3947689351635 + ], + [ + 176.39155794374682, + 634.1681818277584 + ], + [ + 185.0166824552544, + 600.2371253876929 + ], + [ + 131.7230328775322, + 604.8584218872863 + ], + [ + 121.60533882595655, + 639.0455923595689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 319.8584041421408, + "ymin": 0.0, + "xmax": 620.1175756085478, + "ymax": 261.73094674989414 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 620.1175756085478, + 247.34292235302027 + ], + [ + 618.3823276390264, + 234.3527542252111 + ], + [ + 397.0472237222608, + 248.320876245347 + ], + [ + 395.4818465329978, + 261.73094674989414 + ], + [ + 614.0957881012661, + -64.96592833853009 + ], + [ + 611.9588457056097, + -75.90786873198743 + ], + [ + 323.3588507647664, + -64.13825973281985 + ], + [ + 319.8584041421408, + -52.73315920596491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12788444652280149257, + "instance_id": 2549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5140_37", + "bbox_3d": { + "center_world": { + "x": -206.7578125, + "y": -48.88566207885742, + "z": -25.194599151611328 + }, + "extent": { + "x": 17.067548751831055, + "y": 18.221494674682617, + "z": 12.685840606689453 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.940129845038, + "ymin": 60.63644379993616, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -206.54763793945312, + -23.920087814331055, + -37.88043975830078 + ], + [ + -181.8592987060547, + -50.72638702392578, + -37.88043975830078 + ], + [ + -206.96798706054688, + -73.85123443603516, + -37.88043975830078 + ], + [ + -231.6563262939453, + -47.04493713378906, + -37.88043975830078 + ], + [ + -206.54763793945312, + -23.920087814331055, + -12.508758544921875 + ], + [ + -181.8592987060547, + -50.72638702392578, + -12.508758544921875 + ], + [ + -206.96798706054688, + -73.85123443603516, + -12.508758544921875 + ], + [ + -231.6563262939453, + -47.04493713378906, + -12.508758544921875 + ] + ], + "corners_2d": [ + [ + 1356.4597040677022, + 319.0406085904232 + ], + [ + 1256.940129845038, + 611.5268404359083 + ], + [ + 1927.833139142166, + 953.1857173829972 + ], + [ + 1859.821137696277, + 508.00348556365725 + ], + [ + 1549.4169311578007, + 60.63644379993616 + ], + [ + 1492.9045012999386, + 356.423002160119 + ], + [ + 2627.346336487578, + 776.4801815109424 + ], + [ + 2274.7907330466305, + 245.8864050176052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1207.1098042054607, + "ymin": 461.7906950261128, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1207.1098042054607, + 707.1450997626703 + ], + [ + 1449.3091897665727, + 808.6735947433742 + ], + [ + 1439.1821015493538, + 631.2624425640591 + ], + [ + 1225.3697592798628, + 552.353817147623 + ], + [ + 1288.304438554434, + 625.3415351812803 + ], + [ + 1575.2466031290498, + 735.5621891956665 + ], + [ + 1546.312230951672, + 544.4993600721484 + ], + [ + 1298.3747941530437, + 461.7906950261128 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00001/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0efeae580afa77bee7b962b3cc5dad404e155167 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00001/meta.json @@ -0,0 +1,1612 @@ +{ + "frame_id": 1, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 0.5, + "sim_timestamp": 45.77517595491372 + }, + "drone_pose": { + "x": -137.17718284873558, + "y": -79.99164732718003, + "z": 21.2, + "pitch": -43.98669124319982, + "yaw": 92.72449445099251, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.03420054912567139, + -0.718687891960144, + 0.6944913268089294, + 38.07428741455078 + ], + [ + 0.9988696575164795, + -0.047533631324768066, + 0.0, + -140.8244171142578 + ], + [ + 0.03301161527633667, + 0.6937062740325928, + 0.7195010781288147, + -66.21569061279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.59963629491037, + "y": -79.86062788121505, + "z": 20.671365713355055 + }, + "t1_image_uv": [ + 1478.938220210162, + 915.9680503913262 + ], + "t1_depth": 0.47574205044357376 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -59.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.947037625691976, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 567, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -59.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3682031035423279, + "y": 0.5230932235717773, + "z": 0.8892400860786438 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.8588676851807, + "ymin": 329.3834155231422, + "xmax": 658.4593843909433, + "ymax": 389.91594431285733 + }, + "corners_3d": [ + [ + -137.6440887451172, + -59.555965423583984, + 0.2072952389717102 + ], + [ + -138.6902618408203, + -59.555965423583984, + 0.2072952389717102 + ], + [ + -138.6902618408203, + -58.81956100463867, + 0.2072952389717102 + ], + [ + -137.6440887451172, + -58.81956100463867, + 0.2072952389717102 + ], + [ + -137.6440887451172, + -59.555965423583984, + 1.9857754707336426 + ], + [ + -138.6902618408203, + -59.555965423583984, + 1.9857754707336426 + ], + [ + -138.6902618408203, + -58.81956100463867, + 1.9857754707336426 + ], + [ + -137.6440887451172, + -58.81956100463867, + 1.9857754707336426 + ] + ], + "corners_2d": [ + [ + 623.4437757675444, + 389.91594431285733 + ], + [ + 657.6817050432496, + 388.7485752507166 + ], + [ + 656.2423144329091, + 371.80793036201703 + ], + [ + 622.6104883790804, + 372.9342428166683 + ], + [ + 622.7146685443221, + 347.43420494925704 + ], + [ + 658.4593843909433, + 346.2696174428732 + ], + [ + 656.9434723276788, + 329.3834155231422 + ], + [ + 621.8588676851807, + 330.50529152924656 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 1, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 34, + "semantic_pixel_counts": { + "1": 367045, + "2": 119219, + "3": 247989, + "4": 51380, + "6": 14634, + "12": 3655, + "14": 8515, + "20": 99, + "24": 7959, + "25": 101105 + }, + "instance_pixel_counts": { + "2453": 5797, + "3413": 4000, + "3662": 12785, + "11605": 1158, + "15704": 11649, + "15960": 2667, + "17240": 318, + "20565": 94, + "22933": 2162, + "23443": 99548, + "28298": 523, + "36096": 567, + "36352": 580, + "36608": 514, + "36864": 566, + "37120": 671, + "37376": 757, + "38144": 8515, + "47198": 79091, + "48980": 6884, + "49492": 235853, + "50246": 31277, + "51297": 16866, + "51526": 7318, + "51809": 3005, + "52321": 4164, + "54366": 20780, + "54878": 1234, + "57994": 15559, + "59737": 99, + "63382": 66935, + "63894": 11003, + "64406": 1164, + "65426": 267497 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 567, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -59.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.38264158368110657, + "y": 0.5870653986930847, + "z": 0.883718729019165 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.6974105501182, + "ymin": 329.1274714710971, + "xmax": 660.6707195626452, + "ymax": 390.20023661869527 + }, + "corners_3d": [ + [ + -137.58010864257812, + -59.570404052734375, + 0.21281659603118896 + ], + [ + -138.75424194335938, + -59.570404052734375, + 0.21281659603118896 + ], + [ + -138.75424194335938, + -58.80512237548828, + 0.21281659603118896 + ], + [ + -137.58010864257812, + -58.80512237548828, + 0.21281659603118896 + ], + [ + -137.58010864257812, + -59.570404052734375, + 1.980254054069519 + ], + [ + -138.75424194335938, + -59.570404052734375, + 1.980254054069519 + ], + [ + -138.75424194335938, + -58.80512237548828, + 1.980254054069519 + ], + [ + -137.58010864257812, + -58.80512237548828, + 1.980254054069519 + ] + ], + "corners_2d": [ + [ + 621.36065011746, + 390.20023661869527 + ], + [ + 659.8049304889656, + 388.88915649095975 + ], + [ + 658.2704195878515, + 371.2867618574386 + ], + [ + 620.5332393963558, + 372.5499500626953 + ], + [ + 620.5446483822109, + 347.9815711169879 + ], + [ + 660.6707195626452, + 346.6735543356997 + ], + [ + 659.0537817571491, + 329.1274714710971 + ], + [ + 619.6974105501182, + 330.3856780641694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 580, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -56.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4540722966194153, + "y": 0.499875545501709, + "z": 0.9232205152511597 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 487.6919827187074, + "ymin": 269.98055382619117, + "xmax": 528.2455155131119, + "ymax": 336.1937084296016 + }, + "corners_3d": [ + [ + -133.6466522216797, + -56.738136291503906, + 0.02091735601425171 + ], + [ + -134.6245574951172, + -56.5302734375, + 0.02091735601425171 + ], + [ + -134.4357452392578, + -55.64197540283203, + 0.02091735601425171 + ], + [ + -133.4578399658203, + -55.84983825683594, + 0.02091735601425171 + ], + [ + -133.6466522216797, + -56.738136291503906, + 1.8673584461212158 + ], + [ + -134.6245574951172, + -56.5302734375, + 1.8673584461212158 + ], + [ + -134.4357452392578, + -55.64197540283203, + 1.8673584461212158 + ], + [ + -133.4578399658203, + -55.84983825683594, + 1.8673584461212158 + ] + ], + "corners_2d": [ + [ + 497.9363660641548, + 336.1937084296016 + ], + [ + 528.2455155131119, + 330.9506452543184 + ], + [ + 523.5446714001051, + 313.2881118790223 + ], + [ + 493.808442378078, + 318.3262809411646 + ], + [ + 491.8674812600816, + 292.68914471125635 + ], + [ + 523.5003241789188, + 287.486832773635 + ], + [ + 518.7012283653854, + 269.98055382619117 + ], + [ + 487.6919827187074, + 274.9711714895318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 514, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -52.245052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.43788084387779236, + "y": 0.47847655415534973, + "z": 0.9499796032905579 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 678.0315989215895, + "ymin": 191.30037454642326, + "xmax": 711.4343073972518, + "ymax": 252.10354569706902 + }, + "corners_3d": [ + [ + -139.992919921875, + -52.73054885864258, + 0.14655572175979614 + ], + [ + -140.9446258544922, + -52.63051986694336, + 0.14655572175979614 + ], + [ + -140.85308837890625, + -51.75955581665039, + 0.14655572175979614 + ], + [ + -139.90138244628906, + -51.85958480834961, + 0.14655572175979614 + ], + [ + -139.992919921875, + -52.73054885864258, + 2.0465149879455566 + ], + [ + -140.9446258544922, + -52.63051986694336, + 2.0465149879455566 + ], + [ + -140.85308837890625, + -51.75955581665039, + 2.0465149879455566 + ], + [ + -139.90138244628906, + -51.85958480834961, + 2.0465149879455566 + ] + ], + "corners_2d": [ + [ + 682.4387010757315, + 252.10354569706902 + ], + [ + 708.6953969830166, + 249.61891040139892 + ], + [ + 703.8346930284646, + 235.10928196451812 + ], + [ + 678.0315989215895, + 237.50623903172027 + ], + [ + 684.1361040288062, + 208.00860383590634 + ], + [ + 711.4343073972518, + 205.56405671207372 + ], + [ + 706.3327930628689, + 191.30037454642326 + ], + [ + 679.5245477461137, + 193.65530855378887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 566, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -59.18776321411133, + "z": 1.0951241254806519 + }, + "extent": { + "x": 0.3703710734844208, + "y": 0.4219140410423279, + "z": 0.8712063431739807 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 740.6169660583367, + "ymin": 326.1081332235402, + "xmax": 776.606312993572, + "ymax": 385.491272204207 + }, + "corners_3d": [ + [ + -141.32501220703125, + -59.558135986328125, + 0.22391778230667114 + ], + [ + -142.16885375976562, + -59.558135986328125, + 0.22391778230667114 + ], + [ + -142.16885375976562, + -58.81739044189453, + 0.22391778230667114 + ], + [ + -141.32501220703125, + -58.81739044189453, + 0.22391778230667114 + ], + [ + -141.32501220703125, + -59.558135986328125, + 1.9663305282592773 + ], + [ + -142.16885375976562, + -59.558135986328125, + 1.9663305282592773 + ], + [ + -142.16885375976562, + -58.81739044189453, + 1.9663305282592773 + ], + [ + -141.32501220703125, + -58.81739044189453, + 1.9663305282592773 + ] + ], + "corners_2d": [ + [ + 743.5891414851752, + 385.491272204207 + ], + [ + 770.9881965910685, + 384.55740185263744 + ], + [ + 767.531962325934, + 367.6533708188467 + ], + [ + 740.6169660583367, + 368.5543278424487 + ], + [ + 748.0366549416342, + 343.88462798137556 + ], + [ + 776.606312993572, + 342.9532630923484 + ], + [ + 772.9005400051725, + 326.1081332235402 + ], + [ + 744.856788294348, + 327.00530351513754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 671, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.78268432617188, + "y": -70.31512451171875, + "z": 1.0959786176681519 + }, + "extent": { + "x": 0.3893994390964508, + "y": 0.5184448957443237, + "z": 0.8887901306152344 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 799.1100716507625, + "ymin": 668.4780852056156, + "xmax": 860.7940377611076, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.22637939453125, + -70.64820098876953, + 0.20718848705291748 + ], + [ + -142.25758361816406, + -70.75658416748047, + 0.20718848705291748 + ], + [ + -142.3389892578125, + -69.98204803466797, + 0.20718848705291748 + ], + [ + -141.3077850341797, + -69.87366485595703, + 0.20718848705291748 + ], + [ + -141.22637939453125, + -70.64820098876953, + 1.9847687482833862 + ], + [ + -142.25758361816406, + -70.75658416748047, + 1.9847687482833862 + ], + [ + -142.3389892578125, + -69.98204803466797, + 1.9847687482833862 + ], + [ + -141.3077850341797, + -69.87366485595703, + 1.9847687482833862 + ] + ], + "corners_2d": [ + [ + 801.2700392904392, + 740.2349711904867 + ], + [ + 848.0511332098293, + 742.8392732500482 + ], + [ + 844.6946539304323, + 709.4646171945534 + ], + [ + 799.1100716507625, + 706.991250520422 + ], + [ + 811.1268074617892, + 702.6869492461205 + ], + [ + 860.7940377611076, + 705.3713538562481 + ], + [ + 856.8933941065708, + 671.0196021038287 + ], + [ + 808.5727354616727, + 668.4780852056156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 757, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -67.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3119873106479645, + "y": 0.3984301686286926, + "z": 0.8928610682487488 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 147.46556039912633, + "ymin": 584.4616627187273, + "xmax": 216.77228680508233, + "ymax": 652.3471778654596 + }, + "corners_3d": [ + [ + -126.46725463867188, + -67.58030700683594, + 0.0512768030166626 + ], + [ + -127.2467041015625, + -67.74598693847656, + 0.0512768030166626 + ], + [ + -127.37643432617188, + -67.13565063476562, + 0.0512768030166626 + ], + [ + -126.59698486328125, + -66.969970703125, + 0.0512768030166626 + ], + [ + -126.46725463867188, + -67.58030700683594, + 1.8369989395141602 + ], + [ + -127.2467041015625, + -67.74598693847656, + 1.8369989395141602 + ], + [ + -127.37643432617188, + -67.13565063476562, + 1.8369989395141602 + ], + [ + -126.59698486328125, + -66.969970703125, + 1.8369989395141602 + ] + ], + "corners_2d": [ + [ + 173.74758027976964, + 647.5001209662026 + ], + [ + 204.50070415127328, + 652.3471778654596 + ], + [ + 216.77228680508233, + 629.4535946269829 + ], + [ + 186.54659982698644, + 624.7865443965721 + ], + [ + 147.46556039912633, + 607.643471355722 + ], + [ + 179.84864613822583, + 612.5967799496052 + ], + [ + 193.28978740863442, + 589.220934928698 + ], + [ + 161.49064455431147, + 584.4616627187273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 8515, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 250.5529893451369, + "ymin": 295.25343636875186, + "xmax": 365.9215396987025, + "ymax": 444.53907161615825 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 267.6480258360467, + 444.53907161615825 + ], + [ + 340.2510008498707, + 442.32454485797973 + ], + [ + 365.9215396987025, + 336.798355844061 + ], + [ + 300.97720272415654, + 338.5734744185149 + ], + [ + 250.5529893451369, + 402.75861768603755 + ], + [ + 326.52075632671523, + 400.538345970393 + ], + [ + 354.733811237933, + 295.25343636875186 + ], + [ + 287.11017952236415, + 297.0161932633623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 37.90913745608293, + "ymin": 522.5630375980754, + "xmax": 689.507392908226, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 670.1288249184838, + 877.738034224612 + ], + [ + 667.6596804402262, + 839.6451203967583 + ], + [ + 284.9029199840357, + 858.8615623105338 + ], + [ + 276.8931232398404, + 898.0171448627524 + ], + [ + 689.507392908226, + 571.0434889642985 + ], + [ + 684.6920029011945, + 522.5630375980754 + ], + [ + 61.37179166074327, + 546.8157365295885 + ], + [ + 37.90913745608293, + 597.529482413724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.88265157260867, + "ymin": 0.0, + "xmax": 615.7256915005527, + "ymax": 41.959438945747024 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 615.7256915005527, + 38.42955119151628 + ], + [ + 615.2856445067576, + 31.640692949261677 + ], + [ + 453.4160508916927, + 35.09158751641053 + ], + [ + 452.0111401911452, + 41.959438945747024 + ], + [ + 610.9646878255543, + -219.70986400854235 + ], + [ + 610.5032447882546, + -224.3555867216404 + ], + [ + 417.0619219782523, + -221.99663759790064 + ], + [ + 414.88265157260867, + -217.28621717399642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7756054829984019411, + "instance_id": 54131, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 54.643208180447914, + "ymin": 561.9902335829526, + "xmax": 124.06172953206612, + "ymax": 598.6096447630117 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.914763450622559 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 110.93528845171454, + 596.3671362618303 + ], + [ + 124.06172953206612, + 563.5772555077226 + ], + [ + 70.5586168697439, + 565.694979651707 + ], + [ + 55.851625776339006, + 598.6096447630117 + ], + [ + 109.84293212647572, + 594.8016772198981 + ], + [ + 123.02656961960543, + 561.9902335829526 + ], + [ + 69.41396517175531, + 564.109234973166 + ], + [ + 54.643208180447914, + 597.0457999744717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12456936095367281392, + "instance_id": 61626, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 54.67447062740564, + "ymin": 562.0312882508262, + "xmax": 124.08840095260439, + "ymax": 598.649935447314 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.913856506347656 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 110.96343188634535, + 596.4074687002444 + ], + [ + 124.08840095260439, + 563.6181459331046 + ], + [ + 70.58810928797709, + 565.7358370106336 + ], + [ + 55.88275928282121, + 598.649935447314 + ], + [ + 109.87119189309476, + 594.8421763740242 + ], + [ + 123.05334816988182, + 562.0312882508262 + ], + [ + 69.44357627331374, + 564.1502567501874 + ], + [ + 54.67447062740564, + 597.0862575240127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 337.0990777531353, + "ymin": 0.0, + "xmax": 630.2124584396124, + "ymax": 268.5587854038246 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 630.2124584396124, + 261.92526101919157 + ], + [ + 629.3906901138959, + 249.24736780814973 + ], + [ + 408.29202995647586, + 255.6786556940898 + ], + [ + 405.65722760418646, + 268.5587854038246 + ], + [ + 627.378392163946, + -54.459740185755834 + ], + [ + 626.3790227965076, + -64.52120518531927 + ], + [ + 341.8498769707204, + -59.428306467634854 + ], + [ + 337.0990777531353, + -49.15961213469319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1241.863436240234, + "ymin": 521.2557151615872, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1241.863436240234, + 774.324660410332 + ], + [ + 1501.6835787879895, + 896.2350160219096 + ], + [ + 1492.2782691585428, + 706.6665486010962 + ], + [ + 1264.348190446351, + 613.2966400615052 + ], + [ + 1328.2569494730387, + 691.0340923393567 + ], + [ + 1638.4016671211723, + 823.5135845095898 + ], + [ + 1607.609259106233, + 618.9915468587975 + ], + [ + 1341.8708502993902, + 521.2557151615872 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00002/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ceacce22a0252f041077bfe9e5f65ce2d9e13553 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00002/meta.json @@ -0,0 +1,1612 @@ +{ + "frame_id": 2, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 1.0, + "sim_timestamp": 59.01564837410115 + }, + "drone_pose": { + "x": -137.59963629491037, + "y": -79.86062788121505, + "z": 20.671365713355055, + "pitch": -42.743880780057204, + "yaw": 91.53546730324202, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.019678711891174316, + -0.7341312766075134, + 0.6787223219871521, + 41.890289306640625 + ], + [ + 0.9996408820152283, + -0.02679574489593506, + 0.0, + -139.69015502929688 + ], + [ + 0.018186867237091064, + 0.6784785985946655, + 0.7343950271606445, + -66.86216735839844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.75450563683685, + "y": -79.45775649990627, + "z": 20.64277633041493 + }, + "t1_image_uv": [ + 1074.482648287522, + -409.7811803239673 + ], + "t1_depth": 0.3182123659736905 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -58.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.840705489292827, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 576, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -58.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3910302519798279, + "y": 0.33904051780700684, + "z": 0.8629420399665833 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.2453770749366, + "ymin": 329.5607352598525, + "xmax": 651.9897373544281, + "ymax": 389.82916366207513 + }, + "corners_3d": [ + [ + -137.82814025878906, + -59.078792572021484, + 0.23359328508377075 + ], + [ + -138.50621032714844, + -59.078792572021484, + 0.23359328508377075 + ], + [ + -138.50621032714844, + -58.29673385620117, + 0.23359328508377075 + ], + [ + -137.82814025878906, + -58.29673385620117, + 0.23359328508377075 + ], + [ + -137.82814025878906, + -59.078792572021484, + 1.959477424621582 + ], + [ + -138.50621032714844, + -59.078792572021484, + 1.959477424621582 + ], + [ + -138.50621032714844, + -58.29673385620117, + 1.959477424621582 + ], + [ + -137.82814025878906, + -58.29673385620117, + 1.959477424621582 + ] + ], + "corners_2d": [ + [ + 629.1769159840472, + 389.82916366207513 + ], + [ + 651.5078624014807, + 389.4093215209111 + ], + [ + 650.6086516847383, + 371.70178201788485 + ], + [ + 628.7088844173364, + 372.10555624204926 + ], + [ + 628.7234988533007, + 347.562136765636 + ], + [ + 651.9897373544281, + 347.14487515214023 + ], + [ + 651.0439399118691, + 329.5607352598525 + ], + [ + 628.2453770749366, + 329.9613789818952 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 2, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 34, + "semantic_pixel_counts": { + "1": 362796, + "2": 120491, + "3": 247990, + "4": 52630, + "6": 15310, + "12": 3774, + "14": 8694, + "20": 96, + "24": 7795, + "25": 102024 + }, + "instance_pixel_counts": { + "2453": 5632, + "3413": 4017, + "3662": 13044, + "11605": 2012, + "15704": 12377, + "15960": 2818, + "17240": 115, + "20565": 506, + "22933": 2163, + "23443": 102249, + "28298": 669, + "36096": 576, + "36352": 605, + "36608": 524, + "36864": 591, + "37120": 710, + "37376": 768, + "38144": 8694, + "47198": 78372, + "48980": 8545, + "49492": 232910, + "50246": 30655, + "51297": 17809, + "51526": 8931, + "51809": 3212, + "52321": 4230, + "54366": 22578, + "54878": 1074, + "57994": 16244, + "59737": 96, + "63382": 66362, + "63894": 10746, + "64406": 1219, + "65426": 260547 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 576, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -58.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3938378691673279, + "y": 0.3339819312095642, + "z": 0.8660903573036194 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.4127110984836, + "ymin": 329.4218322163579, + "xmax": 651.8208746000162, + "ymax": 389.964918795815 + }, + "corners_3d": [ + [ + -137.83319091796875, + -59.081600189208984, + 0.23044496774673462 + ], + [ + -138.50115966796875, + -59.081600189208984, + 0.23044496774673462 + ], + [ + -138.50115966796875, + -58.29392623901367, + 0.23044496774673462 + ], + [ + -137.83319091796875, + -58.29392623901367, + 0.23044496774673462 + ], + [ + -137.83319091796875, + -59.081600189208984, + 1.9626257419586182 + ], + [ + -138.50115966796875, + -59.081600189208984, + 1.9626257419586182 + ], + [ + -138.50115966796875, + -58.29392623901367, + 1.9626257419586182 + ], + [ + -137.83319091796875, + -58.29392623901367, + 1.9626257419586182 + ] + ], + "corners_2d": [ + [ + 629.3458322142735, + 389.964918795815 + ], + [ + 651.3440526678277, + 389.55126954861737 + ], + [ + 650.4416971962117, + 371.7162864365687 + ], + [ + 628.8712207766939, + 372.1139944570147 + ], + [ + 628.8977974978978, + 347.5431766332413 + ], + [ + 651.8208746000162, + 347.13207678977375 + ], + [ + 650.8717007700483, + 329.4218322163579 + ], + [ + 628.4127110984836, + 329.8164431715554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 605, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -55.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4426172077655792, + "y": 0.43814945220947266, + "z": 0.8633518218994141 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 492.0422510227112, + "ymin": 271.5965314053775, + "xmax": 527.6673905748598, + "ymax": 333.85778339935365 + }, + "corners_3d": [ + [ + -133.70465087890625, + -56.21409606933594, + 0.08078604936599731 + ], + [ + -134.56179809570312, + -56.03190231323242, + 0.08078604936599731 + ], + [ + -134.37774658203125, + -55.166015625, + 0.08078604936599731 + ], + [ + -133.52059936523438, + -55.348209381103516, + 0.08078604936599731 + ], + [ + -133.70465087890625, + -56.21409606933594, + 1.8074896335601807 + ], + [ + -134.56179809570312, + -56.03190231323242, + 1.8074896335601807 + ], + [ + -134.37774658203125, + -55.166015625, + 1.8074896335601807 + ], + [ + -133.52059936523438, + -55.348209381103516, + 1.8074896335601807 + ] + ], + "corners_2d": [ + [ + 500.9609180864777, + 333.85778339935365 + ], + [ + 527.6673905748598, + 329.72845704682175 + ], + [ + 523.6756298899023, + 312.82386548771564 + ], + [ + 497.4796143538005, + 316.7915081587121 + ], + [ + 495.54493395430364, + 292.3772837414576 + ], + [ + 523.3134996020468, + 288.294539050086 + ], + [ + 519.2593376894528, + 271.5965314053775 + ], + [ + 492.0422510227112, + 275.5133953380908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 524, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -51.745052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.44493162631988525, + "y": 0.5363720655441284, + "z": 0.9360837340354919 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 680.6921910153217, + "ymin": 195.28249372336282, + "xmax": 717.180699812428, + "ymax": 255.79212809167615 + }, + "corners_3d": [ + [ + -139.9360809326172, + -52.243614196777344, + 0.16045159101486206 + ], + [ + -141.00294494628906, + -52.1314811706543, + 0.16045159101486206 + ], + [ + -140.90992736816406, + -51.246490478515625, + 0.16045159101486206 + ], + [ + -139.8430633544922, + -51.35862350463867, + 0.16045159101486206 + ], + [ + -139.9360809326172, + -52.243614196777344, + 2.032618999481201 + ], + [ + -141.00294494628906, + -52.1314811706543, + 2.032618999481201 + ], + [ + -140.90992736816406, + -51.246490478515625, + 2.032618999481201 + ], + [ + -139.8430633544922, + -51.35862350463867, + 2.032618999481201 + ] + ], + "corners_2d": [ + [ + 684.7338541941316, + 255.79212809167615 + ], + [ + 714.3252027430848, + 253.43669935473935 + ], + [ + 709.7476092572904, + 238.98329856315752 + ], + [ + 680.6921910153217, + 241.2521897166821 + ], + [ + 686.4578677236645, + 211.74348269385817 + ], + [ + 717.180699812428, + 209.43515626261598 + ], + [ + 712.3757590493046, + 195.28249372336282 + ], + [ + 682.2302197681239, + 197.5028436514021 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 591, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -58.68776321411133, + "z": 1.095094919204712 + }, + "extent": { + "x": 0.40703123807907104, + "y": 0.5588232278823853, + "z": 0.909259557723999 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 736.8766382999382, + "ymin": 325.8308118449598, + "xmax": 782.1804821757144, + "ymax": 389.2419382670736 + }, + "corners_3d": [ + [ + -141.1881103515625, + -59.09479522705078, + 0.1858353614807129 + ], + [ + -142.30575561523438, + -59.09479522705078, + 0.1858353614807129 + ], + [ + -142.30575561523438, + -58.280731201171875, + 0.1858353614807129 + ], + [ + -141.1881103515625, + -58.280731201171875, + 0.1858353614807129 + ], + [ + -141.1881103515625, + -59.09479522705078, + 2.004354476928711 + ], + [ + -142.30575561523438, + -59.09479522705078, + 2.004354476928711 + ], + [ + -142.30575561523438, + -58.280731201171875, + 2.004354476928711 + ], + [ + -141.1881103515625, + -58.280731201171875, + 2.004354476928711 + ] + ], + "corners_2d": [ + [ + 739.5747483510328, + 389.2419382670736 + ], + [ + 776.1791017275567, + 388.55262361235793 + ], + [ + 772.7498525823374, + 370.2110383931515 + ], + [ + 736.8766382999382, + 370.873007794785 + ], + [ + 743.966432447018, + 344.71842950708145 + ], + [ + 782.1804821757144, + 344.033700808894 + ], + [ + 778.4778795861602, + 325.8308118449598 + ], + [ + 741.0599875129335, + 326.4872170708873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 710, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.78268432617188, + "y": -69.81512451171875, + "z": 1.0959445238113403 + }, + "extent": { + "x": 0.40119144320487976, + "y": 0.37183597683906555, + "z": 0.867518424987793 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 798.4494789542192, + "ymin": 667.4766913385604, + "xmax": 845.7397229841633, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.37095642089844, + -70.17524719238281, + 0.22842609882354736 + ], + [ + -142.1105499267578, + -70.25298309326172, + 0.22842609882354736 + ], + [ + -142.1944122314453, + -69.45500183105469, + 0.22842609882354736 + ], + [ + -141.45481872558594, + -69.37726593017578, + 0.22842609882354736 + ], + [ + -141.37095642089844, + -70.17524719238281, + 1.9634629487991333 + ], + [ + -142.1105499267578, + -70.25298309326172, + 1.9634629487991333 + ], + [ + -142.1944122314453, + -69.45500183105469, + 1.9634629487991333 + ], + [ + -141.45481872558594, + -69.37726593017578, + 1.9634629487991333 + ] + ], + "corners_2d": [ + [ + 800.022779967654, + 741.6946175979466 + ], + [ + 834.2119408301014, + 744.2614306880425 + ], + [ + 831.7058702740774, + 709.6871080021735 + ], + [ + 798.4494789542192, + 707.2578574864323 + ], + [ + 809.5008952834127, + 702.7776811622007 + ], + [ + 845.7397229841633, + 705.4134566304623 + ], + [ + 842.757643201849, + 669.9631917672034 + ], + [ + 807.5650611319162, + 667.4766913385604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 768, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -66.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3077099621295929, + "y": 0.4433544874191284, + "z": 0.8774815201759338 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 136.7867930969649, + "ymin": 572.2693557200627, + "xmax": 209.51515993747984, + "ymax": 641.8533921325641 + }, + "corners_3d": [ + [ + -126.42420196533203, + -67.06678771972656, + 0.06666111946105957 + ], + [ + -127.29153442382812, + -67.25114440917969, + 0.06666111946105957 + ], + [ + -127.41948699951172, + -66.649169921875, + 0.06666111946105957 + ], + [ + -126.55215454101562, + -66.46481323242188, + 0.06666111946105957 + ], + [ + -126.42420196533203, + -67.06678771972656, + 1.8216241598129272 + ], + [ + -127.29153442382812, + -67.25114440917969, + 1.8216241598129272 + ], + [ + -127.41948699951172, + -66.649169921875, + 1.8216241598129272 + ], + [ + -126.55215454101562, + -66.46481323242188, + 1.8216241598129272 + ] + ], + "corners_2d": [ + [ + 162.67034990449582, + 635.8824219152564 + ], + [ + 196.55313551436495, + 641.8533921325641 + ], + [ + 209.51515993747984, + 619.7275288852164 + ], + [ + 176.20546742106364, + 613.9798763880906 + ], + [ + 136.7867930969649, + 594.5156456144168 + ], + [ + 172.3767232899857, + 600.5882090938885 + ], + [ + 186.5133480333502, + 578.1028198435197 + ], + [ + 151.55462796371518, + 572.2693557200627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 8694, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 244.3849610370296, + "ymin": 302.30411401265246, + "xmax": 364.97292234889613, + "ymax": 451.3543937680849 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 261.57839346852535, + 451.3543937680849 + ], + [ + 334.849567502395, + 450.26732728471336 + ], + [ + 364.97292234889613, + 344.7651300615895 + ], + [ + 299.6475039635619, + 345.6301029682881 + ], + [ + 244.3849610370296, + 408.3100993444217 + ], + [ + 321.001281554208, + 407.22368605696204 + ], + [ + 353.89307829898627, + 302.30411401265246 + ], + [ + 285.9217858562736, + 303.16015158777526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 528.5163883563172, + "xmax": 668.0722228023542, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 656.92902090781, + 904.2638777835967 + ], + [ + 655.4785342266862, + 864.3101273781367 + ], + [ + 260.54081650299725, + 875.5831656546679 + ], + [ + 250.5694197815921, + 916.1963277732867 + ], + [ + 668.0722228023542, + 578.7814086172216 + ], + [ + 665.2039435549898, + 528.5163883563172 + ], + [ + 18.959425424957885, + 542.5141707460372 + ], + [ + -9.328499464227775, + 594.1535255420869 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 428.0347735561627, + "ymin": 0.0, + "xmax": 625.9973660869408, + "ymax": 54.19509668388554 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 625.9973660869408, + 52.24941125069802 + ], + [ + 625.7556609926576, + 45.59162879018493 + ], + [ + 463.8546427600718, + 47.49278839351291 + ], + [ + 462.20908317389853, + 54.19509668388554 + ], + [ + 623.3165632614058, + -205.53697170890234 + ], + [ + 623.0658327420732, + -209.9308865084671 + ], + [ + 430.4609269378784, + -208.67815315102598 + ], + [ + 428.0347735561627, + -204.2492317734825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7756054829984019411, + "instance_id": 54131, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 9.08937692146344, + "ymin": 559.4763064253264, + "xmax": 83.21953544338078, + "ymax": 595.9422768713513 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.914763450622559 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 67.17343055376307, + 594.6515699551738 + ], + [ + 83.21953544338078, + 561.1778009965504 + ], + [ + 28.168904477981187, + 562.392592844363 + ], + [ + 10.409311295371708, + 595.9422768713513 + ], + [ + 65.97388488801187, + 592.9677332257207 + ], + [ + 82.08845092938225, + 559.4763064253264 + ], + [ + 26.9245960183066, + 560.6916659094412 + ], + [ + 9.08937692146344, + 594.2592048059457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12456936095367281392, + "instance_id": 61626, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 9.123525293842363, + "ymin": 559.5203234603828, + "xmax": 83.24867766087641, + "ymax": 595.9856380764485 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.913856506347656 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 67.20433468154602, + 594.6949509676175 + ], + [ + 83.24867766087641, + 561.2216397409136 + ], + [ + 28.200963818355035, + 562.4364168617387 + ], + [ + 10.443316936768838, + 595.9856380764485 + ], + [ + 66.00491857934901, + 593.0112961102493 + ], + [ + 82.1177116672925, + 559.5203234603828 + ], + [ + 26.95678588890064, + 560.7356683571455 + ], + [ + 9.123525293842363, + 594.3027480098854 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 340.6945742124477, + "ymin": 0.0, + "xmax": 634.0287016685137, + "ymax": 277.19271017641404 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 634.0287016685137, + 273.4730880444651 + ], + [ + 633.5692348252261, + 260.8170438248295 + ], + [ + 410.59445972227184, + 264.4197440377401 + ], + [ + 407.4584243575347, + 277.19271017641404 + ], + [ + 632.3245018103424, + -47.67779042893045 + ], + [ + 631.7710254082773, + -57.377160735814414 + ], + [ + 346.07094632084613, + -54.624995579871324 + ], + [ + 340.6945742124477, + -44.81047620778031 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1260.7223728076387, + "ymin": 552.7782703190651, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1260.7223728076387, + 811.4545804005592 + ], + [ + 1531.491082628505, + 944.2355936298369 + ], + [ + 1520.5790193610173, + 746.7693300504279 + ], + [ + 1284.1360715695473, + 646.0147017216382 + ], + [ + 1350.0089656290884, + 726.9769859104243 + ], + [ + 1674.4854034433883, + 871.3327673049298 + ], + [ + 1640.291630934816, + 658.1348391890266 + ], + [ + 1363.9215850614082, + 552.7782703190651 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00003/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..869f99f97f46c7d40c5f64b67e5246b0ecefc59a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00003/meta.json @@ -0,0 +1,1612 @@ +{ + "frame_id": 3, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 1.5, + "sim_timestamp": 70.70836348994635 + }, + "drone_pose": { + "x": -137.75450563683685, + "y": -79.45775649990627, + "z": 20.64277633041493, + "pitch": -42.57634845259557, + "yaw": 91.1115048436947, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.014284372329711914, + -0.7362380027770996, + 0.6765720248222351, + 42.565757751464844 + ], + [ + 0.9998118877410889, + -0.019398212432861328, + -2.9802322387695312e-08, + -139.26991271972656 + ], + [ + 0.013124227523803711, + 0.6764447689056396, + 0.7363764643669128, + -67.14171600341797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.84190278339233, + "y": -78.95860752235893, + "z": 20.61637666498416 + }, + "t1_image_uv": [ + 832.9378795991266, + -433.0104681717946 + ], + "t1_depth": 0.3866020740284115 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -58.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.89010999220126, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 587, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -58.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.41770505905151367, + "y": 0.4335253834724426, + "z": 0.8853643536567688 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.1744335410973, + "ymin": 328.4459583689277, + "xmax": 655.1442674578356, + "ymax": 390.9369479575817 + }, + "corners_3d": [ + [ + -137.733642578125, + -58.60546875, + 0.2111709713935852 + ], + [ + -138.6007080078125, + -58.60546875, + 0.2111709713935852 + ], + [ + -138.6007080078125, + -57.770057678222656, + 0.2111709713935852 + ], + [ + -137.733642578125, + -57.770057678222656, + 0.2111709713935852 + ], + [ + -137.733642578125, + -58.60546875, + 1.9818997383117676 + ], + [ + -138.6007080078125, + -58.60546875, + 1.9818997383117676 + ], + [ + -138.6007080078125, + -57.770057678222656, + 1.9818997383117676 + ], + [ + -137.733642578125, + -57.770057678222656, + 1.9818997383117676 + ] + ], + "corners_2d": [ + [ + 626.0039005255443, + 390.9369479575817 + ], + [ + 654.5226642693691, + 390.5495394627984 + ], + [ + 653.7009446751285, + 371.7159390639907 + ], + [ + 625.77064480444, + 372.0875188891456 + ], + [ + 625.4045703084257, + 347.5196214516219 + ], + [ + 655.1442674578356, + 347.1348431913059 + ], + [ + 654.27476692539, + 328.4459583689277 + ], + [ + 625.1744335410973, + 328.8143640037566 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 3, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 34, + "semantic_pixel_counts": { + "1": 361526, + "2": 121125, + "3": 247734, + "4": 53063, + "6": 15099, + "12": 3591, + "14": 8932, + "20": 93, + "24": 7762, + "25": 102675 + }, + "instance_pixel_counts": { + "2453": 5512, + "3413": 4078, + "3662": 13400, + "11605": 2267, + "15704": 12102, + "15960": 2906, + "17240": 91, + "20565": 712, + "22933": 2250, + "23443": 105604, + "28298": 607, + "36096": 587, + "36352": 599, + "36608": 517, + "36864": 590, + "37120": 714, + "37376": 584, + "38144": 8932, + "47198": 77435, + "48980": 9668, + "49492": 231009, + "50246": 30246, + "51297": 18443, + "51526": 9417, + "51809": 3326, + "52321": 4352, + "54366": 24121, + "54878": 1119, + "57994": 16653, + "59737": 93, + "63382": 66021, + "63894": 10553, + "64406": 1170, + "65426": 255922 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 587, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -58.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39119628071784973, + "y": 0.35557371377944946, + "z": 0.8648614287376404 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.8067095987647, + "ymin": 329.5816004208672, + "xmax": 652.4389960550301, + "ymax": 389.8095670198321 + }, + "corners_3d": [ + [ + -137.8115997314453, + -58.57896041870117, + 0.23167389631271362 + ], + [ + -138.5227508544922, + -58.57896041870117, + 0.23167389631271362 + ], + [ + -138.5227508544922, + -57.796566009521484, + 0.23167389631271362 + ], + [ + -137.8115997314453, + -57.796566009521484, + 0.23167389631271362 + ], + [ + -137.8115997314453, + -58.57896041870117, + 1.9613966941833496 + ], + [ + -138.5227508544922, + -58.57896041870117, + 1.9613966941833496 + ], + [ + -138.5227508544922, + -57.796566009521484, + 1.9613966941833496 + ], + [ + -137.8115997314453, + -57.796566009521484, + 1.9613966941833496 + ] + ], + "corners_2d": [ + [ + 628.554285279425, + 389.8095670198321 + ], + [ + 651.9403328271768, + 389.4922633216231 + ], + [ + 651.2198381334154, + 371.8538921505472 + ], + [ + 628.2862277243319, + 372.1590327172328 + ], + [ + 628.0761054041732, + 347.4028232994468 + ], + [ + 652.4389960550301, + 347.0876410676144 + ], + [ + 651.6789732904685, + 329.5816004208672 + ], + [ + 627.8067095987647, + 329.88421137617013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 599, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -55.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45976075530052185, + "y": 0.43894046545028687, + "z": 0.8883798718452454 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 493.0184951926535, + "ymin": 270.46607799372896, + "xmax": 528.6643877029961, + "ymax": 334.3633940087907 + }, + "corners_3d": [ + [ + -133.7074432373047, + -55.73102951049805, + 0.055757999420166016 + ], + [ + -134.56613159179688, + -55.54850769042969, + 0.055757999420166016 + ], + [ + -134.3749542236328, + -54.64908218383789, + 0.055757999420166016 + ], + [ + -133.51626586914062, + -54.83160400390625, + 0.055757999420166016 + ], + [ + -133.7074432373047, + -55.73102951049805, + 1.8325177431106567 + ], + [ + -134.56613159179688, + -55.54850769042969, + 1.8325177431106567 + ], + [ + -134.3749542236328, + -54.64908218383789, + 1.8325177431106567 + ], + [ + -133.51626586914062, + -54.83160400390625, + 1.8325177431106567 + ] + ], + "corners_2d": [ + [ + 501.9530888931371, + 334.3633940087907 + ], + [ + 528.6643877029961, + 330.3747363752962 + ], + [ + 524.7190758849941, + 312.8876435978554 + ], + [ + 498.54018756118967, + 316.71395868289346 + ], + [ + 496.44670426186224, + 291.6637623403445 + ], + [ + 524.2449620321302, + 287.72354344873577 + ], + [ + 520.2405664410278, + 270.46607799372896 + ], + [ + 493.0184951926535, + 274.2397481745817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 517, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -51.245052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.46900877356529236, + "y": 0.5851196050643921, + "z": 0.928893506526947 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 680.7065283253717, + "ymin": 196.01533387504406, + "xmax": 719.9922760003674, + "ymax": 256.95561266917997 + }, + "corners_3d": [ + [ + -139.89012145996094, + -51.77265167236328, + 0.16764181852340698 + ], + [ + -141.05393981933594, + -51.65032958984375, + 0.16764181852340698 + ], + [ + -140.9558868408203, + -50.71745300292969, + 0.16764181852340698 + ], + [ + -139.7920684814453, + -50.83977508544922, + 0.16764181852340698 + ], + [ + -139.89012145996094, + -51.77265167236328, + 2.0254287719726562 + ], + [ + -141.05393981933594, + -51.65032958984375, + 2.0254287719726562 + ], + [ + -140.9558868408203, + -50.71745300292969, + 2.0254287719726562 + ], + [ + -139.7920684814453, + -50.83977508544922, + 2.0254287719726562 + ] + ], + "corners_2d": [ + [ + 684.7742774279868, + 256.95561266917997 + ], + [ + 717.0671697150191, + 254.5378767003967 + ], + [ + 712.3804469160987, + 239.3552724980169 + ], + [ + 680.7065283253717, + 241.67925380755122 + ], + [ + 686.4791901736139, + 213.24586100471316 + ], + [ + 719.9922760003674, + 210.8771693763766 + ], + [ + 715.0719596994795, + 196.01533387504406 + ], + [ + 682.2250189714334, + 198.28878674202943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 590, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -58.18776321411133, + "z": 1.0950558185577393 + }, + "extent": { + "x": 0.3781787157058716, + "y": 0.5383325219154358, + "z": 0.9043178558349609 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 737.6425406984024, + "ymin": 327.30196067502914, + "xmax": 781.1155421768409, + "ymax": 388.9596966564723 + }, + "corners_3d": [ + [ + -141.20860290527344, + -58.565940856933594, + 0.19073796272277832 + ], + [ + -142.28526306152344, + -58.565940856933594, + 0.19073796272277832 + ], + [ + -142.28526306152344, + -57.80958557128906, + 0.19073796272277832 + ], + [ + -141.20860290527344, + -57.80958557128906, + 0.19073796272277832 + ], + [ + -141.20860290527344, + -58.565940856933594, + 1.9993736743927002 + ], + [ + -142.28526306152344, + -58.565940856933594, + 1.9993736743927002 + ], + [ + -142.28526306152344, + -57.80958557128906, + 1.9993736743927002 + ], + [ + -141.20860290527344, + -57.80958557128906, + 1.9993736743927002 + ] + ], + "corners_2d": [ + [ + 739.981549649074, + 388.9596966564723 + ], + [ + 775.2187020230529, + 388.48124858386535 + ], + [ + 772.2233269362149, + 371.48983261814476 + ], + [ + 737.6425406984024, + 371.95058584805616 + ], + [ + 744.3441010522379, + 344.63245453446234 + ], + [ + 781.1155421768409, + 344.15743713897115 + ], + [ + 777.8773334043922, + 327.30196067502914 + ], + [ + 741.8200820569139, + 327.7586660630483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 714, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.78268432617188, + "y": -69.31512451171875, + "z": 1.0959054231643677 + }, + "extent": { + "x": 0.39206546545028687, + "y": 0.5101147890090942, + "z": 0.9017475843429565 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 788.6003209657689, + "ymin": 666.0424322044748, + "xmax": 848.5415562071158, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.234375, + -69.65171813964844, + 0.19415783882141113 + ], + [ + -142.2490234375, + -69.75836181640625, + 0.19415783882141113 + ], + [ + -142.33099365234375, + -68.97853088378906, + 0.19415783882141113 + ], + [ + -141.31634521484375, + -68.87188720703125, + 0.19415783882141113 + ], + [ + -141.234375, + -69.65171813964844, + 1.9976530075073242 + ], + [ + -142.2490234375, + -69.75836181640625, + 1.9976530075073242 + ], + [ + -142.33099365234375, + -68.97853088378906, + 1.9976530075073242 + ], + [ + -141.31634521484375, + -68.87188720703125, + 1.9976530075073242 + ] + ], + "corners_2d": [ + [ + 789.6113576198645, + 741.1463954534653 + ], + [ + 836.4475210219323, + 744.990018577091 + ], + [ + 834.186914168775, + 711.2673262297867 + ], + [ + 788.6003209657689, + 707.6252874253863 + ], + [ + 798.7923297155612, + 700.4174483495951 + ], + [ + 848.5415562071158, + 704.3661388885744 + ], + [ + 845.8045551925844, + 669.7718340370477 + ], + [ + 797.4628284328529, + 666.0424322044748 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 584, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -66.35797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3214404284954071, + "y": 0.5021679401397705, + "z": 0.905291736125946 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 133.10857658175235, + "ymin": 566.5317689648327, + "xmax": 211.4877801034665, + "ymax": 639.3915791426296 + }, + "corners_3d": [ + [ + -126.36381530761719, + -66.56798553466797, + 0.03885090351104736 + ], + [ + -127.34620666503906, + -66.77680206298828, + 0.03885090351104736 + ], + [ + -127.47987365722656, + -66.1479721069336, + 0.03885090351104736 + ], + [ + -126.49748229980469, + -65.93915557861328, + 0.03885090351104736 + ], + [ + -126.36381530761719, + -66.56798553466797, + 1.8494343757629395 + ], + [ + -127.34620666503906, + -66.77680206298828, + 1.8494343757629395 + ], + [ + -127.47987365722656, + -66.1479721069336, + 1.8494343757629395 + ], + [ + -126.49748229980469, + -65.93915557861328, + 1.8494343757629395 + ] + ], + "corners_2d": [ + [ + 159.79572321071493, + 632.4179245143198 + ], + [ + 197.8334346932084, + 639.3915791426296 + ], + [ + 211.4877801034665, + 616.5062394703857 + ], + [ + 174.1147912929756, + 609.8039092866106 + ], + [ + 133.10857658175235, + 589.4899269192543 + ], + [ + 173.1034770387949, + 596.5797947770125 + ], + [ + 188.01960446185996, + 573.3308880160487 + ], + [ + 148.7581983215461, + 566.5317689648327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 8932, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 240.0347175573799, + "ymin": 311.4343393247126, + "xmax": 363.31360530699504, + "ymax": 462.08428307651076 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 257.53145154995127, + 462.08428307651076 + ], + [ + 331.4032218627172, + 461.3880501012419 + ], + [ + 363.31360530699504, + 354.01414164479786 + ], + [ + 297.5324155716527, + 354.5666000000618 + ], + [ + 240.0347175573799, + 418.9553718374063 + ], + [ + 317.29633331558256, + 418.2592191206083 + ], + [ + 352.1023700928721, + 311.4343393247126 + ], + [ + 283.6466439315303, + 311.9812571361964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 557.4604299429592, + "xmax": 660.2856140262561, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 652.1054464007143, + 930.8502702901013 + ], + [ + 651.039269620548, + 889.431508451006 + ], + [ + 249.52121537754397, + 897.8671596811494 + ], + [ + 238.7391071114527, + 939.7898332876758 + ], + [ + 660.2856140262561, + 610.5433263653838 + ], + [ + 658.1493462334454, + 557.4604299429592 + ], + [ + -4.455664633069546, + 568.1083398781598 + ], + [ + -35.217470325661, + 622.2698687893851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 431.33124899935433, + "ymin": 0.0, + "xmax": 629.6496615401583, + "ymax": 59.91145604905239 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 629.6496615401583, + 58.48947940647895 + ], + [ + 629.4764767954636, + 51.7616105722538 + ], + [ + 466.7741331991739, + 53.150779309863026 + ], + [ + 465.03535210891437, + 59.91145604905239 + ], + [ + 627.661644264273, + -200.11103709582164 + ], + [ + 627.4830580487411, + -204.54862381292799 + ], + [ + 433.8662842572629, + -203.63396759521925 + ], + [ + 431.33124899935433, + -199.17059549072485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7756054829984019411, + "instance_id": 54131, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 585.7824369548814, + "xmax": 61.246303006158314, + "ymax": 623.5714164088935 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.914763450622559 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 43.73155278473382, + 622.5909280401346 + ], + [ + 61.246303006158314, + 587.4793454664847 + ], + [ + 4.974620400641811, + 588.4005789176517 + ], + [ + -14.337427925921133, + 623.5714164088935 + ], + [ + 42.45441888050698, + 620.9154089722726 + ], + [ + 60.04478804404346, + 585.7824369548814 + ], + [ + 3.6551863635694417, + 586.7041726361205 + ], + [ + -15.740141577497525, + 621.8965608995948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12456936095367281392, + "instance_id": 61626, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 585.8263372521479, + "xmax": 61.27725844103463, + "ymax": 623.6145638442426 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.913856506347656 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 43.76445422367419, + 622.6340926512391 + ], + [ + 61.27725844103463, + 587.5230640572456 + ], + [ + 5.008613803535809, + 588.4442844918447 + ], + [ + -14.301291377867528, + 623.6145638442426 + ], + [ + 42.48746140817809, + 620.9587586828866 + ], + [ + 60.07587213823376, + 585.8263372521479 + ], + [ + 3.6893211700821666, + 586.7480600140115 + ], + [ + -15.703849934677578, + 621.9398935197987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 339.6881787622151, + "ymin": 0.0, + "xmax": 635.4242011902288, + "ymax": 285.5542866959626 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 635.4242011902288, + 282.8184097154272 + ], + [ + 635.0927940559824, + 269.94392827812646 + ], + [ + 410.3357552944731, + 272.5928346844867 + ], + [ + 407.0021945539262, + 285.5542866959626 + ], + [ + 634.108000900785, + -39.929208399269214 + ], + [ + 633.7102069693933, + -49.81376225932212 + ], + [ + 345.3510435029385, + -47.7874344265249 + ], + [ + 339.6881787622151, + -37.81697250240853 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1267.4177938901018, + "ymin": 563.7183506398925, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1267.4177938901018, + 824.2136458395594 + ], + [ + 1541.7949663917593, + 961.1974008383324 + ], + [ + 1530.922834392976, + 760.585263997308 + ], + [ + 1291.534108837045, + 656.8548942534637 + ], + [ + 1358.2356640399914, + 740.1662406298631 + ], + [ + 1687.7604994013634, + 889.3860863912483 + ], + [ + 1652.952758750897, + 672.3391349327866 + ], + [ + 1372.6590073410334, + 563.7183506398925 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00004/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9f22ebd38a48b6b2434019e61eb549b411ea2a9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00004/meta.json @@ -0,0 +1,1612 @@ +{ + "frame_id": 4, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 2.0, + "sim_timestamp": 81.91519273235463 + }, + "drone_pose": { + "x": -137.84190278339233, + "y": -78.95860752235893, + "z": 20.61637666498416, + "pitch": -42.53866255520588, + "yaw": 90.87611597642602, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.011266231536865234, + -0.7367351651191711, + 0.676087498664856, + 42.680137634277344 + ], + [ + 0.9998831152915955, + -0.015290379524230957, + -2.9802322387695312e-08, + -139.03309631347656 + ], + [ + 0.010337680578231812, + 0.6760084629058838, + 0.7368212938308716, + -67.1423110961914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.9600408500365, + "y": -78.44666789642108, + "z": 20.59175343188013 + }, + "t1_image_uv": [ + 907.9656446144827, + -439.68076576773854 + ], + "t1_depth": 0.39514236589937046 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -57.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.871765302649823, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 570, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -57.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4002929627895355, + "y": 0.3440502882003784, + "z": 0.8853882551193237 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.2322088428974, + "ymin": 328.869159431422, + "xmax": 652.0120532083841, + "ymax": 390.49094146640834 + }, + "corners_3d": [ + [ + -137.8231201171875, + -58.08805465698242, + 0.21114706993103027 + ], + [ + -138.51123046875, + -58.08805465698242, + 0.21114706993103027 + ], + [ + -138.51123046875, + -57.287471771240234, + 0.21114706993103027 + ], + [ + -137.8231201171875, + -57.287471771240234, + 0.21114706993103027 + ], + [ + -137.8231201171875, + -58.08805465698242, + 1.9819235801696777 + ], + [ + -138.51123046875, + -58.08805465698242, + 1.9819235801696777 + ], + [ + -138.51123046875, + -57.287471771240234, + 1.9819235801696777 + ], + [ + -137.8231201171875, + -57.287471771240234, + 1.9819235801696777 + ] + ], + "corners_2d": [ + [ + 628.8800729320391, + 390.49094146640834 + ], + [ + 651.5192102117802, + 390.24880648134206 + ], + [ + 650.8962195663456, + 372.19675959301696 + ], + [ + 628.7055871219519, + 372.4293935415623 + ], + [ + 628.4041811956602, + 347.0207292920633 + ], + [ + 652.0120532083841, + 346.7802782111623 + ], + [ + 651.3527846112133, + 328.869159431422 + ], + [ + 628.2322088428974, + 329.0997842820747 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 4, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 34, + "semantic_pixel_counts": { + "1": 361541, + "2": 121890, + "3": 246547, + "4": 53553, + "6": 13989, + "12": 3709, + "14": 9255, + "20": 99, + "24": 7580, + "25": 103437 + }, + "instance_pixel_counts": { + "2453": 5241, + "3413": 4178, + "3662": 13838, + "11605": 2252, + "15704": 10846, + "15960": 3027, + "17240": 116, + "20565": 872, + "22933": 2339, + "23443": 109450, + "28298": 429, + "36096": 570, + "36352": 615, + "36608": 513, + "36864": 581, + "37120": 747, + "37376": 683, + "38144": 9255, + "47198": 76609, + "48980": 10830, + "49492": 228415, + "50246": 30136, + "51297": 19093, + "51526": 9579, + "51809": 3442, + "52321": 4507, + "54366": 25600, + "54878": 1228, + "57994": 16930, + "59737": 99, + "63382": 66063, + "63894": 10393, + "64406": 1033, + "65426": 252091 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 570, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -57.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.394233375787735, + "y": 0.4243871867656708, + "z": 0.8765706419944763 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.5359138821411, + "ymin": 329.1997351897473, + "xmax": 654.7587657778603, + "ymax": 390.1721862006531 + }, + "corners_3d": [ + [ + -137.74278259277344, + -58.08199691772461, + 0.21996468305587769 + ], + [ + -138.59156799316406, + -58.08199691772461, + 0.21996468305587769 + ], + [ + -138.59156799316406, + -57.29352951049805, + 0.21996468305587769 + ], + [ + -137.74278259277344, + -57.29352951049805, + 0.21996468305587769 + ], + [ + -137.74278259277344, + -58.08199691772461, + 1.9731059074401855 + ], + [ + -138.59156799316406, + -58.08199691772461, + 1.9731059074401855 + ], + [ + -138.59156799316406, + -57.29352951049805, + 1.9731059074401855 + ], + [ + -137.74278259277344, + -57.29352951049805, + 1.9731059074401855 + ] + ], + "corners_2d": [ + [ + 626.2323925523792, + 390.1721862006531 + ], + [ + 654.159246207037, + 389.87361063684847 + ], + [ + 653.4939551643138, + 372.09638781703796 + ], + [ + 626.1121797286598, + 372.38341924195225 + ], + [ + 625.649256236367, + 347.1360358902693 + ], + [ + 654.7587657778603, + 346.83951968405387 + ], + [ + 654.0536904561756, + 329.1997351897473 + ], + [ + 625.5359138821411, + 329.4843161303863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 615, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -54.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.439873069524765, + "y": 0.4393652677536011, + "z": 0.8752346634864807 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 493.52593537560614, + "ymin": 270.85197890462155, + "xmax": 528.8607177124188, + "ymax": 333.33448290617054 + }, + "corners_3d": [ + [ + -133.70289611816406, + -55.211666107177734, + 0.06890320777893066 + ], + [ + -134.5624237060547, + -55.028968811035156, + 0.06890320777893066 + ], + [ + -134.37950134277344, + -54.1684455871582, + 0.06890320777893066 + ], + [ + -133.5199737548828, + -54.35114288330078, + 0.06890320777893066 + ], + [ + -133.70289611816406, + -55.211666107177734, + 1.819372534751892 + ], + [ + -134.5624237060547, + -55.028968811035156, + 1.819372534751892 + ], + [ + -134.37950134277344, + -54.1684455871582, + 1.819372534751892 + ], + [ + -133.5199737548828, + -54.35114288330078, + 1.819372534751892 + ] + ], + "corners_2d": [ + [ + 502.10924040389415, + 333.33448290617054 + ], + [ + 528.8607177124188, + 329.4199692445515 + ], + [ + 525.1870585919862, + 312.6899390722842 + ], + [ + 498.94773145134013, + 316.4515860949996 + ], + [ + 496.6979038744064, + 291.22983768160077 + ], + [ + 524.5199746336956, + 287.36292216725485 + ], + [ + 520.7944398929527, + 270.85197890462155 + ], + [ + 493.52593537560614, + 274.56215546026397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 513, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -50.745052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.47755369544029236, + "y": 0.5372973680496216, + "z": 0.9460256099700928 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 682.8120861911466, + "ymin": 195.7491199541412, + "xmax": 719.5392383162035, + "ymax": 257.5523887149759 + }, + "corners_3d": [ + [ + -139.93856811523438, + -51.276153564453125, + 0.15050971508026123 + ], + [ + -141.0072784423828, + -51.16382598876953, + 0.15050971508026123 + ], + [ + -140.90744018554688, + -50.213951110839844, + 0.15050971508026123 + ], + [ + -139.83872985839844, + -50.32627868652344, + 0.15050971508026123 + ], + [ + -139.93856811523438, + -51.276153564453125, + 2.0425610542297363 + ], + [ + -141.0072784423828, + -51.16382598876953, + 2.0425610542297363 + ], + [ + -140.90744018554688, + -50.213951110839844, + 2.0425610542297363 + ], + [ + -139.83872985839844, + -50.32627868652344, + 2.0425610542297363 + ] + ], + "corners_2d": [ + [ + 686.8899941021299, + 257.5523887149759 + ], + [ + 716.5771812614282, + 255.4041505162029 + ], + [ + 711.9184969449742, + 239.92932881847815 + ], + [ + 682.8120861911466, + 241.99265779839902 + ], + [ + 688.7089447069818, + 212.99272805857814 + ], + [ + 719.5392383162035, + 210.88912394197544 + ], + [ + 714.6427967272454, + 195.7491199541412 + ], + [ + 684.4383894739133, + 197.76645801410046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 581, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -57.68776321411133, + "z": 1.095011830329895 + }, + "extent": { + "x": 0.3893212676048279, + "y": 0.4415649175643921, + "z": 0.8776412010192871 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 740.9319961418156, + "ymin": 328.1148026991137, + "xmax": 777.8747441052694, + "ymax": 388.86863660424007 + }, + "corners_3d": [ + [ + -141.3053741455078, + -58.077083587646484, + 0.2173706293106079 + ], + [ + -142.18849182128906, + -58.077083587646484, + 0.2173706293106079 + ], + [ + -142.18849182128906, + -57.29844284057617, + 0.2173706293106079 + ], + [ + -141.3053741455078, + -57.29844284057617, + 0.2173706293106079 + ], + [ + -141.3053741455078, + -58.077083587646484, + 1.9726530313491821 + ], + [ + -142.18849182128906, + -58.077083587646484, + 1.9726530313491821 + ], + [ + -142.18849182128906, + -57.29844284057617, + 1.9726530313491821 + ], + [ + -141.3053741455078, + -57.29844284057617, + 1.9726530313491821 + ] + ], + "corners_2d": [ + [ + 743.3050978655568, + 388.86863660424007 + ], + [ + 772.2760655259741, + 388.55891572407256 + ], + [ + 769.3460310744185, + 371.05133517357183 + ], + [ + 740.9319961418156, + 371.3492439052726 + ], + [ + 747.6791117904418, + 345.7924722669181 + ], + [ + 777.8747441052694, + 345.4849282399413 + ], + [ + 774.7109287594056, + 328.1148026991137 + ], + [ + 745.1198184812503, + 328.4101359498723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 747, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.78268432617188, + "y": -68.81512451171875, + "z": 1.095866322517395 + }, + "extent": { + "x": 0.4029883146286011, + "y": 0.32599857449531555, + "z": 0.882104754447937 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 795.195149891308, + "ymin": 667.4268372895001, + "xmax": 837.5092401684468, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.41635131835938, + -69.18183135986328, + 0.213761568069458 + ], + [ + -142.0647735595703, + -69.24998474121094, + 0.213761568069458 + ], + [ + -142.14901733398438, + -68.44841766357422, + 0.213761568069458 + ], + [ + -141.50059509277344, + -68.38026428222656, + 0.213761568069458 + ], + [ + -141.41635131835938, + -69.18183135986328, + 1.977971076965332 + ], + [ + -142.0647735595703, + -69.24998474121094, + 1.977971076965332 + ], + [ + -142.14901733398438, + -68.44841766357422, + 1.977971076965332 + ], + [ + -141.50059509277344, + -68.38026428222656, + 1.977971076965332 + ] + ], + "corners_2d": [ + [ + 796.2741093965102, + 742.726707052427 + ], + [ + 826.2879990424224, + 745.3091052453292 + ], + [ + 824.3844539616349, + 710.6132403717176 + ], + [ + 795.195149891308, + 708.1702924127296 + ], + [ + 805.6670817016021, + 702.8458695549732 + ], + [ + 837.5092401684468, + 705.4974075860027 + ], + [ + 835.168889914675, + 669.9269485204678 + ], + [ + 804.253279014387, + 667.4268372895001 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 683, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -65.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3040527403354645, + "y": 0.5042040944099426, + "z": 0.8862351179122925 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 132.53471768140673, + "ymin": 565.9379080287276, + "xmax": 209.77373067356268, + "ymax": 636.8464145057201 + }, + "corners_3d": [ + [ + -126.36544036865234, + -66.0505599975586, + 0.05790752172470093 + ], + [ + -127.35181427001953, + -66.26021575927734, + 0.05790752172470093 + ], + [ + -127.4782485961914, + -65.66539764404297, + 0.05790752172470093 + ], + [ + -126.49187469482422, + -65.45574188232422, + 0.05790752172470093 + ], + [ + -126.36544036865234, + -66.0505599975586, + 1.8303778171539307 + ], + [ + -127.35181427001953, + -66.26021575927734, + 1.8303778171539307 + ], + [ + -127.4782485961914, + -65.66539764404297, + 1.8303778171539307 + ], + [ + -126.49187469482422, + -65.45574188232422, + 1.8303778171539307 + ] + ], + "corners_2d": [ + [ + 158.6568284164868, + 629.7176589257684 + ], + [ + 196.73028565607217, + 636.8464145057201 + ], + [ + 209.77373067356268, + 615.2573104001227 + ], + [ + 172.32714886233055, + 608.391161472812 + ], + [ + 132.53471768140673, + 587.5765230216443 + ], + [ + 172.51720546722538, + 594.8193204000573 + ], + [ + 186.7348402841602, + 572.8997961002718 + ], + [ + 147.44237732894373, + 565.9379080287276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 9255, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 234.34217418917763, + "ymin": 321.1726646925891, + "xmax": 360.4671945271668, + "ymax": 474.34554136816246 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 252.30901597148357, + 474.34554136816246 + ], + [ + 327.0875190027772, + 473.86565642643774 + ], + [ + 360.4671945271668, + 363.8974353375411 + ], + [ + 293.97309312276093, + 364.27706467051576 + ], + [ + 234.34217418917763, + 431.158664573608 + ], + [ + 312.59346885774187, + 430.67834038465344 + ], + [ + 349.0093501073099, + 321.1726646925891 + ], + [ + 279.78336905820163, + 321.54877793823124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 592.598390754993, + "xmax": 656.0850741563584, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 649.461279463782, + 961.066446507278 + ], + [ + 648.6051614587717, + 917.8916926492764 + ], + [ + 238.96751153067316, + 924.8099460759066 + ], + [ + 227.47446438460338, + 968.4071985834005 + ], + [ + 656.0850741563584, + 649.4041185474031 + ], + [ + 654.3371632223112, + 592.598390754993 + ], + [ + -30.312061413956826, + 601.5475658446236 + ], + [ + -63.773233653482635, + 659.2937593300128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 431.9271228341569, + "ymin": 0.0, + "xmax": 631.6598894307987, + "ymax": 64.46466780297379 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 631.6598894307987, + 63.327303465695195 + ], + [ + 631.5244541727615, + 56.49718920013731 + ], + [ + 467.5780531343547, + 57.6080888560287 + ], + [ + 465.7705312291329, + 64.46466780297379 + ], + [ + 630.0436127646186, + -196.92285287930736 + ], + [ + 629.9048039428719, + -201.4340301880211 + ], + [ + 434.55322005676527, + -200.70168879262508 + ], + [ + 431.9271228341569, + -196.16965634490782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7756054829984019411, + "instance_id": 54131, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 619.8885868647264, + "xmax": 37.550857629074585, + "ymax": 659.8099232122904 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.914763450622559 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 18.47300403411998, + 658.9856589620509 + ], + [ + 37.550857629074585, + 621.5704027774515 + ], + [ + -20.48933697129064, + 622.3432011517957 + ], + [ + -41.48267921156332, + 659.8099232122904 + ], + [ + 17.097130259556593, + 657.3314672968386 + ], + [ + 36.2595991740568, + 619.8885868647264 + ], + [ + -21.905955458559333, + 620.6619026421179 + ], + [ + -42.992333092889, + 658.1563992958007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12456936095367281392, + "instance_id": 61626, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 619.9320995520928, + "xmax": 37.584122893665835, + "ymax": 659.8525179868523 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.913856506347656 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 18.50844659750703, + 659.0282710054174 + ], + [ + 37.584122893665835, + 621.6137295422158 + ], + [ + -20.452842249000923, + 622.386514522861 + ], + [ + -41.44379052897443, + 659.8525179868523 + ], + [ + 17.1327299104787, + 657.374268204108 + ], + [ + 36.293007185621605, + 619.9320995520928 + ], + [ + -21.86930402486439, + 620.7054020044393 + ], + [ + -42.95327192816126, + 658.1991829900517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 336.5131977897334, + "ymin": 0.0, + "xmax": 636.1918215023082, + "ymax": 294.0795125640618 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 636.1918215023082, + 291.87647741090785 + ], + [ + 635.9308814501535, + 278.7170502553722 + ], + [ + 408.7275411560536, + 280.8492293752596 + ], + [ + 405.23979227970824, + 294.0795125640618 + ], + [ + 635.0808613875147, + -33.21624259317059 + ], + [ + 634.7685081708729, + -43.36747596211251 + ], + [ + 342.4362186319889, + -41.7291892791298 + ], + [ + 336.5131977897334, + -31.507434191576294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1272.4554861076822, + "ymin": 571.398317404231, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1272.4554861076822, + 833.4310245579723 + ], + [ + 1549.5472961333003, + 973.3722422104355 + ], + [ + 1538.5136046184377, + 770.1664673165063 + ], + [ + 1296.9200264941992, + 664.3513940937847 + ], + [ + 1364.6499162964749, + 749.9317022262953 + ], + [ + 1698.0715049316211, + 902.6875936692643 + ], + [ + 1662.5289280907782, + 682.3741340422732 + ], + [ + 1379.2274093862802, + 571.398317404231 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00005/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..05a463e3646fdff89eb50db38730086c22cb9f9d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00005/meta.json @@ -0,0 +1,1717 @@ +{ + "frame_id": 5, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 2.5, + "sim_timestamp": 96.75783586292528 + }, + "drone_pose": { + "x": -137.9600408500365, + "y": -78.44666789642108, + "z": 20.59175343188013, + "pitch": -42.52064360696525, + "yaw": 90.55825975531442, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.0071811676025390625, + -0.7369989156723022, + 0.6758558750152588, + 42.907344818115234 + ], + [ + 0.9999525547027588, + -0.009743213653564453, + -2.9802322387695312e-08, + -138.7178192138672 + ], + [ + 0.006585031747817993, + 0.6758238077163696, + 0.7370338439941406, + -67.28446960449219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.10799780644004, + "y": -77.93624136443749, + "z": 20.56860121297454 + }, + "t1_image_uv": [ + 989.3503864616978, + -443.56042519246137 + ], + "t1_depth": 0.3928938505593604 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -57.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.845232988517314, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 576, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -57.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3772509694099426, + "y": 0.5277148485183716, + "z": 0.8788068294525146 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.0140920235771, + "ymin": 329.51279587842384, + "xmax": 658.2327648893244, + "ymax": 389.8344870657651 + }, + "corners_3d": [ + [ + -137.63946533203125, + -57.56501388549805, + 0.21772849559783936 + ], + [ + -138.69488525390625, + -57.56501388549805, + 0.21772849559783936 + ], + [ + -138.69488525390625, + -56.81051254272461, + 0.21772849559783936 + ], + [ + -137.63946533203125, + -56.81051254272461, + 0.21772849559783936 + ], + [ + -137.63946533203125, + -57.56501388549805, + 1.9753421545028687 + ], + [ + -138.69488525390625, + -57.56501388549805, + 1.9753421545028687 + ], + [ + -138.69488525390625, + -56.81051254272461, + 1.9753421545028687 + ], + [ + -137.63946533203125, + -56.81051254272461, + 1.9753421545028687 + ] + ], + "corners_2d": [ + [ + 622.7468519046911, + 389.8344870657651 + ], + [ + 657.4901409024819, + 389.597965364006 + ], + [ + 656.9254568625978, + 372.5739113599917 + ], + [ + 622.8322210185133, + 372.80166431759017 + ], + [ + 622.0140920235771, + 346.63867138015416 + ], + [ + 658.2327648893244, + 346.4038090490838 + ], + [ + 657.6300992586686, + 329.51279587842384 + ], + [ + 622.1173003410978, + 329.7385920027334 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 5, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 35, + "semantic_pixel_counts": { + "1": 361170, + "2": 122633, + "3": 245176, + "4": 54107, + "6": 12977, + "12": 3863, + "14": 9704, + "20": 99, + "24": 7501, + "25": 104370 + }, + "instance_pixel_counts": { + "2453": 5085, + "3413": 4232, + "3662": 14357, + "11605": 2270, + "15704": 9428, + "15960": 3349, + "17240": 200, + "20565": 1021, + "22933": 2416, + "23443": 113062, + "28298": 303, + "36096": 576, + "36352": 608, + "36608": 521, + "36864": 591, + "37120": 714, + "37376": 853, + "38144": 9579, + "41728": 125, + "47198": 75819, + "48980": 12007, + "49492": 225646, + "50246": 29981, + "51297": 19786, + "51526": 9769, + "51809": 3449, + "52321": 4643, + "54366": 27231, + "54878": 1320, + "57994": 17174, + "59737": 99, + "63382": 66150, + "63894": 10213, + "64406": 915, + "65426": 248108 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 576, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -57.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.36656248569488525, + "y": 0.5390551686286926, + "z": 0.9033772349357605 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.6150901564338, + "ymin": 329.1176272650145, + "xmax": 658.6244783863002, + "ymax": 390.17010120344764 + }, + "corners_3d": [ + [ + -137.62811279296875, + -57.554325103759766, + 0.1931580901145935 + ], + [ + -138.70623779296875, + -57.554325103759766, + 0.1931580901145935 + ], + [ + -138.70623779296875, + -56.82120132446289, + 0.1931580901145935 + ], + [ + -137.62811279296875, + -56.82120132446289, + 0.1931580901145935 + ], + [ + -137.62811279296875, + -57.554325103759766, + 1.9999125003814697 + ], + [ + -138.70623779296875, + -57.554325103759766, + 1.9999125003814697 + ], + [ + -138.70623779296875, + -56.82120132446289, + 1.9999125003814697 + ], + [ + -137.62811279296875, + -56.82120132446289, + 1.9999125003814697 + ] + ], + "corners_2d": [ + [ + 622.3844034042587, + 390.17010120344764 + ], + [ + 657.8453471463648, + 389.9286055639824 + ], + [ + 657.2903695607981, + 373.3857931257731 + ], + [ + 622.4739184681362, + 373.61858949517347 + ], + [ + 621.6150901564338, + 345.7672490328892 + ], + [ + 658.6244783863002, + 345.52750119925804 + ], + [ + 658.0309631127047, + 329.1176272650145 + ], + [ + 621.7230248093549, + 329.34837236051794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 608, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -54.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.454399436712265, + "y": 0.5551392436027527, + "z": 0.9150434732437134 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 490.26939027818787, + "ymin": 268.66706358727026, + "xmax": 532.9249598240907, + "ymax": 334.5473527763043 + }, + "corners_3d": [ + [ + -133.59266662597656, + -54.74994659423828, + 0.029094398021697998 + ], + [ + -134.67868041992188, + -54.51910400390625, + 0.029094398021697998 + ], + [ + -134.48973083496094, + -53.630165100097656, + 0.029094398021697998 + ], + [ + -133.40371704101562, + -53.86100769042969, + 0.029094398021697998 + ], + [ + -133.59266662597656, + -54.74994659423828, + 1.8591814041137695 + ], + [ + -134.67868041992188, + -54.51910400390625, + 1.8591814041137695 + ], + [ + -134.48973083496094, + -53.630165100097656, + 1.8591814041137695 + ], + [ + -133.40371704101562, + -53.86100769042969, + 1.8591814041137695 + ] + ], + "corners_2d": [ + [ + 499.1107275208744, + 334.5473527763043 + ], + [ + 532.9249598240907, + 329.71990644898545 + ], + [ + 529.2034131244259, + 312.4404932974078 + ], + [ + 496.05967393228866, + 317.073135936579 + ], + [ + 493.3200498129637, + 290.47273613853224 + ], + [ + 528.5499453614032, + 285.70710463715585 + ], + [ + 524.7720452932599, + 268.66706358727026 + ], + [ + 490.26939027818787, + 273.23275462502056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 521, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -50.245052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.45402830839157104, + "y": 0.5498315095901489, + "z": 0.9414421916007996 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 683.7348611660344, + "ymin": 196.35703387750362, + "xmax": 720.9153308479932, + "ymax": 257.2095895062711 + }, + "corners_3d": [ + [ + -139.92364501953125, + -50.754066467285156, + 0.15509313344955444 + ], + [ + -141.0172882080078, + -50.639122009277344, + 0.15509313344955444 + ], + [ + -140.92236328125, + -49.73603820800781, + 0.15509313344955444 + ], + [ + -139.82872009277344, + -49.850982666015625, + 0.15509313344955444 + ], + [ + -139.92364501953125, + -50.754066467285156, + 2.037977457046509 + ], + [ + -141.0172882080078, + -50.639122009277344, + 2.037977457046509 + ], + [ + -140.92236328125, + -49.73603820800781, + 2.037977457046509 + ], + [ + -139.82872009277344, + -49.850982666015625, + 2.037977457046509 + ] + ], + "corners_2d": [ + [ + 687.49261553043, + 257.2095895062711 + ], + [ + 717.915781954136, + 255.11296778797242 + ], + [ + 713.5899112227472, + 240.3794238373639 + ], + [ + 683.7348611660344, + 242.39702491440465 + ], + [ + 689.3260883684885, + 212.82534963918351 + ], + [ + 720.9153308479932, + 210.77230481218805 + ], + [ + 716.3670654557718, + 196.35703387750362 + ], + [ + 685.3898813961774, + 198.32980545626108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 591, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -57.18776321411133, + "z": 1.094972848892212 + }, + "extent": { + "x": 0.3908788859844208, + "y": 0.3703320324420929, + "z": 0.8820624351501465 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 743.4242592227442, + "ymin": 328.43967275343215, + "xmax": 775.6018408089571, + "ymax": 389.42420121568955 + }, + "corners_3d": [ + [ + -141.37660217285156, + -57.578643798828125, + 0.21291041374206543 + ], + [ + -142.1172637939453, + -57.578643798828125, + 0.21291041374206543 + ], + [ + -142.1172637939453, + -56.79688262939453, + 0.21291041374206543 + ], + [ + -141.37660217285156, + -56.79688262939453, + 0.21291041374206543 + ], + [ + -141.37660217285156, + -57.578643798828125, + 1.9770352840423584 + ], + [ + -142.1172637939453, + -57.578643798828125, + 1.9770352840423584 + ], + [ + -142.1172637939453, + -56.79688262939453, + 1.9770352840423584 + ], + [ + -141.37660217285156, + -56.79688262939453, + 1.9770352840423584 + ] + ], + "corners_2d": [ + [ + 745.7171599093485, + 389.42420121568955 + ], + [ + 770.0616702640318, + 389.25839342473375 + ], + [ + 767.2978490655245, + 371.64829339619774 + ], + [ + 743.4242592227442, + 371.8077424178942 + ], + [ + 750.2211956467671, + 346.075125041819 + ], + [ + 775.6018408089571, + 345.9104917117209 + ], + [ + 772.6109257588104, + 328.43967275343215 + ], + [ + 747.7417190678158, + 328.5977314961295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 714, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.78268432617188, + "y": -68.31512451171875, + "z": 1.095827341079712 + }, + "extent": { + "x": 0.35236331820487976, + "y": 0.5555835366249084, + "z": 0.8800491094589233 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 782.6485223918501, + "ymin": 669.8410755366602, + "xmax": 845.9627007806257, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.1933135986328, + -68.60748291015625, + 0.21577823162078857 + ], + [ + -142.2983856201172, + -68.7236328125, + 0.21577823162078857 + ], + [ + -142.37205505371094, + -68.02276611328125, + 0.21577823162078857 + ], + [ + -141.26698303222656, + -67.9066162109375, + 0.21577823162078857 + ], + [ + -141.1933135986328, + -68.60748291015625, + 1.9758764505386353 + ], + [ + -142.2983856201172, + -68.7236328125, + 1.9758764505386353 + ], + [ + -142.37205505371094, + -68.02276611328125, + 1.9758764505386353 + ], + [ + -141.26698303222656, + -67.9066162109375, + 1.9758764505386353 + ] + ], + "corners_2d": [ + [ + 783.1044381580563, + 740.7419664740569 + ], + [ + 834.278002042508, + 745.4129368770427 + ], + [ + 832.5888914557263, + 714.9518486541506 + ], + [ + 782.6485223918501, + 710.5026016235959 + ], + [ + 791.6776775525504, + 700.8332069787334 + ], + [ + 845.9627007806257, + 705.6283959781232 + ], + [ + 843.8769013546653, + 674.3955002058409 + ], + [ + 790.977556914142, + 669.8410755366602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 853, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -65.35797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3049072325229645, + "y": 0.33785155415534973, + "z": 0.8703100681304932 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 137.6879929811331, + "ymin": 565.3715583331658, + "xmax": 201.84746745786816, + "ymax": 633.3848747155206 + }, + "corners_3d": [ + [ + -126.52798461914062, + -65.58598327636719, + 0.07383257150650024 + ], + [ + -127.18891906738281, + -65.7264633178711, + 0.07383257150650024 + ], + [ + -127.31570434570312, + -65.12997436523438, + 0.07383257150650024 + ], + [ + -126.65476989746094, + -64.98949432373047, + 0.07383257150650024 + ], + [ + -126.52798461914062, + -65.58598327636719, + 1.8144526481628418 + ], + [ + -127.18891906738281, + -65.7264633178711, + 1.8144526481628418 + ], + [ + -127.31570434570312, + -65.12997436523438, + 1.8144526481628418 + ], + [ + -126.65476989746094, + -64.98949432373047, + 1.8144526481628418 + ] + ], + "corners_2d": [ + [ + 163.08946893894603, + 628.4857173981089 + ], + [ + 188.50189269237308, + 633.3848747155206 + ], + [ + 201.84746745786816, + 611.8543580425167 + ], + [ + 176.85169938590252, + 607.1359782167625 + ], + [ + 137.6879929811331, + 587.0254522992312 + ], + [ + 164.34590609675183, + 592.0004530416127 + ], + [ + 178.86591780010679, + 570.1534703259911 + ], + [ + 152.66562380674037, + 565.3715583331658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 9579, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 228.18484524109806, + "ymin": 330.85554522890203, + "xmax": 357.4587911585868, + "ymax": 486.54369039447533 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 246.6588416166336, + 486.54369039447533 + ], + [ + 322.32691760800304, + 486.37569278550234 + ], + [ + 357.4587911585868, + 373.7176008799693 + ], + [ + 290.26490096589237, + 373.8501005787766 + ], + [ + 228.18484524109806, + 443.31751491404253 + ], + [ + 307.4094190073619, + 443.14917948063226 + ], + [ + 345.7374213296635, + 330.85554522890203 + ], + [ + 275.7537179447433, + 330.98692666846796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 125, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 427.8065896261458, + "ymin": 0.0, + "xmax": 482.4228539368869, + "ymax": 10.27945857938181 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 431.8066213326548, + 10.27945857938181 + ], + [ + 470.41385782224216, + 10.234269411993978 + ], + [ + 482.4228539368869, + -28.184586694917243 + ], + [ + 446.6126042861747, + -28.145705908979437 + ], + [ + 427.8065896261458, + -16.55386834387008 + ], + [ + 467.1558720639605, + -16.597596436121307 + ], + [ + 479.61869422130894, + -53.72257023586809 + ], + [ + 443.17090754130305, + -53.685051031756245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 630.9831485747294, + "xmax": 648.9958909691422, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 645.2086519462487, + 992.985854225047 + ], + [ + 644.6754851128685, + 947.9111630157099 + ], + [ + 226.66863682299157, + 952.502456258069 + ], + [ + 214.32929948305343, + 997.8638494822217 + ], + [ + 648.9958909691422, + 692.0276299571707 + ], + [ + 647.9038786953254, + 630.9831485747294 + ], + [ + -60.24611895028977, + 637.0824793274564 + ], + [ + -96.90530201471665, + 698.7928099727195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 433.16972940206284, + "ymin": 0.0, + "xmax": 634.267793806405, + "ymax": 68.76582077561363 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 634.267793806405, + 68.02995331060089 + ], + [ + 634.1857095133629, + 61.09042921825079 + ], + [ + 468.95763054083625, + 61.8090293394672 + ], + [ + 467.0652239294998, + 68.76582077561363 + ], + [ + 633.1459503186119, + -193.9984982769322 + ], + [ + 633.0638128038095, + -198.59006021572714 + ], + [ + 435.9054677505237, + -198.1155776415169 + ], + [ + 433.16972940206284, + -193.51036541554492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7756054829984019411, + "instance_id": 54131, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 656.2223239640492, + "xmax": 9.87755819079382, + "ymax": 698.4095859203247 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.914763450622559 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + -11.066462843786098, + 697.8480846381387 + ], + [ + 9.87755819079382, + 657.8822005434281 + ], + [ + -49.998085929091985, + 658.4074544310627 + ], + [ + -72.9837528438809, + 698.4095859203247 + ], + [ + -12.558329052180625, + 696.2233525738644 + ], + [ + 8.48115961622716, + 656.2223239640492 + ], + [ + -51.5278566166927, + 656.7480007406962 + ], + [ + -74.61825230739589, + 696.7853904625331 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12456936095367281392, + "instance_id": 61626, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 656.2652720631759, + "xmax": 9.913529386379082, + "ymax": 698.451421886974 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.913856506347656 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + -11.028035367425218, + 697.8899344720187 + ], + [ + 9.913529386379082, + 657.9249589264368 + ], + [ + -49.95867911083735, + 658.4502018771398 + ], + [ + -72.94165146703267, + 698.451421886974 + ], + [ + -12.519725272357391, + 696.2653944128228 + ], + [ + 8.517290413628302, + 656.2652720631759 + ], + [ + -51.48827487478616, + 656.7909379391994 + ], + [ + -74.57595768206295, + 696.827418459414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 333.2650046985259, + "ymin": 0.0, + "xmax": 637.0244514476045, + "ymax": 302.5167853858568 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 637.0244514476045, + 301.0817687196877 + ], + [ + 636.8652020478605, + 287.6185953388072 + ], + [ + 407.15461201547333, + 289.0069162137844 + ], + [ + 403.4796183416928, + 302.5167853858568 + ], + [ + 636.1431121803081, + -26.45441855063001 + ], + [ + 635.9563252913518, + -36.895975883608116 + ], + [ + 339.49567977645, + -35.82391165256479 + ], + [ + 333.2650046985259, + -25.335488641987524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1278.1118951014678, + "ymin": 579.87789812062, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1278.1118951014678, + 843.4837596230941 + ], + [ + 1558.218702908985, + 987.0002623342048 + ], + [ + 1547.3015025607212, + 780.9484776312693 + ], + [ + 1303.2059035770717, + 672.5772623147063 + ], + [ + 1371.9033282610508, + 760.6714987043501 + ], + [ + 1709.7269239063353, + 917.7160542837255 + ], + [ + 1673.6923724209082, + 693.7510192037888 + ], + [ + 1386.9277830761762, + 579.87789812062 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00006/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bad8dbafd36f71c53ae8d9e77b4943cd7cb98dc9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00006/meta.json @@ -0,0 +1,1405 @@ +{ + "frame_id": 6, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 3.0, + "sim_timestamp": 112.88438794366084 + }, + "drone_pose": { + "x": -138.10799780644004, + "y": -77.93624136443749, + "z": 20.56860121297454, + "pitch": -42.50197494565121, + "yaw": 90.15959018611946, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.002053499221801758, + -0.7372512221336365, + 0.675615668296814, + 43.278507232666016 + ], + [ + 0.9999961256980896, + -0.0027854442596435547, + 0.0, + -138.32455444335938 + ], + [ + 0.0018818676471710205, + 0.6756129860877991, + 0.7372540235519409, + -67.55912780761719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.26737786917212, + "y": -77.42645341746667, + "z": 20.54668986369901 + }, + "t1_image_uv": [ + 1027.8560113233243, + -446.7633610032643 + ], + "t1_depth": 0.39097271111236453 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -56.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 28.821219223423455, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 548, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -56.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4371630847454071, + "y": 0.41102781891822815, + "z": 0.8883234262466431 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 619.5886284243445, + "ymin": 324.4926964631204, + "xmax": 660.3893719784969, + "ymax": 395.1202355619951 + }, + "corners_3d": [ + [ + -137.56741333007812, + -56.70624542236328, + 0.20821189880371094 + ], + [ + -138.14869689941406, + -57.28752517700195, + 0.20821189880371094 + ], + [ + -138.76693725585938, + -56.669281005859375, + 0.20821189880371094 + ], + [ + -138.18565368652344, + -56.0880012512207, + 0.20821189880371094 + ], + [ + -137.56741333007812, + -56.70624542236328, + 1.984858751296997 + ], + [ + -138.14869689941406, + -57.28752517700195, + 1.984858751296997 + ], + [ + -138.76693725585938, + -56.669281005859375, + 1.984858751296997 + ], + [ + -138.18565368652344, + -56.0880012512207, + 1.984858751296997 + ] + ], + "corners_2d": [ + [ + 620.4217900332768, + 381.8248860276625 + ], + [ + 639.4429524533573, + 395.1202355619951 + ], + [ + 659.5579485140838, + 380.91477503261405 + ], + [ + 640.5400597775441, + 368.0261982644081 + ], + [ + 619.5886284243445, + 338.1731510012652 + ], + [ + 639.418882295451, + 351.37144833268223 + ], + [ + 660.3893719784969, + 337.27028932478953 + ], + [ + 640.5626758368535, + 324.4926964631204 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 6, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 35, + "semantic_pixel_counts": { + "1": 365436, + "2": 124128, + "3": 243896, + "4": 54462, + "6": 6859, + "12": 3516, + "14": 10183, + "20": 111, + "24": 7449, + "25": 105560 + }, + "instance_pixel_counts": { + "2453": 4960, + "3413": 4322, + "3662": 14800, + "11605": 2376, + "15704": 2779, + "15960": 3694, + "17240": 386, + "20565": 1134, + "22933": 2489, + "23443": 116514, + "28298": 223, + "36096": 548, + "36352": 618, + "36608": 504, + "36864": 549, + "37120": 650, + "37376": 647, + "38144": 9943, + "41728": 240, + "47198": 75229, + "48980": 13304, + "49492": 222760, + "50246": 29645, + "51297": 20560, + "51526": 10017, + "51809": 3403, + "52321": 4782, + "54366": 28892, + "54878": 1439, + "57994": 17406, + "59737": 111, + "63382": 66437, + "63894": 10512, + "64406": 805, + "65426": 248922 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 548, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -56.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.43331053853034973, + "y": 0.4491308629512787, + "z": 0.8786101341247559 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 618.7829891154511, + "ymin": 324.21678216961107, + "xmax": 661.2269683389599, + "ymax": 395.45301715553944 + }, + "corners_3d": [ + [ + -137.54319763183594, + -56.67657470703125, + 0.21792519092559814 + ], + [ + -138.17835998535156, + -57.311744689941406, + 0.21792519092559814 + ], + [ + -138.79115295410156, + -56.698951721191406, + 0.21792519092559814 + ], + [ + -138.15599060058594, + -56.06378173828125, + 0.21792519092559814 + ], + [ + -137.54319763183594, + -56.67657470703125, + 1.9751454591751099 + ], + [ + -138.17835998535156, + -57.311744689941406, + 1.9751454591751099 + ], + [ + -138.79115295410156, + -56.698951721191406, + 1.9751454591751099 + ], + [ + -138.15599060058594, + -56.06378173828125, + 1.9751454591751099 + ] + ], + "corners_2d": [ + [ + 619.6391216555044, + 380.9273145609406 + ], + [ + 640.4281995318879, + 395.45301715553944 + ], + [ + 660.3700281386297, + 381.35409091483285 + ], + [ + 639.5844968462891, + 367.26904649573453 + ], + [ + 618.7829891154511, + 337.75855271971074 + ], + [ + 640.4465072239615, + 352.1793215087013 + ], + [ + 661.2269683389599, + 338.1819671512328 + ], + [ + 639.5673017100271, + 324.21678216961107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 618, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -53.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45466798543930054, + "y": 0.45084965229034424, + "z": 0.9037367105484009 + }, + "yaw": 123.00000762939453 + }, + "bbox_2d": { + "xmin": 489.76243256298216, + "ymin": 267.1914726024671, + "xmax": 534.1949394155046, + "ymax": 334.96394768303554 + }, + "corners_3d": [ + [ + -133.4154510498047, + -53.82582092285156, + 0.0404011607170105 + ], + [ + -134.1716766357422, + -54.31692123413086, + 0.0404011607170105 + ], + [ + -134.6669464111328, + -53.554290771484375, + 0.0404011607170105 + ], + [ + -133.9107208251953, + -53.06319046020508, + 0.0404011607170105 + ], + [ + -133.4154510498047, + -53.82582092285156, + 1.847874641418457 + ], + [ + -134.1716766357422, + -54.31692123413086, + 1.847874641418457 + ], + [ + -134.6669464111328, + -53.554290771484375, + 1.847874641418457 + ], + [ + -133.9107208251953, + -53.06319046020508, + 1.847874641418457 + ] + ], + "corners_2d": [ + [ + 495.5618276735508, + 325.2237763763817 + ], + [ + 517.1518183662781, + 334.96394768303554 + ], + [ + 534.1949394155046, + 319.8427029979176 + ], + [ + 512.7918128589515, + 310.44223038955374 + ], + [ + 489.76243256298216, + 281.7655095031135 + ], + [ + 512.1601223840584, + 291.3801399559187 + ], + [ + 529.9748514248435, + 276.4576083649631 + ], + [ + 507.77709887362, + 267.1914726024671 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 504, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -49.745052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.41438475251197815, + "y": 0.42345213890075684, + "z": 0.9483436942100525 + }, + "yaw": 128.99993896484375 + }, + "bbox_2d": { + "xmin": 685.766292525625, + "ymin": 195.2028851217097, + "xmax": 721.3633957133967, + "ymax": 258.85469177243806 + }, + "corners_3d": [ + [ + -139.83314514160156, + -49.800601959228516, + 0.1481916308403015 + ], + [ + -140.49130249023438, + -50.33357620239258, + 0.1481916308403015 + ], + [ + -141.0128631591797, + -49.68950271606445, + 0.1481916308403015 + ], + [ + -140.35470581054688, + -49.15652847290039, + 0.1481916308403015 + ], + [ + -139.83314514160156, + -49.800601959228516, + 2.0448789596557617 + ], + [ + -140.49130249023438, + -50.33357620239258, + 2.0448789596557617 + ], + [ + -141.0128631591797, + -49.68950271606445, + 2.0448789596557617 + ], + [ + -140.35470581054688, + -49.15652847290039, + 2.0448789596557617 + ] + ], + "corners_2d": [ + [ + 685.766292525625, + 250.02842593982712 + ], + [ + 704.8336300023739, + 258.85469177243806 + ], + [ + 718.3524256966822, + 248.15374783831663 + ], + [ + 699.3930496156675, + 239.56709230105213 + ], + [ + 687.5294837928179, + 205.43247607687354 + ], + [ + 707.3611655636183, + 214.07155488486345 + ], + [ + 721.3633957133967, + 203.59853869528038 + ], + [ + 701.6489470251778, + 195.2028851217097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 549, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -56.68776321411133, + "z": 1.0949337482452393 + }, + "extent": { + "x": 0.3867480456829071, + "y": 0.3159106373786926, + "z": 0.8598220348358154 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 740.7639402561408, + "ymin": 327.2820857046329, + "xmax": 778.3475036419277, + "ymax": 391.8673775687746 + }, + "corners_3d": [ + [ + -141.2500762939453, + -56.73785400390625, + 0.23511171340942383 + ], + [ + -141.69683837890625, + -57.18461608886719, + 0.23511171340942383 + ], + [ + -142.24378967285156, + -56.637672424316406, + 0.23511171340942383 + ], + [ + -141.79702758789062, + -56.19091033935547, + 0.23511171340942383 + ], + [ + -141.2500762939453, + -56.73785400390625, + 1.9547557830810547 + ], + [ + -141.69683837890625, + -57.18461608886719, + 1.9547557830810547 + ], + [ + -142.24378967285156, + -56.637672424316406, + 1.9547557830810547 + ], + [ + -141.79702758789062, + -56.19091033935547, + 1.9547557830810547 + ] + ], + "corners_2d": [ + [ + 740.7639402561408, + 381.67336595658423 + ], + [ + 756.7114296360335, + 391.8673775687746 + ], + [ + 772.8893440528585, + 379.35009648575164 + ], + [ + 756.9799620794321, + 369.4325884028977 + ], + [ + 744.9137490853274, + 339.4228187708854 + ], + [ + 761.5746337499107, + 349.5438824519642 + ], + [ + 778.3475036419277, + 337.1174935193447 + ], + [ + 761.7295253401105, + 327.2820857046329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 650, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.78268432617188, + "y": -67.81512451171875, + "z": 1.0957931280136108 + }, + "extent": { + "x": 0.42104002833366394, + "y": 0.36940428614616394, + "z": 0.8888010382652283 + }, + "yaw": 141.00001525878906 + }, + "bbox_2d": { + "xmin": 779.5065007584809, + "ymin": 664.6069942185832, + "xmax": 841.7991089627161, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.22300720214844, + -67.79301452636719, + 0.20699208974838257 + ], + [ + -141.6879425048828, + -68.36717224121094, + 0.20699208974838257 + ], + [ + -142.3423614501953, + -67.83723449707031, + 0.20699208974838257 + ], + [ + -141.87742614746094, + -67.26307678222656, + 0.20699208974838257 + ], + [ + -141.22300720214844, + -67.79301452636719, + 1.9845941066741943 + ], + [ + -141.6879425048828, + -68.36717224121094, + 1.9845941066741943 + ], + [ + -142.3423614501953, + -67.83723449707031, + 1.9845941066741943 + ], + [ + -141.87742614746094, + -67.26307678222656, + 1.9845941066741943 + ] + ], + "corners_2d": [ + [ + 779.5065007584809, + 728.474101578716 + ], + [ + 803.8494793821154, + 753.7961834562926 + ], + [ + 830.373062807922, + 730.2573470144157 + ], + [ + 805.953413927324, + 705.8537056897579 + ], + [ + 787.866913741128, + 687.7760956026316 + ], + [ + 813.8801247882163, + 713.7721906298893 + ], + [ + 841.7991089627161, + 689.6047376348132 + ], + [ + 815.7079249065297, + 664.6069942185832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 647, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -64.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4351024925708771, + "y": 0.3090795576572418, + "z": 0.9049797654151917 + }, + "yaw": 146.9999542236328 + }, + "bbox_2d": { + "xmin": 133.4981031183762, + "ymin": 557.2654846237022, + "xmax": 202.84410052717936, + "ymax": 636.3496969531634 + }, + "corners_3d": [ + [ + -126.38860321044922, + -64.83573913574219, + 0.03916287422180176 + ], + [ + -126.72527313232422, + -65.35417175292969, + 0.03916287422180176 + ], + [ + -127.45508575439453, + -64.88021850585938, + 0.03916287422180176 + ], + [ + -127.11841583251953, + -64.36178588867188, + 0.03916287422180176 + ], + [ + -126.38860321044922, + -64.83573913574219, + 1.849122405052185 + ], + [ + -126.72527313232422, + -65.35417175292969, + 1.849122405052185 + ], + [ + -127.45508575439453, + -64.88021850585938, + 1.849122405052185 + ], + [ + -127.11841583251953, + -64.36178588867188, + 1.849122405052185 + ] + ], + "corners_2d": [ + [ + 159.84941416547588, + 617.5839778569627 + ], + [ + 165.96456579195996, + 636.3496969531634 + ], + [ + 202.84410052717936, + 619.0666936688922 + ], + [ + 196.22908022766518, + 600.8534390958484 + ], + [ + 133.4981031183762, + 574.2277307367667 + ], + [ + 139.4956372477908, + 593.285961018791 + ], + [ + 178.81939913391506, + 575.7323024906921 + ], + [ + 172.25196117091224, + 557.2654846237022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 9943, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 221.64478594465766, + "ymin": 340.31024030099513, + "xmax": 354.32160339360036, + "ymax": 498.849654730107 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 240.64655561565297, + 498.6050146703204 + ], + [ + 317.1553336590979, + 498.849654730107 + ], + [ + 354.32160339360036, + 383.4894095473192 + ], + [ + 286.46781927563546, + 383.29704023259194 + ], + [ + 221.64478594465766, + 455.3545978487731 + ], + [ + 301.79008777091866, + 455.5999964461837 + ], + [ + 342.32971983067046, + 340.5011430151199 + ], + [ + 271.63093986039144, + 340.31024030099513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 240, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 430.2738308870719, + "ymin": 0.0, + "xmax": 485.6326191679059, + "ymax": 13.654707800797496 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 434.2519738532037, + 13.58972811890709 + ], + [ + 473.0784130868063, + 13.654707800797496 + ], + [ + 485.6326191679059, + -25.22404711568464 + ], + [ + 449.63461501863543, + -25.279899999736983 + ], + [ + 430.2738308870719, + -13.36317769681773 + ], + [ + 469.85057941636217, + -13.300288865288053 + ], + [ + 482.86902669583264, + -50.87516967007792 + ], + [ + 446.22695299193197, + -50.92907333378139 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 672.1679306779326, + "xmax": 639.1386339121755, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 639.1386339121755, + 1026.253110355371 + ], + [ + 639.054389582535, + 979.1591982919628 + ], + [ + 212.61268023727757, + 980.5264909549853 + ], + [ + 199.28601525405395, + 1027.7077124392454 + ], + [ + 638.4873596281116, + 737.9311218654906 + ], + [ + 638.376804234307, + 672.1679306779326 + ], + [ + -94.11526142036735, + 674.0354895280493 + ], + [ + -134.48643614549133, + 740.0106301152057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 435.11149008175283, + "ymin": 0.0, + "xmax": 637.4331023594682, + "ymax": 73.04759193193712 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 637.4331023594682, + 72.83401157265786 + ], + [ + 637.4204884288033, + 65.78262490387095 + ], + [ + 470.92955574142604, + 65.99115156506201 + ], + [ + 468.9364148644528, + 73.04759193193712 + ], + [ + 636.9257608728137, + -190.97622465834002 + ], + [ + 636.917902708506, + -195.65060502066808 + ], + [ + 437.9742658491783, + -195.51268700086553 + ], + [ + 435.11149008175283, + -190.8342986455259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 330.0377838843465, + "ymin": 0.0, + "xmax": 637.8582757450838, + "ymax": 310.93198799181886 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 637.8582757450838, + 310.5126541366565 + ], + [ + 637.8336313389028, + 296.7360414851524 + ], + [ + 405.6395157989524, + 297.14157113401507 + ], + [ + 401.7443164026362, + 310.93198799181886 + ], + [ + 637.214115769616, + -19.45010046217658 + ], + [ + 637.1960528473209, + -30.194717901639365 + ], + [ + 336.62112612105693, + -29.879962958502006 + ], + [ + 330.0377838843465, + -19.121372638611376 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00007/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4118d4566b19ea94fd83e088367b7b9c698e9052 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00007/meta.json @@ -0,0 +1,1507 @@ +{ + "frame_id": 7, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 3.5, + "sim_timestamp": 124.42058414197527 + }, + "drone_pose": { + "x": -138.26737786917212, + "y": -77.42645341746667, + "z": 20.54668986369901, + "pitch": -42.47804799633689, + "yaw": 91.0784298260608, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.013881206512451172, + -0.73740553855896, + 0.6753076910972595, + 41.300045013427734 + ], + [ + 0.9998229742050171, + -0.018821001052856445, + 0.0, + -139.70013427734375 + ], + [ + 0.012709975242614746, + 0.6751880645751953, + 0.7375361323356628, + -65.67396545410156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.41932272066987, + "y": -76.91651891858591, + "z": 20.525843140334107 + }, + "t1_image_uv": [ + 988.3482389440446, + -449.8182870251054 + ], + "t1_depth": 0.3922156247248125 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.66718292236328, + "y": -56.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999998, + 359.9999999999999 + ], + "depth": 28.801915183004574, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 584, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.66717529296875, + "y": -56.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.428779274225235, + "y": 0.40102049708366394, + "z": 0.8882472515106201 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 620.0264447410619, + "ymin": 324.7468759009664, + "xmax": 659.9410249249661, + "ymax": 394.84694227867556 + }, + "corners_3d": [ + [ + -138.08041381835938, + -56.20738983154297, + 0.2082880735397339 + ], + [ + -138.64755249023438, + -56.77452087402344, + 0.2082880735397339 + ], + [ + -139.25393676757812, + -56.16813659667969, + 0.2082880735397339 + ], + [ + -138.68679809570312, + -55.60100555419922, + 0.2082880735397339 + ], + [ + -138.08041381835938, + -56.20738983154297, + 1.9847825765609741 + ], + [ + -138.64755249023438, + -56.77452087402344, + 1.9847825765609741 + ], + [ + -139.25393676757812, + -56.16813659667969, + 1.9847825765609741 + ], + [ + -138.68679809570312, + -55.60100555419922, + 1.9847825765609741 + ] + ], + "corners_2d": [ + [ + 620.8420535186277, + 382.08338992021766 + ], + [ + 639.7155483924062, + 394.84694227867556 + ], + [ + 659.1279963361669, + 380.69811028507075 + ], + [ + 640.2757049857635, + 368.32405075071 + ], + [ + 620.0264447410619, + 338.38749114128314 + ], + [ + 639.7032595275571, + 351.05677747852945 + ], + [ + 659.9410249249661, + 337.0133617072984 + ], + [ + 640.2872558000751, + 324.7468759009664 + ] + ], + "center_offset_px": [ + -2.2737367544323206e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 7, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 33, + "semantic_pixel_counts": { + "1": 360492, + "2": 121562, + "3": 253458, + "4": 52190, + "6": 4734, + "12": 3677, + "14": 10941, + "20": 114, + "24": 7404, + "25": 107028 + }, + "instance_pixel_counts": { + "2453": 4831, + "3413": 4401, + "3662": 15028, + "11605": 774, + "15960": 4139, + "17240": 595, + "20565": 1382, + "22933": 2573, + "23443": 122578, + "36096": 584, + "36352": 618, + "36608": 503, + "36864": 511, + "37120": 678, + "37376": 783, + "38144": 10511, + "41728": 430, + "47198": 75312, + "48980": 13960, + "49492": 232941, + "50246": 28692, + "51297": 21603, + "51526": 8470, + "51809": 3225, + "52321": 5037, + "54366": 30205, + "54878": 1511, + "57994": 15810, + "59737": 114, + "63382": 65477, + "63894": 10345, + "64406": 65, + "65426": 237914 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 584, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.66717529296875, + "y": -56.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.42961424589157104, + "y": 0.4445556402206421, + "z": 0.8799920678138733 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 618.9589726626429, + "ymin": 324.28899854216417, + "xmax": 661.0393318587275, + "ymax": 395.3689562786708 + }, + "corners_3d": [ + [ + -138.04904174804688, + -56.17719650268555, + 0.2165432572364807 + ], + [ + -138.677734375, + -56.80589294433594, + 0.2165432572364807 + ], + [ + -139.28530883789062, + -56.19832992553711, + 0.2165432572364807 + ], + [ + -138.6566162109375, + -55.56963348388672, + 0.2165432572364807 + ], + [ + -138.04904174804688, + -56.17719650268555, + 1.976527452468872 + ], + [ + -138.677734375, + -56.80589294433594, + 1.976527452468872 + ], + [ + -139.28530883789062, + -56.19832992553711, + 1.976527452468872 + ], + [ + -138.6566162109375, + -55.56963348388672, + 1.976527452468872 + ] + ], + "corners_2d": [ + [ + 619.8097151887265, + 381.2195862047282 + ], + [ + 640.735857360631, + 395.3689562786708 + ], + [ + 660.1887035185567, + 381.1712949312077 + ], + [ + 639.2861166252821, + 367.45461941203644 + ], + [ + 618.9589726626429, + 337.9354466638432 + ], + [ + 640.7673718344648, + 351.9813284496245 + ], + [ + 661.0393318587275, + 337.8875404488541 + ], + [ + 639.2565152898211, + 324.28899854216417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 618, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.54119873046875, + "y": -53.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45765140652656555, + "y": 0.45783936977386475, + "z": 0.907517671585083 + }, + "yaw": 123.00000762939453 + }, + "bbox_2d": { + "xmin": 487.7199121029886, + "ymin": 268.2463033128272, + "xmax": 532.725979447286, + "ymax": 336.495229705379 + }, + "corners_3d": [ + [ + -133.90797424316406, + -53.32451629638672, + 0.03662019968032837 + ], + [ + -134.67591857910156, + -53.8232307434082, + 0.03662019968032837 + ], + [ + -135.17442321777344, + -53.05559539794922, + 0.03662019968032837 + ], + [ + -134.40647888183594, + -52.556880950927734, + 0.03662019968032837 + ], + [ + -133.90797424316406, + -53.32451629638672, + 1.8516554832458496 + ], + [ + -134.67591857910156, + -53.8232307434082, + 1.8516554832458496 + ], + [ + -135.17442321777344, + -53.05559539794922, + 1.8516554832458496 + ], + [ + -134.40647888183594, + -52.556880950927734, + 1.8516554832458496 + ] + ], + "corners_2d": [ + [ + 493.63350851184634, + 326.8163817361726 + ], + [ + 515.8677701375605, + 336.495229705379 + ], + [ + 532.725979447286, + 321.0704837794549 + ], + [ + 510.7008221827102, + 311.7356075557166 + ], + [ + 487.7199121029886, + 283.1150013309864 + ], + [ + 510.7927601306326, + 292.6690302019308 + ], + [ + 528.4224474896159, + 277.4473807242651 + ], + [ + 505.57362772616864, + 268.2463033128272 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 503, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.92300415039062, + "y": -49.245052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4198876917362213, + "y": 0.4371630847454071, + "z": 0.9535583257675171 + }, + "yaw": 128.99993896484375 + }, + "bbox_2d": { + "xmin": 682.284651313517, + "ymin": 194.32590141373424, + "xmax": 718.5058465640734, + "ymax": 258.590010856492 + }, + "corners_3d": [ + [ + -140.3190155029297, + -49.2962532043457, + 0.14297699928283691 + ], + [ + -140.99850463867188, + -49.84648132324219, + 0.14297699928283691 + ], + [ + -141.52699279785156, + -49.193851470947266, + 0.14297699928283691 + ], + [ + -140.84750366210938, + -48.64362335205078, + 0.14297699928283691 + ], + [ + -140.3190155029297, + -49.2962532043457, + 2.050093650817871 + ], + [ + -140.99850463867188, + -49.84648132324219, + 2.050093650817871 + ], + [ + -141.52699279785156, + -49.193851470947266, + 2.050093650817871 + ], + [ + -140.84750366210938, + -48.64362335205078, + 2.050093650817871 + ] + ], + "corners_2d": [ + [ + 682.284651313517, + 249.6707340477488 + ], + [ + 702.1618875957226, + 258.590010856492 + ], + [ + 715.5873000280174, + 247.62318938743496 + ], + [ + 695.8353857098298, + 238.95232312314675 + ], + [ + 683.9218588114599, + 204.80380796721 + ], + [ + 704.5977381624274, + 213.5315787336375 + ], + [ + 718.5058465640734, + 202.80133287761817 + ], + [ + 697.9659646773486, + 194.32590141373424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 511, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.24693298339844, + "y": -56.18776321411133, + "z": 1.0948995351791382 + }, + "extent": { + "x": 0.3796972632408142, + "y": 0.3340234160423279, + "z": 0.8660039901733398 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 740.3899530927044, + "ymin": 325.6710791904144, + "xmax": 778.513880983306, + "ymax": 390.901715965972 + }, + "corners_3d": [ + [ + -141.7422637939453, + -56.22005844116211, + 0.22889554500579834 + ], + [ + -142.21463012695312, + -56.692440032958984, + 0.22889554500579834 + ], + [ + -142.75160217285156, + -56.15546798706055, + 0.22889554500579834 + ], + [ + -142.27923583984375, + -55.68308639526367, + 0.22889554500579834 + ], + [ + -141.7422637939453, + -56.22005844116211, + 1.960903525352478 + ], + [ + -142.21463012695312, + -56.692440032958984, + 1.960903525352478 + ], + [ + -142.75160217285156, + -56.15546798706055, + 1.960903525352478 + ], + [ + -142.27923583984375, + -55.68308639526367, + 1.960903525352478 + ] + ], + "corners_2d": [ + [ + 740.3899530927044, + 380.3263570080816 + ], + [ + 757.463370743085, + 390.901715965972 + ], + [ + 773.0160795167653, + 378.44519530661256 + ], + [ + 755.9954008532648, + 368.15576926636595 + ], + [ + 744.5483139251747, + 337.73882390649857 + ], + [ + 762.3885622883508, + 348.23581077560794 + ], + [ + 778.513880983306, + 335.87267435234554 + ], + [ + 760.7324934941561, + 325.6710791904144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 678, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.28268432617188, + "y": -67.31512451171875, + "z": 1.0957540273666382 + }, + "extent": { + "x": 0.42573729157447815, + "y": 0.3687695264816284, + "z": 0.8881991505622864 + }, + "yaw": 141.00001525878906 + }, + "bbox_2d": { + "xmin": 787.3046236149133, + "ymin": 662.0607013298422, + "xmax": 850.1624073776475, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.71975708007812, + -67.29646301269531, + 0.2075548768043518 + ], + [ + -142.18389892578125, + -67.86963653564453, + 0.2075548768043518 + ], + [ + -142.84561157226562, + -67.33378601074219, + 0.2075548768043518 + ], + [ + -142.3814697265625, + -66.76061248779297, + 0.2075548768043518 + ], + [ + -141.71975708007812, + -67.29646301269531, + 1.9839532375335693 + ], + [ + -142.18389892578125, + -67.86963653564453, + 1.9839532375335693 + ], + [ + -142.84561157226562, + -67.33378601074219, + 1.9839532375335693 + ], + [ + -142.3814697265625, + -66.76061248779297, + 1.9839532375335693 + ] + ], + "corners_2d": [ + [ + 787.3046236149133, + 726.6599026691874 + ], + [ + 812.1243957658593, + 751.5422041372053 + ], + [ + 838.2932523203995, + 727.3574116038226 + ], + [ + 813.4339222228242, + 703.4044342265478 + ], + [ + 796.1165443734585, + 685.8737480624786 + ], + [ + 822.639304271545, + 711.4116043144757 + ], + [ + 850.1624073776475, + 686.5888022407645 + ], + [ + 823.6038750434768, + 662.0607013298422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 783, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.42184448242188, + "y": -64.35797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.40291011333465576, + "y": 0.2839965522289276, + "z": 0.8671717643737793 + }, + "yaw": 146.9999542236328 + }, + "bbox_2d": { + "xmin": 137.9021326902331, + "ymin": 565.8888464975005, + "xmax": 203.4453541990104, + "ymax": 640.9684817971263 + }, + "corners_3d": [ + [ + -126.92926025390625, + -64.33924102783203, + 0.07697087526321411 + ], + [ + -127.23860931396484, + -64.81559753417969, + 0.07697087526321411 + ], + [ + -127.9144287109375, + -64.37671661376953, + 0.07697087526321411 + ], + [ + -127.6050796508789, + -63.900360107421875, + 0.07697087526321411 + ], + [ + -126.92926025390625, + -64.33924102783203, + 1.811314344406128 + ], + [ + -127.23860931396484, + -64.81559753417969, + 1.811314344406128 + ], + [ + -127.9144287109375, + -64.37671661376953, + 1.811314344406128 + ], + [ + -127.6050796508789, + -63.900360107421875, + 1.811314344406128 + ] + ], + "corners_2d": [ + [ + 163.12304602963144, + 623.7069620111776 + ], + [ + 169.2209200091391, + 640.9684817971263 + ], + [ + 203.4453541990104, + 624.3914998609564 + ], + [ + 196.93122310653325, + 607.6162516188874 + ], + [ + 137.9021326902331, + 582.2030740398884 + ], + [ + 143.92619053945765, + 599.731411944935 + ], + [ + 180.34243098595977, + 582.8976597294577 + ], + [ + 173.8455012052887, + 565.8888464975005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 10511, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 196.37230879039777, + "ymin": 355.2453603216554, + "xmax": 333.2411367791185, + "ymax": 518.6088328688135 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 216.92357841719678, + 518.6088328688135 + ], + [ + 295.3144536542653, + 517.8647239550451 + ], + [ + 333.2411367791185, + 398.3828540444783 + ], + [ + 263.9130894186183, + 398.96530624165916 + ], + [ + 196.37230879039777, + 475.38349895970333 + ], + [ + 278.5836725091212, + 474.63577468625465 + ], + [ + 320.14037731561496, + 355.2453603216554 + ], + [ + 247.84090171012122, + 355.8241451221781 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 430, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 409.57262205844484, + "ymin": 0.0, + "xmax": 465.8949629726548, + "ymax": 19.096479402875502 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 413.9868950159407, + 19.096479402875502 + ], + [ + 453.3026743667825, + 18.902592022627175 + ], + [ + 465.8949629726548, + -20.676886746365767 + ], + [ + 429.4773824186285, + -20.510487850419167 + ], + [ + 409.57262205844484, + -8.039293092176365 + ], + [ + 449.6576193300526, + -8.226997452417606 + ], + [ + 462.75039224343107, + -46.48906021158223 + ], + [ + 425.673768690978, + -46.32842974688657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 716.9484368466752, + "xmax": 626.32911889093, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 626.32911889093, + 1061.3708541317037 + ], + [ + 625.9915164521832, + 1012.1129463803265 + ], + [ + 187.37064960469252, + 1021.8234462178098 + ], + [ + 173.5070775630046, + 1071.718313844016 + ], + [ + 615.5628360287648, + 788.0245196064756 + ], + [ + 615.5592889247706, + 716.9484368466752 + ], + [ + -153.4534735443915, + 730.6892858054739 + ], + [ + -198.19396504702138, + 803.4010384690425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 411.02964346600817, + "ymin": 0.0, + "xmax": 619.5888751025356, + "ymax": 79.40542885253893 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 619.5888751025356, + 77.93513036430858 + ], + [ + 619.5397556141885, + 70.76834764942566 + ], + [ + 451.22792810705903, + 72.20351101354873 + ], + [ + 449.2268342785294, + 79.40542885253893 + ], + [ + 615.5141426848563, + -187.68190094808358 + ], + [ + 615.5139051090048, + -192.4423931449037 + ], + [ + 413.976055742485, + -191.4909183410814 + ], + [ + 411.02964346600817, + -186.70244165035274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 302.11139507961997, + "ymin": 0.0, + "xmax": 621.2507351809495, + "ymax": 323.3191835056935 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 621.2507351809495, + 320.4089190197041 + ], + [ + 621.1540781908197, + 306.30617402470614 + ], + [ + 385.39953819241356, + 309.11930672635265 + ], + [ + 381.45402186820377, + 323.3191835056935 + ], + [ + 615.5229108681835, + -11.986989029012534 + ], + [ + 615.522358724242, + -23.050726813522544 + ], + [ + 308.98020913447834, + -20.852828037254483 + ], + [ + 302.11139507961997, + -9.689707296402844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1274.7094885162633, + "ymin": 584.4184564886258, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1274.7094885162633, + 850.4622491890093 + ], + [ + 1556.0511343506219, + 993.2713161549784 + ], + [ + 1542.957724498303, + 784.5805477026589 + ], + [ + 1298.3184580618533, + 677.0655449562656 + ], + [ + 1368.4868876821074, + 768.0185496918448 + ], + [ + 1707.849093348678, + 924.470406017022 + ], + [ + 1669.0540600182603, + 697.4566357676936 + ], + [ + 1381.7086067050427, + 584.4184564886258 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00008/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7f955e70559ca1ea93cca58004fdaf05c62989d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00008/meta.json @@ -0,0 +1,1615 @@ +{ + "frame_id": 8, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 4.0, + "sim_timestamp": 138.82341344258748 + }, + "drone_pose": { + "x": -138.41932272066987, + "y": -76.91651891858591, + "z": 20.525843140334107, + "pitch": -42.4481566418405, + "yaw": 92.01761803149145, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.025978565216064453, + -0.7374308109283447, + 0.6749228239059448, + 39.27131271362305 + ], + [ + 0.9993799924850464, + -0.03520667552947998, + 2.9802322387695312e-08, + -141.04148864746094 + ], + [ + 0.023761779069900513, + 0.6745043992996216, + 0.7378883361816406, + -63.73721694946289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.55309353910093, + "y": -76.40671098559014, + "z": 20.41803744802656 + }, + "t1_image_uv": [ + 885.7177983523895, + -207.9059040410151 + ], + "t1_depth": 0.452183823798065 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -55.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.78745155130151, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 607, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -55.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3814746141433716, + "y": 0.5863183736801147, + "z": 0.8809980750083923 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.7807598016382, + "ymin": 328.9546510019701, + "xmax": 660.6040027349785, + "ymax": 390.4090660312832 + }, + "corners_3d": [ + [ + -138.5808563232422, + -56.069236755371094, + 0.21553725004196167 + ], + [ + -139.7534942626953, + -56.069236755371094, + 0.21553725004196167 + ], + [ + -139.7534942626953, + -55.30628967285156, + 0.21553725004196167 + ], + [ + -138.5808563232422, + -55.30628967285156, + 0.21553725004196167 + ], + [ + -138.5808563232422, + -56.069236755371094, + 1.9775333404541016 + ], + [ + -139.7534942626953, + -56.069236755371094, + 1.9775333404541016 + ], + [ + -139.7534942626953, + -55.30628967285156, + 1.9775333404541016 + ], + [ + -138.5808563232422, + -55.30628967285156, + 1.9775333404541016 + ] + ], + "corners_2d": [ + [ + 621.1029187909251, + 390.4090660312832 + ], + [ + 659.7624540240025, + 389.4585267892819 + ], + [ + 658.5189568216317, + 372.254187427871 + ], + [ + 620.5917703313909, + 373.16901113218535 + ], + [ + 620.2973416768536, + 346.9629048478341 + ], + [ + 660.6040027349785, + 346.01928134236147 + ], + [ + 659.2919798847895, + 328.9546510019701 + ], + [ + 619.7807598016382, + 329.8613527981109 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 8, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 37, + "semantic_pixel_counts": { + "1": 352220, + "2": 119618, + "3": 263294, + "4": 50925, + "6": 5816, + "12": 3905, + "14": 11607, + "20": 113, + "24": 7224, + "25": 106878 + }, + "instance_pixel_counts": { + "2453": 4486, + "3413": 4488, + "3662": 15299, + "11605": 589, + "15960": 5113, + "17240": 703, + "20565": 537, + "22421": 28, + "22931": 867, + "22933": 2710, + "23443": 127530, + "36096": 607, + "36352": 607, + "36608": 521, + "36864": 589, + "37120": 833, + "37376": 748, + "38144": 11119, + "41728": 488, + "47198": 74140, + "48980": 14732, + "49249": 16, + "49492": 242948, + "49761": 77, + "50246": 28710, + "51297": 23244, + "51526": 6916, + "51809": 3067, + "52321": 4541, + "54366": 31150, + "54878": 1588, + "57482": 263, + "57994": 13739, + "59737": 113, + "63382": 64504, + "63894": 10167, + "65426": 223823 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 607, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -55.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3727441430091858, + "y": 0.5390331745147705, + "z": 0.9086004495620728 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.3696554451781, + "ymin": 328.47547478781644, + "xmax": 658.9780485960456, + "ymax": 390.8220563943848 + }, + "corners_3d": [ + [ + -138.62814331054688, + -56.060508728027344, + 0.18793487548828125 + ], + [ + -139.70620727539062, + -56.060508728027344, + 0.18793487548828125 + ], + [ + -139.70620727539062, + -55.31501770019531, + 0.18793487548828125 + ], + [ + -138.62814331054688, + -55.31501770019531, + 0.18793487548828125 + ], + [ + -138.62814331054688, + -56.060508728027344, + 2.0051357746124268 + ], + [ + -139.70620727539062, + -56.060508728027344, + 2.0051357746124268 + ], + [ + -139.70620727539062, + -55.31501770019531, + 2.0051357746124268 + ], + [ + -138.62814331054688, + -55.31501770019531, + 2.0051357746124268 + ] + ], + "corners_2d": [ + [ + 622.6682373386361, + 390.8220563943848 + ], + [ + 658.1792784872624, + 389.94849665982326 + ], + [ + 656.9939958859329, + 373.13492448841004 + ], + [ + 622.1399981811687, + 373.97641812989343 + ], + [ + 621.9059409529442, + 346.01523648433215 + ], + [ + 658.9780485960456, + 345.14825050330586 + ], + [ + 657.7262645685199, + 328.47547478781644 + ], + [ + 621.3696554451781, + 329.30927736032714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 607, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -52.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.46507325768470764, + "y": 0.5558179616928101, + "z": 0.9264718294143677 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 486.8844756984274, + "ymin": 269.90818181260227, + "xmax": 530.5871215539266, + "ymax": 337.45399636214654 + }, + "corners_3d": [ + [ + -134.59422302246094, + -53.260528564453125, + 0.0176660418510437 + ], + [ + -135.6815643310547, + -53.02940368652344, + 0.0176660418510437 + ], + [ + -135.48817443847656, + -52.11958312988281, + 0.0176660418510437 + ], + [ + -134.4008331298828, + -52.3507080078125, + 0.0176660418510437 + ], + [ + -134.59422302246094, + -53.260528564453125, + 1.8706097602844238 + ], + [ + -135.6815643310547, + -53.02940368652344, + 1.8706097602844238 + ], + [ + -135.48817443847656, + -52.11958312988281, + 1.8706097602844238 + ], + [ + -134.4008331298828, + -52.3507080078125, + 1.8706097602844238 + ] + ], + "corners_2d": [ + [ + 496.69039979057607, + 337.45399636214654 + ], + [ + 530.5871215539266, + 332.03800367746754 + ], + [ + 526.1120749402373, + 314.37572395356 + ], + [ + 492.8960785128702, + 319.5683192512731 + ], + [ + 490.7035828946976, + 292.6662813685396 + ], + [ + 526.0464902157312, + 287.3208216670855 + ], + [ + 521.4879119918771, + 269.90818181260227 + ], + [ + 486.8844756984274, + 275.02427030599773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 521, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -48.745052337646484, + "z": 1.0935567617416382 + }, + "extent": { + "x": 0.44728025794029236, + "y": 0.5914843678474426, + "z": 0.941800057888031 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 677.4950514111351, + "ymin": 195.33478067888518, + "xmax": 717.1709569083621, + "ymax": 256.6163771089868 + }, + "corners_3d": [ + [ + -140.8815155029297, + -49.251708984375, + 0.15175670385360718 + ], + [ + -142.05799865722656, + -49.128055572509766, + 0.15175670385360718 + ], + [ + -141.96449279785156, + -48.23839569091797, + 0.15175670385360718 + ], + [ + -140.7880096435547, + -48.3620491027832, + 0.15175670385360718 + ], + [ + -140.8815155029297, + -49.251708984375, + 2.0353567600250244 + ], + [ + -142.05799865722656, + -49.128055572509766, + 2.0353567600250244 + ], + [ + -141.96449279785156, + -48.23839569091797, + 2.0353567600250244 + ], + [ + -140.7880096435547, + -48.3620491027832, + 2.0353567600250244 + ] + ], + "corners_2d": [ + [ + 681.7120287410546, + 256.6163771089868 + ], + [ + 714.3138428539262, + 253.86956030751656 + ], + [ + 709.5025377258306, + 239.44955278161717 + ], + [ + 677.4950514111351, + 242.09453141370403 + ], + [ + 683.3216406862077, + 212.12576331041768 + ], + [ + 717.1709569083621, + 209.43715439371616 + ], + [ + 712.1228762342495, + 195.33478067888518 + ], + [ + 678.9137874341127, + 197.9199814886293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 589, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -55.68776321411133, + "z": 1.094860553741455 + }, + "extent": { + "x": 0.37668943405151367, + "y": 0.45942869782447815, + "z": 0.8872293829917908 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 708.173997613338, + "ymin": 327.0484107826312, + "xmax": 744.7896211437492, + "ymax": 388.2913966737515 + }, + "corners_3d": [ + [ + -141.29234313964844, + -56.064453125, + 0.2076311707496643 + ], + [ + -142.21119689941406, + -56.064453125, + 0.2076311707496643 + ], + [ + -142.21119689941406, + -55.311073303222656, + 0.2076311707496643 + ], + [ + -141.29234313964844, + -55.311073303222656, + 0.2076311707496643 + ], + [ + -141.29234313964844, + -56.064453125, + 1.9820899963378906 + ], + [ + -142.21119689941406, + -56.064453125, + 1.9820899963378906 + ], + [ + -142.21119689941406, + -55.311073303222656, + 1.9820899963378906 + ], + [ + -141.29234313964844, + -55.311073303222656, + 1.9820899963378906 + ] + ], + "corners_2d": [ + [ + 710.3457324235944, + 388.2913966737515 + ], + [ + 740.4900642243927, + 387.55016190760324 + ], + [ + 737.7570340922183, + 370.63470735076265 + ], + [ + 708.173997613338, + 371.3485001172732 + ], + [ + 713.3581061871, + 344.5581628358872 + ], + [ + 744.7896211437492, + 343.82250911987313 + ], + [ + 741.8582550192817, + 327.0484107826312 + ], + [ + 711.036508959692, + 327.75569726379143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 833, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16246032714844, + "y": -64.90628814697266, + "z": 1.0955685377120972 + }, + "extent": { + "x": 0.3516211211681366, + "y": 0.5816187262535095, + "z": 0.8805209398269653 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 755.5383746506116, + "ymin": 590.8765458364436, + "xmax": 815.5401370945281, + "ymax": 662.9811649542219 + }, + "corners_3d": [ + [ + -141.54727172851562, + -65.1951904296875, + 0.21504759788513184 + ], + [ + -142.70413208007812, + -65.31678009033203, + 0.21504759788513184 + ], + [ + -142.77764892578125, + -64.61738586425781, + 0.21504759788513184 + ], + [ + -141.62078857421875, + -64.49579620361328, + 0.21504759788513184 + ], + [ + -141.54727172851562, + -65.1951904296875, + 1.9760894775390625 + ], + [ + -142.70413208007812, + -65.31678009033203, + 1.9760894775390625 + ], + [ + -142.77764892578125, + -64.61738586425781, + 1.9760894775390625 + ], + [ + -141.62078857421875, + -64.49579620361328, + 1.9760894775390625 + ] + ], + "corners_2d": [ + [ + 756.1141397269386, + 659.8427988776708 + ], + [ + 806.2147783396682, + 662.9811649542219 + ], + [ + 804.5045313131358, + 636.2724599958062 + ], + [ + 755.5383746506116, + 633.2742516656982 + ], + [ + 762.6103596810406, + 617.8984184718825 + ], + [ + 815.5401370945281, + 621.0948372177215 + ], + [ + 813.5137923625109, + 593.9225011021758 + ], + [ + 761.8486211662217, + 590.8765458364436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 748, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -63.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3238232433795929, + "y": 0.47353270649909973, + "z": 0.8931494951248169 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 134.65623286774485, + "ymin": 573.883032824805, + "xmax": 211.27359731572545, + "ymax": 646.1607962142198 + }, + "corners_3d": [ + [ + -127.3913345336914, + -64.0762710571289, + 0.050993144512176514 + ], + [ + -128.3177032470703, + -64.27317810058594, + 0.050993144512176514 + ], + [ + -128.45236206054688, + -63.639686584472656, + 0.050993144512176514 + ], + [ + -127.52598571777344, + -63.442779541015625, + 0.050993144512176514 + ], + [ + -127.3913345336914, + -64.0762710571289, + 1.837292194366455 + ], + [ + -128.3177032470703, + -64.27317810058594, + 1.837292194366455 + ], + [ + -128.45236206054688, + -63.639686584472656, + 1.837292194366455 + ], + [ + -127.52598571777344, + -63.442779541015625, + 1.837292194366455 + ] + ], + "corners_2d": [ + [ + 161.1439071352454, + 640.0291419767625 + ], + [ + 197.7437987262354, + 646.1607962142198 + ], + [ + 211.27359731572545, + 622.6945069443773 + ], + [ + 175.33745673699542, + 616.806923685546 + ], + [ + 134.65623286774485, + 597.4628786770355 + ], + [ + 173.14390280671114, + 603.697693466677 + ], + [ + 187.93310894134083, + 579.8563406408202 + ], + [ + 150.17817995756434, + 573.883032824805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 11119, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 170.65993849988394, + "ymin": 370.96086155239965, + "xmax": 311.9555920544347, + "ymax": 539.9623824734416 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 192.8509848299351, + 539.9623824734416 + ], + [ + 273.2636358249887, + 538.1261309463268 + ], + [ + 311.9555920544347, + 414.2318507047361 + ], + [ + 241.04901095188524, + 415.66229435654026 + ], + [ + 170.65993849988394, + 496.8060586813309 + ], + [ + 255.09644856648532, + 494.957452687931 + ], + [ + 297.6941759652966, + 370.96086155239965 + ], + [ + 223.67722966860663, + 372.38431057683977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 488, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 388.55276200989294, + "ymin": 0.0, + "xmax": 445.87559475271496, + "ymax": 25.016742970811435 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 393.4189533440442, + 25.016742970811435 + ], + [ + 433.2568637278569, + 24.54775317160204 + ], + [ + 445.87559475271496, + -15.765210293633515 + ], + [ + 409.0099219865459, + -15.363344010061667 + ], + [ + 388.55276200989294, + -2.3067611561538115 + ], + [ + 429.1804524602273, + -2.760937837278334 + ], + [ + 442.3375333179997, + -41.74284253978112 + ], + [ + 404.7965267694449, + -41.35480787074448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 386.5386006058136, + "ymin": 0.0, + "xmax": 601.6254804772401, + "ymax": 86.21345223920702 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 601.6254804772401, + 83.40930987181935 + ], + [ + 601.5351250116787, + 76.12238955574139 + ], + [ + 431.2839864990565, + 78.85884584264159 + ], + [ + 429.2771823135606, + 86.21345223920702 + ], + [ + 593.8858009993627, + -184.05959157577513 + ], + [ + 593.8898875442334, + -188.91048443290856 + ], + [ + 389.5705878892567, + -187.09160454331334 + ], + [ + 386.5386006058136, + -182.18655555931673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.6569425409386, + "ymin": 0.0, + "xmax": 311.20862994639015, + "ymax": 7.695692450000877 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 307.0336905527928, + 7.314739755399046 + ], + [ + 311.20862994639015, + -0.3245512430465851 + ], + [ + 284.5858861351914, + 0.04539993690980282 + ], + [ + 280.0148269297088, + 7.695692450000877 + ], + [ + 306.7029074340226, + 5.92168753135644 + ], + [ + 310.886748344056, + -1.704807315866276 + ], + [ + 284.2376924239963, + -1.3354808970115073 + ], + [ + 279.6569425409386, + 6.302007880793838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 273.6183177070518, + "ymin": 0.0, + "xmax": 604.694253098939, + "ymax": 336.4945496081761 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 604.694253098939, + 330.8973630697096 + ], + [ + 604.5151385590594, + 316.4522676304692 + ], + [ + 364.97783498247634, + 321.8599993110604 + ], + [ + 360.98459949020656, + 336.4945496081761 + ], + [ + 593.7340783557506, + -3.958721173327774 + ], + [ + 593.743684581943, + -15.361697402320544 + ], + [ + 280.78810166265856, + -11.10688770226733 + ], + [ + 273.6183177070518, + 0.4921522076186875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.64769306598316, + "ymin": 0.0, + "xmax": 311.20032735251306, + "ymax": 7.659744368663041 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 307.0251584738232, + 7.278807959276833 + ], + [ + 311.20032735251306, + -0.3601534816831986 + ], + [ + 284.5769048545479, + 0.009781607497188816 + ], + [ + 280.00559581859426, + 7.659744368663041 + ], + [ + 306.694358394143, + 5.885684306458074 + ], + [ + 310.8784294857972, + -1.740479297574666 + ], + [ + 284.2286935368664, + -1.3711690509466052 + ], + [ + 279.64769306598316, + 6.265988286413574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1265.0530207179672, + "ymin": 579.537519891147, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1265.0530207179672, + 846.3591489055508 + ], + [ + 1544.2509837786288, + 984.1748889273956 + ], + [ + 1528.5960631865307, + 776.0247828933846 + ], + [ + 1286.2398256764363, + 672.4374993841831 + ], + [ + 1357.0304007776294, + 763.4832207416846 + ], + [ + 1692.9629730588638, + 914.216386373417 + ], + [ + 1651.680175252561, + 688.2703230453158 + ], + [ + 1367.685675781424, + 579.537519891147 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00009/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1f1fe222967032de7ada1abce1d9dcb2916918e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00009/meta.json @@ -0,0 +1,1616 @@ +{ + "frame_id": 9, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 4.5, + "sim_timestamp": 149.68877753964625 + }, + "drone_pose": { + "x": -138.55309353910093, + "y": -76.40671098559014, + "z": 20.41803744802656, + "pitch": -42.30835799552163, + "yaw": 91.65771234839212, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.021393537521362305, + -0.7392234206199646, + 0.673120379447937, + 39.773677825927734 + ], + [ + 0.999581515789032, + -0.028928518295288086, + 0.0, + -140.70545959472656 + ], + [ + 0.019472360610961914, + 0.6728386878967285, + 0.7395329475402832, + -63.81123352050781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.66657804336756, + "y": -75.89720485083802, + "z": 20.38707868072506 + }, + "t1_image_uv": [ + 876.9304932897768, + -413.29488424682745 + ], + "t1_depth": 0.3999056772989965 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -55.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.704377637879126, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 582, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -55.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.38291990756988525, + "y": 0.5023193359375, + "z": 0.8957130908966064 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.6365606831913, + "ymin": 328.56376774818614, + "xmax": 657.7027261453126, + "ymax": 390.7663895826905 + }, + "corners_3d": [ + [ + -138.66485595703125, + -55.570682525634766, + 0.20082223415374756 + ], + [ + -139.66949462890625, + -55.570682525634766, + 0.20082223415374756 + ], + [ + -139.66949462890625, + -54.80484390258789, + 0.20082223415374756 + ], + [ + -138.66485595703125, + -54.80484390258789, + 0.20082223415374756 + ], + [ + -138.66485595703125, + -55.570682525634766, + 1.9922484159469604 + ], + [ + -139.66949462890625, + -55.570682525634766, + 1.9922484159469604 + ], + [ + -139.66949462890625, + -54.80484390258789, + 1.9922484159469604 + ], + [ + -138.66485595703125, + -54.80484390258789, + 1.9922484159469604 + ] + ], + "corners_2d": [ + [ + 623.7524593369056, + 390.7663895826905 + ], + [ + 656.9675181282614, + 390.09680285908235 + ], + [ + 655.9245122227838, + 372.8098495827694 + ], + [ + 623.3444003247082, + 373.45406019426986 + ], + [ + 623.0479040374348, + 346.36398347816663 + ], + [ + 657.7027261453126, + 345.69967592115046 + ], + [ + 656.6007694149415, + 328.56376774818614 + ], + [ + 622.6365606831913, + 329.20184049111924 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 9, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 350503, + "2": 119888, + "3": 261471, + "4": 51582, + "6": 6394, + "12": 3984, + "14": 12262, + "20": 126, + "24": 7363, + "25": 108027 + }, + "instance_pixel_counts": { + "2453": 4522, + "3413": 4592, + "3662": 15827, + "11605": 719, + "15960": 5618, + "17240": 776, + "20565": 541, + "22421": 73, + "22931": 1908, + "22933": 2768, + "23443": 130104, + "36096": 582, + "36352": 612, + "36608": 509, + "36864": 583, + "37120": 918, + "37376": 780, + "38144": 11607, + "41728": 655, + "47198": 73336, + "48737": 207, + "48980": 16275, + "49249": 58, + "49492": 239344, + "49761": 135, + "50246": 28590, + "51297": 24187, + "51526": 7165, + "51809": 2973, + "52321": 4502, + "54366": 32986, + "54878": 1705, + "57482": 469, + "57994": 13653, + "59737": 126, + "63382": 63678, + "63894": 10026, + "65426": 218491 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 582, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -55.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.40471190214157104, + "y": 0.512097179889679, + "z": 0.9052554965019226 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.2903570657322, + "ymin": 327.8342093321208, + "xmax": 658.0762370022424, + "ymax": 391.50212040466977 + }, + "corners_3d": [ + [ + -138.6550750732422, + -55.59247589111328, + 0.1912798285484314 + ], + [ + -139.6792755126953, + -55.59247589111328, + 0.1912798285484314 + ], + [ + -139.6792755126953, + -54.783050537109375, + 0.1912798285484314 + ], + [ + -138.6550750732422, + -54.783050537109375, + 0.1912798285484314 + ], + [ + -138.6550750732422, + -55.59247589111328, + 2.001790761947632 + ], + [ + -139.6792755126953, + -55.59247589111328, + 2.001790761947632 + ], + [ + -139.6792755126953, + -54.783050537109375, + 2.001790761947632 + ], + [ + -138.6550750732422, + -54.783050537109375, + 2.001790761947632 + ] + ], + "corners_2d": [ + [ + 623.4441776666595, + 391.50212040466977 + ], + [ + 657.3172713321844, + 390.8187175590886 + ], + [ + 656.2086860158828, + 372.5473447437544 + ], + [ + 623.0194510638677, + 373.2034094747662 + ], + [ + 622.7180118863542, + 346.6222172263667 + ], + [ + 658.0762370022424, + 345.944227447977 + ], + [ + 656.9041016808524, + 327.8342093321208 + ], + [ + 622.2903570657322, + 328.4839258543775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 612, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -52.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45054203271865845, + "y": 0.4694555997848511, + "z": 0.9004695415496826 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 490.09648846476045, + "ymin": 270.69267000819957, + "xmax": 528.0962643927387, + "ymax": 335.68192238649965 + }, + "corners_3d": [ + [ + -134.67567443847656, + -52.72835922241211, + 0.04366832971572876 + ], + [ + -135.5940704345703, + -52.533145904541016, + 0.04366832971572876 + ], + [ + -135.40672302246094, + -51.65175247192383, + 0.04366832971572876 + ], + [ + -134.4883270263672, + -51.84696578979492, + 0.04366832971572876 + ], + [ + -134.67567443847656, + -52.72835922241211, + 1.8446073532104492 + ], + [ + -135.5940704345703, + -52.533145904541016, + 1.8446073532104492 + ], + [ + -135.40672302246094, + -51.65175247192383, + 1.8446073532104492 + ], + [ + -134.4883270263672, + -51.84696578979492, + 1.8446073532104492 + ] + ], + "corners_2d": [ + [ + 499.3756718614436, + 335.68192238649965 + ], + [ + 528.0962643927387, + 331.2321264671266 + ], + [ + 523.9708171469432, + 314.1040192877096 + ], + [ + 495.8140966507767, + 318.3747977524554 + ], + [ + 493.678621351852, + 291.9674528902816 + ], + [ + 523.5874631851907, + 287.5765833698178 + ], + [ + 519.3942920481046, + 270.69267000819957 + ], + [ + 490.09648846476045, + 274.89998106976975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 509, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -48.245052337646484, + "z": 1.0935031175613403 + }, + "extent": { + "x": 0.4293310344219208, + "y": 0.5417382717132568, + "z": 0.934524655342102 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 680.299934784948, + "ymin": 196.1513141628728, + "xmax": 717.0452176378099, + "ymax": 256.3503602501631 + }, + "corners_3d": [ + [ + -140.92910766601562, + -48.72865676879883, + 0.15897846221923828 + ], + [ + -142.00665283203125, + -48.61540603637695, + 0.15897846221923828 + ], + [ + -141.91690063476562, + -47.76144790649414, + 0.15897846221923828 + ], + [ + -140.83935546875, + -47.874698638916016, + 0.15897846221923828 + ], + [ + -140.92910766601562, + -48.72865676879883, + 2.0280277729034424 + ], + [ + -142.00665283203125, + -48.61540603637695, + 2.0280277729034424 + ], + [ + -141.91690063476562, + -47.76144790649414, + 2.0280277729034424 + ], + [ + -140.83935546875, + -47.874698638916016, + 2.0280277729034424 + ] + ], + "corners_2d": [ + [ + 684.2593082425154, + 256.3503602501631 + ], + [ + 714.2155226439045, + 253.9498727200579 + ], + [ + 709.7278246525359, + 240.09902218968455 + ], + [ + 680.299934784948, + 242.4135456012691 + ], + [ + 685.9523086594523, + 212.04068959428298 + ], + [ + 717.0452176378099, + 209.69205316556196 + ], + [ + 712.33665397302, + 196.1513141628728 + ], + [ + 681.8125381933568, + 198.4127212814477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 583, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -55.18776321411133, + "z": 1.0948214530944824 + }, + "extent": { + "x": 0.38102537393569946, + "y": 0.5863866806030273, + "z": 0.8798487782478333 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 704.3738602088026, + "ymin": 327.3670534880068, + "xmax": 749.4442506869273, + "ymax": 388.7219948937822 + }, + "corners_3d": [ + [ + -141.16539001464844, + -55.568790435791016, + 0.21497267484664917 + ], + [ + -142.33815002441406, + -55.56878662109375, + 0.21497267484664917 + ], + [ + -142.33815002441406, + -54.80673599243164, + 0.21497267484664917 + ], + [ + -141.16539001464844, + -54.806739807128906, + 0.21497267484664917 + ], + [ + -141.16539001464844, + -55.568790435791016, + 1.974670171737671 + ], + [ + -142.33815002441406, + -55.56878662109375, + 1.974670171737671 + ], + [ + -142.33815002441406, + -54.80673599243164, + 1.974670171737671 + ], + [ + -141.16539001464844, + -54.806739807128906, + 1.974670171737671 + ] + ], + "corners_2d": [ + [ + 706.3500778330899, + 388.7219948937822 + ], + [ + 744.9869667867662, + 387.9433482820582 + ], + [ + 742.2782851895113, + 370.8096045310818 + ], + [ + 704.3738602088026, + 371.5589299577793 + ], + [ + 709.1695454992476, + 345.1235528698972 + ], + [ + 749.4442506869273, + 344.3510601315267 + ], + [ + 746.5346294043497, + 327.3670534880068 + ], + [ + 707.0551632038122, + 328.1092577791843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 918, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16246032714844, + "y": -64.40628814697266, + "z": 1.0955294370651245 + }, + "extent": { + "x": 0.40256351232528687, + "y": 0.5105860233306885, + "z": 0.9007571339607239 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 756.697326806808, + "ymin": 589.5563002036026, + "xmax": 810.7559526203224, + "ymax": 666.8549628302276 + }, + "corners_3d": [ + [ + -141.6125946044922, + -64.7532730102539, + 0.19477230310440063 + ], + [ + -142.628173828125, + -64.86001586914062, + 0.19477230310440063 + ], + [ + -142.7123260498047, + -64.0593032836914, + 0.19477230310440063 + ], + [ + -141.69674682617188, + -63.95256042480469, + 0.19477230310440063 + ], + [ + -141.6125946044922, + -64.7532730102539, + 1.9962866306304932 + ], + [ + -142.628173828125, + -64.86001586914062, + 1.9962866306304932 + ], + [ + -142.7123260498047, + -64.0593032836914, + 1.9962866306304932 + ], + [ + -141.69674682617188, + -63.95256042480469, + 1.9962866306304932 + ] + ], + "corners_2d": [ + [ + 757.1803757638627, + 663.8266474075259 + ], + [ + 801.443583030865, + 666.8549628302276 + ], + [ + 799.8081948384402, + 636.1505972411492 + ], + [ + 756.697326806808, + 633.2775535415526 + ], + [ + 763.9212258596527, + 620.6313603161175 + ], + [ + 810.7559526203224, + 623.7168678790183 + ], + [ + 808.7730554360887, + 592.4748635818371 + ], + [ + 763.2264990489629, + 589.5563002036026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 780, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -63.35797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.31113767623901367, + "y": 0.47758054733276367, + "z": 0.8948947787284851 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 131.35916505656206, + "ymin": 571.9021722290241, + "xmax": 208.11682880390487, + "ymax": 643.9079593815866 + }, + "corners_3d": [ + [ + -127.3900146484375, + -63.56302261352539, + 0.0492478609085083 + ], + [ + -128.3242950439453, + -63.76161193847656, + 0.0492478609085083 + ], + [ + -128.45367431640625, + -63.15293502807617, + 0.0492478609085083 + ], + [ + -127.5193862915039, + -62.954345703125, + 0.0492478609085083 + ], + [ + -127.3900146484375, + -63.56302261352539, + 1.8390374183654785 + ], + [ + -128.3242950439453, + -63.76161193847656, + 1.8390374183654785 + ], + [ + -128.45367431640625, + -63.15293502807617, + 1.8390374183654785 + ], + [ + -127.5193862915039, + -62.954345703125, + 1.8390374183654785 + ] + ], + "corners_2d": [ + [ + 158.04108606706927, + 637.5154096766349 + ], + [ + 194.86038630114297, + 643.9079593815866 + ], + [ + 208.11682880390487, + 621.4064126637634 + ], + [ + 171.93719080797058, + 615.2592934289465 + ], + [ + 131.35916505656206, + 594.4884347945823 + ], + [ + 170.07238185665614, + 600.9847510421965 + ], + [ + 184.5599614428922, + 578.135649039123 + ], + [ + 146.55266668963412, + 571.9021722290241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 11607, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 161.69930818843756, + "ymin": 381.4890144037579, + "xmax": 307.4154885301872, + "ymax": 553.6850486386531 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 184.62585273161977, + 553.6850486386531 + ], + [ + 266.2456224527354, + 552.21531498628 + ], + [ + 307.4154885301872, + 425.04683256244317 + ], + [ + 235.59405395650708, + 426.18663781925756 + ], + [ + 161.69930818843756, + 510.3350039022156 + ], + [ + 247.45556736014794, + 508.8540675660422 + ], + [ + 292.77762765453815, + 381.4890144037579 + ], + [ + 217.7725941699913, + 382.6238365445028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 655, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 390.3650212814091, + "ymin": 0.0, + "xmax": 448.50607072588514, + "ymax": 29.147583120380546 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 395.218015951904, + 29.147583120380546 + ], + [ + 435.30883909023294, + 28.779092858651268 + ], + [ + 448.50607072588514, + -11.895091417875562 + ], + [ + 411.43101720168545, + -11.579796413271993 + ], + [ + 390.3650212814091, + 1.6775815908483196 + ], + [ + 431.25348524559206, + 1.320804006845833 + ], + [ + 445.0017988926869, + -38.00159481856883 + ], + [ + 407.24560912207363, + -37.697227032846286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 387.6822838743326, + "ymin": 0.0, + "xmax": 604.3214755739062, + "ymax": 91.18212293791106 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 604.3214755739062, + 88.84839403260719 + ], + [ + 604.298311550858, + 81.46151282661066 + ], + [ + 432.5987963687411, + 83.73827250320664 + ], + [ + 430.48305833091115, + 91.18212293791106 + ], + [ + 597.0667883978762, + -180.7469114293591 + ], + [ + 597.1457241314804, + -185.64706233562038 + ], + [ + 390.8564778326381, + -184.1393538945223 + ], + [ + 387.6822838743326, + -179.1937308946707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 274.8574863790499, + "ymin": 4.040047041948014, + "xmax": 307.0984611282547, + "ymax": 13.566576081903577 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 302.6573202499634, + 13.246657366246495 + ], + [ + 307.0984611282547, + 5.4386561716332835 + ], + [ + 280.07561774784836, + 5.749163155507347 + ], + [ + 275.22517220327103, + 13.566576081903577 + ], + [ + 302.31749197831317, + 11.834860678365601 + ], + [ + 306.7680799080502, + 4.040047041948014 + ], + [ + 279.71820444423423, + 4.350025143549487 + ], + [ + 274.8574863790499, + 12.154244019431417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 268.6435446786287, + "ymin": 0.0, + "xmax": 605.1122004139847, + "ymax": 345.7089525723902 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 605.1122004139847, + 341.0060434619205 + ], + [ + 605.0658339211479, + 326.2200242202293 + ], + [ + 362.3883941692558, + 330.76120891899114 + ], + [ + 358.13985256914737, + 345.7089525723902 + ], + [ + 594.1143376944984, + 2.5345167559349875 + ], + [ + 594.3025365695096, + -9.148441593021232 + ], + [ + 276.24974069069214, + -5.573795963174462 + ], + [ + 268.6435446786287, + 6.2772057187521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 274.8479834527343, + "ymin": 4.003900237222069, + "xmax": 307.0899394072762, + "ymax": 13.530147505227944 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 302.64855498296, + 13.210242576906978 + ], + [ + 307.0899394072762, + 5.402581007451886 + ], + [ + 280.0663987774585, + 5.713074370414176 + ], + [ + 275.2156884058015, + 13.530147505227944 + ], + [ + 302.3087090424834, + 11.798372484919526 + ], + [ + 306.7595412640514, + 4.003900237222069 + ], + [ + 279.7089671552136, + 4.3138646479395675 + ], + [ + 274.8479834527343, + 12.117741966214794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1272.1812542612508, + "ymin": 590.1273685376523, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1272.1812542612508, + 859.2328489981783 + ], + [ + 1555.4495082071014, + 1001.351996524359 + ], + [ + 1539.4102195311148, + 789.5331761308992 + ], + [ + 1293.8168700914366, + 682.9759731886354 + ], + [ + 1365.963550698878, + 776.8283356569295 + ], + [ + 1707.6477530382886, + 932.6278970426779 + ], + [ + 1665.1153875746913, + 702.1549716399776 + ], + [ + 1376.7778817706474, + 590.1273685376523 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00010/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54e2bbfc1d013932e9beea4c0f690aa73f179dc0 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00010/meta.json @@ -0,0 +1,1616 @@ +{ + "frame_id": 10, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 5.0, + "sim_timestamp": 160.43443619809113 + }, + "drone_pose": { + "x": -138.66657804336756, + "y": -75.89720485083802, + "z": 20.38707868072506, + "pitch": -42.27940015992685, + "yaw": 91.35209699105191, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.017458319664001465, + -0.7396669983863831, + 0.6727465391159058, + 40.002445220947266 + ], + [ + 0.9997215867042542, + -0.02359628677368164, + 2.9802322387695312e-08, + -140.4188690185547 + ], + [ + 0.01587432622909546, + 0.6725592613220215, + 0.7398729920387268, + -63.927978515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.76134639158573, + "y": -75.38820767379438, + "z": 20.356955064163163 + }, + "t1_image_uv": [ + 839.3487324262533, + -414.7967376896079 + ], + "t1_depth": 0.398408475831673 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -54.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.67431051887018, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 594, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -54.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37374022603034973, + "y": 0.49534910917282104, + "z": 0.887948751449585 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.9289920435228, + "ymin": 328.98855544996087, + "xmax": 657.3992615821371, + "ymax": 390.34327852863925 + }, + "corners_3d": [ + [ + -138.6718292236328, + -55.06150436401367, + 0.20858657360076904 + ], + [ + -139.6625213623047, + -55.06150436401367, + 0.20858657360076904 + ], + [ + -139.6625213623047, + -54.314022064208984, + 0.20858657360076904 + ], + [ + -138.6718292236328, + -54.314022064208984, + 0.20858657360076904 + ], + [ + -138.6718292236328, + -55.06150436401367, + 1.984484076499939 + ], + [ + -139.6625213623047, + -55.06150436401367, + 1.984484076499939 + ], + [ + -139.6625213623047, + -54.314022064208984, + 1.984484076499939 + ], + [ + -138.6718292236328, + -54.314022064208984, + 1.984484076499939 + ] + ], + "corners_2d": [ + [ + 623.8911342216965, + 390.34327852863925 + ], + [ + 656.6825505152422, + 389.8046486249496 + ], + [ + 655.7976118831458, + 372.9186436751692 + ], + [ + 623.6194318561929, + 373.4373050736166 + ], + [ + 623.1986389428482, + 346.2609690845662 + ], + [ + 657.3992615821371, + 345.7266155562278 + ], + [ + 656.463074068429, + 328.98855544996087 + ], + [ + 622.9289920435228, + 329.50227249136987 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 10, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 349388, + "2": 120051, + "3": 259787, + "4": 52104, + "6": 6628, + "12": 3885, + "14": 12875, + "20": 129, + "24": 7481, + "25": 109272 + }, + "instance_pixel_counts": { + "2453": 4504, + "3413": 4677, + "3662": 16358, + "11605": 857, + "15960": 5785, + "17240": 843, + "20565": 515, + "22421": 129, + "22931": 3373, + "22933": 2848, + "23443": 132608, + "36096": 594, + "36352": 595, + "36608": 532, + "36864": 608, + "37120": 828, + "37376": 728, + "38144": 12069, + "41728": 806, + "47198": 72524, + "48737": 490, + "48980": 17874, + "49249": 94, + "49492": 235864, + "49761": 181, + "50246": 28388, + "51297": 25075, + "51526": 7358, + "51809": 2948, + "52321": 4484, + "54366": 34868, + "54878": 1880, + "57482": 672, + "57994": 13585, + "59737": 129, + "63382": 62661, + "63894": 9861, + "65426": 213407 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 594, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -54.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37693846225738525, + "y": 0.58453369140625, + "z": 0.8890196084976196 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.9066698540618, + "ymin": 328.84455945732975, + "xmax": 660.4809805100531, + "ymax": 390.4909799512915 + }, + "corners_3d": [ + [ + -138.5826416015625, + -55.064701080322266, + 0.20751571655273438 + ], + [ + -139.751708984375, + -55.064701080322266, + 0.20751571655273438 + ], + [ + -139.751708984375, + -54.31082534790039, + 0.20751571655273438 + ], + [ + -138.5826416015625, + -54.31082534790039, + 0.20751571655273438 + ], + [ + -138.5826416015625, + -55.064701080322266, + 1.9855549335479736 + ], + [ + -139.751708984375, + -55.064701080322266, + 1.9855549335479736 + ], + [ + -139.751708984375, + -54.31082534790039, + 1.9855549335479736 + ], + [ + -138.5826416015625, + -54.31082534790039, + 1.9855549335479736 + ] + ], + "corners_2d": [ + [ + 620.9385653394465, + 390.4909799512915 + ], + [ + 659.6363071842882, + 389.8552632775562 + ], + [ + 658.6882228370072, + 372.8265469569722 + ], + [ + 620.7202859995683, + 373.4384986441722 + ], + [ + 620.1180184136313, + 346.3544928313839 + ], + [ + 660.4809805100531, + 345.72382505455647 + ], + [ + 659.4763102116453, + 328.84455945732975 + ], + [ + 619.9066698540618, + 329.45066628842443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 595, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -51.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45349612832069397, + "y": 0.49833014607429504, + "z": 0.9200882315635681 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 489.60434552697575, + "ymin": 269.581527666639, + "xmax": 529.4003520165672, + "ymax": 335.8570458432414 + }, + "corners_3d": [ + [ + -134.64804077148438, + -52.23725128173828, + 0.02404963970184326 + ], + [ + -135.6229248046875, + -52.030033111572266, + 0.02404963970184326 + ], + [ + -135.43435668945312, + -51.142860412597656, + 0.02404963970184326 + ], + [ + -134.45947265625, + -51.35007858276367, + 0.02404963970184326 + ], + [ + -134.64804077148438, + -52.23725128173828, + 1.8642261028289795 + ], + [ + -135.6229248046875, + -52.030033111572266, + 1.8642261028289795 + ], + [ + -135.43435668945312, + -51.142860412597656, + 1.8642261028289795 + ], + [ + -134.45947265625, + -51.35007858276367, + 1.8642261028289795 + ] + ], + "corners_2d": [ + [ + 498.89010556839725, + 335.8570458432414 + ], + [ + 529.4003520165672, + 331.23921422105855 + ], + [ + 525.3675501048, + 313.99006248557356 + ], + [ + 495.4624813461728, + 318.4206058075137 + ], + [ + 493.04596730805633, + 291.1311318980556 + ], + [ + 524.8457587410231, + 286.57649439426166 + ], + [ + 520.7472323049046, + 269.581527666639 + ], + [ + 489.60434552697575, + 273.94405401879044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 532, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -47.745052337646484, + "z": 1.093449354171753 + }, + "extent": { + "x": 0.4398193359375, + "y": 0.46568357944488525, + "z": 0.9488345980644226 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 683.4393519104052, + "ymin": 195.94385008482297, + "xmax": 716.064958209424, + "ymax": 256.8232607478322 + }, + "corners_3d": [ + [ + -141.00584411621094, + -48.23114013671875, + 0.14461475610733032 + ], + [ + -141.93211364746094, + -48.133785247802734, + 0.14461475610733032 + ], + [ + -141.8401641845703, + -47.25896453857422, + 0.14461475610733032 + ], + [ + -140.9138946533203, + -47.356319427490234, + 0.14461475610733032 + ], + [ + -141.00584411621094, + -48.23114013671875, + 2.0422840118408203 + ], + [ + -141.93211364746094, + -48.133785247802734, + 2.0422840118408203 + ], + [ + -141.8401641845703, + -47.25896453857422, + 2.0422840118408203 + ], + [ + -140.9138946533203, + -47.356319427490234, + 2.0422840118408203 + ] + ], + "corners_2d": [ + [ + 687.4279917482614, + 256.8232607478322 + ], + [ + 713.2264241514154, + 254.83922389231316 + ], + [ + 708.7701371552246, + 240.62211686570146 + ], + [ + 683.4393519104052, + 242.5332614575263 + ], + [ + 689.271416458352, + 211.7767562442837 + ], + [ + 716.064958209424, + 209.83642296440703 + ], + [ + 711.3846864307568, + 195.94385008482297 + ], + [ + 685.0952067165773, + 197.81020930873882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 608, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -54.68776321411133, + "z": 1.0947823524475098 + }, + "extent": { + "x": 0.38365232944488525, + "y": 0.3774145543575287, + "z": 0.8638738989830017 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 711.321239409482, + "ymin": 328.16045659207714, + "xmax": 742.3397656995332, + "ymax": 388.571756507213 + }, + "corners_3d": [ + [ + -141.37435913085938, + -55.071414947509766, + 0.23090845346450806 + ], + [ + -142.12918090820312, + -55.071414947509766, + 0.23090845346450806 + ], + [ + -142.12918090820312, + -54.30411148071289, + 0.23090845346450806 + ], + [ + -141.37435913085938, + -54.30411148071289, + 0.23090845346450806 + ], + [ + -141.37435913085938, + -55.071414947509766, + 1.9586563110351562 + ], + [ + -142.12918090820312, + -55.071414947509766, + 1.9586563110351562 + ], + [ + -142.12918090820312, + -54.30411148071289, + 1.9586563110351562 + ], + [ + -141.37435913085938, + -54.30411148071289, + 1.9586563110351562 + ] + ], + "corners_2d": [ + [ + 713.3156143944371, + 388.571756507213 + ], + [ + 738.2414058209645, + 388.16246430837987 + ], + [ + 735.7698660889391, + 370.88090709390747 + ], + [ + 711.321239409482, + 371.2746467478201 + ], + [ + 716.3755864216108, + 345.69883419937645 + ], + [ + 742.3397656995332, + 345.29274490889713 + ], + [ + 739.6853622283061, + 328.16045659207714 + ], + [ + 714.2385196763641, + 328.55049037758494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 828, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16246032714844, + "y": -63.90629196166992, + "z": 1.0954903364181519 + }, + "extent": { + "x": 0.3916601836681366, + "y": 0.48221686482429504, + "z": 0.8886143565177917 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 756.2167789692347, + "ymin": 591.1101955021476, + "xmax": 807.4082518247175, + "ymax": 667.1657353332129 + }, + "corners_3d": [ + [ + -141.64195251464844, + -64.24539947509766, + 0.2068759799003601 + ], + [ + -142.60108947753906, + -64.3462142944336, + 0.2068759799003601 + ], + [ + -142.68296813964844, + -63.56718444824219, + 0.2068759799003601 + ], + [ + -141.7238311767578, + -63.466373443603516, + 0.2068759799003601 + ], + [ + -141.64195251464844, + -64.24539947509766, + 1.9841046333312988 + ], + [ + -142.60108947753906, + -64.3462142944336, + 1.9841046333312988 + ], + [ + -142.68296813964844, + -63.56718444824219, + 1.9841046333312988 + ], + [ + -141.7238311767578, + -63.466373443603516, + 1.9841046333312988 + ] + ], + "corners_2d": [ + [ + 756.4953748497772, + 664.0984381768078 + ], + [ + 798.387576798111, + 667.1657353332129 + ], + [ + 797.0453233165257, + 637.2238481846832 + ], + [ + 756.2167789692347, + 634.3101791870358 + ], + [ + 763.1119310852097, + 621.4048988621655 + ], + [ + 807.4082518247175, + 624.5292910885336 + ], + [ + 805.7500316625051, + 594.0695633279619 + ], + [ + 762.6412216312243, + 591.1101955021476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 728, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -62.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3114404082298279, + "y": 0.49129149317741394, + "z": 0.8946409225463867 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 129.06346905633734, + "ymin": 569.7717467115181, + "xmax": 206.98004405936763, + "ymax": 642.1786904766814 + }, + "corners_3d": [ + [ + -127.37653350830078, + -63.06046676635742, + 0.04950171709060669 + ], + [ + -128.337646484375, + -63.2647590637207, + 0.04950171709060669 + ], + [ + -128.46714782714844, + -62.65549087524414, + 0.04950171709060669 + ], + [ + -127.50604248046875, + -62.45119857788086, + 0.04950171709060669 + ], + [ + -127.37653350830078, + -63.06046676635742, + 1.8387835025787354 + ], + [ + -128.337646484375, + -63.2647590637207, + 1.8387835025787354 + ], + [ + -128.46714782714844, + -62.65549087524414, + 1.8387835025787354 + ], + [ + -127.50604248046875, + -62.45119857788086, + 1.8387835025787354 + ] + ], + "corners_2d": [ + [ + 155.8274151849837, + 635.4266555345807 + ], + [ + 193.5591549321001, + 642.1786904766814 + ], + [ + 206.98004405936763, + 619.7241686468617 + ], + [ + 169.9009760076475, + 613.2313540798639 + ], + [ + 129.06346905633734, + 592.2900463243775 + ], + [ + 168.72775669493996, + 599.1498892362721 + ], + [ + 183.38884021895205, + 576.354072824132 + ], + [ + 144.44444876240033, + 569.7717467115181 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 12069, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 153.51709962714904, + "ymin": 392.59319930722023, + "xmax": 303.1983576280804, + "ymax": 567.9640775203379 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 177.1620063013412, + 567.9640775203379 + ], + [ + 259.8584895845598, + 566.8183288756837 + ], + [ + 303.1983576280804, + 436.26481327810063 + ], + [ + 230.55053813197378, + 437.15012946220526 + ], + [ + 153.51709962714904, + 524.6514482801674 + ], + [ + 240.45991712754346, + 523.4954877545422 + ], + [ + 288.1822116910948, + 392.59319930722023 + ], + [ + 212.27763568437456, + 393.4754736829755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 806, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 391.6354027669829, + "ymin": 0.0, + "xmax": 450.5391687491921, + "ymax": 32.78903928504718 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 396.4950980474252, + 32.78903928504718 + ], + [ + 436.8386228531255, + 32.50604705756166 + ], + [ + 450.5391687491921, + -8.675552871821026 + ], + [ + 413.2499962401604, + -8.433693254451327 + ], + [ + 391.6354027669829, + 5.188132203202201 + ], + [ + 432.78621916185386, + 4.914094388624562 + ], + [ + 447.0506466491257, + -34.90405854657433 + ], + [ + 409.07283302772754, + -34.6705560682513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 388.25460077413936, + "ymin": 0.0, + "xmax": 606.5895897302883, + "ymax": 95.8581354953277 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 606.5546964381067, + 93.92459533170239 + ], + [ + 606.5895897302883, + 86.41611787064096 + ], + [ + 433.49786987825547, + 88.30203097509178 + ], + [ + 431.28739930528286, + 95.8581354953277 + ], + [ + 599.6852751921181, + -177.57661218959527 + ], + [ + 599.8294246265918, + -182.5652272225958 + ], + [ + 391.5566446640721, + -181.3146109348869 + ], + [ + 388.25460077413936, + -176.28786439111445 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 270.06371100639814, + "ymin": 10.980598143074019, + "xmax": 302.95244407861423, + "ymax": 20.69047093428037 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 298.2694241138006, + 20.422166687051913 + ], + [ + 302.95244407861423, + 12.394119759275839 + ], + [ + 275.54625337488505, + 12.654405345534371 + ], + [ + 270.44182080652604, + 20.69047093428037 + ], + [ + 297.91996183810903, + 18.99522995811799 + ], + [ + 302.6129643163498, + 10.980598143074019 + ], + [ + 275.1789875788509, + 11.240444913887814 + ], + [ + 270.06371100639814, + 19.263090121738685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 263.6795943501183, + "ymin": 0.0, + "xmax": 605.4290577642042, + "ymax": 355.2195523748885 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 605.358659370004, + 351.29279090186697 + ], + [ + 605.4290577642042, + 336.1441811507149 + ], + [ + 359.885154600997, + 339.9341816739876 + ], + [ + 355.4135567873617, + 355.2195523748885 + ], + [ + 594.259017049136, + 10.211241740181265 + ], + [ + 594.6069280630498, + -1.8290005298864571 + ], + [ + 271.6829907426874, + 1.1706907825851545 + ], + [ + 263.6795943501183, + 13.354370496063495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 270.05393851815865, + "ymin": 10.944065374167621, + "xmax": 302.94368779949696, + "ymax": 20.653654745227527 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 298.26041048860407, + 20.385361933725335 + ], + [ + 302.94368779949696, + 12.357660473081125 + ], + [ + 275.5367804088524, + 12.617934758604747 + ], + [ + 270.4320682851513, + 20.653654745227527 + ], + [ + 297.9109297681234, + 18.958349890375985 + ], + [ + 302.6041903891873, + 10.944065374167621 + ], + [ + 275.16949551083496, + 11.203900784992584 + ], + [ + 270.05393851815865, + 19.226198556909765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1277.8978546225674, + "ymin": 598.8095552928296, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1277.8978546225674, + 869.6387549197838 + ], + [ + 1564.3399814526592, + 1015.419830844233 + ], + [ + 1548.2550914784813, + 800.5377095098031 + ], + [ + 1300.0768896995187, + 691.4047946495423 + ], + [ + 1373.310636331862, + 787.9490762934167 + ], + [ + 1719.6245072438314, + 948.1598753837179 + ], + [ + 1676.3585345342563, + 713.7606012269431 + ], + [ + 1384.452025849998, + 598.8095552928296 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00011/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c26b97bbb1e53ab09892e0f58823b74ae130ad1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00011/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 11, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 5.5, + "sim_timestamp": 174.52828951156698 + }, + "drone_pose": { + "x": -138.76134639158573, + "y": -75.38820767379438, + "z": 20.356955064163163, + "pitch": -42.24965032098892, + "yaw": 91.09666949436493, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.014167308807373047, + -0.7400866746902466, + 0.6723622679710388, + 40.14067459106445 + ], + [ + 0.99981689453125, + -0.01913928985595703, + 0.0, + -140.17881774902344 + ], + [ + 0.012868523597717285, + 0.6722391247749329, + 0.7402222156524658, + -63.9619140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.8406981652623, + "y": -74.87963024374196, + "z": 20.327579508023867 + }, + "t1_image_uv": [ + 808.1975689661641, + -416.0931119814426 + ], + "t1_depth": 0.39726658311298674 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -54.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.6458953096585, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 601, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -54.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37544432282447815, + "y": 0.38695311546325684, + "z": 0.8689349293708801 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.6483080718118, + "ymin": 329.4989912614897, + "xmax": 653.6128994126575, + "ymax": 389.866912588348 + }, + "corners_3d": [ + [ + -138.7802276611328, + -54.563209533691406, + 0.22760039567947388 + ], + [ + -139.5541229248047, + -54.56320571899414, + 0.22760039567947388 + ], + [ + -139.5541229248047, + -53.81231689453125, + 0.22760039567947388 + ], + [ + -138.7802276611328, + -53.812320709228516, + 0.22760039567947388 + ], + [ + -138.7802276611328, + -54.563209533691406, + 1.965470314025879 + ], + [ + -139.5541229248047, + -54.56320571899414, + 1.965470314025879 + ], + [ + -139.5541229248047, + -53.81231689453125, + 1.965470314025879 + ], + [ + -138.7802276611328, + -53.812320709228516, + 1.965470314025879 + ] + ], + "corners_2d": [ + [ + 627.4075620952068, + 389.866912588348 + ], + [ + 653.0636035347466, + 389.52536093637065 + ], + [ + 652.3501536901463, + 372.5502801276471 + ], + [ + 627.1771159510743, + 372.87908806623307 + ], + [ + 626.8778686583657, + 346.6657725412748 + ], + [ + 653.6128994126575, + 346.32690846097717 + ], + [ + 652.8592694026113, + 329.4989912614897 + ], + [ + 626.6483080718118, + 329.82469575813604 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 11, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 348200, + "2": 120231, + "3": 258020, + "4": 52727, + "6": 6808, + "12": 4077, + "14": 13566, + "20": 125, + "24": 7477, + "25": 110369 + }, + "instance_pixel_counts": { + "2453": 4406, + "3413": 4804, + "3662": 16903, + "11605": 1025, + "15960": 5930, + "17240": 878, + "20565": 440, + "22421": 155, + "22931": 4763, + "22933": 2916, + "23443": 135263, + "36096": 601, + "36352": 608, + "36608": 540, + "36864": 590, + "37120": 949, + "37376": 789, + "38144": 12576, + "41728": 990, + "47198": 71453, + "48737": 779, + "48980": 19649, + "49249": 131, + "49492": 232102, + "49761": 229, + "50246": 28298, + "51297": 25967, + "51526": 7526, + "51809": 3006, + "52321": 4446, + "54366": 36818, + "54878": 2098, + "57482": 872, + "57994": 13501, + "59737": 125, + "63382": 61597, + "63894": 9703, + "65426": 208174 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 601, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -54.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3783935606479645, + "y": 0.44480466842651367, + "z": 0.887683093547821 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.6802457388651, + "ymin": 328.9260924998074, + "xmax": 655.6211988775151, + "ymax": 390.4075068306307 + }, + "corners_3d": [ + [ + -138.7223663330078, + -54.566158294677734, + 0.20885223150253296 + ], + [ + -139.6119842529297, + -54.566158294677734, + 0.20885223150253296 + ], + [ + -139.6119842529297, + -53.80936813354492, + 0.20885223150253296 + ], + [ + -138.7223663330078, + -53.80936813354492, + 0.20885223150253296 + ], + [ + -138.7223663330078, + -54.566158294677734, + 1.9842183589935303 + ], + [ + -139.6119842529297, + -54.566158294677734, + 1.9842183589935303 + ], + [ + -139.6119842529297, + -53.80936813354492, + 1.9842183589935303 + ], + [ + -138.7223663330078, + -53.80936813354492, + 1.9842183589935303 + ] + ], + "corners_2d": [ + [ + 625.4956668725735, + 390.4075068306307 + ], + [ + 654.9775156566998, + 390.01490021333035 + ], + [ + 654.2225368164321, + 372.9061673760638 + ], + [ + 625.299798739701, + 373.28401865791875 + ], + [ + 624.8720364613067, + 346.27269354490045 + ], + [ + 655.6211988775151, + 345.8832409602887 + ], + [ + 654.8216916047343, + 328.9260924998074 + ], + [ + 624.6802457388651, + 329.3002976985245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 608, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -51.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.42982912063598633, + "y": 0.49752935767173767, + "z": 0.8638522028923035 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 490.298279073856, + "ymin": 271.06535935186116, + "xmax": 529.43436613237, + "ymax": 333.680070761347 + }, + "corners_3d": [ + [ + -134.64390563964844, + -51.71393585205078, + 0.08028566837310791 + ], + [ + -135.61721801757812, + -51.507049560546875, + 0.08028566837310791 + ], + [ + -135.43849182128906, + -50.666175842285156, + 0.08028566837310791 + ], + [ + -134.46517944335938, + -50.87306213378906, + 0.08028566837310791 + ], + [ + -134.64390563964844, + -51.71393585205078, + 1.8079900741577148 + ], + [ + -135.61721801757812, + -51.507049560546875, + 1.8079900741577148 + ], + [ + -135.43849182128906, + -50.666175842285156, + 1.8079900741577148 + ], + [ + -134.46517944335938, + -50.87306213378906, + 1.8079900741577148 + ] + ], + "corners_2d": [ + [ + 498.92038327689386, + 333.680070761347 + ], + [ + 529.43436613237, + 329.1652800135265 + ], + [ + 525.7185961691613, + 312.81347812719645 + ], + [ + 495.7813619540034, + 317.15399021834344 + ], + [ + 493.4455878039901, + 291.64454574484205 + ], + [ + 525.167499757461, + 287.1885991692935 + ], + [ + 521.3973093698751, + 271.06535935186116 + ], + [ + 490.298279073856, + 275.3428435083913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 540, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -47.245052337646484, + "z": 1.0934005975723267 + }, + "extent": { + "x": 0.4639648199081421, + "y": 0.4144873023033142, + "z": 0.9331346750259399 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 685.6925578238547, + "ymin": 196.17715915006718, + "xmax": 715.6360896714866, + "ymax": 256.8855795816913 + }, + "corners_3d": [ + [ + -141.0592803955078, + -47.74980163574219, + 0.16026592254638672 + ], + [ + -141.8837127685547, + -47.663150787353516, + 0.16026592254638672 + ], + [ + -141.78672790527344, + -46.74030303955078, + 0.16026592254638672 + ], + [ + -140.96229553222656, + -46.82695388793945, + 0.16026592254638672 + ], + [ + -141.0592803955078, + -47.74980163574219, + 2.0265352725982666 + ], + [ + -141.8837127685547, + -47.663150787353516, + 2.0265352725982666 + ], + [ + -141.78672790527344, + -46.74030303955078, + 2.0265352725982666 + ], + [ + -140.96229553222656, + -46.82695388793945, + 2.0265352725982666 + ] + ], + "corners_2d": [ + [ + 689.8370322930324, + 256.8855795816913 + ], + [ + 712.856317310468, + 255.17839166873776 + ], + [ + 708.2703101324072, + 240.16262163234575 + ], + [ + 685.6925578238547, + 241.80356275950942 + ], + [ + 691.7429161411172, + 212.52429619905848 + ], + [ + 715.6360896714866, + 210.85422826147462 + ], + [ + 710.822217948268, + 196.17715915006718 + ], + [ + 687.4043870724885, + 197.78002044962318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 590, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -54.18776321411133, + "z": 1.0947433710098267 + }, + "extent": { + "x": 0.41054198145866394, + "y": 0.37440183758735657, + "z": 0.8815656900405884 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 711.4740308295802, + "ymin": 327.37068625110834, + "xmax": 742.4614539624044, + "ymax": 389.8738263232427 + }, + "corners_3d": [ + [ + -141.3773651123047, + -54.598304748535156, + 0.21317768096923828 + ], + [ + -142.1261749267578, + -54.598304748535156, + 0.21317768096923828 + ], + [ + -142.1261749267578, + -53.7772216796875, + 0.21317768096923828 + ], + [ + -141.3773651123047, + -53.7772216796875, + 0.21317768096923828 + ], + [ + -141.3773651123047, + -54.598304748535156, + 1.976309061050415 + ], + [ + -142.1261749267578, + -54.598304748535156, + 1.976309061050415 + ], + [ + -142.1261749267578, + -53.7772216796875, + 1.976309061050415 + ], + [ + -141.3773651123047, + -53.7772216796875, + 1.976309061050415 + ] + ], + "corners_2d": [ + [ + 713.4942112300503, + 389.8738263232427 + ], + [ + 738.2698390072514, + 389.5436583096078 + ], + [ + 735.7415044848364, + 371.0265866106514 + ], + [ + 711.4740308295802, + 371.3433285712203 + ], + [ + 716.6302402726157, + 346.0505893807364 + ], + [ + 742.4614539624044, + 345.7230660977944 + ], + [ + 739.7378957721974, + 327.37068625110834 + ], + [ + 714.4585769100695, + 327.6843410007375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 949, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16246032714844, + "y": -63.40629196166992, + "z": 1.0954464673995972 + }, + "extent": { + "x": 0.37056154012680054, + "y": 0.35816410183906555, + "z": 0.8667410016059875 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 760.1190150611042, + "ymin": 593.5039122512302, + "xmax": 799.9258705979336, + "ymax": 666.3613526293059 + }, + "corners_3d": [ + [ + -141.76751708984375, + -63.73738479614258, + 0.22870546579360962 + ], + [ + -142.4799346923828, + -63.81226348876953, + 0.22870546579360962 + ], + [ + -142.55740356445312, + -63.075199127197266, + 0.22870546579360962 + ], + [ + -141.84498596191406, + -63.00032043457031, + 0.22870546579360962 + ], + [ + -141.76751708984375, + -63.73738479614258, + 1.9621875286102295 + ], + [ + -142.4799346923828, + -63.81226348876953, + 1.9621875286102295 + ], + [ + -142.55740356445312, + -63.075199127197266, + 1.9621875286102295 + ], + [ + -141.84498596191406, + -63.00032043457031, + 1.9621875286102295 + ] + ], + "corners_2d": [ + [ + 760.3371305808457, + 663.9554771755057 + ], + [ + 791.5118840305208, + 666.3613526293059 + ], + [ + 790.5426803268485, + 637.9879432354169 + ], + [ + 760.1190150611042, + 635.6964217194522 + ], + [ + 767.0054732777699, + 622.2324529949453 + ], + [ + 799.9258705979336, + 624.6818334405708 + ], + [ + 798.690645040003, + 595.8306570946329 + ], + [ + 766.6066761680974, + 593.5039122512302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 789, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.89962005615234, + "y": -62.57671356201172, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.2902148365974426, + "y": 0.5204760432243347, + "z": 0.9052762389183044 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 122.09429305221897, + "ymin": 576.2973454977215, + "xmax": 202.52667020541736, + "ymax": 648.574265238437 + }, + "corners_3d": [ + [ + -127.3301773071289, + -62.75237274169922, + 0.038861632347106934 + ], + [ + -128.348388671875, + -62.96879959106445, + 0.038861632347106934 + ], + [ + -128.46905517578125, + -62.40105438232422, + 0.038861632347106934 + ], + [ + -127.45085906982422, + -62.184627532958984, + 0.038861632347106934 + ], + [ + -127.3301773071289, + -62.75237274169922, + 1.8494141101837158 + ], + [ + -128.348388671875, + -62.96879959106445, + 1.8494141101837158 + ], + [ + -128.46905517578125, + -62.40105438232422, + 1.8494141101837158 + ], + [ + -127.45085906982422, + -62.184627532958984, + 1.8494141101837158 + ] + ], + "corners_2d": [ + [ + 149.68507915121177, + 641.1718204022472 + ], + [ + 189.75625481981876, + 648.574265238437 + ], + [ + 202.52667020541736, + 627.4027742760479 + ], + [ + 163.1025669737328, + 620.267101675928 + ], + [ + 122.09429305221897, + 597.5209171170192 + ], + [ + 164.2484848278899, + 605.0466539010556 + ], + [ + 178.2196311657562, + 583.5369919100071 + ], + [ + 136.78013793634017, + 576.2973454977215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 12576, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 144.99686829878164, + "ymin": 404.2094762369092, + "xmax": 298.70853430886245, + "ymax": 582.9832532693832 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 169.40360217738964, + 582.9832532693832 + ], + [ + 253.24486404343907, + 582.1183887953599 + ], + [ + 298.70853430886245, + 447.9849551227255 + ], + [ + 225.18425600040513, + 448.6506998892197 + ], + [ + 144.99686829878164, + 539.7339779806409 + ], + [ + 233.20308802025653, + 538.8602265264784 + ], + [ + 283.2888715202414, + 404.2094762369092 + ], + [ + 206.42915677739347, + 404.87359045236764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 990, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 392.33494779209025, + "ymin": 0.0, + "xmax": 451.99033836144207, + "ymax": 36.588982912741585 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 397.2133378742443, + 36.588982912741585 + ], + [ + 437.82364933278393, + 36.378654980909744 + ], + [ + 451.99033836144207, + -5.330172394988551 + ], + [ + 414.4750853366503, + -5.150628895393766 + ], + [ + 392.33494779209025, + 8.854142151482847 + ], + [ + 433.7628440527932, + 8.650436907580513 + ], + [ + 448.5066203705045, + -31.683157821699865 + ], + [ + 410.29472157660825, + -31.509797970247632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 388.2334135827577, + "ymin": 0.0, + "xmax": 608.434899028856, + "ymax": 100.71123745232018 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 608.3496640627924, + 99.11774426951428 + ], + [ + 608.434899028856, + 91.4845279601821 + ], + [ + 433.9076164440016, + 93.03841130618258 + ], + [ + 431.60885280615923, + 100.71123745232018 + ], + [ + 601.7825139579406, + -174.30784440987475 + ], + [ + 601.9839610791213, + -179.38778548149867 + ], + [ + 391.6579734576825, + -178.3557990102546 + ], + [ + 388.2334135827577, + -173.24404324857335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 264.7959374463828, + "ymin": 18.268970363415008, + "xmax": 298.3536614372042, + "ymax": 28.183200263099707 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 293.4308803485415, + 27.95923267002854 + ], + [ + 298.3536614372042, + 19.697780760963838 + ], + [ + 270.542492650307, + 19.914945833139257 + ], + [ + 265.18535743777926, + 28.183200263099707 + ], + [ + 293.0709559683108, + 26.516778017740535 + ], + [ + 298.00428384520114, + 18.268970363415008 + ], + [ + 270.16452006417325, + 18.485773420761348 + ], + [ + 264.7959374463828, + 26.740379364958642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 258.2344603864497, + "ymin": 5.760026566390934, + "xmax": 605.5891152821581, + "ymax": 365.12536404210766 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 605.4157618597712, + 361.86340780502724 + ], + [ + 605.5891152821581, + 346.33874267500585 + ], + [ + 357.0765499551284, + 349.48561778926313 + ], + [ + 352.39091293738073, + 365.12536404210766 + ], + [ + 594.1495183022432, + 18.17526432686566 + ], + [ + 594.641849585295, + 5.760026566390934 + ], + [ + 266.6335544205902, + 8.265056721671442 + ], + [ + 258.2344603864497, + 20.802176494722914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 264.7858724758142, + "ymin": 18.23204186938011, + "xmax": 298.34464999627806, + "ymax": 28.145986403757206 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 293.4215970196833, + 27.92202824144374 + ], + [ + 298.34464999627806, + 19.660927680552277 + ], + [ + 270.53274366719074, + 19.878083430336346 + ], + [ + 265.17531334928316, + 28.145986403757206 + ], + [ + 293.0616533470456, + 26.479496271741937 + ], + [ + 297.9952539638786, + 18.23204186938011 + ], + [ + 270.1547511232437, + 18.44883555440066 + ], + [ + 264.7858724758142, + 26.70308813647432 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00012/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c1e05f044bad0b69e6a34750e56e7d782241eab --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00012/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 12, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 6.0, + "sim_timestamp": 187.84729025117122 + }, + "drone_pose": { + "x": -138.8406981652623, + "y": -74.87963024374196, + "z": 20.327579508023867, + "pitch": -42.219506414281376, + "yaw": 90.88263666792818, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.011408090591430664, + -0.7404879927635193, + 0.6719727516174316, + 40.2039909362793 + ], + [ + 0.9998813271522522, + -0.015404224395751953, + 2.9802322387695312e-08, + -139.97767639160156 + ], + [ + 0.010351240634918213, + 0.6718930006027222, + 0.740575909614563, + -63.928043365478516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.90882719957136, + "y": -74.37139127433129, + "z": 20.298898929393477 + }, + "t1_image_uv": [ + 786.0166213259606, + -417.27943972329797 + ], + "t1_depth": 0.396394642155489 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -53.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 28.6187854712849, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 590, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -53.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37953612208366394, + "y": 0.4393627941608429, + "z": 0.8873338103294373 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.8982721142369, + "ymin": 328.9131122755982, + "xmax": 655.4016718765201, + "ymax": 390.42019381534794 + }, + "corners_3d": [ + [ + -138.72781372070312, + -54.067298889160156, + 0.20920151472091675 + ], + [ + -139.60653686523438, + -54.067298889160156, + 0.20920151472091675 + ], + [ + -139.60653686523438, + -53.3082275390625, + 0.20920151472091675 + ], + [ + -138.72781372070312, + -53.3082275390625, + 0.20920151472091675 + ], + [ + -138.72781372070312, + -54.067298889160156, + 1.9838690757751465 + ], + [ + -139.60653686523438, + -54.067298889160156, + 1.9838690757751465 + ], + [ + -139.60653686523438, + -53.3082275390625, + 1.9838690757751465 + ], + [ + -138.72781372070312, + -53.3082275390625, + 1.9838690757751465 + ] + ], + "corners_2d": [ + [ + 625.6154092995533, + 390.42019381534794 + ], + [ + 654.7669949318941, + 390.10791592306776 + ], + [ + 654.1051373408884, + 372.93780182733684 + ], + [ + 625.508939404478, + 373.2382914635031 + ], + [ + 624.9969444236954, + 346.239081335197 + ], + [ + 655.4016718765201, + 345.92934410386846 + ], + [ + 654.6993309643096, + 328.9131122755982 + ], + [ + 624.8982721142369, + 329.21066945798844 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 12, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 347000, + "2": 120394, + "3": 256101, + "4": 53369, + "6": 7042, + "12": 4067, + "14": 14392, + "20": 135, + "24": 7398, + "25": 111702 + }, + "instance_pixel_counts": { + "2453": 4228, + "3413": 4898, + "3662": 17466, + "11605": 1217, + "15960": 6109, + "17240": 933, + "20565": 331, + "22421": 180, + "22931": 6068, + "22933": 2990, + "23443": 138107, + "36096": 590, + "36352": 612, + "36608": 538, + "36864": 608, + "37120": 870, + "37376": 849, + "38144": 13129, + "41728": 1263, + "47198": 70447, + "48737": 1078, + "48980": 21622, + "49249": 160, + "49492": 228033, + "49761": 277, + "50246": 28241, + "51297": 26843, + "51526": 7662, + "51809": 3114, + "52321": 4429, + "54366": 38898, + "54878": 2357, + "57482": 1076, + "57994": 13367, + "59737": 135, + "63382": 60520, + "63894": 9530, + "65426": 202825 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 590, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -53.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.38215330243110657, + "y": 0.38790038228034973, + "z": 0.8659052848815918 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.6506779689375, + "ymin": 329.4267259074371, + "xmax": 653.6167143709326, + "ymax": 389.95054518657514 + }, + "corners_3d": [ + [ + -138.77928161621094, + -54.069915771484375, + 0.2306300401687622 + ], + [ + -139.55506896972656, + -54.069915771484375, + 0.2306300401687622 + ], + [ + -139.55506896972656, + -53.30561065673828, + 0.2306300401687622 + ], + [ + -138.77928161621094, + -53.30561065673828, + 0.2306300401687622 + ], + [ + -138.77928161621094, + -54.069915771484375, + 1.9624406099319458 + ], + [ + -139.55506896972656, + -54.069915771484375, + 1.9624406099319458 + ], + [ + -139.55506896972656, + -53.30561065673828, + 1.9624406099319458 + ], + [ + -138.77928161621094, + -53.30561065673828, + 1.9624406099319458 + ] + ], + "corners_2d": [ + [ + 627.3175861893884, + 389.95054518657514 + ], + [ + 653.0688227995614, + 389.674830679239 + ], + [ + 652.4346995331724, + 372.3869911647138 + ], + [ + 627.1776596330234, + 372.652222202433 + ], + [ + 626.7857246843698, + 346.8369540051053 + ], + [ + 653.6167143709326, + 346.56342651237816 + ], + [ + 652.9455899756952, + 329.4267259074371 + ], + [ + 626.6506779689375, + 329.6894300263276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 612, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -50.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.448906272649765, + "y": 0.43983399868011475, + "z": 0.8930787444114685 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 492.26808810438837, + "ymin": 269.9160178004568, + "xmax": 528.0659249481705, + "ymax": 334.15435117237035 + }, + "corners_3d": [ + [ + -134.70431518554688, + -51.22060012817383, + 0.05105912685394287 + ], + [ + -135.56475830078125, + -51.03770446777344, + 0.05105912685394287 + ], + [ + -135.37808227539062, + -50.15951156616211, + 0.05105912685394287 + ], + [ + -134.51763916015625, + -50.3424072265625, + 0.05105912685394287 + ], + [ + -134.70431518554688, + -51.22060012817383, + 1.8372166156768799 + ], + [ + -135.56475830078125, + -51.03770446777344, + 1.8372166156768799 + ], + [ + -135.37808227539062, + -50.15951156616211, + 1.8372166156768799 + ], + [ + -134.51763916015625, + -50.3424072265625, + 1.8372166156768799 + ] + ], + "corners_2d": [ + [ + 501.070634181067, + 334.15435117237035 + ], + [ + 528.0659249481705, + 330.2248631954793 + ], + [ + 524.3148907566533, + 313.1259862461915 + ], + [ + 497.8536126405198, + 316.897009989573 + ], + [ + 495.49316744170824, + 290.641880369151 + ], + [ + 523.5939389089717, + 286.76577496763537 + ], + [ + 519.7906537843921, + 269.9160178004568 + ], + [ + 492.26808810438837, + 273.6297496215013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 538, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -46.745052337646484, + "z": 1.0933468341827393 + }, + "extent": { + "x": 0.45719724893569946, + "y": 0.40330076217651367, + "z": 0.9480715990066528 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 686.8158417613263, + "ymin": 196.04037381303414, + "xmax": 716.0919981227993, + "ymax": 257.20969215999025 + }, + "corners_3d": [ + [ + -141.0697021484375, + -47.24190139770508, + 0.14527523517608643 + ], + [ + -141.87188720703125, + -47.157588958740234, + 0.14527523517608643 + ], + [ + -141.77630615234375, + -46.24820327758789, + 0.14527523517608643 + ], + [ + -140.97412109375, + -46.332515716552734, + 0.14527523517608643 + ], + [ + -141.0697021484375, + -47.24190139770508, + 2.0414185523986816 + ], + [ + -141.87188720703125, + -47.157588958740234, + 2.0414185523986816 + ], + [ + -141.77630615234375, + -46.24820327758789, + 2.0414185523986816 + ], + [ + -140.97412109375, + -46.332515716552734, + 2.0414185523986816 + ] + ], + "corners_2d": [ + [ + 690.8292944516397, + 257.20969215999025 + ], + [ + 713.250829045397, + 255.598047765115 + ], + [ + 708.8124313834371, + 240.78541499179954 + ], + [ + 686.8158417613263, + 242.3353216112925 + ], + [ + 692.8051082655923, + 212.08763862017852 + ], + [ + 716.0919981227993, + 210.5118088131521 + ], + [ + 711.4279214681587, + 196.04037381303414 + ], + [ + 688.5990718843233, + 197.55356418718605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 608, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -53.68776321411133, + "z": 1.0947091579437256 + }, + "extent": { + "x": 0.39374998211860657, + "y": 0.31776365637779236, + "z": 0.8659148216247559 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 713.5135357053935, + "ymin": 328.36905722442395, + "xmax": 740.4960833536148, + "ymax": 389.31873255008355 + }, + "corners_3d": [ + [ + -141.4340057373047, + -54.081512451171875, + 0.22879433631896973 + ], + [ + -142.0695343017578, + -54.081512451171875, + 0.22879433631896973 + ], + [ + -142.0695343017578, + -53.29401397705078, + 0.22879433631896973 + ], + [ + -141.4340057373047, + -53.29401397705078, + 0.22879433631896973 + ], + [ + -141.4340057373047, + -54.081512451171875, + 1.9606239795684814 + ], + [ + -142.0695343017578, + -54.081512451171875, + 1.9606239795684814 + ], + [ + -142.0695343017578, + -53.29401397705078, + 1.9606239795684814 + ], + [ + -141.4340057373047, + -53.29401397705078, + 1.9606239795684814 + ] + ], + "corners_2d": [ + [ + 715.3974685276402, + 389.31873255008355 + ], + [ + 736.4553888664997, + 389.09319068920456 + ], + [ + 734.1560364110824, + 371.3154563862495 + ], + [ + 713.5135357053935, + 371.5321764923204 + ], + [ + 718.5568323711914, + 346.2137710365241 + ], + [ + 740.4960833536148, + 345.99003066025216 + ], + [ + 738.0193114068569, + 328.36905722442395 + ], + [ + 716.5306085454373, + 328.5836909210749 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 870, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16246032714844, + "y": -62.90629196166992, + "z": 1.095412254333496 + }, + "extent": { + "x": 0.39399418234825134, + "y": 0.4074951410293579, + "z": 0.8855528831481934 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 756.778502897225, + "ymin": 592.527546152642, + "xmax": 801.0022090306314, + "ymax": 668.6775489899196 + }, + "corners_3d": [ + [ + -141.7160186767578, + -63.255531311035156, + 0.20985937118530273 + ], + [ + -142.5265350341797, + -63.340721130371094, + 0.20985937118530273 + ], + [ + -142.60890197753906, + -62.55705261230469, + 0.20985937118530273 + ], + [ + -141.7983856201172, + -62.47186279296875, + 0.20985937118530273 + ], + [ + -141.7160186767578, + -63.255531311035156, + 1.9809651374816895 + ], + [ + -142.5265350341797, + -63.340721130371094, + 1.9809651374816895 + ], + [ + -142.60890197753906, + -62.55705261230469, + 1.9809651374816895 + ], + [ + -141.7983856201172, + -62.47186279296875, + 1.9809651374816895 + ] + ], + "corners_2d": [ + [ + 756.7966478855611, + 665.8113161670583 + ], + [ + 792.3338507118513, + 668.6775489899196 + ], + [ + 791.4051766972148, + 638.4516440173029 + ], + [ + 756.778502897225, + 635.7302298048164 + ], + [ + 763.4257446980752, + 623.1184182129386 + ], + [ + 801.0022090306314, + 626.0378573620649 + ], + [ + 799.7877340435706, + 595.2914334229013 + ], + [ + 763.2278003896733, + 592.527546152642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 849, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.83773040771484, + "y": -62.56991195678711, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3061767518520355, + "y": 0.4752734303474426, + "z": 0.8825146555900574 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 111.10943374836847, + "ymin": 593.4968968152032, + "xmax": 190.16917551588477, + "ymax": 666.0568599581085 + }, + "corners_3d": [ + [ + -127.30918884277344, + -62.77058410644531, + 0.061623215675354004 + ], + [ + -128.23895263671875, + -62.96821212768555, + 0.061623215675354004 + ], + [ + -128.36627197265625, + -62.369239807128906, + 0.061623215675354004 + ], + [ + -127.4365005493164, + -62.17161178588867, + 0.061623215675354004 + ], + [ + -127.30918884277344, + -62.77058410644531, + 1.8266525268554688 + ], + [ + -128.23895263671875, + -62.96821212768555, + 1.8266525268554688 + ], + [ + -128.36627197265625, + -62.369239807128906, + 1.8266525268554688 + ], + [ + -127.4365005493164, + -62.17161178588867, + 1.8266525268554688 + ] + ], + "corners_2d": [ + [ + 139.04713989921987, + 658.9408806686237 + ], + [ + 176.120908481043, + 666.0568599581085 + ], + [ + 190.16917551588477, + 643.0451583758711 + ], + [ + 153.73227104933625, + 636.2038764913282 + ], + [ + 111.10943374836847, + 616.6083433689644 + ], + [ + 150.08460157606305, + 623.85180751791 + ], + [ + 165.44206249245588, + 600.445578899888 + ], + [ + 127.16933226160836, + 593.4968968152032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 13129, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 136.13777738976478, + "ymin": 416.3264011353559, + "xmax": 293.96848415054825, + "ymax": 598.7300566858399 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 161.35152853088402, + 598.7300566858399 + ], + [ + 246.4042062272366, + 598.1104256093697 + ], + [ + 293.96848415054825, + 460.19445026276225 + ], + [ + 219.5194548739152, + 460.6695409696322 + ], + [ + 136.13777738976478, + 555.5729554007888 + ], + [ + 225.6829578885705, + 554.946067517528 + ], + [ + 278.12017942202715, + 416.3264011353559 + ], + [ + 200.25151973539408, + 416.80082103938776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 1263, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 392.55947010024335, + "ymin": 0.0, + "xmax": 452.95974236328584, + "ymax": 40.527223097989975 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 397.4668202395011, + 40.527223097989975 + ], + [ + 438.3566704620857, + 40.378932623283845 + ], + [ + 452.95974236328584, + -1.876575534279823 + ], + [ + 415.2076737992444, + -1.7501437074397472 + ], + [ + 392.55947010024335, + 12.655644824612807 + ], + [ + 434.27779343348595, + 12.51199921302981 + ], + [ + 449.47157970024966, + -28.356381868367578 + ], + [ + 411.0144026053374, + -28.234289114270837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 387.7135109182002, + "ymin": 0.0, + "xmax": 609.9147054428937, + "ymax": 105.72410815657537 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 609.7855332142132, + 104.42062395725097 + ], + [ + 609.9147054428937, + 96.6593077852375 + ], + [ + 433.9099856749307, + 97.93009156282932 + ], + [ + 431.5280239650473, + 105.72410815657537 + ], + [ + 603.4515980287329, + -170.9501104700107 + ], + [ + 603.7037964025212, + -176.12442981526624 + ], + [ + 391.2566948791698, + -175.27909158945192 + ], + [ + 387.7135109182002, + -170.07841859141683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 259.093685588874, + "ymin": 25.897022613153183, + "xmax": 293.34392870545713, + "ymax": 36.036087713417544 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 288.1810872292365, + 35.850405104547804 + ], + [ + 293.34392870545713, + 27.34149335946495 + ], + [ + 265.1063059806299, + 27.521442319289577 + ], + [ + 259.4953008008031, + 36.036087713417544 + ], + [ + 287.80987546101954, + 34.392060203163794 + ], + [ + 292.9838607788039, + 25.897022613153183 + ], + [ + 264.7167776589891, + 26.076675271573436 + ], + [ + 259.093685588874, + 34.577443157863684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 252.3470062226399, + "ymin": 13.6223525800699, + "xmax": 605.5850356932467, + "ymax": 375.412967522341 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 605.3201574732476, + 372.7228903219489 + ], + [ + 605.5850356932467, + 356.80767548721093 + ], + [ + 354.00060808671554, + 359.4015978737295 + ], + [ + 349.10730729590716, + 375.412967522341 + ], + [ + 593.8311245528702, + 26.43182054300479 + ], + [ + 594.4554630936113, + 13.6223525800699 + ], + [ + 261.14410260708377, + 15.699715265557359 + ], + [ + 252.3470062226399, + 28.61206250229776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 259.083305244303, + "ymin": 25.859688753223963, + "xmax": 293.3346416755743, + "ymax": 35.998466328079815 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 288.1715129256171, + 35.81279143476911 + ], + [ + 293.3346416755743, + 27.30423693646003 + ], + [ + 265.0962590987166, + 27.484178266551453 + ], + [ + 259.4849423343844, + 35.998466328079815 + ], + [ + 287.8002809423548, + 34.35436711643001 + ], + [ + 292.97455444596676, + 25.859688753223963 + ], + [ + 264.7067098877901, + 26.0393337401257 + ], + [ + 259.083305244303, + 34.539742312269254 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00013/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce1c2bac0b92ba1ef0ec451cf0076cda58b39e6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00013/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 13, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 6.5, + "sim_timestamp": 202.15683189756237 + }, + "drone_pose": { + "x": -138.90882719957136, + "y": -74.37139127433129, + "z": 20.298898929393477, + "pitch": -42.189303172458864, + "yaw": 90.69874521125084, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.009035706520080566, + -0.7408748865127563, + 0.6715823411941528, + 40.212371826171875 + ], + [ + 0.9999257326126099, + -0.012195110321044922, + -2.9802322387695312e-08, + -139.8054656982422 + ], + [ + 0.008189976215362549, + 0.671532392501831, + 0.7409299612045288, + -63.845191955566406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.9701475719107, + "y": -73.86363003244617, + "z": 20.270884596838016 + }, + "t1_image_uv": [ + 773.7831475991692, + -418.38547442877325 + ], + "t1_depth": 0.39555555809837434 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -53.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.592719605713487, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 599, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -53.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3878222703933716, + "y": 0.3294677734375, + "z": 0.8599818348884583 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.6636524658079, + "ymin": 329.4650455595012, + "xmax": 651.56830365804, + "ymax": 389.9275450620121 + }, + "corners_3d": [ + [ + -138.83770751953125, + -53.575584411621094, + 0.23655349016189575 + ], + [ + -139.49664306640625, + -53.575584411621094, + 0.23655349016189575 + ], + [ + -139.49664306640625, + -52.79994201660156, + 0.23655349016189575 + ], + [ + -138.83770751953125, + -52.79994201660156, + 0.23655349016189575 + ], + [ + -138.83770751953125, + -53.575584411621094, + 1.956517219543457 + ], + [ + -139.49664306640625, + -53.575584411621094, + 1.956517219543457 + ], + [ + -139.49664306640625, + -52.79994201660156, + 1.956517219543457 + ], + [ + -138.83770751953125, + -52.79994201660156, + 1.956517219543457 + ] + ], + "corners_2d": [ + [ + 629.2059239970202, + 389.9275450620121 + ], + [ + 651.105707504101, + 389.7420217468796 + ], + [ + 650.5808495430455, + 372.1888812632567 + ], + [ + 629.1082205367248, + 372.3672368629285 + ], + [ + 628.7562119583763, + 347.04803979848424 + ], + [ + 651.56830365804, + 346.8639951701001 + ], + [ + 651.0126355919386, + 329.4650455595012 + ], + [ + 628.6636524658079, + 329.64169237563374 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 13, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 345919, + "2": 120524, + "3": 254008, + "4": 54084, + "6": 7269, + "12": 4113, + "14": 15211, + "20": 142, + "24": 7349, + "25": 112981 + }, + "instance_pixel_counts": { + "2453": 4081, + "3413": 4998, + "3662": 18111, + "11605": 1398, + "15960": 6282, + "17240": 987, + "20565": 216, + "22421": 200, + "22931": 7288, + "22933": 3068, + "23443": 141323, + "36096": 599, + "36352": 604, + "36608": 544, + "36864": 600, + "37120": 956, + "37376": 810, + "38144": 13703, + "41728": 1508, + "47198": 69281, + "48737": 1379, + "48980": 23760, + "49249": 189, + "49492": 223636, + "49761": 338, + "50246": 28198, + "51297": 27738, + "51526": 7775, + "51809": 3229, + "52321": 4380, + "54366": 41053, + "54878": 2647, + "57482": 1353, + "57994": 13170, + "59737": 142, + "63382": 59390, + "63894": 9358, + "65426": 197308 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 599, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -53.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3928613066673279, + "y": 0.39533933997154236, + "z": 0.8890427947044373 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.4193024771085, + "ymin": 328.58484644814826, + "xmax": 653.8619840653747, + "ymax": 390.75754090452654 + }, + "corners_3d": [ + [ + -138.77183532714844, + -53.580623626708984, + 0.20749253034591675 + ], + [ + -139.56251525878906, + -53.580623626708984, + 0.20749253034591675 + ], + [ + -139.56251525878906, + -52.79490280151367, + 0.20749253034591675 + ], + [ + -138.77183532714844, + -52.79490280151367, + 0.20749253034591675 + ], + [ + -138.77183532714844, + -53.580623626708984, + 1.9855780601501465 + ], + [ + -139.56251525878906, + -53.580623626708984, + 1.9855780601501465 + ], + [ + -139.56251525878906, + -52.79490280151367, + 1.9855780601501465 + ], + [ + -138.77183532714844, + -52.79490280151367, + 1.9855780601501465 + ] + ], + "corners_2d": [ + [ + 627.0252930254037, + 390.75754090452654 + ], + [ + 653.2892606851811, + 390.5348459426747 + ], + [ + 652.7149022643861, + 372.7523535213023 + ], + [ + 626.9694594765043, + 372.9663407609487 + ], + [ + 626.4659816598672, + 346.4266525962501 + ], + [ + 653.8619840653747, + 346.20579062956455 + ], + [ + 653.2515972630247, + 328.58484644814826 + ], + [ + 626.4193024771085, + 328.79671158136154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 604, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -50.19005584716797, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.43726566433906555, + "y": 0.43805667757987976, + "z": 0.8604967594146729 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 492.735653778462, + "ymin": 270.68696427608563, + "xmax": 528.0804076113136, + "ymax": 332.8822846276612 + }, + "corners_3d": [ + [ + -134.70362854003906, + -50.70884323120117, + 0.08363622426986694 + ], + [ + -135.5605926513672, + -50.52668762207031, + 0.08363622426986694 + ], + [ + -135.37876892089844, + -49.671268463134766, + 0.08363622426986694 + ], + [ + -134.5218048095703, + -49.853424072265625, + 0.08363622426986694 + ], + [ + -134.70362854003906, + -50.70884323120117, + 1.8046298027038574 + ], + [ + -135.5605926513672, + -50.52668762207031, + 1.8046298027038574 + ], + [ + -135.37876892089844, + -49.671268463134766, + 1.8046298027038574 + ], + [ + -134.5218048095703, + -49.853424072265625, + 1.8046298027038574 + ] + ], + "corners_2d": [ + [ + 501.1578469033751, + 332.8822846276612 + ], + [ + 528.0804076113136, + 329.0280299512981 + ], + [ + 524.5065393174303, + 312.37006470154176 + ], + [ + 498.10472002077887, + 316.0724837433527 + ], + [ + 495.79329030649046, + 290.912061036787 + ], + [ + 523.7766104425657, + 287.10885602299686 + ], + [ + 520.156791653696, + 270.68696427608563 + ], + [ + 492.735653778462, + 274.3347477472698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 544, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -46.245052337646484, + "z": 1.0932979583740234 + }, + "extent": { + "x": 0.4578564465045929, + "y": 0.4594164788722992, + "z": 0.9354381561279297 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 685.9815975902869, + "ymin": 196.32571266240973, + "xmax": 718.3787476080123, + "ymax": 257.1465526377185 + }, + "corners_3d": [ + [ + -141.0139617919922, + -46.7484245300293, + 0.15785980224609375 + ], + [ + -141.92776489257812, + -46.65237808227539, + 0.15785980224609375 + ], + [ + -141.83204650878906, + -45.74168014526367, + 0.15785980224609375 + ], + [ + -140.91824340820312, + -45.83772659301758, + 0.15785980224609375 + ], + [ + -141.0139617919922, + -46.7484245300293, + 2.028736114501953 + ], + [ + -141.92776489257812, + -46.65237808227539, + 2.028736114501953 + ], + [ + -141.83204650878906, + -45.74168014526367, + 2.028736114501953 + ], + [ + -140.91824340820312, + -45.83772659301758, + 2.028736114501953 + ] + ], + "corners_2d": [ + [ + 689.9077104047782, + 257.1465526377185 + ], + [ + 715.4899569079837, + 255.35907854777872 + ], + [ + 711.0769365829251, + 240.52077802669135 + ], + [ + 685.9815975902869, + 242.2395505021127 + ], + [ + 691.8221702328839, + 212.57287440806084 + ], + [ + 718.3787476080123, + 210.82481015338885 + ], + [ + 713.7421545067427, + 196.32571266240973 + ], + [ + 687.7098955462136, + 198.00409331560726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 600, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -53.18776321411133, + "z": 1.0946651697158813 + }, + "extent": { + "x": 0.4175732433795929, + "y": 0.4745580852031708, + "z": 0.8942986130714417 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 708.440976701096, + "ymin": 327.2427077431154, + "xmax": 746.1450530022064, + "ymax": 390.7928603871667 + }, + "corners_3d": [ + [ + -141.27720642089844, + -53.6053352355957, + 0.2003665566444397 + ], + [ + -142.22633361816406, + -53.6053352355957, + 0.2003665566444397 + ], + [ + -142.22633361816406, + -52.77019119262695, + 0.2003665566444397 + ], + [ + -141.27720642089844, + -52.77019119262695, + 0.2003665566444397 + ], + [ + -141.27720642089844, + -53.6053352355957, + 1.9889638423919678 + ], + [ + -142.22633361816406, + -53.6053352355957, + 1.9889638423919678 + ], + [ + -142.22633361816406, + -52.77019119262695, + 1.9889638423919678 + ], + [ + -141.27720642089844, + -52.77019119262695, + 1.9889638423919678 + ] + ], + "corners_2d": [ + [ + 710.2443180960872, + 390.7928603871667 + ], + [ + 741.7352342268086, + 390.5256257997413 + ], + [ + 739.27262784113, + 371.6549624994684 + ], + [ + 708.440976701096, + 371.91111475807077 + ], + [ + 713.2900731784523, + 346.2047355662568 + ], + [ + 746.1450530022064, + 345.93971629876904 + ], + [ + 743.4817230205811, + 327.2427077431154 + ], + [ + 711.3437085254426, + 327.49627563716115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 956, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16246032714844, + "y": -62.40629196166992, + "z": 1.0953731536865234 + }, + "extent": { + "x": 0.3850390911102295, + "y": 0.32022708654403687, + "z": 0.8599868416786194 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 759.5557732928842, + "ymin": 594.3132242935587, + "xmax": 795.6939026022726, + "ymax": 668.1335666167608 + }, + "corners_3d": [ + [ + -141.80374145507812, + -62.7557487487793, + 0.23538631200790405 + ], + [ + -142.44068908691406, + -62.82269287109375, + 0.23538631200790405 + ], + [ + -142.52117919921875, + -62.05683517456055, + 0.23538631200790405 + ], + [ + -141.8842315673828, + -61.989891052246094, + 0.23538631200790405 + ], + [ + -141.80374145507812, + -62.7557487487793, + 1.955359935760498 + ], + [ + -142.44068908691406, + -62.82269287109375, + 1.955359935760498 + ], + [ + -142.52117919921875, + -62.05683517456055, + 1.955359935760498 + ], + [ + -141.8842315673828, + -61.989891052246094, + 1.955359935760498 + ] + ], + "corners_2d": [ + [ + 759.5557732928842, + 665.7967481504426 + ], + [ + 787.5423415289785, + 668.1335666167608 + ], + [ + 786.8563247765117, + 638.5531281191275 + ], + [ + 759.5723194872718, + 636.3320566491755 + ], + [ + 766.1472833293541, + 624.2629756251113 + ], + [ + 795.6939026022726, + 626.6418056766736 + ], + [ + 794.7553369711242, + 596.5679799582264 + ], + [ + 765.9906943069705, + 594.3132242935587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 810, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.75233459472656, + "y": -62.558841705322266, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3221679627895355, + "y": 0.49833738803863525, + "z": 0.9040160775184631 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 95.10984344586109, + "ymin": 609.655079826729, + "xmax": 179.7444331060642, + "ymax": 685.7008491000552 + }, + "corners_3d": [ + [ + -127.19790649414062, + -62.77035903930664, + 0.04012179374694824 + ], + [ + -128.1728057861328, + -62.97758102416992, + 0.04012179374694824 + ], + [ + -128.3067626953125, + -62.34732437133789, + 0.04012179374694824 + ], + [ + -127.33187103271484, + -62.14010238647461, + 0.04012179374694824 + ], + [ + -127.19790649414062, + -62.77035903930664, + 1.8481539487838745 + ], + [ + -128.1728057861328, + -62.97758102416992, + 1.8481539487838745 + ], + [ + -128.3067626953125, + -62.34732437133789, + 1.8481539487838745 + ], + [ + -127.33187103271484, + -62.14010238647461, + 1.8481539487838745 + ] + ], + "corners_2d": [ + [ + 125.0552020987767, + 677.868174365412 + ], + [ + 164.40581217149912, + 685.7008491000552 + ], + [ + 179.7444331060642, + 660.7280745712301 + ], + [ + 141.11225086115138, + 653.218090888128 + ], + [ + 95.10984344586109, + 634.7619133406483 + ], + [ + 136.5557698070121, + 642.7524120953648 + ], + [ + 153.3876589317594, + 617.2978064152094 + ], + [ + 112.7368485528782, + 609.655079826729 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 13703, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 126.92476596438974, + "ymin": 428.91990764343325, + "xmax": 288.9924455358126, + "ymax": 615.1704517642481 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 152.9926637376803, + 615.1704517642481 + ], + [ + 239.31834158691242, + 614.7718824335866 + ], + [ + 288.9924455358126, + 472.8677191136369 + ], + [ + 213.57488061780424, + 473.17206389571675 + ], + [ + 126.92476596438974, + 572.1371579580008 + ], + [ + 217.87917554461052, + 571.733319699943 + ], + [ + 272.6903931364398, + 428.91990764343325 + ], + [ + 193.76374897594792, + 429.2241533593989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 1508, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 392.4258270167961, + "ymin": 0.0, + "xmax": 453.5701313826279, + "ymax": 44.58075852156486 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 397.3701630767768, + 44.58075852156486 + ], + [ + 438.550252591897, + 44.48693876573276 + ], + [ + 453.5701313826279, + 1.6663850803097375 + ], + [ + 415.57232969623027, + 1.7462756400611852 + ], + [ + 392.4258270167961, + 16.57005539394362 + ], + [ + 434.445797121129, + 16.479157992105 + ], + [ + 450.070462282109, + -24.942295752902282 + ], + [ + 411.35869435201846, + -24.865136648364626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 386.80887650905584, + "ymin": 0.0, + "xmax": 611.1232297129894, + "ymax": 110.87656939398445 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 610.9546270580993, + 109.82750183862717 + ], + [ + 611.1232297129894, + 101.93453560336741 + ], + [ + 433.6024649711395, + 102.95703962378019 + ], + [ + 431.14052743235624, + 110.87656939398445 + ], + [ + 604.8021961973764, + -167.51070988390188 + ], + [ + 605.100626213144, + -172.78263869839532 + ], + [ + 390.4687964218903, + -172.10127959476358 + ], + [ + 386.80887650905584, + -166.8078673578466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 252.99393476795194, + "ymin": 33.85151225744028, + "xmax": 287.9625104611473, + "ymax": 44.234427663865915 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 282.5559148508306, + 44.08287831550837 + ], + [ + 287.9625104611473, + 35.31199210317948 + ], + [ + 259.27806404136595, + 35.45878213647751 + ], + [ + 253.40862410278356, + 44.234427663865915 + ], + [ + 282.1725961967078, + 42.608294869816234 + ], + [ + 287.590970465063, + 33.85151225744028 + ], + [ + 258.876142263624, + 33.99806380663068 + ], + [ + 252.99393476795194, + 42.75960313872264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 246.05342868340114, + "ymin": 21.76369766139362, + "xmax": 605.4492695460663, + "ymax": 386.05976814145185 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 605.1006297268171, + 383.8766452485372 + ], + [ + 605.4492695460663, + 367.5554164777419 + ], + [ + 350.6929207633902, + 369.6594634213528 + ], + [ + 345.5945721179987, + 386.05976814145185 + ], + [ + 593.3392669830769, + 34.988179739948066 + ], + [ + 594.0878701099573, + 21.76369766139362 + ], + [ + 255.25609405388042, + 23.45944040664375 + ], + [ + 246.05342868340114, + 36.769431511508685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 252.98321631423045, + "ymin": 33.81376397917853, + "xmax": 287.9529276944517, + "ymax": 44.19638960122046 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 282.54602845221484, + 44.04484645981961 + ], + [ + 287.9529276944517, + 35.27432337902377 + ], + [ + 259.2676976700443, + 35.42110727175964 + ], + [ + 253.39792860740243, + 44.19638960122046 + ], + [ + 282.1626885823233, + 42.57018139946837 + ], + [ + 287.5813674601339, + 33.81376397917853 + ], + [ + 258.86575399324124, + 33.96030935339161 + ], + [ + 252.98321631423045, + 42.72148342574167 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00014/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3af2c9cd5616981c3207e094b335db5e0904005a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00014/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 14, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 7.0, + "sim_timestamp": 214.41942875063978 + }, + "drone_pose": { + "x": -138.9701475719107, + "y": -73.86363003244617, + "z": 20.270884596838016, + "pitch": -42.15901445662, + "yaw": 90.53310536514594, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.006897091865539551, + -0.7412527799606323, + 0.6711905002593994, + 40.18750762939453 + ], + [ + 0.9999567270278931, + -0.009304285049438477, + -2.9802322387695312e-08, + -139.65139770507812 + ], + [ + 0.006244957447052002, + 0.671161413192749, + 0.7412849068641663, + -63.733062744140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.02832110175862, + "y": -73.35654403858602, + "z": 20.243525506953695 + }, + "t1_image_uv": [ + 770.0283253102737, + -419.4436292642555 + ], + "t1_depth": 0.3946433168487743 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -52.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.56767105342267, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 598, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -52.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.402290016412735, + "y": 0.33001708984375, + "z": 0.8843410015106201 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.6663260721352, + "ymin": 328.5050415620558, + "xmax": 651.5754937575782, + "ymax": 390.85528626483983 + }, + "corners_3d": [ + [ + -138.837158203125, + -53.09005355834961, + 0.2121943235397339 + ], + [ + -139.4971923828125, + -53.09005355834961, + 0.2121943235397339 + ], + [ + -139.4971923828125, + -52.28547286987305, + 0.2121943235397339 + ], + [ + -138.837158203125, + -52.28547286987305, + 0.2121943235397339 + ], + [ + -138.837158203125, + -53.09005355834961, + 1.9808763265609741 + ], + [ + -139.4971923828125, + -53.09005355834961, + 1.9808763265609741 + ], + [ + -139.4971923828125, + -52.28547286987305, + 1.9808763265609741 + ], + [ + -138.837158203125, + -52.28547286987305, + 1.9808763265609741 + ] + ], + "corners_2d": [ + [ + 629.1473151114592, + 390.85528626483983 + ], + [ + 651.0994368618803, + 390.7133346149569 + ], + [ + 650.6308182685843, + 372.4957632014582 + ], + [ + 629.1230728261368, + 372.63202548934146 + ], + [ + 628.6817648823848, + 346.6968518215536 + ], + [ + 651.5754937575782, + 346.5560747676995 + ], + [ + 651.0771584788433, + 328.5050415620558 + ], + [ + 628.6663260721352, + 328.63994194237483 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 14, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 344757, + "2": 120670, + "3": 251782, + "4": 54940, + "6": 7473, + "12": 4024, + "14": 16013, + "20": 143, + "24": 7333, + "25": 114465 + }, + "instance_pixel_counts": { + "2453": 3940, + "3413": 5097, + "3662": 18768, + "11605": 1563, + "15960": 6445, + "17240": 1028, + "20565": 118, + "22421": 240, + "22931": 8614, + "22933": 3153, + "23443": 144677, + "36096": 598, + "36352": 604, + "36608": 533, + "36864": 609, + "37120": 808, + "37376": 872, + "38144": 14327, + "41728": 1686, + "47198": 68179, + "48737": 1689, + "48980": 26123, + "49249": 208, + "49492": 218881, + "49761": 388, + "50246": 28299, + "51297": 28723, + "51526": 7873, + "51809": 3355, + "52321": 4343, + "54366": 43276, + "54878": 3010, + "57482": 1566, + "57994": 13023, + "59737": 143, + "63382": 58201, + "63894": 9174, + "65426": 191466 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 598, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -52.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37187498807907104, + "y": 0.4064379930496216, + "z": 0.8703096508979797 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.0370478046624, + "ymin": 329.5214860640992, + "xmax": 654.1993361824423, + "ymax": 389.8331535250992 + }, + "corners_3d": [ + [ + -138.7607421875, + -53.05963897705078, + 0.22622567415237427 + ], + [ + -139.5736083984375, + -53.05963897705078, + 0.22622567415237427 + ], + [ + -139.5736083984375, + -52.315887451171875, + 0.22622567415237427 + ], + [ + -138.7607421875, + -52.315887451171875, + 0.22622567415237427 + ], + [ + -138.7607421875, + -53.05963897705078, + 1.9668450355529785 + ], + [ + -139.5736083984375, + -53.05963897705078, + 1.9668450355529785 + ], + [ + -139.5736083984375, + -52.315887451171875, + 1.9668450355529785 + ], + [ + -138.7607421875, + -52.315887451171875, + 1.9668450355529785 + ] + ], + "corners_2d": [ + [ + 626.6020232500163, + 389.8331535250992 + ], + [ + 653.6249075977094, + 389.6586138204158 + ], + [ + 653.1439466919965, + 372.82012567307544 + ], + [ + 626.6272782514975, + 372.9881868212407 + ], + [ + 626.0370478046624, + 346.38156239721155 + ], + [ + 654.1993361824423, + 346.208455242082 + ], + [ + 653.6872880230486, + 329.5214860640992 + ], + [ + 626.0743701889339, + 329.6879048143653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 604, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -49.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44661134481430054, + "y": 0.4402490556240082, + "z": 0.8842188715934753 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 492.79171075721683, + "ymin": 269.66654945208467, + "xmax": 528.4160187770783, + "ymax": 333.3905830574877 + }, + "corners_3d": [ + [ + -134.70343017578125, + -50.218441009521484, + 0.059918999671936035 + ], + [ + -135.56468200683594, + -50.03537368774414, + 0.059918999671936035 + ], + [ + -135.37896728515625, + -49.16167068481445, + 0.059918999671936035 + ], + [ + -134.51771545410156, + -49.3447380065918, + 0.059918999671936035 + ], + [ + -134.70343017578125, + -50.218441009521484, + 1.8283567428588867 + ], + [ + -135.56468200683594, + -50.03537368774414, + 1.8283567428588867 + ], + [ + -135.37896728515625, + -49.16167068481445, + 1.8283567428588867 + ], + [ + -134.51771545410156, + -49.3447380065918, + 1.8283567428588867 + ] + ], + "corners_2d": [ + [ + 501.3441227787862, + 333.3905830574877 + ], + [ + 528.4160187770783, + 329.56591904139265 + ], + [ + 524.8381223922149, + 312.5443265495808 + ], + [ + 498.3020692909428, + 316.2149979232819 + ], + [ + 495.835409365192, + 290.21009708285305 + ], + [ + 524.003773264024, + 286.437946641608 + ], + [ + 520.3803857753994, + 269.66654945208467 + ], + [ + 492.79171075721683, + 273.2809918518914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 533, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -45.745052337646484, + "z": 1.0932443141937256 + }, + "extent": { + "x": 0.4613378942012787, + "y": 0.4436425566673279, + "z": 0.9447640180587769 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 687.0158333702282, + "ymin": 196.15575988281688, + "xmax": 718.5786298406803, + "ymax": 257.48659768218096 + }, + "corners_3d": [ + [ + -141.03001403808594, + -46.25023651123047, + 0.14848029613494873 + ], + [ + -141.91244506835938, + -46.15748977661133, + 0.14848029613494873 + ], + [ + -141.8159942626953, + -45.2398681640625, + 0.14848029613494873 + ], + [ + -140.93356323242188, + -45.33261489868164, + 0.14848029613494873 + ], + [ + -141.03001403808594, + -46.25023651123047, + 2.038008213043213 + ], + [ + -141.91244506835938, + -46.15748977661133, + 2.038008213043213 + ], + [ + -141.8159942626953, + -45.2398681640625, + 2.038008213043213 + ], + [ + -140.93356323242188, + -45.33261489868164, + 2.038008213043213 + ] + ], + "corners_2d": [ + [ + 690.9210598737832, + 257.48659768218096 + ], + [ + 715.6530355040687, + 255.80219025000642 + ], + [ + 711.2724984632493, + 240.83936086580533 + ], + [ + 687.0158333702282, + 242.45845370191137 + ], + [ + 692.8947425305355, + 212.41807173282743 + ], + [ + 718.5786298406803, + 210.77136738415808 + ], + [ + 713.9727425732484, + 196.15575988281688 + ], + [ + 688.8010756437637, + 197.7362146162634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 609, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -52.68776321411133, + "z": 1.0946260690689087 + }, + "extent": { + "x": 0.3908642530441284, + "y": 0.37718015909194946, + "z": 0.8671622276306152 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 711.820013653016, + "ymin": 328.71268210013346, + "xmax": 742.7024185662394, + "ymax": 389.68045457135753 + }, + "corners_3d": [ + [ + -141.3745880126953, + -53.07862854003906, + 0.22746384143829346 + ], + [ + -142.1289520263672, + -53.07862854003906, + 0.22746384143829346 + ], + [ + -142.1289520263672, + -52.296897888183594, + 0.22746384143829346 + ], + [ + -141.3745880126953, + -52.296897888183594, + 0.22746384143829346 + ], + [ + -141.3745880126953, + -53.07862854003906, + 1.961788296699524 + ], + [ + -142.1289520263672, + -53.07862854003906, + 1.961788296699524 + ], + [ + -142.1289520263672, + -52.296897888183594, + 1.961788296699524 + ], + [ + -141.3745880126953, + -52.296897888183594, + 1.961788296699524 + ] + ], + "corners_2d": [ + [ + 713.5030220108962, + 389.68045457135753 + ], + [ + 738.5630476290579, + 389.51851928434 + ], + [ + 736.3874403260501, + 371.84148600093897 + ], + [ + 711.820013653016, + 371.99711329395797 + ], + [ + 716.5905218803518, + 346.39106744249483 + ], + [ + 742.7024185662394, + 346.23045730939924 + ], + [ + 740.3525479745949, + 328.71268210013346 + ], + [ + 714.775029942116, + 328.86678112757124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 808, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16246032714844, + "y": -61.90629196166992, + "z": 1.0953341722488403 + }, + "extent": { + "x": 0.40297365188598633, + "y": 0.3260132074356079, + "z": 0.8821413516998291 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 758.2080037931455, + "ymin": 593.4875111175113, + "xmax": 795.0790512565186, + "ymax": 670.0105499277308 + }, + "corners_3d": [ + [ + -141.79611206054688, + -62.272979736328125, + 0.21319282054901123 + ], + [ + -142.44456481933594, + -62.34113693237305, + 0.21319282054901123 + ], + [ + -142.52880859375, + -61.53960418701172, + 0.21319282054901123 + ], + [ + -141.88035583496094, + -61.4714469909668, + 0.21319282054901123 + ], + [ + -141.79611206054688, + -62.272979736328125, + 1.9774755239486694 + ], + [ + -142.44456481933594, + -62.34113693237305, + 1.9774755239486694 + ], + [ + -142.52880859375, + -61.53960418701172, + 1.9774755239486694 + ], + [ + -141.88035583496094, + -61.4714469909668, + 1.9774755239486694 + ] + ], + "corners_2d": [ + [ + 758.2080037931455, + 667.5504705003422 + ], + [ + 786.7422317698754, + 670.0105499277308 + ], + [ + 786.1428523957803, + 639.0095441197657 + ], + [ + 758.3584569046991, + 636.6769830407105 + ], + [ + 764.908913022864, + 624.8815402344424 + ], + [ + 795.0790512565186, + 627.3871150966143 + ], + [ + 794.2152907655094, + 595.8561437225243 + ], + [ + 764.8821659850835, + 593.4875111175113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 872, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.6271743774414, + "y": -62.53904342651367, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.31029295921325684, + "y": 0.3366479277610779, + "z": 0.8885959386825562 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 85.99466921534781, + "ymin": 629.6438840920703, + "xmax": 158.86510549056374, + "ymax": 702.275341128442 + }, + "corners_3d": [ + [ + -127.23336791992188, + -62.77256393432617, + 0.055541932582855225 + ], + [ + -127.89195251464844, + -62.91254806518555, + 0.055541932582855225 + ], + [ + -128.02098083496094, + -62.30552291870117, + 0.055541932582855225 + ], + [ + -127.36239624023438, + -62.1655387878418, + 0.055541932582855225 + ], + [ + -127.23336791992188, + -62.77256393432617, + 1.8327338695526123 + ], + [ + -127.89195251464844, + -62.91254806518555, + 1.8327338695526123 + ], + [ + -128.02098083496094, + -62.30552291870117, + 1.8327338695526123 + ], + [ + -127.36239624023438, + -62.1655387878418, + 1.8327338695526123 + ] + ], + "corners_2d": [ + [ + 116.43579193589733, + 696.7380837498681 + ], + [ + 143.3460217311217, + 702.275341128442 + ], + [ + 158.86510549056374, + 677.5157836207904 + ], + [ + 132.432892525912, + 672.2020482384754 + ], + [ + 85.99466921534781, + 654.6712529341517 + ], + [ + 114.32918144468977, + 660.327585139469 + ], + [ + 131.3622918518322, + 635.0590083933641 + ], + [ + 103.55645334562462, + 629.6438840920703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 14327, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 117.33183075493628, + "ymin": 441.9585463442268, + "xmax": 283.78558607853944, + "ymax": 632.2561659108211 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 144.30292781592493, + 632.2561659108211 + ], + [ + 231.95541733243283, + 632.0681697882683 + ], + [ + 283.78558607853944, + 485.9718036983594 + ], + [ + 207.36223184420584, + 486.1147487758725 + ], + [ + 117.33183075493628, + 589.3807653763606 + ], + [ + 209.75738647427568, + 589.189987586931 + ], + [ + 267.00465085215114, + 441.9585463442268 + ], + [ + 186.97799691963826, + 442.1016067373211 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 1686, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 392.0545539534231, + "ymin": 0.0, + "xmax": 453.9482263716849, + "ymax": 48.73007441377234 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 397.0414530081025, + 48.73007441377234 + ], + [ + 438.5198908191197, + 48.686568516710224 + ], + [ + 453.9482263716849, + 5.284536890747518 + ], + [ + 415.6980408311796, + 5.321536343764706 + ], + [ + 392.0545539534231, + 20.57852481513254 + ], + [ + 434.3846956373644, + 20.536366138378014 + ], + [ + 450.43235639261434, + -21.45454951273433 + ], + [ + 411.45903632182205, + -21.418810025478763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 385.6361831415089, + "ymin": 0.0, + "xmax": 612.1539725926903, + "ymax": 116.15099771669068 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 611.9482837790132, + 115.33712840032149 + ], + [ + 612.1539725926903, + 107.30888044485403 + ], + [ + 433.0836901533909, + 108.10194764906373 + ], + [ + 430.54291340134296, + 116.15099771669068 + ], + [ + 605.9436145198805, + -163.98995655192527 + ], + [ + 606.2860975144566, + -169.36281506506623 + ], + [ + 389.41317010884916, + -168.83337229881954 + ], + [ + 385.6361831415089, + -163.443628127171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 246.52705901962207, + "ymin": 42.11877019062507, + "xmax": 282.241658822639, + "ymax": 52.76238223269894 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 276.58375031368223, + 52.64308745523641 + ], + [ + 282.241658822639, + 43.595562502873065 + ], + [ + 253.09196958610926, + 43.71104590625242 + ], + [ + 246.95569075751513, + 52.76238223269894 + ], + [ + 276.18751347018974, + 51.15196402706704 + ], + [ + 281.857878706193, + 42.11877019062507 + ], + [ + 252.6768327631895, + 42.23406867194228 + ], + [ + 246.52705901962207, + 51.27107196245419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 239.38331572077198, + "ymin": 30.1934596768329, + "xmax": 605.2036495433902, + "ymax": 397.03886414254043 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 604.7746717822221, + 395.330706016295 + ], + [ + 605.2036495433902, + 378.58725762191494 + ], + [ + 347.18244817696535, + 380.2327069682177 + ], + [ + 341.8773884473514, + 397.03886414254043 + ], + [ + 592.6949146652776, + 43.85507788534147 + ], + [ + 593.565749418019, + 30.1934596768329 + ], + [ + 249.00505572402233, + 31.528403556260628 + ], + [ + 239.38331572077198, + 45.258585193650504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 246.51597999454742, + "ymin": 42.08059961422754, + "xmax": 282.23176052552594, + "ymax": 52.72391964512457 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 276.57353091263997, + 52.6046296778585 + ], + [ + 282.23176052552594, + 43.55747368989256 + ], + [ + 253.08126255220452, + 43.672952332155376 + ], + [ + 246.94463585761616, + 52.72391964512457 + ], + [ + 276.17727177202806, + 51.11342234089119 + ], + [ + 281.8479591608831, + 42.08059961422754 + ], + [ + 252.66610274020246, + 42.19589330709755 + ], + [ + 246.51597999454742, + 51.232525437739696 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00015/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a71a4794398b257847b03620bb6e980e50a3d04e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00015/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 15, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 7.5, + "sim_timestamp": 226.77969442284666 + }, + "drone_pose": { + "x": -139.02832110175862, + "y": -73.35654403858602, + "z": 20.243525506953695, + "pitch": -42.12847286481377, + "yaw": 90.37584035689106, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.004864931106567383, + -0.7416267395019531, + 0.670795202255249, + 40.14754867553711 + ], + [ + 0.9999785423278809, + -0.006559610366821289, + 2.9802322387695312e-08, + -139.5065155029297 + ], + [ + 0.004400163888931274, + 0.6707807779312134, + 0.7416425943374634, + -63.60787582397461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.08566712065578, + "y": -72.85017478138356, + "z": 20.216823675035783 + }, + "t1_image_uv": [ + 771.7212848618736, + -420.50816981909225 + ], + "t1_depth": 0.39372736859938584 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -52.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.543717315851605, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 616, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -52.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3939550817012787, + "y": 0.43040281534194946, + "z": 0.8772026896476746 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.1521778682672, + "ymin": 328.8471777178467, + "xmax": 655.0243910867428, + "ymax": 390.51727374684947 + }, + "corners_3d": [ + [ + -138.7367706298828, + -52.58171844482422, + 0.21933263540267944 + ], + [ + -139.5975799560547, + -52.58171844482422, + 0.21933263540267944 + ], + [ + -139.5975799560547, + -51.79380798339844, + 0.21933263540267944 + ], + [ + -138.7367706298828, + -51.79380798339844, + 0.21933263540267944 + ], + [ + -138.7367706298828, + -52.58171844482422, + 1.9737379550933838 + ], + [ + -139.5975799560547, + -52.58171844482422, + 1.9737379550933838 + ], + [ + -139.5975799560547, + -51.79380798339844, + 1.9737379550933838 + ], + [ + -138.7367706298828, + -51.79380798339844, + 1.9737379550933838 + ] + ], + "corners_2d": [ + [ + 625.7581035476558, + 390.51727374684947 + ], + [ + 654.4113488179486, + 390.3867705395254 + ], + [ + 653.9565631208377, + 372.5412085228408 + ], + [ + 625.8723165032789, + 372.6665798886385 + ], + [ + 625.1521778682672, + 346.65839468965567 + ], + [ + 655.0243910867428, + 346.5289790256538 + ], + [ + 654.5379788613631, + 328.8471777178467 + ], + [ + 625.2836848086564, + 328.9712945000301 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 15, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 343444, + "2": 120740, + "3": 249425, + "4": 55935, + "6": 7715, + "12": 4131, + "14": 16826, + "20": 148, + "24": 7443, + "25": 115793 + }, + "instance_pixel_counts": { + "2453": 3928, + "3413": 5227, + "3662": 19459, + "11605": 1698, + "15960": 6638, + "17240": 1077, + "20565": 46, + "22421": 272, + "22931": 9994, + "22933": 3243, + "23443": 148171, + "36096": 616, + "36352": 611, + "36608": 538, + "36864": 597, + "37120": 828, + "37376": 941, + "38144": 14969, + "41728": 1857, + "47198": 66800, + "48737": 2008, + "48980": 28703, + "49249": 223, + "49492": 213751, + "49761": 451, + "50246": 28507, + "51297": 29690, + "51526": 7969, + "51809": 3490, + "52321": 4290, + "54366": 45592, + "54878": 3401, + "57482": 1838, + "57994": 12818, + "59737": 148, + "63382": 56949, + "63894": 8983, + "65426": 185279 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 616, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -52.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4097265601158142, + "y": 0.5501880049705505, + "z": 0.9088688492774963 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.9756835813433, + "ymin": 327.6614402561472, + "xmax": 659.2068443904311, + "ymax": 391.6589262145666 + }, + "corners_3d": [ + [ + -138.6169891357422, + -52.59748840332031, + 0.18766647577285767 + ], + [ + -139.7173614501953, + -52.59748840332031, + 0.18766647577285767 + ], + [ + -139.7173614501953, + -51.778038024902344, + 0.18766647577285767 + ], + [ + -138.6169891357422, + -51.778038024902344, + 0.18766647577285767 + ], + [ + -138.6169891357422, + -52.59748840332031, + 2.005404233932495 + ], + [ + -139.7173614501953, + -52.59748840332031, + 2.005404233932495 + ], + [ + -139.7173614501953, + -51.778038024902344, + 2.005404233932495 + ], + [ + -138.6169891357422, + -51.778038024902344, + 2.005404233932495 + ] + ], + "corners_2d": [ + [ + 621.7798241815036, + 391.6589262145666 + ], + [ + 658.3951391286563, + 391.49195074646025 + ], + [ + 657.8405053402319, + 372.93035292768957 + ], + [ + 621.9805610847371, + 373.0905097940161 + ], + [ + 620.9756835813433, + 346.2120341055954 + ], + [ + 659.2068443904311, + 346.04649487260315 + ], + [ + 658.6107958853917, + 327.6614402561472 + ], + [ + 621.2023973085804, + 327.81993081247765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 611, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -49.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4505224823951721, + "y": 0.4737207293510437, + "z": 0.8963388800621033 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 491.908020891668, + "ymin": 268.9258675342316, + "xmax": 529.649977845061, + "ymax": 333.6700918568341 + }, + "corners_3d": [ + [ + -134.67149353027344, + -49.729225158691406, + 0.047798991203308105 + ], + [ + -135.59823608398438, + -49.53224182128906, + 0.047798991203308105 + ], + [ + -135.41090393066406, + -48.65088653564453, + 0.047798991203308105 + ], + [ + -134.48416137695312, + -48.847869873046875, + 0.047798991203308105 + ], + [ + -134.67149353027344, + -49.729225158691406, + 1.8404767513275146 + ], + [ + -135.59823608398438, + -49.53224182128906, + 1.8404767513275146 + ], + [ + -135.41090393066406, + -48.65088653564453, + 1.8404767513275146 + ], + [ + -134.48416137695312, + -48.847869873046875, + 1.8404767513275146 + ] + ], + "corners_2d": [ + [ + 500.50115585863625, + 333.6700918568341 + ], + [ + 529.649977845061, + 329.60599251867313 + ], + [ + 526.0911136168145, + 312.4353723817684 + ], + [ + 497.52555393991395, + 316.33422410655874 + ], + [ + 494.8806580932734, + 289.84506994824 + ], + [ + 525.2262259992114, + 285.8380681315609 + ], + [ + 521.6219413786689, + 268.9258675342316 + ], + [ + 491.908020891668, + 272.76360429423005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 538, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -45.245052337646484, + "z": 1.0931954383850098 + }, + "extent": { + "x": 0.43024900555610657, + "y": 0.5563110113143921, + "z": 0.9310258030891418 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 684.6567986061165, + "ymin": 196.8654927294047, + "xmax": 722.244573220078, + "ymax": 256.9629158883114 + }, + "corners_3d": [ + [ + -140.9147186279297, + -45.73109436035156, + 0.16216963529586792 + ], + [ + -142.021240234375, + -45.61479568481445, + 0.16216963529586792 + ], + [ + -141.93128967285156, + -44.759010314941406, + 0.16216963529586792 + ], + [ + -140.82476806640625, + -44.875308990478516, + 0.16216963529586792 + ], + [ + -140.9147186279297, + -45.73109436035156, + 2.024221181869507 + ], + [ + -142.021240234375, + -45.61479568481445, + 2.024221181869507 + ], + [ + -141.93128967285156, + -44.759010314941406, + 2.024221181869507 + ], + [ + -140.82476806640625, + -44.875308990478516, + 2.024221181869507 + ] + ], + "corners_2d": [ + [ + 688.1914405327173, + 256.9629158883114 + ], + [ + 719.2283998246445, + 254.90405194601772 + ], + [ + 715.1357003505615, + 240.9518717081313 + ], + [ + 684.6567986061165, + 242.93604879889762 + ], + [ + 690.0311953267815, + 212.5097016460278 + ], + [ + 722.244573220078, + 210.4966090912773 + ], + [ + 717.9418234302103, + 196.8654927294047 + ], + [ + 686.3291961139938, + 198.80285389570687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 597, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -52.18776321411133, + "z": 1.0945870876312256 + }, + "extent": { + "x": 0.3773779273033142, + "y": 0.584765613079071, + "z": 0.8896925449371338 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 705.1485165040968, + "ymin": 328.543123680621, + "xmax": 749.9881554278213, + "ymax": 390.112257782932 + }, + "corners_3d": [ + [ + -141.16700744628906, + -52.56513977050781, + 0.2048945426940918 + ], + [ + -142.33653259277344, + -52.56513977050781, + 0.2048945426940918 + ], + [ + -142.33653259277344, + -51.810386657714844, + 0.2048945426940918 + ], + [ + -141.16700744628906, + -51.810386657714844, + 0.2048945426940918 + ], + [ + -141.16700744628906, + -52.56513977050781, + 1.9842796325683594 + ], + [ + -142.33653259277344, + -52.56513977050781, + 1.9842796325683594 + ], + [ + -142.33653259277344, + -51.810386657714844, + 1.9842796325683594 + ], + [ + -141.16700744628906, + -51.810386657714844, + 1.9842796325683594 + ] + ], + "corners_2d": [ + [ + 706.5761923612083, + 390.112257782932 + ], + [ + 745.4419591075165, + 389.9352482081548 + ], + [ + 743.275528971592, + 372.8554822104156 + ], + [ + 705.1485165040968, + 373.0258234950193 + ], + [ + 709.4472567920104, + 345.63883314000043 + ], + [ + 749.9881554278213, + 345.4633319188258 + ], + [ + 747.6400705433557, + 328.543123680621 + ], + [ + 707.9023218191801, + 328.71173679375903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 828, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -61.40341567993164, + "z": 1.0952950716018677 + }, + "extent": { + "x": 0.4083838164806366, + "y": 0.48280036449432373, + "z": 0.8912983536720276 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 750.3035461664863, + "ymin": 592.7651953023288, + "xmax": 801.3927644389998, + "ymax": 671.5367704252103 + }, + "corners_3d": [ + [ + -141.63868713378906, + -61.75909423828125, + 0.2039967179298401 + ], + [ + -142.5989990234375, + -61.86002731323242, + 0.2039967179298401 + ], + [ + -142.6843719482422, + -61.04773712158203, + 0.2039967179298401 + ], + [ + -141.72406005859375, + -60.94680404663086, + 0.2039967179298401 + ], + [ + -141.63868713378906, + -61.75909423828125, + 1.98659348487854 + ], + [ + -142.5989990234375, + -61.86002731323242, + 1.98659348487854 + ], + [ + -142.6843719482422, + -61.04773712158203, + 1.98659348487854 + ], + [ + -141.72406005859375, + -60.94680404663086, + 1.98659348487854 + ] + ], + "corners_2d": [ + [ + 750.3035461664863, + 667.7825317650302 + ], + [ + 792.6150263296296, + 671.5367704252103 + ], + [ + 791.9438934361401, + 640.0503524025212 + ], + [ + 750.760171315666, + 636.4935184580587 + ], + [ + 756.6263715413702, + 624.584078505353 + ], + [ + 801.3927644389998, + 628.4084161171137 + ], + [ + 800.4367714864314, + 596.3773806662108 + ], + [ + 756.930848415301, + 592.7651953023288 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 941, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.42700958251953, + "y": -62.49839401245117, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.30406248569488525, + "y": 0.503527820110321, + "z": 0.8861531615257263 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 58.987859113021614, + "ymin": 646.2628314027133, + "xmax": 147.74911201812984, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -126.87126922607422, + -62.691123962402344, + 0.05798470973968506 + ], + [ + -127.85631561279297, + -62.9005012512207, + 0.05798470973968506 + ], + [ + -127.98274993896484, + -62.3056640625, + 0.05798470973968506 + ], + [ + -126.9977035522461, + -62.09628677368164, + 0.05798470973968506 + ], + [ + -126.87126922607422, + -62.691123962402344, + 1.8302910327911377 + ], + [ + -127.85631561279297, + -62.9005012512207, + 1.8302910327911377 + ], + [ + -127.98274993896484, + -62.3056640625, + 1.8302910327911377 + ], + [ + -126.9977035522461, + -62.09628677368164, + 1.8302910327911377 + ] + ], + "corners_2d": [ + [ + 91.27899014439515, + 713.1861527572146 + ], + [ + 131.9732856785161, + 721.8402635234213 + ], + [ + 147.74911201812984, + 696.7770700914222 + ], + [ + 107.76948313521495, + 688.4708203011065 + ], + [ + 58.987859113021614, + 671.5096447747113 + ], + [ + 101.85256007625492, + 680.3640723667711 + ], + [ + 119.19285886484704, + 654.7409971774803 + ], + [ + 77.11902163179161, + 646.2628314027133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 14969, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 107.32598783284357, + "ymin": 455.39670047084815, + "xmax": 278.34369470235333, + "ymax": 649.9692283407007 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 135.25168259783732, + 649.9445953852105 + ], + [ + 224.27729550372493, + 649.9692283407007 + ], + [ + 278.34369470235333, + 499.47833389269135 + ], + [ + 200.8835148838579, + 499.45968751520286 + ], + [ + 107.32598783284357, + 607.2634992889268 + ], + [ + 201.2765136965254, + 607.2885371706162 + ], + [ + 261.05830217803157, + 455.4153837924751 + ], + [ + 179.89631364998388, + 455.39670047084815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 1857, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 391.5434496141178, + "ymin": 0.0, + "xmax": 454.19711425718265, + "ymax": 52.96638258309008 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 396.57643635481463, + 52.960781204374996 + ], + [ + 438.35898383661697, + 52.96638258309008 + ], + [ + 454.19711425718265, + 8.968342401211544 + ], + [ + 415.68993480022664, + 8.96358441985575 + ], + [ + 391.5434496141178, + 24.667310833158183 + ], + [ + 434.1898439089658, + 24.672739816028752 + ], + [ + 450.66232810852944, + -17.90215752606639 + ], + [ + 411.4226131369989, + -17.906754156526063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 384.2890375729552, + "ymin": 0.0, + "xmax": 613.0806969435968, + "ymax": 121.534262049727 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 612.8383647969085, + 120.95070493957343 + ], + [ + 613.0806969435968, + 112.78350234889311 + ], + [ + 432.43237439547863, + 113.35200250058907 + ], + [ + 429.81207743733876, + 121.534262049727 + ], + [ + 606.9622578385154, + -160.3848440307704 + ], + [ + 607.3486986597289, + -165.86201163242526 + ], + [ + 388.185371339339, + -165.48175204023812 + ], + [ + 384.2890375729552, + -159.9923157314381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 239.7087495129345, + "ymin": 50.689267812321305, + "xmax": 276.19872119700347, + "ymax": 61.60842428749805 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 270.27834514796643, + 61.52159323156525 + ], + [ + 276.19872119700347, + 52.18262781425915 + ], + [ + 246.56728398038217, + 52.266635755177504 + ], + [ + 240.1521950227654, + 61.60842428749805 + ], + [ + 269.86837315830945, + 60.01367810879418 + ], + [ + 275.8019329523531, + 50.689267812321305 + ], + [ + 246.1381131386645, + 50.77314331315745 + ], + [ + 239.7087495129345, + 60.10037542556955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 232.35156260160926, + "ymin": 38.92341622916871, + "xmax": 604.8579856238267, + "ymax": 408.32761321733665 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 604.3481561439596, + 407.092131678134 + ], + [ + 604.8579856238267, + 389.9095955075884 + ], + [ + 343.486312793597, + 391.09910023012634 + ], + [ + 337.9690326669946, + 408.32761321733665 + ], + [ + 591.9037015663861, + 53.045601237414985 + ], + [ + 592.9000904244277, + 38.92341622916871 + ], + [ + 242.41140615071657, + 39.895134377486045 + ], + [ + 232.35156260160926, + 54.06816824736626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 239.697287372853, + "ymin": 50.65066830218689, + "xmax": 276.1884875782976, + "ymax": 61.569530692545584 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 270.26777169273237, + 61.48270307943375 + ], + [ + 276.1884875782976, + 52.1441123666458 + ], + [ + 246.55621517954552, + 52.228116897918824 + ], + [ + 240.14075826466143, + 61.569530692545584 + ], + [ + 269.85777624063587, + 59.97470165962733 + ], + [ + 275.79167699809517, + 50.65066830218689 + ], + [ + 246.1270201758083, + 50.734540373314076 + ], + [ + 239.697287372853, + 60.06139551276857 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00016/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08538a53605c0161d25aacde10b24e46606e9356 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00016/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 16, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 8.0, + "sim_timestamp": 238.3270055016037 + }, + "drone_pose": { + "x": -139.08566712065578, + "y": -72.85017478138356, + "z": 20.216823675035783, + "pitch": -42.09767520637149, + "yaw": 90.2206973570875, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.0028580427169799805, + -0.7419975399971008, + 0.6703964471817017, + 40.10384750366211 + ], + [ + 0.9999925494194031, + -0.003851771354675293, + 0.0, + -139.36524963378906 + ], + [ + 0.0025822222232818604, + 0.6703914999961853, + 0.7420030832290649, + -63.47993469238281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.14315108087717, + "y": -72.34440517176148, + "z": 20.19079067815453 + }, + "t1_image_uv": [ + 775.6946370671415, + -421.63001763826367 + ], + "t1_depth": 0.3928965312787151 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -51.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.520864919129643, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 586, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -51.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4084179699420929, + "y": 0.31046873331069946, + "z": 0.8799204230308533 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 629.2660723990653, + "ymin": 328.46440973197986, + "xmax": 650.8420320481639, + "ymax": 390.90948726231045 + }, + "corners_3d": [ + [ + -138.85670471191406, + -52.0961799621582, + 0.21661490201950073 + ], + [ + -139.47764587402344, + -52.0961799621582, + 0.21661490201950073 + ], + [ + -139.47764587402344, + -51.27934646606445, + 0.21661490201950073 + ], + [ + -138.85670471191406, + -51.27934646606445, + 0.21661490201950073 + ], + [ + -138.85670471191406, + -52.0961799621582, + 1.9764556884765625 + ], + [ + -139.47764587402344, + -52.0961799621582, + 1.9764556884765625 + ], + [ + -139.47764587402344, + -51.27934646606445, + 1.9764556884765625 + ], + [ + -138.85670471191406, + -51.27934646606445, + 1.9764556884765625 + ] + ], + "corners_2d": [ + [ + 629.7056831795746, + 390.90948726231045 + ], + [ + 650.3980211764971, + 390.8541507252564 + ], + [ + 650.0810837770136, + 372.3465737138102 + ], + [ + 629.8151171024442, + 372.3996532635446 + ], + [ + 629.2660723990653, + 346.85452189882625 + ], + [ + 650.8420320481639, + 346.79965225198725 + ], + [ + 650.5023203598203, + 328.46440973197986 + ], + [ + 629.3895165375226, + 328.51694893340743 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 16, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 342342, + "2": 120857, + "3": 246894, + "4": 56795, + "6": 7971, + "12": 4014, + "14": 17682, + "20": 148, + "24": 7486, + "25": 117411 + }, + "instance_pixel_counts": { + "2453": 3849, + "3413": 5344, + "3662": 20255, + "11605": 1799, + "15960": 6827, + "17240": 1144, + "20565": 7, + "22421": 308, + "22931": 11391, + "22933": 3329, + "23443": 151787, + "36096": 586, + "36352": 612, + "36608": 540, + "36864": 598, + "37120": 871, + "37376": 807, + "38144": 15669, + "41728": 2013, + "47198": 65667, + "48737": 2332, + "48980": 31535, + "49249": 237, + "49492": 208209, + "49761": 514, + "50246": 28466, + "51297": 30609, + "51526": 8074, + "51809": 3621, + "52321": 4241, + "54366": 47905, + "54878": 3839, + "57482": 2129, + "57994": 12585, + "59737": 148, + "63382": 55802, + "63894": 8787, + "65426": 179164 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 586, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -51.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39438962936401367, + "y": 0.40146970748901367, + "z": 0.873478353023529 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.1092535971081, + "ymin": 328.93224754863184, + "xmax": 653.9945755977537, + "ymax": 390.4384924203673 + }, + "corners_3d": [ + [ + -138.7657012939453, + -52.0821533203125, + 0.22305697202682495 + ], + [ + -139.5686492919922, + -52.0821533203125, + 0.22305697202682495 + ], + [ + -139.5686492919922, + -51.293373107910156, + 0.22305697202682495 + ], + [ + -138.7657012939453, + -51.293373107910156, + 0.22305697202682495 + ], + [ + -138.7657012939453, + -52.0821533203125, + 1.9700136184692383 + ], + [ + -139.5686492919922, + -52.0821533203125, + 1.9700136184692383 + ], + [ + -139.5686492919922, + -51.293373107910156, + 1.9700136184692383 + ], + [ + -138.7657012939453, + -51.293373107910156, + 1.9700136184692383 + ] + ], + "corners_2d": [ + [ + 626.673873438288, + 390.4384924203673 + ], + [ + 653.4257806955628, + 390.36698922220495 + ], + [ + 653.0593036980921, + 372.49593947170644 + ], + [ + 626.8399620650479, + 372.56462405574337 + ], + [ + 626.1092535971081, + 346.7089940239714 + ], + [ + 653.9945755977537, + 346.638091837052 + ], + [ + 653.6011015684536, + 328.93224754863184 + ], + [ + 626.293940593533, + 329.00024006809286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 612, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -48.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4645019769668579, + "y": 0.43897464871406555, + "z": 0.8909673690795898 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 493.20144269549667, + "ymin": 268.7229369633941, + "xmax": 528.7934390641838, + "ymax": 333.447724821657 + }, + "corners_3d": [ + [ + -134.70838928222656, + -49.23567581176758, + 0.05317050218582153 + ], + [ + -135.56715393066406, + -49.053138732910156, + 0.05317050218582153 + ], + [ + -135.37400817871094, + -48.14443588256836, + 0.05317050218582153 + ], + [ + -134.51524353027344, + -48.32697296142578, + 0.05317050218582153 + ], + [ + -134.70838928222656, + -49.23567581176758, + 1.8351051807403564 + ], + [ + -135.56715393066406, + -49.053138732910156, + 1.8351051807403564 + ], + [ + -135.37400817871094, + -48.14443588256836, + 1.8351051807403564 + ], + [ + -134.51524353027344, + -48.32697296142578, + 1.8351051807403564 + ] + ], + "corners_2d": [ + [ + 501.75031254374306, + 333.447724821657 + ], + [ + 528.7934390641838, + 329.7273931306298 + ], + [ + 525.2173263516228, + 312.01477046753394 + ], + [ + 498.73336378933027, + 315.57898879741913 + ], + [ + 496.2142745278244, + 289.83638082212553 + ], + [ + 524.3607989553756, + 286.16841871235283 + ], + [ + 520.7427286332629, + 268.7229369633941 + ], + [ + 493.20144269549667, + 272.2310364953386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 540, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -44.745052337646484, + "z": 1.093141794204712 + }, + "extent": { + "x": 0.47047850489616394, + "y": 0.6018285751342773, + "z": 0.9240663647651672 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 683.8336572990503, + "ymin": 196.43044239489043, + "xmax": 724.3389220999832, + "ymax": 257.6518797377304 + }, + "corners_3d": [ + [ + -140.8736572265625, + -45.27585983276367, + 0.16907542943954468 + ], + [ + -142.07070922851562, + -45.15004348754883, + 0.16907542943954468 + ], + [ + -141.97235107421875, + -44.2142448425293, + 0.16907542943954468 + ], + [ + -140.77529907226562, + -44.34006118774414, + 0.16907542943954468 + ], + [ + -140.8736572265625, + -45.27585983276367, + 2.0172080993652344 + ], + [ + -142.07070922851562, + -45.15004348754883, + 2.0172080993652344 + ], + [ + -141.97235107421875, + -44.2142448425293, + 2.0172080993652344 + ], + [ + -140.77529907226562, + -44.34006118774414, + 2.0172080993652344 + ] + ], + "corners_2d": [ + [ + 687.6179690766154, + 257.6518797377304 + ], + [ + 721.2657298162474, + 255.4745032682788 + ], + [ + 716.8188635784845, + 240.21438879698871 + ], + [ + 683.8336572990503, + 242.30540213517492 + ], + [ + 689.4240528951635, + 213.4692924489033 + ], + [ + 724.3389220999832, + 211.34008374272972 + ], + [ + 719.6636245950185, + 196.43044239489043 + ], + [ + 685.4616170578929, + 198.4720993549255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 598, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -51.68776321411133, + "z": 1.0945528745651245 + }, + "extent": { + "x": 0.3703710734844208, + "y": 0.5400439500808716, + "z": 0.9073216915130615 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 706.6884527647383, + "ymin": 328.401552372624, + "xmax": 748.5425239093138, + "ymax": 390.5255481357242 + }, + "corners_3d": [ + [ + -141.21173095703125, + -52.058135986328125, + 0.187231183052063 + ], + [ + -142.29180908203125, + -52.058135986328125, + 0.187231183052063 + ], + [ + -142.29180908203125, + -51.31739044189453, + 0.187231183052063 + ], + [ + -141.21173095703125, + -51.31739044189453, + 0.187231183052063 + ], + [ + -141.21173095703125, + -52.058135986328125, + 2.0018744468688965 + ], + [ + -142.29180908203125, + -52.058135986328125, + 2.0018744468688965 + ], + [ + -142.29180908203125, + -51.31739044189453, + 2.0018744468688965 + ], + [ + -141.21173095703125, + -51.31739044189453, + 2.0018744468688965 + ] + ], + "corners_2d": [ + [ + 708.0533582625612, + 390.5255481357242 + ], + [ + 743.9678749904763, + 390.4295223022912 + ], + [ + 741.932017096731, + 373.65358100231066 + ], + [ + 706.6884527647383, + 373.7460515183367 + ], + [ + 711.0480812527568, + 345.1112344291138 + ], + [ + 748.5425239093138, + 345.01605403966994 + ], + [ + 746.3296636981216, + 328.401552372624 + ], + [ + 709.5659035005051, + 328.4930581980831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 871, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -60.90341567993164, + "z": 1.0952608585357666 + }, + "extent": { + "x": 0.37626954913139343, + "y": 0.5258374810218811, + "z": 0.9075900316238403 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 747.4241850542394, + "ymin": 593.7729821232518, + "xmax": 802.4948721337153, + "ymax": 671.411163840399 + }, + "corners_3d": [ + [ + -141.5992431640625, + -61.222660064697266, + 0.18767082691192627 + ], + [ + -142.64515686035156, + -61.33258819580078, + 0.18767082691192627 + ], + [ + -142.72381591796875, + -60.584171295166016, + 0.18767082691192627 + ], + [ + -141.6779022216797, + -60.4742431640625, + 0.18767082691192627 + ], + [ + -141.5992431640625, + -61.222660064697266, + 2.0028510093688965 + ], + [ + -142.64515686035156, + -61.33258819580078, + 2.0028510093688965 + ], + [ + -142.72381591796875, + -60.584171295166016, + 2.0028510093688965 + ], + [ + -141.6779022216797, + -60.4742431640625, + 2.0028510093688965 + ] + ], + "corners_2d": [ + [ + 747.4241850542394, + 667.2128582323974 + ], + [ + 793.5000831135557, + 671.411163840399 + ], + [ + 792.9440708383585, + 642.3568266377306 + ], + [ + 748.0018411383448, + 638.3625801067601 + ], + [ + 753.6952927207174, + 623.1190998383886 + ], + [ + 802.4948721337153, + 627.3965761260808 + ], + [ + 801.672770417226, + 597.8308633977148 + ], + [ + 754.1430029303293, + 593.7729821232518 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 807, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.06098175048828, + "y": -62.39424514770508, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3231591582298279, + "y": 0.40566161274909973, + "z": 0.8744387626647949 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 35.17207639992239, + "ymin": 662.110546543158, + "xmax": 119.63772136996056, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -126.59699249267578, + -62.625999450683594, + 0.06969910860061646 + ], + [ + -127.39058685302734, + -62.79468536376953, + 0.06969910860061646 + ], + [ + -127.52497100830078, + -62.16249084472656, + 0.06969910860061646 + ], + [ + -126.73137664794922, + -61.993804931640625, + 0.06969910860061646 + ], + [ + -126.59699249267578, + -62.625999450683594, + 1.8185765743255615 + ], + [ + -127.39058685302734, + -62.79468536376953, + 1.8185765743255615 + ], + [ + -127.52497100830078, + -62.16249084472656, + 1.8185765743255615 + ], + [ + -126.73137664794922, + -61.993804931640625, + 1.8185765743255615 + ] + ], + "corners_2d": [ + [ + 68.8482494394434, + 730.5237396337963 + ], + [ + 101.91726753647742, + 737.7908081423132 + ], + [ + 119.63772136996056, + 710.479710430644 + ], + [ + 87.18873287245265, + 703.5270480469298 + ], + [ + 35.17207639992239, + 689.7211861736638 + ], + [ + 69.99360336532595, + 697.1656534524974 + ], + [ + 89.48178334933016, + 669.2145412603863 + ], + [ + 55.34574924964659, + 662.110546543158 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 15669, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 96.8718017810603, + "ymin": 469.0903440747092, + "xmax": 272.6554001446948, + "ymax": 668.464220159319 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 125.80673439475072, + 668.2160003340246 + ], + [ + 216.24717610470697, + 668.464220159319 + ], + [ + 272.6554001446948, + 513.3734435038057 + ], + [ + 194.13125141339452, + 513.1863813386956 + ], + [ + 96.8718017810603, + 625.7683305535797 + ], + [ + 192.39623350064187, + 626.0210542245475 + ], + [ + 254.8388335385854, + 469.278004253292 + ], + [ + 172.510343282031, + 469.0903440747092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2013, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 390.9520147731728, + "ymin": 0.0, + "xmax": 454.380065774199, + "ymax": 57.31829628934696 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 396.0333707821635, + 57.26284762213464 + ], + [ + 438.1243354904543, + 57.31829628934696 + ], + [ + 454.380065774199, + 12.710716551078178 + ], + [ + 415.6125371929388, + 12.66368182504334 + ], + [ + 390.9520147731728, + 28.826754325880017 + ], + [ + 433.9192318577977, + 28.880507246876732 + ], + [ + 450.8248634290561, + -14.291918663578372 + ], + [ + 411.31521154270894, + -14.337365285286637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 382.8229030303342, + "ymin": 0.0, + "xmax": 613.9475353867182, + "ymax": 127.01763951392161 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 613.6677261111294, + 126.66907026876456 + ], + [ + 613.9475353867182, + 118.35914196855637 + ], + [ + 431.69547376716, + 118.69863151109695 + ], + [ + 428.9937462677528, + 127.01763951392161 + ], + [ + 607.9097490144263, + -156.69398230494414 + ], + [ + 608.341475678369, + -162.27895844340958 + ], + [ + 386.84222693098286, + -162.05141818021366 + ], + [ + 382.8229030303342, + -156.45901457498678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 232.53657358914938, + "ymin": 59.56093050137025, + "xmax": 269.8330782398403, + "ymax": 70.76943843007712 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 263.6362531462066, + 70.7167635956298 + ], + [ + 269.8330782398403, + 61.07108230585999 + ], + [ + 239.7044289949871, + 61.12201387091477 + ], + [ + 232.99573719992577, + 70.76943843007712 + ], + [ + 263.2116954953382, + 69.19183782171677 + ], + [ + 269.42248615554837, + 59.56093050137025 + ], + [ + 239.26037814617092, + 59.611783104116 + ], + [ + 232.53657358914938, + 69.24443297123548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.95487546450073, + "ymin": 47.96655742555208, + "xmax": 604.4126811054791, + "ymax": 419.9143504201868 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 603.8187361380061, + 419.1697874177519 + ], + [ + 604.4126811054791, + 401.5304853031548 + ], + [ + 339.6087501419487, + 402.2469570568668 + ], + [ + 333.8709890784519, + 419.9143504201868 + ], + [ + 590.9599946103428, + 62.57432286566171 + ], + [ + 592.0891958253094, + 47.96655742555208 + ], + [ + 235.47623803408857, + 48.55606779003136 + ], + [ + 224.95487546450073, + 63.195272646491674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 232.52470493647883, + "ymin": 59.52189622501015, + "xmax": 269.82248879546313, + "ymax": 70.73010824481162 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 263.6253037213113, + 70.67743546151581 + ], + [ + 269.82248879546313, + 61.03213448112962 + ], + [ + 239.69297662781105, + 61.08306401346488 + ], + [ + 232.98389528173834, + 70.73010824481162 + ], + [ + 263.2007213531213, + 69.15242090795067 + ], + [ + 269.4118732060145, + 59.52189622501015 + ], + [ + 239.24890035614595, + 59.57274678276485 + ], + [ + 232.52470493647883, + 69.2050139935838 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00017/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a642985dc0a5b5e93cd0ce8e8c0eb103f9135da8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00017/meta.json @@ -0,0 +1,1511 @@ +{ + "frame_id": 17, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 8.5, + "sim_timestamp": 249.45183147653006 + }, + "drone_pose": { + "x": -139.14315108087717, + "y": -72.34440517176148, + "z": 20.19079067815453, + "pitch": -42.06680974583875, + "yaw": 90.0650822801481, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.0008431673049926758, + -0.7423635721206665, + 0.6699966788291931, + 40.060760498046875 + ], + [ + 0.9999992847442627, + -0.0011358261108398438, + 0.0, + -139.22523498535156 + ], + [ + 0.0007610321044921875, + 0.6699962615966797, + 0.7423640489578247, + -63.35350799560547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.20077174833952, + "y": -71.83907672728253, + "z": 20.170711903473126 + }, + "t1_image_uv": [ + 780.9143152078557, + -439.60635337346264 + ], + "t1_depth": 0.38863874548857713 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -51.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.49902919262211, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 605, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -51.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37019041180610657, + "y": 0.5357934236526489, + "z": 0.9005373120307922 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.3917084469674, + "ymin": 328.75213631561377, + "xmax": 658.6363819519489, + "ymax": 390.53657912654904 + }, + "corners_3d": [ + [ + -138.63137817382812, + -51.557952880859375, + 0.19599801301956177 + ], + [ + -139.70297241210938, + -51.557952880859375, + 0.19599801301956177 + ], + [ + -139.70297241210938, + -50.81757354736328, + 0.19599801301956177 + ], + [ + -138.63137817382812, + -50.81757354736328, + 0.19599801301956177 + ], + [ + -138.63137817382812, + -51.557952880859375, + 1.997072696685791 + ], + [ + -139.70297241210938, + -51.557952880859375, + 1.997072696685791 + ], + [ + -139.70297241210938, + -50.81757354736328, + 1.997072696685791 + ], + [ + -138.63137817382812, + -50.81757354736328, + 1.997072696685791 + ] + ], + "corners_2d": [ + [ + 622.1706585563697, + 390.53657912654904 + ], + [ + 657.8562804211301, + 390.5084638444352 + ], + [ + 657.4947227393903, + 373.7277593768374 + ], + [ + 622.4767576333242, + 373.75483245874744 + ], + [ + 621.3917084469674, + 345.3988591215615 + ], + [ + 658.6363819519489, + 345.370992212268 + ], + [ + 658.2441165800692, + 328.75213631561377 + ], + [ + 621.7261180645223, + 328.77892641792334 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 17, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 37, + "semantic_pixel_counts": { + "1": 341116, + "2": 120898, + "3": 244177, + "4": 57994, + "6": 8239, + "12": 4030, + "14": 18489, + "20": 162, + "24": 7564, + "25": 118931 + }, + "instance_pixel_counts": { + "2453": 3805, + "3413": 5473, + "3662": 21166, + "11605": 1874, + "15960": 7041, + "17240": 1198, + "22421": 344, + "22931": 12855, + "22933": 3415, + "23443": 155657, + "36096": 605, + "36352": 604, + "36608": 532, + "36864": 610, + "37120": 847, + "37376": 832, + "38144": 16401, + "41728": 2088, + "47198": 64547, + "48737": 2702, + "48980": 34607, + "49249": 240, + "49492": 202223, + "49761": 567, + "50246": 28643, + "51297": 31494, + "51526": 8185, + "51809": 3764, + "52321": 4202, + "54366": 50051, + "54878": 4333, + "57482": 2328, + "57994": 12434, + "59737": 162, + "63382": 54587, + "63894": 8580, + "65426": 172604 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 605, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -51.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3948632776737213, + "y": 0.5833813548088074, + "z": 0.9017719626426697 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.7249751788983, + "ymin": 328.1761316200613, + "xmax": 660.304970677895, + "ymax": 391.13776206711964 + }, + "corners_3d": [ + [ + -138.58380126953125, + -51.58262634277344, + 0.19476336240768433 + ], + [ + -139.75054931640625, + -51.58262634277344, + 0.19476336240768433 + ], + [ + -139.75054931640625, + -50.79290008544922, + 0.19476336240768433 + ], + [ + -138.58380126953125, + -50.79290008544922, + 0.19476336240768433 + ], + [ + -138.58380126953125, + -51.58262634277344, + 1.998307228088379 + ], + [ + -139.75054931640625, + -51.58262634277344, + 1.998307228088379 + ], + [ + -139.75054931640625, + -50.79290008544922, + 1.998307228088379 + ], + [ + -138.58380126953125, + -50.79290008544922, + 1.998307228088379 + ] + ], + "corners_2d": [ + [ + 620.5753760478043, + 391.13776206711964 + ], + [ + 659.4533428653009, + 391.10711117631655 + ], + [ + 659.0360883511644, + 373.2077001042204 + ], + [ + 620.9334806483865, + 373.2371406181839 + ], + [ + 619.7249751788983, + 345.933064547395 + ], + [ + 660.304970677895, + 345.90268311343664 + ], + [ + 659.8521173542806, + 328.1761316200613 + ], + [ + 620.1161186168054, + 328.20526242746007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 604, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -48.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4514111578464508, + "y": 0.4838745892047882, + "z": 0.9194965958595276 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 491.96624674543466, + "ymin": 267.84729775184746, + "xmax": 530.3572307083625, + "ymax": 333.83037390922556 + }, + "corners_3d": [ + [ + -134.66175842285156, + -48.73220443725586, + 0.02464127540588379 + ], + [ + -135.6083526611328, + -48.53099822998047, + 0.02464127540588379 + ], + [ + -135.42063903808594, + -47.64790725708008, + 0.02464127540588379 + ], + [ + -134.4740447998047, + -47.84911346435547, + 0.02464127540588379 + ], + [ + -134.66175842285156, + -48.73220443725586, + 1.863634467124939 + ], + [ + -135.6083526611328, + -48.53099822998047, + 1.863634467124939 + ], + [ + -135.42063903808594, + -47.64790725708008, + 1.863634467124939 + ], + [ + -134.4740447998047, + -47.84911346435547, + 1.863634467124939 + ] + ], + "corners_2d": [ + [ + 500.5542339632924, + 333.83037390922556 + ], + [ + 530.3572307083625, + 329.78448915111284 + ], + [ + 526.9244488389623, + 312.57257220264546 + ], + [ + 497.72154183549674, + 316.4532280427155 + ], + [ + 494.7894804918065, + 288.77501981040314 + ], + [ + 525.8472702479647, + 284.7885850473091 + ], + [ + 522.3728776405005, + 267.84729775184746 + ], + [ + 491.96624674543466, + 271.6644333616672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 532, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -44.245052337646484, + "z": 1.0930880308151245 + }, + "extent": { + "x": 0.4260351359844208, + "y": 0.5355273485183716, + "z": 0.9361470341682434 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 686.4035951824811, + "ymin": 197.03718542944725, + "xmax": 722.8042798535236, + "ymax": 257.17419782728814 + }, + "corners_3d": [ + [ + -140.9349365234375, + -44.7247314453125, + 0.1569409966468811 + ], + [ + -142.00013732910156, + -44.61277770996094, + 0.1569409966468811 + ], + [ + -141.91107177734375, + -43.76537322998047, + 0.1569409966468811 + ], + [ + -140.8458709716797, + -43.87732696533203, + 0.1569409966468811 + ], + [ + -140.9349365234375, + -44.7247314453125, + 2.0292351245880127 + ], + [ + -142.00013732910156, + -44.61277770996094, + 2.0292351245880127 + ], + [ + -141.91107177734375, + -43.76537322998047, + 2.0292351245880127 + ], + [ + -140.8458709716797, + -43.87732696533203, + 2.0292351245880127 + ] + ], + "corners_2d": [ + [ + 689.8112600048988, + 257.17419782728814 + ], + [ + 719.7502892703651, + 255.28814930510222 + ], + [ + 715.8072588264441, + 241.4571911426489 + ], + [ + 686.4035951824811, + 243.2752864431323 + ], + [ + 691.7236574644602, + 212.38826092285063 + ], + [ + 722.8042798535236, + 210.5448434014319 + ], + [ + 718.6555605572795, + 197.03718542944725 + ], + [ + 688.1515129504822, + 198.81171083935192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 610, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -51.18776321411133, + "z": 1.0945137739181519 + }, + "extent": { + "x": 0.367744117975235, + "y": 0.5516625642776489, + "z": 0.878483772277832 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 706.4494977089759, + "ymin": 329.3675273214699, + "xmax": 748.9379401385886, + "ymax": 389.93148501988736 + }, + "corners_3d": [ + [ + -141.20010375976562, + -51.55550765991211, + 0.21603000164031982 + ], + [ + -142.30343627929688, + -51.55550765991211, + 0.21603000164031982 + ], + [ + -142.30343627929688, + -50.82001876831055, + 0.21603000164031982 + ], + [ + -141.20010375976562, + -50.82001876831055, + 0.21603000164031982 + ], + [ + -141.20010375976562, + -51.55550765991211, + 1.9729975461959839 + ], + [ + -142.30343627929688, + -51.55550765991211, + 1.9729975461959839 + ], + [ + -142.30343627929688, + -50.82001876831055, + 1.9729975461959839 + ], + [ + -141.20010375976562, + -50.82001876831055, + 1.9729975461959839 + ] + ], + "corners_2d": [ + [ + 707.7363279882765, + 389.93148501988736 + ], + [ + 744.4881191696402, + 389.90254710396766 + ], + [ + 742.5179735751185, + 373.2365460964845 + ], + [ + 706.4494977089759, + 373.26441786774177 + ], + [ + 710.6211026470955, + 345.90542676936764 + ], + [ + 748.9379401385886, + 345.8767383563988 + ], + [ + 746.7993229385023, + 329.3675273214699 + ], + [ + 709.2246491815822, + 329.395115072509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 847, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -60.40341567993164, + "z": 1.0952218770980835 + }, + "extent": { + "x": 0.3981006145477295, + "y": 0.5371924638748169, + "z": 0.9033942222595215 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 745.941624602513, + "ymin": 593.3688825618441, + "xmax": 802.0626732552397, + "ymax": 672.8178198177606 + }, + "corners_3d": [ + [ + -141.58566284179688, + -60.74318313598633, + 0.191827654838562 + ], + [ + -142.65415954589844, + -60.85548782348633, + 0.191827654838562 + ], + [ + -142.73739624023438, + -60.06364822387695, + 0.191827654838562 + ], + [ + -141.6688995361328, + -59.95134353637695, + 0.191827654838562 + ], + [ + -141.58566284179688, + -60.74318313598633, + 1.998616099357605 + ], + [ + -142.65415954589844, + -60.85548782348633, + 1.998616099357605 + ], + [ + -142.73739624023438, + -60.06364822387695, + 1.998616099357605 + ], + [ + -141.6688995361328, + -59.95134353637695, + 1.998616099357605 + ] + ], + "corners_2d": [ + [ + 745.941624602513, + 668.4000385159004 + ], + [ + 793.117237900473, + 672.8178198177606 + ], + [ + 792.6298998100262, + 642.0316387372932 + ], + [ + 746.6831804527988, + 637.8411058248068 + ], + [ + 752.1064236342119, + 624.4492535290557 + ], + [ + 802.0626732552397, + 628.9502029450096 + ], + [ + 801.3008443090935, + 597.6253608234919 + ], + [ + 752.7205136515722, + 593.3688825618441 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 832, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.23667907714844, + "y": -61.998470306396484, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.29792478680610657, + "y": 0.3759497106075287, + "z": 0.8798477053642273 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 666.5250319891934, + "xmax": 77.46683506347586, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -125.80699920654297, + -62.21171951293945, + 0.0642852783203125 + ], + [ + -126.54247283935547, + -62.36804962158203, + 0.0642852783203125 + ], + [ + -126.6663589477539, + -61.785221099853516, + 0.0642852783203125 + ], + [ + -125.9308853149414, + -61.62889099121094, + 0.0642852783203125 + ], + [ + -125.80699920654297, + -62.21171951293945, + 1.823980689048767 + ], + [ + -126.54247283935547, + -62.36804962158203, + 1.823980689048767 + ], + [ + -126.6663589477539, + -61.785221099853516, + 1.823980689048767 + ], + [ + -125.9308853149414, + -61.62889099121094, + 1.823980689048767 + ] + ], + "corners_2d": [ + [ + 29.693221538607418, + 733.2205561717333 + ], + [ + 60.141987742228935, + 740.0737547369663 + ], + [ + 77.46683506347586, + 714.7628130020926 + ], + [ + 47.53969537097487, + 708.1843730921473 + ], + [ + -6.617038518972777, + 692.140945629634 + ], + [ + 25.44114413034856, + 699.163570072235 + ], + [ + 44.52637692222754, + 673.249843096348 + ], + [ + 13.044553370888025, + 666.5250319891934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 16401, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 85.9363527885829, + "ymin": 483.1842457002628, + "xmax": 266.70663902329426, + "ymax": 687.5659623199983 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 115.93927156502104, + 687.078595543866 + ], + [ + 207.83531381213493, + 687.5659623199983 + ], + [ + 266.70663902329426, + 527.660592416953 + ], + [ + 187.0924125589661, + 527.2950065990999 + ], + [ + 85.9363527885829, + 644.9069086667355 + ], + [ + 183.0828389268549, + 645.4039824015107 + ], + [ + 248.33042719526236, + 483.55145999589763 + ], + [ + 164.80528012710448, + 483.1842457002628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2088, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 390.30267847431026, + "ymin": 0.0, + "xmax": 454.5216212133746, + "ymax": 61.73752880676028 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 395.43426243410573, + 61.63062802763619 + ], + [ + 437.8374836783547, + 61.73752880676028 + ], + [ + 454.5216212133746, + 16.506821676574248 + ], + [ + 415.4907877642926, + 16.41626268031979 + ], + [ + 390.30267847431026, + 33.051286922216036 + ], + [ + 433.5948073970819, + 33.15493995689911 + ], + [ + 450.9449458748976, + -10.628639148797106 + ], + [ + 411.16222491346525, + -10.716154260086682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 381.25684595552667, + "ymin": 0.0, + "xmax": 614.7710451884133, + "ymax": 132.5970169927335 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 614.452339087124, + 132.4924389687349 + ], + [ + 614.7710451884133, + 124.03584143150238 + ], + [ + 430.88993794669193, + 124.13766916897521 + ], + [ + 428.1042812046686, + 132.5970169927335 + ], + [ + 608.8052064693785, + -152.9180360854681 + ], + [ + 609.2842261871159, + -158.61451745671673 + ], + [ + 385.40352382236864, + -158.54612257566578 + ], + [ + 381.25684595552667, + -152.84738221880036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.99422507284612, + "ymin": 68.74078967672864, + "xmax": 263.13051041637334, + "ymax": 80.25260095709632 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 256.6413213260433, + 80.23654354109516 + ], + [ + 263.13051041637334, + 70.2679458313927 + ], + [ + 232.4891235199583, + 70.28346217141507 + ], + [ + 225.47007410639247, + 80.25260095709632 + ], + [ + 256.20126658770045, + 78.69440148635613 + ], + [ + 262.70526383954433, + 68.74078967672864 + ], + [ + 232.0292898695236, + 68.75628238914982 + ], + [ + 224.99422507284612, + 78.7104350763097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.176025663899, + "ymin": 57.33754713359201, + "xmax": 603.8634352293145, + "ymax": 431.8002975025687 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 603.180739264647, + 431.5748770829889 + ], + [ + 603.8634352293145, + 413.4601147032637 + ], + [ + 335.5449022773061, + 413.67691142518527 + ], + [ + 329.57688544455834, + 431.8002975025687 + ], + [ + 589.8532449243232, + 72.45785532870639 + ], + [ + 591.1247185396469, + 57.33754713359201 + ], + [ + 228.1853999400485, + 57.51726507328698 + ], + [ + 217.176025663899, + 72.64734450217395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.98192487922694, + "ymin": 68.70131509844578, + "xmax": 263.1195432272961, + "ymax": 80.21282896639087 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 256.6299724473545, + 80.19677216363891 + ], + [ + 263.1195432272961, + 70.22856018736582 + ], + [ + 232.4772643241081, + 70.24407591919282 + ], + [ + 225.4578021040254, + 80.21282896639087 + ], + [ + 256.18989163907474, + 78.65453874856979 + ], + [ + 262.6942718861444, + 68.70131509844578 + ], + [ + 232.01740389444439, + 68.71680719890134 + ], + [ + 224.98192487922694, + 78.67057172136043 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00018/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a7d88bc6569c28096907866e19cb49e3083cb6d4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00018/meta.json @@ -0,0 +1,1407 @@ +{ + "frame_id": 18, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 9.0, + "sim_timestamp": 265.8569097404834 + }, + "drone_pose": { + "x": -139.20077174833952, + "y": -71.83907672728253, + "z": 20.170711903473126, + "pitch": -42.04398841249678, + "yaw": 89.90901291551975, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.001179337501525879, + -0.7426300048828125, + 0.6697009801864624, + 40.00566864013672 + ], + [ + 0.9999988079071045, + 0.0015880465507507324, + 2.9802322387695312e-08, + -139.08651733398438 + ], + [ + -0.0010635554790496826, + 0.6697001457214355, + 0.7426308989524841, + -63.23807144165039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.25805844840315, + "y": -71.33406532165573, + "z": 20.152011074545666 + }, + "t1_image_uv": [ + 783.9124167070057, + -443.336210800833 + ], + "t1_depth": 0.3874929987974992 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -50.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.481632759803, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 602, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -50.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.36686521768569946, + "y": 0.5322216749191284, + "z": 0.8939344882965088 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.4747462775322, + "ymin": 328.96888885249234, + "xmax": 658.4850500371067, + "ymax": 390.32964297308945 + }, + "corners_3d": [ + [ + -138.63494873046875, + -51.054630279541016, + 0.20260083675384521 + ], + [ + -139.69940185546875, + -51.05462646484375, + 0.20260083675384521 + ], + [ + -139.69940185546875, + -50.32089614868164, + 0.20260083675384521 + ], + [ + -138.63494873046875, + -50.320899963378906, + 0.20260083675384521 + ], + [ + -138.63494873046875, + -51.054630279541016, + 1.9904698133468628 + ], + [ + -139.69940185546875, + -51.05462646484375, + 1.9904698133468628 + ], + [ + -139.69940185546875, + -50.32089614868164, + 1.9904698133468628 + ], + [ + -138.63494873046875, + -50.320899963378906, + 1.9904698133468628 + ] + ], + "corners_2d": [ + [ + 622.2446924860471, + 390.29068569387505 + ], + [ + 657.7167413699258, + 390.32964297308945 + ], + [ + 657.4259581743092, + 373.69539582649423 + ], + [ + 622.6123935083604, + 373.6578714904036 + ], + [ + 621.4747462775322, + 345.4410617128907 + ], + [ + 658.4850500371067, + 345.4796738685116 + ], + [ + 658.1670313469078, + 329.0060209518562 + ], + [ + 621.8729842099025, + 328.96888885249234 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 18, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 37, + "semantic_pixel_counts": { + "1": 340524, + "2": 121010, + "3": 241241, + "4": 58777, + "6": 8461, + "12": 3171, + "14": 19306, + "20": 170, + "24": 7349, + "25": 121591 + }, + "instance_pixel_counts": { + "2453": 3484, + "3413": 5624, + "3662": 21850, + "11605": 1836, + "15960": 7227, + "17240": 1234, + "20565": 103, + "22421": 364, + "22931": 14412, + "22933": 3501, + "23443": 159391, + "36096": 602, + "36352": 616, + "36608": 520, + "37120": 950, + "37376": 483, + "38144": 17181, + "41728": 2125, + "47198": 63495, + "48737": 3077, + "48980": 37973, + "49249": 252, + "49492": 195705, + "49761": 631, + "50246": 28647, + "51297": 32467, + "51526": 8280, + "51809": 3889, + "52321": 4149, + "54366": 53114, + "54878": 4982, + "57482": 2626, + "57994": 12211, + "59737": 170, + "63382": 53329, + "63894": 8379, + "65426": 166721 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 602, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -50.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.36985838413238525, + "y": 0.43497800827026367, + "z": 0.8724595308303833 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.8622249920006, + "ymin": 329.4656791908645, + "xmax": 655.0969811046775, + "ymax": 389.87866665313425 + }, + "corners_3d": [ + [ + -138.73219299316406, + -51.057621002197266, + 0.2240757942199707 + ], + [ + -139.60215759277344, + -51.057621002197266, + 0.2240757942199707 + ], + [ + -139.60215759277344, + -50.31790542602539, + 0.2240757942199707 + ], + [ + -138.73219299316406, + -50.31790542602539, + 0.2240757942199707 + ], + [ + -138.73219299316406, + -51.057621002197266, + 1.9689948558807373 + ], + [ + -139.60215759277344, + -51.057621002197266, + 1.9689948558807373 + ], + [ + -139.60215759277344, + -50.31790542602539, + 1.9689948558807373 + ], + [ + -138.73219299316406, + -50.31790542602539, + 1.9689948558807373 + ] + ], + "corners_2d": [ + [ + 625.4766232241788, + 389.84675286897436 + ], + [ + 654.4842167431353, + 389.87866665313425 + ], + [ + 654.2514638199243, + 373.11028735221447 + ], + [ + 625.7869693457011, + 373.07955740527575 + ], + [ + 624.8622249920006, + 346.0748581817667 + ], + [ + 655.0969811046775, + 346.106496292061 + ], + [ + 654.8426247214512, + 329.4960954877893 + ], + [ + 625.1974241496704, + 329.4656791908645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 616, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -47.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44624027609825134, + "y": 0.44020020961761475, + "z": 0.8836179971694946 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 493.73027419124253, + "ymin": 268.80523855007567, + "xmax": 529.1010545157103, + "ymax": 332.47271640697244 + }, + "corners_3d": [ + [ + -134.70339965820312, + -48.21806716918945, + 0.06051987409591675 + ], + [ + -135.56455993652344, + -48.0350227355957, + 0.06051987409591675 + ], + [ + -135.37899780273438, + -47.162044525146484, + 0.06051987409591675 + ], + [ + -134.51783752441406, + -47.345088958740234, + 0.06051987409591675 + ], + [ + -134.70339965820312, + -48.21806716918945, + 1.8277559280395508 + ], + [ + -135.56455993652344, + -48.0350227355957, + 1.8277559280395508 + ], + [ + -135.37899780273438, + -47.162044525146484, + 1.8277559280395508 + ], + [ + -134.51783752441406, + -47.345088958740234, + 1.8277559280395508 + ] + ], + "corners_2d": [ + [ + 501.9541907322603, + 332.47271640697244 + ], + [ + 529.1010545157103, + 328.8422383475979 + ], + [ + 525.802488725642, + 311.8214354149309 + ], + [ + 499.19758375522565, + 315.30502871465933 + ], + [ + 496.47738933672963, + 289.14613059531575 + ], + [ + 524.7210817034312, + 285.56733827130574 + ], + [ + 521.3877801992546, + 268.80523855007567 + ], + [ + 493.73027419124253, + 272.23368749637785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 520, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -43.745052337646484, + "z": 1.0930391550064087 + }, + "extent": { + "x": 0.45680174231529236, + "y": 0.4271240234375, + "z": 0.9437921643257141 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 689.8398032663135, + "ymin": 196.64506141620072, + "xmax": 720.4021407741468, + "ymax": 257.77001762307003 + }, + "corners_3d": [ + [ + -141.0459747314453, + -44.24399948120117, + 0.14924699068069458 + ], + [ + -141.89553833007812, + -44.15470504760742, + 0.14924699068069458 + ], + [ + -141.80003356933594, + -43.2461051940918, + 0.14924699068069458 + ], + [ + -140.95046997070312, + -43.33539962768555, + 0.14924699068069458 + ], + [ + -141.0459747314453, + -44.24399948120117, + 2.0368313789367676 + ], + [ + -141.89553833007812, + -44.15470504760742, + 2.0368313789367676 + ], + [ + -141.80003356933594, + -43.2461051940918, + 2.0368313789367676 + ], + [ + -140.95046997070312, + -43.33539962768555, + 2.0368313789367676 + ] + ], + "corners_2d": [ + [ + 693.4957795747519, + 257.77001762307003 + ], + [ + 717.4096680840876, + 256.301883645623 + ], + [ + 713.2946788658745, + 241.45560717524842 + ], + [ + 689.8398032663135, + 242.86703913833597 + ], + [ + 695.5679371308953, + 212.57508716994224 + ], + [ + 720.4021407741468, + 211.14046429813098 + ], + [ + 716.0707829782905, + 196.64506141620072 + ], + [ + 691.731233432472, + 198.0221973227608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 950, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -59.90341567993164, + "z": 1.0951827764511108 + }, + "extent": { + "x": 0.3904394805431366, + "y": 0.5104761123657227, + "z": 0.8866525292396545 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 746.1584532763873, + "ymin": 594.5506201686399, + "xmax": 799.7097263692615, + "ymax": 672.569988090864 + }, + "corners_3d": [ + [ + -141.613037109375, + -60.23835754394531, + 0.2085302472114563 + ], + [ + -142.62840270996094, + -60.34507751464844, + 0.2085302472114563 + ], + [ + -142.71002197265625, + -59.56847381591797, + 0.2085302472114563 + ], + [ + -141.6946563720703, + -59.461753845214844, + 0.2085302472114563 + ], + [ + -141.613037109375, + -60.23835754394531, + 1.9818353652954102 + ], + [ + -142.62840270996094, + -60.34507751464844, + 1.9818353652954102 + ], + [ + -142.71002197265625, + -59.56847381591797, + 1.9818353652954102 + ], + [ + -141.6946563720703, + -59.461753845214844, + 1.9818353652954102 + ] + ], + "corners_2d": [ + [ + 746.1584532763873, + 668.2573899101571 + ], + [ + 791.0492266534166, + 672.569988090864 + ], + [ + 790.7128114853831, + 642.3417285260014 + ], + [ + 746.9707707840064, + 638.2471807268475 + ], + [ + 752.2215633167543, + 625.0630474146341 + ], + [ + 799.7097263692615, + 629.455139719393 + ], + [ + 799.1199725199715, + 598.7084477043319 + ], + [ + 752.9154203277749, + 594.5506201686399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 483, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -124.54336547851562, + "y": -59.49176788330078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.31083494424819946, + "y": 0.4667138457298279, + "z": 0.895186722278595 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 583.212140833497, + "xmax": 46.03138996604321, + "ymax": 657.3695867478989 + }, + "corners_3d": [ + [ + -124.02222442626953, + -59.69877624511719, + 0.048951148986816406 + ], + [ + -124.93525695800781, + -59.892845153808594, + 0.048951148986816406 + ], + [ + -125.06450653076172, + -59.284759521484375, + 0.048951148986816406 + ], + [ + -124.15147399902344, + -59.09069061279297, + 0.048951148986816406 + ], + [ + -124.02222442626953, + -59.69877624511719, + 1.8393245935440063 + ], + [ + -124.93525695800781, + -59.892845153808594, + 1.8393245935440063 + ], + [ + -125.06450653076172, + -59.284759521484375, + 1.8393245935440063 + ], + [ + -124.15147399902344, + -59.09069061279297, + 1.8393245935440063 + ] + ], + "corners_2d": [ + [ + -6.529884684983358, + 649.8669286998393 + ], + [ + 28.45217569235706, + 657.3695867478989 + ], + [ + 46.03138996604321, + 634.3564371044952 + ], + [ + 11.625946202043792, + 627.1468193054759 + ], + [ + -42.906781814136025, + 606.2798916528194 + ], + [ + -6.192514976906068, + 613.9085615795659 + ], + [ + 13.085286708926674, + 590.5265495216622 + ], + [ + -22.9959931757694, + 583.212140833497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 17181, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 74.61491209930432, + "ymin": 497.70030168935614, + "xmax": 260.54829664744204, + "ymax": 707.2751000369392 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 105.74054237373696, + 706.5319698557461 + ], + [ + 199.11509204327092, + 707.2751000369392 + ], + [ + 260.54829664744204, + 542.3457118804163 + ], + [ + 179.83019244624973, + 541.7908809199497 + ], + [ + 74.61491209930432, + 664.7010685293287 + ], + [ + 173.41274247448524, + 665.4603832453346 + ], + [ + 241.58539196718726, + 498.25833977030646 + ], + [ + 156.8462239859228, + 497.70030168935614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2125, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 389.6009406402137, + "ymin": 0.0, + "xmax": 454.62398156903475, + "ymax": 66.18367582873475 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 394.7851867510368, + 66.0236342760183 + ], + [ + 437.50322027682637, + 66.18367582873475 + ], + [ + 454.62398156903475, + 20.306177562292817 + ], + [ + 415.3275813285246, + 20.170779769464104 + ], + [ + 389.6009406402137, + 37.30228538927042 + ], + [ + 433.22088024265787, + 37.4575018470581 + ], + [ + 451.0242912319899, + -6.961744043006718 + ], + [ + 410.9659657810409, + -7.0926154403750274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 379.5947561989633, + "ymin": 0.0, + "xmax": 615.5507782276719, + "ymax": 138.39550343661423 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 615.1917762669118, + 138.39550343661423 + ], + [ + 615.5507782276719, + 129.7867634103638 + ], + [ + 430.02407406194146, + 129.64191917641207 + ], + [ + 427.1525558993402, + 138.24670890868376 + ], + [ + 609.6471568519844, + -149.05756147351326 + ], + [ + 610.1754842675874, + -154.87247697032865 + ], + [ + 383.872562637853, + -154.97001813070347 + ], + [ + 379.5947561989633, + -149.15836220881363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.1165793384846, + "ymin": 78.31042767218571, + "xmax": 256.12113142819237, + "ymax": 90.18887830299332 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 249.3250919984951, + 90.18887830299332 + ], + [ + 256.12113142819237, + 79.8767902497703 + ], + [ + 224.95468121348256, + 79.8543590431068 + ], + [ + 217.61010449755713, + 90.16565015449902 + ], + [ + 248.86860517735795, + 88.62974259237541 + ], + [ + 255.68035635608794, + 78.33282542475655 + ], + [ + 224.4781386639143, + 78.31042767218571 + ], + [ + 217.1165793384846, + 88.60654814862994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 209.05052758163623, + "ymin": 66.8836278865839, + "xmax": 603.2103850953529, + "ymax": 444.3148661061311 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 602.4343187455478, + 444.3148661061311 + ], + [ + 603.2103850953529, + 425.7050686982242 + ], + [ + 331.3282008896902, + 425.3939621663596 + ], + [ + 325.1220852200478, + 443.9912058206597 + ], + [ + 588.5802472543232, + 82.81058595097755 + ], + [ + 590.0037044441941, + 67.14362825016389 + ], + [ + 220.57195293567133, + 66.8836278865839 + ], + [ + 209.05052758163623, + 82.53617337781196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.10382196793626, + "ymin": 78.2705186711475, + "xmax": 256.10976397586404, + "ymax": 90.14866946889464 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 249.31331957693214, + 90.14866946889464 + ], + [ + 256.10976397586404, + 79.836971876056 + ], + [ + 224.9423913284832, + 79.81454153045712 + ], + [ + 217.5973768870034, + 90.12544218783421 + ], + [ + 248.85680522817046, + 88.58943973737564 + ], + [ + 255.66896278385076, + 78.29291555716458 + ], + [ + 224.46582054054193, + 78.2705186711475 + ], + [ + 217.10382196793626, + 88.56624616676356 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00019/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d58b9e5dcac34e828f3925f16e1b3acfa7a5161 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00019/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 19, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 9.5, + "sim_timestamp": 277.6644405534025 + }, + "drone_pose": { + "x": -139.25805844840315, + "y": -71.33406532165573, + "z": 20.152011074545666, + "pitch": -42.022562856272586, + "yaw": 89.75377481965178, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.0031924843788146973, + -0.7428743839263916, + 0.6694232225418091, + 39.94660949707031 + ], + [ + 0.999990701675415, + 0.004297494888305664, + 2.9802322387695312e-08, + -138.95022583007812 + ], + [ + -0.0028768181800842285, + 0.6694170236587524, + 0.7428812384605408, + -63.123409271240234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.3144473100529, + "y": -70.82929506108995, + "z": 20.13468441830284 + }, + "t1_image_uv": [ + 785.4846996004355, + -447.1258222776928 + ], + "t1_depth": 0.38639975352965866 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -50.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.465514367408808, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 604, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -50.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3782128691673279, + "y": 0.5842016339302063, + "z": 0.8771604895591736 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.6228853776977, + "ymin": 329.09825566002763, + "xmax": 660.266252695551, + "ymax": 390.24791108667273 + }, + "corners_3d": [ + [ + -138.58297729492188, + -50.565975189208984, + 0.21937483549118042 + ], + [ + -139.75137329101562, + -50.565975189208984, + 0.21937483549118042 + ], + [ + -139.75137329101562, + -49.80955123901367, + 0.21937483549118042 + ], + [ + -138.58297729492188, + -49.80955123901367, + 0.21937483549118042 + ], + [ + -138.58297729492188, + -50.565975189208984, + 1.9736957550048828 + ], + [ + -139.75137329101562, + -50.565975189208984, + 1.9736957550048828 + ], + [ + -139.75137329101562, + -49.80955123901367, + 1.9736957550048828 + ], + [ + -138.58297729492188, + -49.80955123901367, + 1.9736957550048828 + ] + ], + "corners_2d": [ + [ + 620.4545690659938, + 390.13184583491915 + ], + [ + 659.4389865489497, + 390.24791108667273 + ], + [ + 659.1729728759279, + 373.0956869468472 + ], + [ + 620.9353434692722, + 372.9840258914079 + ], + [ + 619.6228853776977, + 346.08221112612625 + ], + [ + 660.266252695551, + 346.1972615919666 + ], + [ + 659.9726347205118, + 329.2087601996074 + ], + [ + 620.1403045779758, + 329.09825566002763 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 19, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 339194, + "2": 120976, + "3": 238237, + "4": 59933, + "6": 8769, + "12": 3335, + "14": 20203, + "20": 180, + "24": 7216, + "25": 123557 + }, + "instance_pixel_counts": { + "2453": 3232, + "3413": 5758, + "3662": 22700, + "11605": 1758, + "15960": 7464, + "17240": 1305, + "20565": 252, + "22421": 390, + "22931": 16031, + "22933": 3594, + "23443": 163281, + "36096": 604, + "36352": 624, + "36608": 487, + "36864": 14, + "37120": 891, + "37376": 715, + "38144": 18021, + "41728": 2182, + "47198": 62121, + "48737": 3416, + "48980": 41710, + "49249": 248, + "49492": 188759, + "49761": 696, + "50246": 28811, + "51297": 33482, + "51526": 8422, + "51809": 4021, + "52321": 4100, + "54366": 55830, + "54878": 5606, + "57482": 2891, + "57994": 11967, + "59737": 180, + "63382": 52006, + "63894": 8149, + "65426": 159882 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 604, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -50.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3665820360183716, + "y": 0.5390673875808716, + "z": 0.903407871723175 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.1883988979022, + "ymin": 328.6740820912657, + "xmax": 658.7037744541063, + "ymax": 390.60637275867185 + }, + "corners_3d": [ + [ + -138.62811279296875, + -50.554344177246094, + 0.19312745332717896 + ], + [ + -139.70623779296875, + -50.554344177246094, + 0.19312745332717896 + ], + [ + -139.70623779296875, + -49.82118225097656, + 0.19312745332717896 + ], + [ + -138.62811279296875, + -49.82118225097656, + 0.19312745332717896 + ], + [ + -138.62811279296875, + -50.554344177246094, + 1.9999432563781738 + ], + [ + -139.70623779296875, + -50.554344177246094, + 1.9999432563781738 + ], + [ + -139.70623779296875, + -49.82118225097656, + 1.9999432563781738 + ], + [ + -138.62811279296875, + -49.82118225097656, + 1.9999432563781738 + ] + ], + "corners_2d": [ + [ + 621.9784457228184, + 390.4993288751955 + ], + [ + 657.9181622270718, + 390.60637275867185 + ], + [ + 657.6886395866595, + 373.98011211847535 + ], + [ + 622.4160115113503, + 373.87700517798515 + ], + [ + 621.1883988979022, + 345.1327770820183 + ], + [ + 658.7037744541063, + 345.23885403236807 + ], + [ + 658.4491732219398, + 328.77609156815157 + ], + [ + 621.6600699025674, + 328.6740820912657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 624, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -47.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4594140946865082, + "y": 0.5597339272499084, + "z": 0.919553279876709 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 490.0578586327386, + "ymin": 266.9848253664742, + "xmax": 533.0953381729678, + "ymax": 333.8411572765602 + }, + "corners_3d": [ + [ + -134.58921813964844, + -47.75580596923828, + 0.024584591388702393 + ], + [ + -135.68421936035156, + -47.52305603027344, + 0.024584591388702393 + ], + [ + -135.49317932128906, + -46.624305725097656, + 0.024584591388702393 + ], + [ + -134.39817810058594, + -46.8570556640625, + 0.024584591388702393 + ], + [ + -134.58921813964844, + -47.75580596923828, + 1.8636910915374756 + ], + [ + -135.68421936035156, + -47.52305603027344, + 1.8636910915374756 + ], + [ + -135.49317932128906, + -46.624305725097656, + 1.8636910915374756 + ], + [ + -134.39817810058594, + -46.8570556640625, + 1.8636910915374756 + ] + ], + "corners_2d": [ + [ + 498.57560236202175, + 333.8411572765602 + ], + [ + 533.0953381729678, + 329.2822313925354 + ], + [ + 529.6958095127085, + 311.7716322912016 + ], + [ + 495.88623092568014, + 316.1407088771772 + ], + [ + 492.7276177003787, + 288.70685087528136 + ], + [ + 528.6997760767565, + 284.2158363156014 + ], + [ + 525.2594814716715, + 266.9848253664742 + ], + [ + 490.0578586327386, + 271.28135932818907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 487, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -43.245052337646484, + "z": 1.0929806232452393 + }, + "extent": { + "x": 0.450927734375, + "y": 0.5693749785423279, + "z": 0.9428746700286865 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 686.5244023907483, + "ymin": 196.63417350292266, + "xmax": 725.069674057507, + "ymax": 257.989847465525 + }, + "corners_3d": [ + [ + -140.9038848876953, + -43.75302505493164, + 0.15010595321655273 + ], + [ + -142.03639221191406, + -43.633995056152344, + 0.15010595321655273 + ], + [ + -141.94212341308594, + -42.73707962036133, + 0.15010595321655273 + ], + [ + -140.8096160888672, + -42.856109619140625, + 0.15010595321655273 + ], + [ + -140.9038848876953, + -43.75302505493164, + 2.035855293273926 + ], + [ + -142.03639221191406, + -43.633995056152344, + 2.035855293273926 + ], + [ + -141.94212341308594, + -42.73707962036133, + 2.035855293273926 + ], + [ + -140.8096160888672, + -42.856109619140625, + 2.035855293273926 + ] + ], + "corners_2d": [ + [ + 690.0023172342821, + 257.989847465525 + ], + [ + 721.9073203265071, + 256.0841578522777 + ], + [ + 717.8236951511739, + 241.4305142713342 + ], + [ + 686.5244023907483, + 243.26344591205768 + ], + [ + 691.9378735719226, + 212.80234569047047 + ], + [ + 725.069674057507, + 210.94028884415553 + ], + [ + 720.7683500626252, + 196.63417350292266 + ], + [ + 688.2892562655853, + 198.42247207045676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 14, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -50.18776321411133, + "z": 1.0944405794143677 + }, + "extent": { + "x": 0.3831152319908142, + "y": 0.42033445835113525, + "z": 0.8862796425819397 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 743.4470709461488, + "ymin": 329.1613841121907, + "xmax": 779.1946072588269, + "ymax": 390.9708655136367 + }, + "corners_3d": [ + [ + -142.32659912109375, + -50.57087707519531, + 0.20816093683242798 + ], + [ + -143.16726684570312, + -50.57087707519531, + 0.20816093683242798 + ], + [ + -143.16726684570312, + -49.804649353027344, + 0.20816093683242798 + ], + [ + -142.32659912109375, + -49.804649353027344, + 0.20816093683242798 + ], + [ + -142.32659912109375, + -50.57087707519531, + 1.9807202816009521 + ], + [ + -143.16726684570312, + -50.57087707519531, + 1.9807202816009521 + ], + [ + -143.16726684570312, + -49.804649353027344, + 1.9807202816009521 + ], + [ + -142.32659912109375, + -49.804649353027344, + 1.9807202816009521 + ] + ], + "corners_2d": [ + [ + 745.3841855875467, + 390.8872649627717 + ], + [ + 773.4522232305326, + 390.9708655136367 + ], + [ + 770.9702494781658, + 373.58245136180346 + ], + [ + 743.4470709461488, + 373.5020638488167 + ], + [ + 749.9183743733771, + 346.3794266509574 + ], + [ + 779.1946072588269, + 346.4622928397845 + ], + [ + 776.4918618449102, + 329.2409325948444 + ], + [ + 747.8079098952969, + 329.1613841121907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 891, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -59.40341567993164, + "z": 1.0951436758041382 + }, + "extent": { + "x": 0.3506787419319153, + "y": 0.5762231945991516, + "z": 0.8777852654457092 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 742.3379222120644, + "ymin": 596.3613686954609, + "xmax": 801.6874281567269, + "ymax": 671.6050330327528 + }, + "corners_3d": [ + [ + -141.5518035888672, + -59.69194030761719, + 0.21735841035842896 + ], + [ + -142.69793701171875, + -59.81240463256836, + 0.21735841035842896 + ], + [ + -142.77125549316406, + -59.114891052246094, + 0.21735841035842896 + ], + [ + -141.6251220703125, + -58.99442672729492, + 0.21735841035842896 + ], + [ + -141.5518035888672, + -59.69194030761719, + 1.9729290008544922 + ], + [ + -142.69793701171875, + -59.81240463256836, + 1.9729290008544922 + ], + [ + -142.77125549316406, + -59.114891052246094, + 1.9729290008544922 + ], + [ + -141.6251220703125, + -58.99442672729492, + 1.9729290008544922 + ] + ], + "corners_2d": [ + [ + 742.3379222120644, + 666.6197682040962 + ], + [ + 793.0079756279863, + 671.6050330327528 + ], + [ + 792.7409234824436, + 644.411119797925 + ], + [ + 743.2381516647855, + 639.6531529285783 + ], + [ + 748.1171072433722, + 623.7734035406335 + ], + [ + 801.6874281567269, + 628.848818054652 + ], + [ + 801.1939071184293, + 601.1927535942351 + ], + [ + 748.9266022758003, + 596.3613686954609 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 715, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -125.83769226074219, + "y": -55.87427520751953, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.29659178853034973, + "y": 0.4819360375404358, + "z": 0.8955939412117004 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 76.19571045584314, + "ymin": 477.76931948358765, + "xmax": 150.15677494948432, + "ymax": 546.9654447599639 + }, + "corners_3d": [ + [ + -125.30462646484375, + -56.064186096191406, + 0.04854393005371094 + ], + [ + -126.24742889404297, + -56.26458740234375, + 0.04854393005371094 + ], + [ + -126.37075805664062, + -55.684364318847656, + 0.04854393005371094 + ], + [ + -125.4279556274414, + -55.48396301269531, + 0.04854393005371094 + ], + [ + -125.30462646484375, + -56.064186096191406, + 1.8397318124771118 + ], + [ + -126.24742889404297, + -56.26458740234375, + 1.8397318124771118 + ], + [ + -126.37075805664062, + -55.684364318847656, + 1.8397318124771118 + ], + [ + -125.4279556274414, + -55.48396301269531, + 1.8397318124771118 + ] + ], + "corners_2d": [ + [ + 103.40492269969195, + 540.5343341977202 + ], + [ + 136.72296930139441, + 546.9654447599639 + ], + [ + 150.15677494948432, + 528.9333877377353 + ], + [ + 117.32565031182094, + 522.72019680226 + ], + [ + 76.19571045584314, + 495.66814737875393 + ], + [ + 111.03824825725974, + 502.1374321092393 + ], + [ + 125.6076098339422, + 484.0085385177349 + ], + [ + 91.29634603448471, + 477.76931948358765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 18021, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 62.790215762803655, + "ymin": 512.6621172713373, + "xmax": 254.12028347638255, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 95.10432455131127, + 726.6402699282625 + ], + [ + 189.99951914148352, + 727.655064951944 + ], + [ + 254.12028347638255, + 557.4617968223001 + ], + [ + 172.27144294418366, + 556.7077817681298 + ], + [ + 62.790215762803655, + 685.2048345963867 + ], + [ + 163.28971628484595, + 686.2436983491798 + ], + [ + 234.53900221586088, + 513.4215285530217 + ], + [ + 148.5544785780832, + 512.6621172713373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2182, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 388.8263245843468, + "ymin": 0.0, + "xmax": 454.6698180026917, + "ymax": 70.69390774414552 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 394.0656650070206, + 70.47940864251404 + ], + [ + 437.10277056970926, + 70.69390774414552 + ], + [ + 454.6698180026917, + 24.152951038042318 + ], + [ + 415.10447373625755, + 23.9717224328798 + ], + [ + 388.8263245843468, + 41.61561859066177 + ], + [ + 432.77863957691613, + 41.823702752078646 + ], + [ + 451.04558786190637, + -3.248084832427992 + ], + [ + 410.70805775504573, + -3.4232895505732586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 377.81420005623403, + "ymin": 0.0, + "xmax": 616.2758323479345, + "ymax": 144.40418068378912 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 615.8752922105488, + 144.40418068378912 + ], + [ + 616.2758323479345, + 135.6387653636844 + ], + [ + 429.0772320353047, + 135.2398690613957 + ], + [ + 426.11754294783486, + 143.99429880972986 + ], + [ + 610.4227354563719, + -145.1080208014189 + ], + [ + 611.0022565686364, + -151.04604397666503 + ], + [ + 382.2275010958339, + -151.31541233273867 + ], + [ + 377.81420005623403, + -145.38649751583193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.83599470450451, + "ymin": 88.22500076896199, + "xmax": 248.74499872216023, + "ymax": 100.52367332325542 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 241.62480926472517, + 100.52367332325542 + ], + [ + 248.74499872216023, + 89.84861838316323 + ], + [ + 217.0366437021998, + 89.78580396583777 + ], + [ + 209.3483172683948, + 100.45858456567782 + ], + [ + 241.15083326089996, + 98.94743796495618 + ], + [ + 248.28770932694061, + 88.28772359573094 + ], + [ + 216.542346604096, + 88.22500076896199 + ], + [ + 208.83599470450451, + 98.88244138827184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 200.50863007976017, + "ymin": 76.60447294650123, + "xmax": 602.446320555184, + "ymax": 457.4092524168883 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 601.5723672915699, + 457.4092524168883 + ], + [ + 602.446320555184, + 438.28366935232003 + ], + [ + 326.9167592989442, + 437.4191815131847 + ], + [ + 320.4627663330364, + 456.5093727522019 + ], + [ + 587.1280764685586, + 93.57909861790154 + ], + [ + 588.7136027353054, + 77.33311289338639 + ], + [ + 212.57097916706135, + 76.60447294650123 + ], + [ + 200.50863007976017, + 92.80926831139755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.82275114261358, + "ymin": 88.18465480222653, + "xmax": 248.7332056065277, + "ymax": 100.48302434637566 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 241.61258606498563, + 100.48302434637566 + ], + [ + 248.7332056065277, + 89.80836419640337 + ], + [ + 217.02389618695776, + 89.74555213628344 + ], + [ + 209.33510516111699, + 100.41793796095493 + ], + [ + 241.13858095774708, + 98.9066922029462 + ], + [ + 248.2758886277643, + 88.24737525631843 + ], + [ + 216.52956927616805, + 88.18465480222653 + ], + [ + 208.82275114261358, + 98.84169801448724 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00020/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4933d11e22a2b5fcf7203454f0c96c474c95c1b9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00020/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 20, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 10.0, + "sim_timestamp": 291.4856984463986 + }, + "drone_pose": { + "x": -139.3144473100529, + "y": -70.82929506108995, + "z": 20.13468441830284, + "pitch": -42.00264378656384, + "yaw": 89.60090444310704, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.005176126956939697, + -0.743095874786377, + 0.6691648364067078, + 39.880638122558594 + ], + [ + 0.9999756813049316, + 0.0069653987884521484, + 0.0, + -138.81771850585938 + ], + [ + -0.004660964012145996, + 0.6691486239433289, + 0.7431139945983887, + -63.00703811645508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.3694492152812, + "y": -70.32472587904665, + "z": 20.118729624702304 + }, + "t1_image_uv": [ + 785.7810239434258, + -450.97859292713235 + ], + "t1_depth": 0.3853349915793935 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -49.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.45060944003658, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 595, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -49.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4000195264816284, + "y": 0.3071923851966858, + "z": 0.8771471381187439 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 629.2056912404163, + "ymin": 328.6076010275739, + "xmax": 650.6009433275563, + "ymax": 390.76296471317 + }, + "corners_3d": [ + [ + -138.8599853515625, + -50.08778381347656, + 0.2193881869316101 + ], + [ + -139.474365234375, + -50.08778381347656, + 0.2193881869316101 + ], + [ + -139.474365234375, + -49.287742614746094, + 0.2193881869316101 + ], + [ + -138.8599853515625, + -49.287742614746094, + 0.2193881869316101 + ], + [ + -138.8599853515625, + -50.08778381347656, + 1.9736824035644531 + ], + [ + -139.474365234375, + -50.08778381347656, + 1.9736824035644531 + ], + [ + -139.474365234375, + -49.287742614746094, + 1.9736824035644531 + ], + [ + -138.8599853515625, + -49.287742614746094, + 1.9736824035644531 + ] + ], + "corners_2d": [ + [ + 629.6465656746651, + 390.66391281837343 + ], + [ + 650.167918650544, + 390.76296471317 + ], + [ + 650.1442205446472, + 372.61898729963184 + ], + [ + 630.0387388660315, + 372.52390954687615 + ], + [ + 629.2056912404163, + 346.5729887813406 + ], + [ + 650.6009433275563, + 346.671172319162 + ], + [ + 650.5671151518471, + 328.7016828012602 + ], + [ + 629.6235184050785, + 328.6076010275739 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 20, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 339925, + "2": 121091, + "3": 234963, + "4": 60960, + "6": 9054, + "12": 3439, + "14": 19282, + "20": 184, + "24": 7063, + "25": 125639 + }, + "instance_pixel_counts": { + "2453": 2983, + "3413": 5914, + "3662": 23659, + "11605": 1690, + "15960": 7688, + "17240": 1366, + "20565": 388, + "22421": 420, + "22931": 17660, + "22933": 3660, + "23443": 167283, + "36096": 595, + "36352": 620, + "36608": 476, + "36864": 151, + "37120": 891, + "37376": 706, + "38144": 17052, + "41728": 2230, + "47198": 60733, + "48737": 3819, + "48980": 45846, + "49249": 264, + "49492": 181125, + "49761": 762, + "50246": 28824, + "51297": 34564, + "51526": 8477, + "51809": 4201, + "52321": 4045, + "54366": 58585, + "54878": 6321, + "57482": 3181, + "57994": 11789, + "59737": 184, + "63382": 50550, + "63894": 7916, + "65426": 154982 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 595, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -49.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3910156190395355, + "y": 0.3234619200229645, + "z": 0.861527144908905 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.6485576307645, + "ymin": 329.2103290089483, + "xmax": 651.1626970926426, + "ymax": 390.1804765649944 + }, + "corners_3d": [ + [ + -138.84371948242188, + -50.07877731323242, + 0.23500818014144897 + ], + [ + -139.49063110351562, + -50.07877731323242, + 0.23500818014144897 + ], + [ + -139.49063110351562, + -49.296749114990234, + 0.23500818014144897 + ], + [ + -138.84371948242188, + -49.296749114990234, + 0.23500818014144897 + ], + [ + -138.84371948242188, + -50.07877731323242, + 1.9580624103546143 + ], + [ + -139.49063110351562, + -50.07877731323242, + 1.9580624103546143 + ], + [ + -139.49063110351562, + -49.296749114990234, + 1.9580624103546143 + ], + [ + -138.84371948242188, + -49.296749114990234, + 1.9580624103546143 + ] + ], + "corners_2d": [ + [ + 629.1039892536841, + 390.07623435128977 + ], + [ + 650.714785936189, + 390.1804765649944 + ], + [ + 650.680767400904, + 372.4461356689007 + ], + [ + 629.4983097919956, + 372.3459849851239 + ], + [ + 628.6485576307645, + 346.77295352042415 + ], + [ + 651.1626970926426, + 346.8762962569714 + ], + [ + 651.1180435144261, + 329.3094511964126 + ], + [ + 629.0684163041136, + 329.2103290089483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 620, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -46.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4482373297214508, + "y": 0.43909183144569397, + "z": 0.8785715103149414 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 494.29514058403464, + "ymin": 268.48153463295756, + "xmax": 529.4477681854554, + "ymax": 331.93753871946325 + }, + "corners_3d": [ + [ + -134.70489501953125, + -47.219791412353516, + 0.06556636095046997 + ], + [ + -135.5638885498047, + -47.03720474243164, + 0.06556636095046997 + ], + [ + -135.37750244140625, + -46.16032028198242, + 0.06556636095046997 + ], + [ + -134.5185089111328, + -46.3429069519043, + 0.06556636095046997 + ], + [ + -134.70489501953125, + -47.219791412353516, + 1.822709321975708 + ], + [ + -135.5638885498047, + -47.03720474243164, + 1.822709321975708 + ], + [ + -135.37750244140625, + -46.16032028198242, + 1.822709321975708 + ], + [ + -134.5185089111328, + -46.3429069519043, + 1.822709321975708 + ] + ], + "corners_2d": [ + [ + 502.3377791356619, + 331.93753871946325 + ], + [ + 529.4477681854554, + 328.4114070208324 + ], + [ + 526.272345077183, + 311.3096895825492 + ], + [ + 499.70815364374266, + 314.6922080628757 + ], + [ + 496.90999731752373, + 288.7970472750913 + ], + [ + 525.1079836714682, + 285.32150730704143 + ], + [ + 521.9030988806965, + 268.48153463295756 + ], + [ + 494.29514058403464, + 271.8101307513731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 476, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -42.745052337646484, + "z": 1.0929317474365234 + }, + "extent": { + "x": 0.4732617139816284, + "y": 0.5159618854522705, + "z": 0.9466515779495239 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 688.4754772575512, + "ymin": 196.37953070731214, + "xmax": 724.1927665095387, + "ymax": 258.4543861516843 + }, + "corners_3d": [ + [ + -140.95933532714844, + -43.2696533203125, + 0.1462801694869995 + ], + [ + -141.98561096191406, + -43.16178894042969, + 0.1462801694869995 + ], + [ + -141.8866729736328, + -42.22045135498047, + 0.1462801694869995 + ], + [ + -140.8603973388672, + -42.32831573486328, + 0.1462801694869995 + ], + [ + -140.95933532714844, + -43.2696533203125, + 2.039583206176758 + ], + [ + -141.98561096191406, + -43.16178894042969, + 2.039583206176758 + ], + [ + -141.8866729736328, + -42.22045135498047, + 2.039583206176758 + ], + [ + -140.8603973388672, + -42.32831573486328, + 2.039583206176758 + ] + ], + "corners_2d": [ + [ + 692.0982229827822, + 258.4543861516843 + ], + [ + 721.0482398681509, + 256.77113189423665 + ], + [ + 716.8479789223483, + 241.37947373166045 + ], + [ + 688.4754772575512, + 242.99527573776135 + ], + [ + 694.1241841377548, + 213.0481821638162 + ], + [ + 724.1927665095387, + 211.403688291887 + ], + [ + 719.7669682209348, + 196.37953070731214 + ], + [ + 690.3209078748008, + 197.95564622681385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 151, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -49.68776321411133, + "z": 1.0944063663482666 + }, + "extent": { + "x": 0.3916992247104645, + "y": 0.4609423577785492, + "z": 0.8847744464874268 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 742.206911474929, + "ymin": 329.1722306264647, + "xmax": 780.7125180428234, + "ymax": 391.4077115373456 + }, + "corners_3d": [ + [ + -142.28599548339844, + -50.079463958740234, + 0.20963191986083984 + ], + [ + -143.20787048339844, + -50.079463958740234, + 0.20963191986083984 + ], + [ + -143.20787048339844, + -49.29606246948242, + 0.20963191986083984 + ], + [ + -142.28599548339844, + -49.29606246948242, + 0.20963191986083984 + ], + [ + -142.28599548339844, + -50.079463958740234, + 1.9791808128356934 + ], + [ + -143.20787048339844, + -50.079463958740234, + 1.9791808128356934 + ], + [ + -143.20787048339844, + -49.29606246948242, + 1.9791808128356934 + ], + [ + -142.28599548339844, + -49.29606246948242, + 1.9791808128356934 + ] + ], + "corners_2d": [ + [ + 744.0950945371862, + 391.2589514573736 + ], + [ + 774.9134131137411, + 391.4077115373456 + ], + [ + 772.4129114207321, + 373.61679629508865 + ], + [ + 742.206911474929, + 373.47388543680967 + ], + [ + 748.5687329741514, + 346.7856179605538 + ], + [ + 780.7125180428234, + 346.9330688307076 + ], + [ + 777.9867490222989, + 329.3136422713592 + ], + [ + 746.5085169613756, + 329.1722306264647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 891, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -58.90341567993164, + "z": 1.0950998067855835 + }, + "extent": { + "x": 0.40097659826278687, + "y": 0.3097778558731079, + "z": 0.8751821517944336 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 752.9722058331993, + "ymin": 595.9722169325967, + "xmax": 788.2319409122529, + "ymax": 672.875658995532 + }, + "corners_3d": [ + [ + -141.81153869628906, + -59.269813537597656, + 0.2199176549911499 + ], + [ + -142.42770385742188, + -59.33457565307617, + 0.2199176549911499 + ], + [ + -142.5115203857422, + -58.537017822265625, + 0.2199176549911499 + ], + [ + -141.89535522460938, + -58.47225570678711, + 0.2199176549911499 + ], + [ + -141.81153869628906, + -59.269813537597656, + 1.970281958580017 + ], + [ + -142.42770385742188, + -59.33457565307617, + 1.970281958580017 + ], + [ + -142.5115203857422, + -58.537017822265625, + 1.970281958580017 + ], + [ + -141.89535522460938, + -58.47225570678711, + 1.970281958580017 + ] + ], + "corners_2d": [ + [ + 752.9722058331993, + 670.1174241065677 + ], + [ + 780.2865433287745, + 672.875658995532 + ], + [ + 780.4074409604289, + 641.8092553721838 + ], + [ + 753.8119231913886, + 639.1945006880514 + ], + [ + 759.3547667008836, + 627.4074929764757 + ], + [ + 788.2319409122529, + 630.215971320371 + ], + [ + 788.1382975135667, + 598.626680376017 + ], + [ + 760.0633466297542, + 595.9722169325967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 706, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.90459442138672, + "y": -55.24262237548828, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.31028807163238525, + "y": 0.30445799231529236, + "z": 0.8665551543235779 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 127.67553230589783, + "ymin": 474.43646449828395, + "xmax": 186.06337442660765, + "ymax": 540.5676628997494 + }, + "corners_3d": [ + [ + -126.54227447509766, + -55.48283004760742, + 0.07758748531341553 + ], + [ + -127.13788604736328, + -55.609432220458984, + 0.07758748531341553 + ], + [ + -127.26691436767578, + -55.00241470336914, + 0.07758748531341553 + ], + [ + -126.67130279541016, + -54.87581253051758, + 0.07758748531341553 + ], + [ + -126.54227447509766, + -55.48283004760742, + 1.8106977939605713 + ], + [ + -127.13788604736328, + -55.609432220458984, + 1.8106977939605713 + ], + [ + -127.26691436767578, + -55.00241470336914, + 1.8106977939605713 + ], + [ + -126.67130279541016, + -54.87581253051758, + 1.8106977939605713 + ] + ], + "corners_2d": [ + [ + 151.54557451123225, + 536.4885121800836 + ], + [ + 172.6579715178957, + 540.5676628997494 + ], + [ + 186.06337442660765, + 521.9226543890916 + ], + [ + 165.2748140230239, + 517.987487503916 + ], + [ + 127.67553230589783, + 493.0150537020553 + ], + [ + 149.72577382237853, + 497.11564907528754 + ], + [ + 164.20551670443223, + 478.38542903043265 + ], + [ + 142.50779369680902, + 474.43646449828395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 17052, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 50.444134217264036, + "ymin": 528.1010605100375, + "xmax": 247.4155636168532, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 84.01731207473006, + 747.4511583690387 + ], + [ + 180.47922016732946, + 748.7522181682805 + ], + [ + 247.4155636168532, + 573.0366963126271 + ], + [ + 164.40656165589513, + 572.0747632686725 + ], + [ + 50.444134217264036, + 706.4714079949499 + ], + [ + 152.7003421963534, + 707.8059564214108 + ], + [ + 227.18216538074927, + 529.0712532945768 + ], + [ + 139.9179740589147, + 528.1010605100375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2230, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 387.96346198906764, + "ymin": 0.29423985410153364, + "xmax": 454.6433664310049, + "ymax": 75.27138886347075 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 393.26075334192336, + 75.00158408062998 + ], + [ + 436.6217425661631, + 75.27138886347075 + ], + [ + 454.6433664310049, + 28.049261155235 + ], + [ + 414.8052408110443, + 27.821611465465594 + ], + [ + 387.96346198906764, + 45.99483211506731 + ], + [ + 432.2532997810488, + 46.25663631868571 + ], + [ + 450.9927014472169, + 0.5143684063331762 + ], + [ + 410.3718831417786, + 0.29423985410153364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 375.8986821821692, + "ymin": 0.0, + "xmax": 616.9356503658217, + "ymax": 150.52121323886115 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 616.4926270478906, + 150.52121323886115 + ], + [ + 616.9356503658217, + 141.5943880535958 + ], + [ + 428.0370767079135, + 140.9362717053526 + ], + [ + 424.98714219184683, + 149.8447940119791 + ], + [ + 611.1189653373447, + -141.06688713923165 + ], + [ + 611.7512706310193, + -147.13294978612652 + ], + [ + 380.4517079821643, + -147.5786698304281 + ], + [ + 375.8986821821692, + -141.52785881001904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 200.13107060656307, + "ymin": 98.52543560434447, + "xmax": 240.98305499717105, + "ymax": 111.26783372985986 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 233.52069259694161, + 111.26783372985986 + ], + [ + 240.98305499717105, + 100.20865567777906 + ], + [ + 208.71451155043013, + 100.1032209988337 + ], + [ + 200.66340644606015, + 111.15850745630738 + ], + [ + 233.02808173858858, + 109.67440643192154 + ], + [ + 240.50818339441776, + 98.63072027494411 + ], + [ + 208.20132663365212, + 98.52543560434447 + ], + [ + 200.13107060656307, + 109.56523095172147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 191.52798323867978, + "ymin": 86.70487507024131, + "xmax": 601.5699311562856, + "ymax": 470.8737113875495 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 600.594073530292, + 470.8737113875495 + ], + [ + 601.5699311562856, + 451.2103879074764 + ], + [ + 322.303975828311, + 449.7710416960821 + ], + [ + 315.59248313525296, + 469.3745724823409 + ], + [ + 585.4918129965637, + 104.78889347150334 + ], + [ + 587.249243107774, + 87.92887148720871 + ], + [ + 204.16145187448564, + 86.70487507024131 + ], + [ + 191.52798323867978, + 103.4943101855896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 200.11730938986773, + "ymin": 98.48464976867388, + "xmax": 240.97080870509086, + "ymax": 111.22674228071665 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 233.50798910299517, + 111.22674228071665 + ], + [ + 240.97080870509086, + 100.16796287215595 + ], + [ + 208.70127720747075, + 100.06253205349589 + ], + [ + 200.64967851778277, + 111.11741988722383 + ], + [ + 233.01534743486206, + 109.63321532369903 + ], + [ + 240.49590793582547, + 98.58993055286669 + ], + [ + 208.18806077648458, + 98.48464976867388 + ], + [ + 200.11730938986773, + 109.52404375069455 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00021/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..496b3646332811ddcb10d75ced1dbd6fe0577001 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00021/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 21, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 10.5, + "sim_timestamp": 303.2760047761258 + }, + "drone_pose": { + "x": -139.3694492152812, + "y": -70.32472587904665, + "z": 20.118729624702304, + "pitch": -41.98430254528497, + "yaw": 89.45173526665195, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.007112860679626465, + -0.7432941198348999, + 0.6689269542694092, + 39.8052978515625 + ], + [ + 0.9999542236328125, + 0.009568870067596436, + -2.9802322387695312e-08, + -138.6901397705078 + ], + [ + -0.006400853395462036, + 0.6688963174819946, + 0.7433281540870667, + -62.8868522644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.42271954536142, + "y": -69.82033251514034, + "z": 20.104143776842864 + }, + "t1_image_uv": [ + 785.1261090984788, + -454.89296060402967 + ], + "t1_depth": 0.3842905710924199 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -49.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.436877101765397, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 625, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -49.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3843066394329071, + "y": 0.3385400176048279, + "z": 0.8647843599319458 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.0860999407906, + "ymin": 329.23358119731535, + "xmax": 651.6735526810469, + "ymax": 390.14435395635775 + }, + "corners_3d": [ + [ + -138.82862854003906, + -49.57207107543945, + 0.2317509651184082 + ], + [ + -139.50572204589844, + -49.57207107543945, + 0.2317509651184082 + ], + [ + -139.50572204589844, + -48.8034553527832, + 0.2317509651184082 + ], + [ + -138.82862854003906, + -48.8034553527832, + 0.2317509651184082 + ], + [ + -138.82862854003906, + -49.57207107543945, + 1.9613196849822998 + ], + [ + -139.50572204589844, + -49.57207107543945, + 1.9613196849822998 + ], + [ + -139.50572204589844, + -48.8034553527832, + 1.9613196849822998 + ], + [ + -138.82862854003906, + -48.8034553527832, + 1.9613196849822998 + ] + ], + "corners_2d": [ + [ + 628.5658366841793, + 389.9944933340125 + ], + [ + 651.1897901551073, + 390.14435395635775 + ], + [ + 651.2125826334747, + 372.710723237913 + ], + [ + 629.0297082788582, + 372.56664957211746 + ], + [ + 628.0860999407906, + 346.4948520406593 + ], + [ + 651.6593558819337, + 346.6434027742869 + ], + [ + 651.6735526810469, + 329.3761621607069 + ], + [ + 628.578776430193, + 329.23358119731535 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 21, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 341066, + "2": 121122, + "3": 231344, + "4": 62122, + "6": 9365, + "12": 3759, + "14": 17742, + "20": 185, + "24": 7079, + "25": 127816 + }, + "instance_pixel_counts": { + "2453": 2885, + "3413": 6061, + "3662": 24642, + "11605": 1602, + "15960": 7930, + "17240": 1435, + "20565": 543, + "22421": 458, + "22931": 19315, + "22933": 3736, + "23443": 171440, + "36096": 625, + "36352": 611, + "36608": 455, + "36864": 361, + "37120": 955, + "37376": 752, + "38144": 15458, + "41728": 2284, + "47198": 59220, + "48737": 4171, + "48980": 50364, + "49249": 276, + "49492": 172774, + "49761": 829, + "50246": 28921, + "51297": 35816, + "51526": 8559, + "51809": 4349, + "52321": 3991, + "54366": 61397, + "54878": 7199, + "57482": 3472, + "57994": 11578, + "59737": 185, + "63382": 48958, + "63894": 7682, + "65426": 150311 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 625, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -49.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39464354515075684, + "y": 0.3446362316608429, + "z": 0.879521369934082 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.8630101256228, + "ymin": 328.62048442324954, + "xmax": 651.8855436738406, + "ymax": 390.74044123171296 + }, + "corners_3d": [ + [ + -138.82254028320312, + -49.58240509033203, + 0.21701395511627197 + ], + [ + -139.51181030273438, + -49.58240509033203, + 0.21701395511627197 + ], + [ + -139.51181030273438, + -48.793121337890625, + 0.21701395511627197 + ], + [ + -138.82254028320312, + -48.793121337890625, + 0.21701395511627197 + ], + [ + -138.82254028320312, + -49.58240509033203, + 1.976056694984436 + ], + [ + -139.51181030273438, + -49.58240509033203, + 1.976056694984436 + ], + [ + -139.51181030273438, + -48.793121337890625, + 1.976056694984436 + ], + [ + -138.82254028320312, + -48.793121337890625, + 1.976056694984436 + ] + ], + "corners_2d": [ + [ + 628.3600200184376, + 390.58779567265333 + ], + [ + 651.3890860376325, + 390.74044123171296 + ], + [ + 651.4084891524359, + 372.8367766189989 + ], + [ + 628.8401975369011, + 372.69017887523285 + ], + [ + 627.8630101256228, + 346.34411125174705 + ], + [ + 651.8754696610952, + 346.495403126571 + ], + [ + 651.8855436738406, + 328.76553412515807 + ], + [ + 628.3736233256179, + 328.62048442324954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 611, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -46.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44098636507987976, + "y": 0.43769046664237976, + "z": 0.8553451299667358 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 494.69271823226404, + "ymin": 269.00773192253274, + "xmax": 529.5159352369747, + "ymax": 331.0215840001034 + }, + "corners_3d": [ + [ + -134.7047576904297, + -46.712406158447266, + 0.08879274129867554 + ], + [ + -135.56100463867188, + -46.53040313720703, + 0.08879274129867554 + ], + [ + -135.3776397705078, + -45.66770553588867, + 0.08879274129867554 + ], + [ + -134.52139282226562, + -45.849708557128906, + 0.08879274129867554 + ], + [ + -134.7047576904297, + -46.712406158447266, + 1.799483060836792 + ], + [ + -135.56100463867188, + -46.53040313720703, + 1.799483060836792 + ], + [ + -135.3776397705078, + -45.66770553588867, + 1.799483060836792 + ], + [ + -134.52139282226562, + -45.849708557128906, + 1.799483060836792 + ] + ], + "corners_2d": [ + [ + 502.47160067727884, + 331.0215840001034 + ], + [ + 529.5159352369747, + 327.55453527829 + ], + [ + 526.4578783923627, + 310.7300119001501 + ], + [ + 499.95052262705076, + 314.05788958157075 + ], + [ + 497.197259688234, + 288.9984057329615 + ], + [ + 525.2970360646676, + 285.58012976652446 + ], + [ + 522.2132165791959, + 269.00773192253274 + ], + [ + 494.69271823226404, + 272.2837087820918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 455, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -42.245052337646484, + "z": 1.0928829908370972 + }, + "extent": { + "x": 0.453681617975235, + "y": 0.48812010884284973, + "z": 0.9358453154563904 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 689.880112855513, + "ymin": 197.0931446150079, + "xmax": 723.8154400360223, + "ymax": 257.9269578684716 + }, + "corners_3d": [ + [ + -140.9849853515625, + -42.74727249145508, + 0.1570376753807068 + ], + [ + -141.95587158203125, + -42.645225524902344, + 0.1570376753807068 + ], + [ + -141.86102294921875, + -41.74283218383789, + 0.1570376753807068 + ], + [ + -140.89013671875, + -41.844879150390625, + 0.1570376753807068 + ], + [ + -140.9849853515625, + -42.74727249145508, + 2.0287282466888428 + ], + [ + -141.95587158203125, + -42.645225524902344, + 2.0287282466888428 + ], + [ + -141.86102294921875, + -41.74283218383789, + 2.0287282466888428 + ], + [ + -140.89013671875, + -41.844879150390625, + 2.0287282466888428 + ] + ], + "corners_2d": [ + [ + 693.3154816352433, + 257.9269578684716 + ], + [ + 720.7206736139115, + 256.3779344857735 + ], + [ + 716.7600438835827, + 241.61584057449278 + ], + [ + 689.880112855513, + 243.10523607842043 + ], + [ + 695.3638794199605, + 213.01941989294497 + ], + [ + 723.8154400360223, + 211.50581803029036 + ], + [ + 719.6436753959698, + 197.0931446150079 + ], + [ + 691.7578349980143, + 198.546313341296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 361, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -49.18776321411133, + "z": 1.0943673849105835 + }, + "extent": { + "x": 0.40473631024360657, + "y": 0.5117626786231995, + "z": 0.9051986336708069 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 740.5648754818674, + "ymin": 328.50283264998103, + "xmax": 782.6743976611994, + "ymax": 392.47664286344656 + }, + "corners_3d": [ + [ + -142.23516845703125, + -49.592498779296875, + 0.1891687512397766 + ], + [ + -143.25869750976562, + -49.592498779296875, + 0.1891687512397766 + ], + [ + -143.25869750976562, + -48.78302764892578, + 0.1891687512397766 + ], + [ + -142.23516845703125, + -48.78302764892578, + 0.1891687512397766 + ], + [ + -142.23516845703125, + -49.592498779296875, + 1.9995660781860352 + ], + [ + -143.25869750976562, + -49.592498779296875, + 1.9995660781860352 + ], + [ + -143.25869750976562, + -48.78302764892578, + 1.9995660781860352 + ], + [ + -142.23516845703125, + -48.78302764892578, + 1.9995660781860352 + ] + ], + "corners_2d": [ + [ + 742.4126923634533, + 392.2494285200273 + ], + [ + 776.6570308397545, + 392.47664286344656 + ], + [ + 774.1059216354079, + 374.0790983834718 + ], + [ + 740.5648754818674, + 373.8611139241117 + ], + [ + 746.9209979384988, + 346.7085868310162 + ], + [ + 782.6743976611994, + 346.9337510856206 + ], + [ + 779.8845387481479, + 328.71846048481416 + ], + [ + 744.8970884671685, + 328.50283264998103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 955, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -58.40341567993164, + "z": 1.095070481300354 + }, + "extent": { + "x": 0.3929394781589508, + "y": 0.29820317029953003, + "z": 0.8654245734214783 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 752.535891052004, + "ymin": 596.9177614622463, + "xmax": 786.6744131681562, + "ymax": 672.7465470846673 + }, + "corners_3d": [ + [ + -141.82388305664062, + -58.763031005859375, + 0.22964590787887573 + ], + [ + -142.41702270507812, + -58.825374603271484, + 0.22964590787887573 + ], + [ + -142.49917602539062, + -58.043800354003906, + 0.22964590787887573 + ], + [ + -141.90603637695312, + -57.9814567565918, + 0.22964590787887573 + ], + [ + -141.82388305664062, + -58.763031005859375, + 1.9604949951171875 + ], + [ + -142.41702270507812, + -58.825374603271484, + 1.9604949951171875 + ], + [ + -142.49917602539062, + -58.043800354003906, + 1.9604949951171875 + ], + [ + -141.90603637695312, + -57.9814567565918, + 1.9604949951171875 + ] + ], + "corners_2d": [ + [ + 752.535891052004, + 670.027698782801 + ], + [ + 778.8530309247876, + 672.7465470846673 + ], + [ + 779.0966291336833, + 642.275023111464 + ], + [ + 753.458932966325, + 639.6950152644888 + ], + [ + 758.8234233538727, + 627.7471696726625 + ], + [ + 786.6299110495783, + 630.5148889455606 + ], + [ + 786.6744131681562, + 599.5365602349777 + ], + [ + 759.6253427650846, + 596.9177614622463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 752, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.35028839111328, + "y": -55.10013198852539, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3121044933795929, + "y": 0.5004028081893921, + "z": 0.8945795297622681 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 131.912697102587, + "ymin": 482.35766945231694, + "xmax": 204.95775506096402, + "ymax": 553.1748844153204 + }, + "corners_3d": [ + [ + -126.79592895507812, + -55.30137634277344, + 0.04955834150314331 + ], + [ + -127.77486419677734, + -55.509456634521484, + 0.04955834150314331 + ], + [ + -127.90464782714844, + -54.898887634277344, + 0.04955834150314331 + ], + [ + -126.92571258544922, + -54.6908073425293, + 0.04955834150314331 + ], + [ + -126.79592895507812, + -55.30137634277344, + 1.8387174606323242 + ], + [ + -127.77486419677734, + -55.509456634521484, + 1.8387174606323242 + ], + [ + -127.90464782714844, + -54.898887634277344, + 1.8387174606323242 + ], + [ + -126.92571258544922, + -54.6908073425293, + 1.8387174606323242 + ] + ], + "corners_2d": [ + [ + 156.55056315891488, + 546.2523708524101 + ], + [ + 191.61198743988064, + 553.1748844153204 + ], + [ + 204.95775506096402, + 534.003064934964 + ], + [ + 170.4423098572007, + 527.3285815229864 + ], + [ + 131.912697102587, + 501.37856959956036 + ], + [ + 168.602584458968, + 508.34533751787285 + ], + [ + 183.05847120900364, + 489.0624186170322 + ], + [ + 146.96517710454032, + 482.35766945231694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 15458, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 37.558621935257634, + "ymin": 544.0495151336353, + "xmax": 240.4282699424266, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 72.46656731931546, + 769.0142267665494 + ], + [ + 170.5452762350123, + 770.6149661105931 + ], + [ + 240.4282699424266, + 589.0991132673742 + ], + [ + 156.22712090321915, + 587.9216420554385 + ], + [ + 37.558621935257634, + 728.5565240631454 + ], + [ + 141.63142526827477, + 730.2018432222487 + ], + [ + 219.50692136250456, + 545.23884754309 + ], + [ + 130.92576257804114, + 544.0495151336353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2284, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 386.99958643889045, + "ymin": 4.062778692518236, + "xmax": 454.53148294088743, + "ymax": 79.91962045213961 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 392.3580573385009, + 79.59408863102311 + ], + [ + 436.04823602660304, + 79.91962045213961 + ], + [ + 454.53148294088743, + 31.997617904527203 + ], + [ + 414.4163329281181, + 31.723321433072556 + ], + [ + 386.99958643889045, + 50.443804270685746 + ], + [ + 431.6326169227813, + 50.759769226275296 + ], + [ + 450.8521663390481, + 4.328070796429586 + ], + [ + 409.94354960821124, + 4.062778692518236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 373.8344187900978, + "ymin": 0.0, + "xmax": 617.5218101322257, + "ymax": 156.749816197527 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 617.0356333909073, + 156.749816197527 + ], + [ + 617.5218101322257, + 147.65664770780842 + ], + [ + 426.89356984730375, + 146.73617724422948 + ], + [ + 423.75152760664145, + 155.8034932836609 + ], + [ + 611.7253561510933, + -136.93079125681675 + ], + [ + 612.4117620751613, + -143.13008701722515 + ], + [ + 378.5312874421867, + -143.75542884409748 + ], + [ + 373.8344187900978, + -137.57778889176188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.98155034976628, + "ymin": 109.23897953545446, + "xmax": 232.81754457258273, + "ymax": 122.45022429584242 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 224.99415045222088, + 122.45022429584242 + ], + [ + 232.81754457258273, + 110.98395501001394 + ], + [ + 199.96905330680443, + 110.83384162668199 + ], + [ + 191.53521470711155, + 122.29446094339013 + ], + [ + 224.48166612932113, + 120.83953297788278 + ], + [ + 232.32393715061284, + 109.38888497592205 + ], + [ + 199.4357556443931, + 109.23897953545446 + ], + [ + 190.98155034976628, + 120.68397836389738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 182.08731338234185, + "ymin": 97.21172105568229, + "xmax": 600.5813930788354, + "ymax": 484.7247267773102 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 599.5000787347929, + 484.7247267773102 + ], + [ + 600.5813930788354, + 464.500448035554 + ], + [ + 317.48477060450614, + 462.46850246760187 + ], + [ + 310.5062582898837, + 482.6071176617719 + ], + [ + 583.6682593316079, + 116.46772303856866 + ], + [ + 585.607235019296, + 98.955805762301 + ], + [ + 195.32361245951506, + 97.21172105568229 + ], + [ + 182.08731338234185, + 114.62099860996159 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.96723744168713, + "ymin": 109.19775133444747, + "xmax": 232.80481538355554, + "ymax": 122.40868856964579 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 224.98093475516043, + 122.40868856964579 + ], + [ + 232.80481538355554, + 110.94282121203636 + ], + [ + 199.95530057860861, + 110.79271317929428 + ], + [ + 191.520937075032, + 122.25293058761508 + ], + [ + 224.46841777186557, + 120.79789460305392 + ], + [ + 232.31117708044638, + 109.3476513869413 + ], + [ + 199.42196956010196, + 109.19775133444747 + ], + [ + 190.96723744168713, + 120.64234539833322 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00022/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b37286ec014f08051503defc84e2cec24a51f4c3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00022/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 22, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 11.0, + "sim_timestamp": 315.1965189182665 + }, + "drone_pose": { + "x": -139.42271954536142, + "y": -69.82033251514034, + "z": 20.104143776842864, + "pitch": -41.96759348825097, + "yaw": 89.30720887457699, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.008990228176116943, + -0.7434687614440918, + 0.6687101721763611, + 39.71882629394531 + ], + [ + 0.9999268054962158, + 0.012091398239135742, + 0.0, + -138.56829833984375 + ], + [ + -0.00808560848236084, + 0.6686612963676453, + 0.743523120880127, + -62.76136779785156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.47412613916583, + "y": -69.31610722612902, + "z": 20.090921876719168 + }, + "t1_image_uv": [ + 784.028137863983, + -458.8618903491665 + ], + "t1_depth": 0.3832552476829514 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -48.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.42428476249615, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 621, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -48.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.36641600728034973, + "y": 0.513659656047821, + "z": 0.8786745071411133 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.9602977244226, + "ymin": 329.18312056624717, + "xmax": 657.7365621828254, + "ymax": 390.15078954751715 + }, + "corners_3d": [ + [ + -138.6535186767578, + -49.05418014526367, + 0.21786081790924072 + ], + [ + -139.6808319091797, + -49.05418014526367, + 0.21786081790924072 + ], + [ + -139.6808319091797, + -48.321346282958984, + 0.21786081790924072 + ], + [ + -138.6535186767578, + -48.321346282958984, + 0.21786081790924072 + ], + [ + -138.6535186767578, + -49.05418014526367, + 1.9752098321914673 + ], + [ + -139.6808319091797, + -49.05418014526367, + 1.9752098321914673 + ], + [ + -139.6808319091797, + -48.321346282958984, + 1.9752098321914673 + ], + [ + -138.6535186767578, + -48.321346282958984, + 1.9752098321914673 + ] + ], + "corners_2d": [ + [ + 622.6978234686459, + 389.86368496603524 + ], + [ + 657.0111967954716, + 390.15078954751715 + ], + [ + 656.9851731257198, + 373.52340464851 + ], + [ + 623.3101135655529, + 373.246883945616 + ], + [ + 621.9602977244226, + 345.63740844265743 + ], + [ + 657.7365621828254, + 345.92193445602555 + ], + [ + 657.6953882978867, + 329.45672354174087 + ], + [ + 622.6124747176635, + 329.18312056624717 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 22, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 342304, + "2": 121155, + "3": 227453, + "4": 63472, + "6": 9691, + "12": 3898, + "14": 16127, + "20": 189, + "24": 7121, + "25": 130190 + }, + "instance_pixel_counts": { + "2453": 2827, + "3413": 6249, + "3662": 25697, + "11605": 1474, + "15960": 8185, + "17240": 1506, + "20565": 737, + "22421": 501, + "22931": 20993, + "22933": 3793, + "23443": 175689, + "36096": 621, + "36352": 607, + "36608": 471, + "36864": 506, + "37120": 975, + "37376": 718, + "38144": 13809, + "41728": 2318, + "47198": 57680, + "48737": 4584, + "48980": 55370, + "49249": 289, + "49492": 163623, + "49761": 898, + "50246": 29112, + "51297": 37106, + "51526": 8663, + "51809": 4516, + "52321": 3934, + "54366": 64358, + "54878": 8152, + "57482": 3741, + "57994": 11361, + "59737": 189, + "63382": 47288, + "63894": 7438, + "65426": 145622 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 621, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -48.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3833300769329071, + "y": 0.4190380871295929, + "z": 0.8861961364746094 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.2378868268621, + "ymin": 328.639543424604, + "xmax": 654.4662462882264, + "ymax": 390.6970763369109 + }, + "corners_3d": [ + [ + -138.74813842773438, + -49.07109451293945, + 0.21033918857574463 + ], + [ + -139.58621215820312, + -49.07109451293945, + 0.21033918857574463 + ], + [ + -139.58621215820312, + -48.3044319152832, + 0.21033918857574463 + ], + [ + -138.74813842773438, + -48.3044319152832, + 0.21033918857574463 + ], + [ + -138.74813842773438, + -49.07109451293945, + 1.9827314615249634 + ], + [ + -139.58621215820312, + -49.07109451293945, + 1.9827314615249634 + ], + [ + -139.58621215820312, + -48.3044319152832, + 1.9827314615249634 + ], + [ + -138.74813842773438, + -48.3044319152832, + 1.9827314615249634 + ] + ], + "corners_2d": [ + [ + 625.8467574928991, + 390.46264709939294 + ], + [ + 653.8466760421661, + 390.6970763369109 + ], + [ + 653.8810334183165, + 373.3024755000222 + ], + [ + 626.4256994246582, + 373.07707794188593 + ], + [ + 625.2378868268621, + 345.85367179353835 + ], + [ + 654.4425212070255, + 346.0859861420381 + ], + [ + 654.4662462882264, + 328.8625341517162 + ], + [ + 625.8535714894792, + 328.639543424604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 607, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -45.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4295947551727295, + "y": 0.49899664521217346, + "z": 0.8639794588088989 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 493.0126379508207, + "ymin": 268.58053315796496, + "xmax": 531.572744432334, + "ymax": 331.03041450863816 + }, + "corners_3d": [ + [ + -134.64242553710938, + -46.214012145996094, + 0.08015841245651245 + ], + [ + -135.6186065673828, + -46.00651550292969, + 0.08015841245651245 + ], + [ + -135.43997192382812, + -45.166099548339844, + 0.08015841245651245 + ], + [ + -134.4637908935547, + -45.37359619140625, + 0.08015841245651245 + ], + [ + -134.64242553710938, + -46.214012145996094, + 1.808117389678955 + ], + [ + -135.6186065673828, + -46.00651550292969, + 1.808117389678955 + ], + [ + -135.43997192382812, + -45.166099548339844, + 1.808117389678955 + ], + [ + -134.4637908935547, + -45.37359619140625, + 1.808117389678955 + ] + ], + "corners_2d": [ + [ + 500.742129052172, + 331.03041450863816 + ], + [ + 531.572744432334, + 327.1304469281795 + ], + [ + 528.6189573620404, + 310.7468815391971 + ], + [ + 498.38572621037224, + 314.49415416477154 + ], + [ + 495.3474831968404, + 288.5586055397621 + ], + [ + 527.3928195704058, + 284.71444852844155 + ], + [ + 524.4130625397436, + 268.58053315796496 + ], + [ + 493.0126379508207, + 272.2685423385528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 471, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -41.745052337646484, + "z": 1.0928292274475098 + }, + "extent": { + "x": 0.46391600370407104, + "y": 0.4177832007408142, + "z": 0.9331737160682678 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 692.3219531261501, + "ymin": 197.1998947139989, + "xmax": 722.335692986327, + "ymax": 258.0176180239937 + }, + "corners_3d": [ + [ + -141.05599975585938, + -42.25009536743164, + 0.15965551137924194 + ], + [ + -141.88699340820312, + -42.162757873535156, + 0.15965551137924194 + ], + [ + -141.79000854492188, + -41.24000930786133, + 0.15965551137924194 + ], + [ + -140.95901489257812, + -41.32734680175781, + 0.15965551137924194 + ], + [ + -141.05599975585938, + -42.25009536743164, + 2.026002883911133 + ], + [ + -141.88699340820312, + -42.162757873535156, + 2.026002883911133 + ], + [ + -141.79000854492188, + -41.24000930786133, + 2.026002883911133 + ], + [ + -140.95901489257812, + -41.32734680175781, + 2.026002883911133 + ] + ], + "corners_2d": [ + [ + 695.8207136479987, + 258.0176180239937 + ], + [ + 719.3024475282851, + 256.7261143508135 + ], + [ + 715.3428451063031, + 241.61983170360745 + ], + [ + 692.3219531261501, + 242.86047079930876 + ], + [ + 697.9595710796557, + 213.2108567496782 + ], + [ + 722.335692986327, + 211.9488611312767 + ], + [ + 718.1652234096762, + 197.1998947139989 + ], + [ + 694.2853443610117, + 198.4103438340194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 506, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -48.68776321411133, + "z": 1.0943282842636108 + }, + "extent": { + "x": 0.41053709387779236, + "y": 0.3536352515220642, + "z": 0.8801262378692627 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 745.8911162003863, + "ymin": 329.22709015147757, + "xmax": 777.1444858004471, + "ymax": 392.2195770995531 + }, + "corners_3d": [ + [ + -142.39329528808594, + -49.09830093383789, + 0.21420204639434814 + ], + [ + -143.10057067871094, + -49.09830093383789, + 0.21420204639434814 + ], + [ + -143.10057067871094, + -48.277225494384766, + 0.21420204639434814 + ], + [ + -142.39329528808594, + -48.277225494384766, + 0.21420204639434814 + ], + [ + -142.39329528808594, + -49.09830093383789, + 1.9744545221328735 + ], + [ + -143.10057067871094, + -49.09830093383789, + 1.9744545221328735 + ], + [ + -143.10057067871094, + -48.277225494384766, + 1.9744545221328735 + ], + [ + -142.39329528808594, + -48.277225494384766, + 1.9744545221328735 + ] + ], + "corners_2d": [ + [ + 747.8126560306332, + 392.0210143311928 + ], + [ + 771.5145024845081, + 392.2195770995531 + ], + [ + 769.0984679370877, + 373.5498060967166 + ], + [ + 745.8911162003863, + 373.35943445720153 + ], + [ + 752.4269237629233, + 347.707824141889 + ], + [ + 777.1444858004471, + 347.9046399397333 + ], + [ + 774.5049950094428, + 329.4154506365011 + ], + [ + 750.324737385603, + 329.22709015147757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 975, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -57.90341567993164, + "z": 1.0950313806533813 + }, + "extent": { + "x": 0.35716310143470764, + "y": 0.40592044591903687, + "z": 0.8705294132232666 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 746.8661007385917, + "ymin": 597.9896148401835, + "xmax": 790.7259651582251, + "ymax": 672.3880819634635 + }, + "corners_3d": [ + [ + -141.7205047607422, + -58.216190338134766, + 0.22450196743011475 + ], + [ + -142.52789306640625, + -58.30105209350586, + 0.22450196743011475 + ], + [ + -142.60255432128906, + -57.590641021728516, + 0.22450196743011475 + ], + [ + -141.795166015625, + -57.50577926635742, + 0.22450196743011475 + ], + [ + -141.7205047607422, + -58.216190338134766, + 1.965560793876648 + ], + [ + -142.52789306640625, + -58.30105209350586, + 1.965560793876648 + ], + [ + -142.60255432128906, + -57.590641021728516, + 1.965560793876648 + ], + [ + -141.795166015625, + -57.50577926635742, + 1.965560793876648 + ] + ], + "corners_2d": [ + [ + 746.8661007385917, + 668.6110830040932 + ], + [ + 782.6685806196888, + 672.3880819634635 + ], + [ + 782.8769402799703, + 644.6467414599688 + ], + [ + 747.9158709522214, + 641.045593982098 + ], + [ + 752.8662759998556, + 626.0075313385032 + ], + [ + 790.7062147057144, + 629.8522867775416 + ], + [ + 790.7259651582251, + 601.6456700260577 + ], + [ + 753.8246757275039, + 597.9896148401835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 718, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.58242797851562, + "y": -55.04902267456055, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.30659177899360657, + "y": 0.3670434355735779, + "z": 0.8715736269950867 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 138.92175332818528, + "ymin": 497.13059784570453, + "xmax": 202.3675852732731, + "ymax": 565.2830224132372 + }, + "corners_3d": [ + [ + -127.15966033935547, + -55.27260208129883, + 0.07256424427032471 + ], + [ + -127.8777084350586, + -55.425228118896484, + 0.07256424427032471 + ], + [ + -128.00518798828125, + -54.825443267822266, + 0.07256424427032471 + ], + [ + -127.28714752197266, + -54.67281723022461, + 0.07256424427032471 + ], + [ + -127.15966033935547, + -55.27260208129883, + 1.815711498260498 + ], + [ + -127.8777084350586, + -55.425228118896484, + 1.815711498260498 + ], + [ + -128.00518798828125, + -54.825443267822266, + 1.815711498260498 + ], + [ + -127.28714752197266, + -54.67281723022461, + 1.815711498260498 + ] + ], + "corners_2d": [ + [ + 162.93715551782606, + 560.0133458909936 + ], + [ + 188.98070567559193, + 565.2830224132372 + ], + [ + 202.3675852732731, + 545.997041605533 + ], + [ + 176.7272211991591, + 540.9153970245386 + ], + [ + 138.92175332818528, + 516.3489200431693 + ], + [ + 166.15813629213017, + 521.6579295400395 + ], + [ + 180.64190170511705, + 502.2408810621298 + ], + [ + 153.84552493099272, + 497.13059784570453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 13809, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 24.113897030377075, + "ymin": 560.5396038859335, + "xmax": 233.1526310333922, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 60.437807337208596, + 791.3794334950069 + ], + [ + 160.18727565251464, + 793.292551576048 + ], + [ + 233.1526310333922, + 605.677578872898 + ], + [ + 147.72496537406306, + 604.2777146679521 + ], + [ + 24.113897030377075, + 751.5169156834165 + ], + [ + 130.06791491882615, + 753.4875298042607 + ], + [ + 211.5053151490019, + 561.9557350391776 + ], + [ + 121.56707688019242, + 560.5396038859335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2318, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 385.9259712906161, + "ymin": 7.8848830202651925, + "xmax": 454.32524743573276, + "ymax": 84.64184395408938 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 391.3491385964569, + 84.26047976308558 + ], + [ + 435.37421314682007, + 84.64184395408938 + ], + [ + 454.32524743573276, + 36.000344794024215 + ], + [ + 413.9285068547583, + 35.67944544091921 + ], + [ + 385.9259712906161, + 54.96607721481956 + ], + [ + 430.90828957008114, + 55.336339183737266 + ], + [ + 450.6148212596662, + 8.19531923770387 + ], + [ + 409.41355486373305, + 7.8848830202651925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 371.6115432598724, + "ymin": 0.0, + "xmax": 618.0290016568235, + "ymax": 163.09342090276107 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 617.4992062467545, + 163.09342090276107 + ], + [ + 618.0290016568235, + 153.82877414636962 + ], + [ + 425.6399887083911, + 152.64433223693618 + ], + [ + 422.40412122782857, + 161.87538179363122 + ], + [ + 612.2350656297405, + -132.695943046158 + ], + [ + 612.9766901250429, + -139.03393657254986 + ], + [ + 376.4563351788488, + -139.84125838987205 + ], + [ + 371.6115432598724, + -133.53156256632008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.36744742352965, + "ymin": 120.39394742561382, + "xmax": 224.2311913730814, + "ymax": 134.10098328215454 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 216.02685766839693, + 134.10098328215454 + ], + [ + 224.2311913730814, + 122.20270732309393 + ], + [ + 190.78153222994507, + 122.00595837740062 + ], + [ + 181.94386118985642, + 133.8966805566505 + ], + [ + 215.4931623918576, + 132.47298305277496 + ], + [ + 223.71760375734743, + 120.59043165864247 + ], + [ + 190.2267999125683, + 120.39394742561382 + ], + [ + 181.36744742352965, + 132.26894561916868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 172.16551878422547, + "ymin": 108.15296051824677, + "xmax": 599.4816832327583, + "ymax": 498.97955875006517 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 598.2916836050689, + 498.97955875006517 + ], + [ + 599.4816832327583, + 478.1697774009782 + ], + [ + 312.4550555371907, + 475.5301986652414 + ], + [ + 305.19995405098047, + 496.22703031486867 + ], + [ + 581.6548427891372, + 128.64555204609854 + ], + [ + 583.7850304937782, + 110.44076516603579 + ], + [ + 186.03821973908214, + 108.15296051824677 + ], + [ + 172.16551878422547, + 126.22030473862287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.35254605152807, + "ymin": 120.35227493666926, + "xmax": 224.21794722983475, + "ymax": 134.05900217884368 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 216.01309531373835, + 134.05900217884368 + ], + [ + 224.21794722983475, + 122.16113075621635 + ], + [ + 190.76722706208204, + 121.96438862106945 + ], + [ + 181.92899725129706, + 133.8547062779031 + ], + [ + 215.4793653668611, + 132.43089619001572 + ], + [ + 223.70432687312746, + 120.54875230993582 + ], + [ + 190.21245939190533, + 120.35227493666926 + ], + [ + 181.35254605152807, + 132.22686563211738 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00023/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb099c1233b68dd6f9dcc6403358fb2e7f7a306e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00023/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 23, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 11.5, + "sim_timestamp": 327.31517547904514 + }, + "drone_pose": { + "x": -139.47412613916583, + "y": -69.31610722612902, + "z": 20.090921876719168, + "pitch": -41.95254390993164, + "yaw": 89.1676908608503, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.010802865028381348, + -0.7436202764511108, + 0.6685148477554321, + 39.62051773071289 + ], + [ + 0.9998944997787476, + 0.014525890350341797, + 0.0, + -138.45252990722656 + ], + [ + -0.009710818529129028, + 0.6684443354606628, + 0.74369877576828, + -62.62995910644531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.52368032770312, + "y": -68.8120541392726, + "z": 20.079055786751226 + }, + "t1_image_uv": [ + 782.8386986810575, + -462.87480926944886 + ], + "t1_depth": 0.3822214427641423 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -48.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.41281148137886, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 623, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -48.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3802734315395355, + "y": 0.3635888695716858, + "z": 0.8665867447853088 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.1413159027591, + "ymin": 329.1996066545187, + "xmax": 652.6030689905824, + "ymax": 390.1724331800913 + }, + "corners_3d": [ + [ + -138.8035888671875, + -48.56803512573242, + 0.22994858026504517 + ], + [ + -139.53076171875, + -48.56803512573242, + 0.22994858026504517 + ], + [ + -139.53076171875, + -47.807491302490234, + 0.22994858026504517 + ], + [ + -138.8035888671875, + -47.807491302490234, + 0.22994858026504517 + ], + [ + -138.8035888671875, + -48.56803512573242, + 1.9631221294403076 + ], + [ + -139.53076171875, + -48.56803512573242, + 1.9631221294403076 + ], + [ + -139.53076171875, + -47.807491302490234, + 1.9631221294403076 + ], + [ + -138.8035888671875, + -47.807491302490234, + 1.9631221294403076 + ] + ], + "corners_2d": [ + [ + 627.6601956525492, + 389.9280849669441 + ], + [ + 651.9732019364059, + 390.1724331800913 + ], + [ + 652.1041936345478, + 372.9160921095165 + ], + [ + 628.2607869704585, + 372.6810937238932 + ], + [ + 627.1413159027591, + 346.27936855408984 + ], + [ + 652.4768098980683, + 346.5215468611815 + ], + [ + 652.6030689905824, + 329.4321401638398 + ], + [ + 627.7770894838533, + 329.1996066545187 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 23, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 343525, + "2": 121224, + "3": 223179, + "4": 64813, + "6": 9999, + "12": 4040, + "14": 14414, + "20": 207, + "24": 7180, + "25": 133019 + }, + "instance_pixel_counts": { + "2453": 2767, + "3413": 6380, + "3662": 26788, + "11605": 1369, + "15960": 8440, + "17240": 1559, + "20565": 904, + "22421": 545, + "22931": 22730, + "22933": 3868, + "23443": 179977, + "36096": 623, + "36352": 616, + "36608": 475, + "36864": 585, + "37120": 978, + "37376": 763, + "38144": 12031, + "41728": 2383, + "47198": 56148, + "48737": 4964, + "48980": 60974, + "49249": 334, + "49492": 153552, + "49761": 963, + "50246": 29271, + "51297": 38481, + "51526": 8754, + "51809": 4701, + "52321": 3881, + "54366": 67636, + "54878": 9235, + "57482": 4043, + "57994": 11124, + "59737": 207, + "63382": 45555, + "63894": 7178, + "65426": 140818 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 623, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -48.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3848925828933716, + "y": 0.4088085889816284, + "z": 0.8854727149009705 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.5552762978666, + "ymin": 328.58997563449776, + "xmax": 654.1545162976556, + "ymax": 390.7507948419147 + }, + "corners_3d": [ + [ + -138.75836181640625, + -48.572654724121094, + 0.21106261014938354 + ], + [ + -139.57598876953125, + -48.572654724121094, + 0.21106261014938354 + ], + [ + -139.57598876953125, + -47.80287170410156, + 0.21106261014938354 + ], + [ + -138.75836181640625, + -47.80287170410156, + 0.21106261014938354 + ], + [ + -138.75836181640625, + -48.572654724121094, + 1.9820079803466797 + ], + [ + -139.57598876953125, + -48.572654724121094, + 1.9820079803466797 + ], + [ + -139.57598876953125, + -47.80287170410156, + 1.9820079803466797 + ], + [ + -138.75836181640625, + -47.80287170410156, + 1.9820079803466797 + ] + ], + "corners_2d": [ + [ + 626.1506589482342, + 390.4759665199498 + ], + [ + 653.4792470233514, + 390.7507948419147 + ], + [ + 653.582322826354, + 373.2828037245031 + ], + [ + 626.7876989874464, + 373.0186122442425 + ], + [ + 625.5552762978666, + 345.8743283540947 + ], + [ + 654.0589052635615, + 346.1466653140664 + ], + [ + 654.1545162976556, + 328.8513327680964 + ], + [ + 626.2312686126064, + 328.58997563449776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 616, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -45.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4326074421405792, + "y": 0.4801465570926666, + "z": 0.8624781370162964 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 493.853543770123, + "ymin": 268.44950649301836, + "xmax": 531.1878746419537, + "ymax": 330.7723237489508 + }, + "corners_3d": [ + [ + -134.66148376464844, + -45.71303939819336, + 0.08165973424911499 + ], + [ + -135.60079956054688, + -45.51338195800781, + 0.08165973424911499 + ], + [ + -135.42091369628906, + -44.66707229614258, + 0.08165973424911499 + ], + [ + -134.48159790039062, + -44.866729736328125, + 0.08165973424911499 + ], + [ + -134.66148376464844, + -45.71303939819336, + 1.8066160678863525 + ], + [ + -135.60079956054688, + -45.51338195800781, + 1.8066160678863525 + ], + [ + -135.42091369628906, + -44.66707229614258, + 1.8066160678863525 + ], + [ + -134.48159790039062, + -44.866729736328125, + 1.8066160678863525 + ] + ], + "corners_2d": [ + [ + 501.5081656656533, + 330.7723237489508 + ], + [ + 531.1878746419537, + 327.0664294894892 + ], + [ + 528.2845519442775, + 310.5633568327862 + ], + [ + 499.18483818999084, + 314.1230326779628 + ], + [ + 496.1538601023775, + 288.35315999171667 + ], + [ + 527.0004509375984, + 284.70046097657337 + ], + [ + 524.0741005191808, + 268.44950649301836 + ], + [ + 493.853543770123, + 271.95269870804884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 475, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -41.245052337646484, + "z": 1.0927804708480835 + }, + "extent": { + "x": 0.46361327171325684, + "y": 0.4256323277950287, + "z": 0.9331385493278503 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 692.6245746494996, + "ymin": 197.28741842771316, + "xmax": 723.0662161311091, + "ymax": 258.1137405886803 + }, + "corners_3d": [ + [ + -141.04815673828125, + -41.75061798095703, + 0.15964192152023315 + ], + [ + -141.89476013183594, + -41.66163635253906, + 0.15964192152023315 + ], + [ + -141.7978515625, + -40.73948669433594, + 0.15964192152023315 + ], + [ + -140.9512481689453, + -40.828468322753906, + 0.15964192152023315 + ], + [ + -141.04815673828125, + -41.75061798095703, + 2.025918960571289 + ], + [ + -141.89476013183594, + -41.66163635253906, + 2.025918960571289 + ], + [ + -141.7978515625, + -40.73948669433594, + 2.025918960571289 + ], + [ + -140.9512481689453, + -40.828468322753906, + 2.025918960571289 + ] + ], + "corners_2d": [ + [ + 696.0649607109224, + 258.1137405886803 + ], + [ + 720.0057267489551, + 256.8321549483884 + ], + [ + 716.095122330896, + 241.7291562172682 + ], + [ + 692.6245746494996, + 242.96025604338712 + ], + [ + 698.2133911238512, + 213.28457856234178 + ], + [ + 723.0662161311091, + 212.03234537497593 + ], + [ + 718.9459870397304, + 197.28741842771316 + ], + [ + 694.5995090180937, + 198.48849167858316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 585, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -48.18776321411133, + "z": 1.0942891836166382 + }, + "extent": { + "x": 0.4098437428474426, + "y": 0.4186328053474426, + "z": 0.8840299248695374 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 743.8416809209511, + "ymin": 329.2787768824815, + "xmax": 779.4825715709823, + "ymax": 392.55820406968644 + }, + "corners_3d": [ + [ + -142.3282928466797, + -48.59760665893555, + 0.21025925874710083 + ], + [ + -143.1655731201172, + -48.59760665893555, + 0.21025925874710083 + ], + [ + -143.1655731201172, + -47.77791976928711, + 0.21025925874710083 + ], + [ + -142.3282928466797, + -47.77791976928711, + 0.21025925874710083 + ], + [ + -142.3282928466797, + -48.59760665893555, + 1.9783191680908203 + ], + [ + -143.1655731201172, + -48.59760665893555, + 1.9783191680908203 + ], + [ + -143.1655731201172, + -47.77791976928711, + 1.9783191680908203 + ], + [ + -142.3282928466797, + -47.77791976928711, + 1.9783191680908203 + ] + ], + "corners_2d": [ + [ + 745.6509327385606, + 392.27564388482404 + ], + [ + 773.7296011187813, + 392.55820406968644 + ], + [ + 771.3350008428114, + 373.9076353090381 + ], + [ + 743.8416809209511, + 373.63672044029147 + ], + [ + 750.1944792670497, + 347.7355233269823 + ], + [ + 779.4825715709823, + 348.0155760951444 + ], + [ + 776.8623341088844, + 329.5468073244497 + ], + [ + 748.2105298877414, + 329.2787768824815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 978, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -57.40341567993164, + "z": 1.0949922800064087 + }, + "extent": { + "x": 0.37955570220947266, + "y": 0.3294409513473511, + "z": 0.8646097183227539 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 749.2814804180842, + "ymin": 597.9337166288284, + "xmax": 786.362117088601, + "ymax": 673.2090310690206 + }, + "corners_3d": [ + [ + -141.79421997070312, + -57.746456146240234, + 0.23038256168365479 + ], + [ + -142.44949340820312, + -57.81532669067383, + 0.23038256168365479 + ], + [ + -142.52883911132812, + -57.06037521362305, + 0.23038256168365479 + ], + [ + -141.87356567382812, + -56.99150466918945, + 0.23038256168365479 + ], + [ + -141.79421997070312, + -57.746456146240234, + 1.9596019983291626 + ], + [ + -142.44949340820312, + -57.81532669067383, + 1.9596019983291626 + ], + [ + -142.52883911132812, + -57.06037521362305, + 1.9596019983291626 + ], + [ + -141.87356567382812, + -56.99150466918945, + 1.9596019983291626 + ] + ], + "corners_2d": [ + [ + 749.2814804180842, + 670.0720009603637 + ], + [ + 778.3864963366581, + 673.2090310690206 + ], + [ + 778.7944298054596, + 643.7210018452761 + ], + [ + 750.4161613458607, + 640.7391004505716 + ], + [ + 755.3845673433091, + 627.7456141184739 + ], + [ + 786.1368488985797, + 630.938800365225 + ], + [ + 786.362117088601, + 600.9605142058941 + ], + [ + 756.4200324865535, + 597.9337166288284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 763, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.72321319580078, + "y": -55.02532958984375, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.2892187535762787, + "y": 0.5519115924835205, + "z": 0.8802950382232666 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 129.70051806984247, + "ymin": 510.50602770059197, + "xmax": 207.11536808578916, + "ymax": 581.3782665525629 + }, + "corners_3d": [ + [ + -127.12322998046875, + -55.193477630615234, + 0.06384283304214478 + ], + [ + -128.2029266357422, + -55.422977447509766, + 0.06384283304214478 + ], + [ + -128.3231964111328, + -54.857181549072266, + 0.06384283304214478 + ], + [ + -127.24349212646484, + -54.627681732177734, + 0.06384283304214478 + ], + [ + -127.12322998046875, + -55.193477630615234, + 1.8244328498840332 + ], + [ + -128.2029266357422, + -55.422977447509766, + 1.8244328498840332 + ], + [ + -128.3231964111328, + -54.857181549072266, + 1.8244328498840332 + ], + [ + -127.24349212646484, + -54.627681732177734, + 1.8244328498840332 + ] + ], + "corners_2d": [ + [ + 154.7013531338722, + 573.1489078584527 + ], + [ + 194.32646263886159, + 581.3782665525629 + ], + [ + 207.11536808578916, + 562.6316493254882 + ], + [ + 168.07452320278736, + 554.6833343218399 + ], + [ + 129.70051806984247, + 529.111839058547 + ], + [ + 171.182271632366, + 537.4142970365456 + ], + [ + 185.0437826213398, + 518.510676313453 + ], + [ + 144.20091614072038, + 510.50602770059197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 12031, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 10.08658068416787, + "ymin": 577.6014229479848, + "xmax": 225.5817452982031, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 47.91360504741556, + 814.5947050787366 + ], + [ + 149.39114773302367, + 816.8330697548615 + ], + [ + 225.5817452982031, + 622.7990039083475 + ], + [ + 138.891252336087, + 621.1700148672361 + ], + [ + 10.08658068416787, + 775.4078665984666 + ], + [ + 117.99062985265095, + 777.7186585286178 + ], + [ + 203.16813617761937, + 579.2519640408055 + ], + [ + 111.83036570328204, + 577.6014229479848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2383, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 384.7393500505195, + "ymin": 11.762651437317118, + "xmax": 454.02151515295316, + "ymax": 89.44080121389572 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 390.23089599889283, + 89.00363151827537 + ], + [ + 434.5968146438121, + 89.44080121389572 + ], + [ + 454.02151515295316, + 40.05941817615337 + ], + [ + 413.3384310806441, + 39.69207357246785 + ], + [ + 384.7393500505195, + 59.56455844978376 + ], + [ + 430.0773109120224, + 59.98912747074098 + ], + [ + 450.2773978855106, + 12.11810377585465 + ], + [ + 408.77843138034143, + 11.762651437317118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 369.2253148696673, + "ymin": 0.0, + "xmax": 618.4558052499146, + "ymax": 169.5557057871481 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 617.8820099530045, + 169.5557057871481 + ], + [ + 618.4558052499146, + 160.11424673847438 + ], + [ + 424.27387178084103, + 158.66484882287486 + ], + [ + 420.94249294954534, + 168.06478402088595 + ], + [ + 612.6458356049833, + -128.35804387237135 + ], + [ + 613.4437332891632, + -134.8404751844243 + ], + [ + 374.2221968915272, + -135.8318196954009 + ], + [ + 369.2253148696673, + -129.38456248454798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.26817476006647, + "ymin": 132.0188972392679, + "xmax": 215.206327021871, + "ymax": 146.25073657181585 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 206.59977971281404, + 146.25073657181585 + ], + [ + 215.206327021871, + 133.89348306719864 + ], + [ + 181.1329362099205, + 133.64809854693826 + ], + [ + 171.86887129326323, + 145.99573871728452 + ], + [ + 206.043430381338, + 144.60541858011146 + ], + [ + 214.6714184404426, + 132.26396196540782 + ], + [ + 180.55534466229545, + 132.0188972392679 + ], + [ + 171.26817476006647, + 144.35074060763648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 161.74077926820746, + "ymin": 119.55679344653728, + "xmax": 598.2715067569058, + "ymax": 513.6560949669108 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 596.9696530265891, + 513.6560949669108 + ], + [ + 598.2715067569058, + 492.2348681943323 + ], + [ + 307.2110579045859, + 488.97343094341574 + ], + [ + 299.66949055199524, + 510.25298253266953 + ], + [ + 579.4479435874158, + 141.35455083206338 + ], + [ + 581.7794442920068, + 122.41253173465574 + ], + [ + 176.28581435532033, + 119.55679344653728 + ], + [ + 161.74077926820746, + 138.323612822551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.25264523879974, + "ymin": 131.97677932901493, + "xmax": 215.1925333855229, + "ymax": 146.20830992431388 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 206.58543352739974, + 146.20830992431388 + ], + [ + 215.1925333855229, + 133.85146276264578 + ], + [ + 181.11804190497168, + 133.6060864690274 + ], + [ + 171.8533815504191, + 145.9533202975176 + ], + [ + 206.0290473397082, + 144.56288293599337 + ], + [ + 214.65759004321893, + 132.22183576690912 + ], + [ + 180.54041283720346, + 131.97677932901493 + ], + [ + 171.25264523879974, + 144.3082132552784 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00024/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76c0465eb6477973a5c68192281aa6dedae4953f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00024/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 24, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 12.0, + "sim_timestamp": 339.5322600302752 + }, + "drone_pose": { + "x": -139.52368032770312, + "y": -68.8120541392726, + "z": 20.079055786751226, + "pitch": -41.93915785745339, + "yaw": 89.03315770407862, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.012551665306091309, + -0.7437490224838257, + 0.6683411598205566, + 39.510498046875 + ], + [ + 0.9998576641082764, + 0.01687377691268921, + -2.9802322387695312e-08, + -138.3426971435547 + ], + [ + -0.011277496814727783, + 0.6682460308074951, + 0.7438548803329468, + -62.49275588989258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.57143682199688, + "y": -68.30818125763382, + "z": 20.06853347369371 + }, + "t1_image_uv": [ + 781.6672384892038, + -466.9187498758978 + ], + "t1_depth": 0.3811880480452075 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -47.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.402444288173534, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 609, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -47.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39473143219947815, + "y": 0.5633178353309631, + "z": 0.9091952443122864 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.1108768651136, + "ymin": 327.66090075303407, + "xmax": 659.4827463463341, + "ymax": 391.64745966012947 + }, + "corners_3d": [ + [ + -138.60385131835938, + -48.082496643066406, + 0.18734008073806763 + ], + [ + -139.73049926757812, + -48.08249282836914, + 0.18734008073806763 + ], + [ + -139.73049926757812, + -47.29302978515625, + 0.18734008073806763 + ], + [ + -138.60385131835938, + -47.293033599853516, + 0.18734008073806763 + ], + [ + -138.60385131835938, + -48.082496643066406, + 2.005730628967285 + ], + [ + -139.73049926757812, + -48.08249282836914, + 2.005730628967285 + ], + [ + -139.73049926757812, + -47.29302978515625, + 2.005730628967285 + ], + [ + -138.60385131835938, + -47.293033599853516, + 2.005730628967285 + ] + ], + "corners_2d": [ + [ + 620.9523927532966, + 391.20731696228484 + ], + [ + 658.6110359645373, + 391.64745966012947 + ], + [ + 658.6745476432, + 373.72608692127665 + ], + [ + 621.7702639390237, + 373.3034059289341 + ], + [ + 620.1108768651136, + 345.3815634088686 + ], + [ + 659.4336871216245, + 345.81759623581604 + ], + [ + 659.4827463463341, + 328.0788943624502 + ], + [ + 620.9817128521382, + 327.66090075303407 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 24, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 344902, + "2": 121288, + "3": 218556, + "4": 66404, + "6": 10353, + "12": 4068, + "14": 12599, + "20": 212, + "24": 7200, + "25": 136018 + }, + "instance_pixel_counts": { + "2453": 2657, + "3413": 6560, + "3662": 27995, + "11605": 1239, + "15960": 8714, + "17240": 1639, + "20565": 1097, + "22421": 597, + "22931": 24448, + "22933": 3946, + "23443": 184432, + "36096": 609, + "36352": 614, + "36608": 487, + "36864": 596, + "37120": 967, + "37376": 795, + "38144": 10160, + "41728": 2439, + "47198": 54511, + "48737": 5362, + "48980": 67221, + "49249": 383, + "49492": 142439, + "49761": 1034, + "50246": 29581, + "51297": 39915, + "51526": 8828, + "51809": 4892, + "52321": 3824, + "54366": 71051, + "54878": 10456, + "57482": 4354, + "57994": 10885, + "59737": 212, + "63382": 43734, + "63894": 6905, + "65426": 136022 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 609, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -47.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37880370020866394, + "y": 0.538037121295929, + "z": 0.9044364094734192 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.0126556261581, + "ymin": 328.14506872854815, + "xmax": 658.6148515236999, + "ymax": 391.1539335376468 + }, + "corners_3d": [ + [ + -138.62913513183594, + -48.066566467285156, + 0.19209891557693481 + ], + [ + -139.70521545410156, + -48.066566467285156, + 0.19209891557693481 + ], + [ + -139.70521545410156, + -47.3089599609375, + 0.19209891557693481 + ], + [ + -138.62913513183594, + -47.3089599609375, + 0.19209891557693481 + ], + [ + -138.62913513183594, + -48.066566467285156, + 2.000971794128418 + ], + [ + -139.70521545410156, + -48.066566467285156, + 2.000971794128418 + ], + [ + -139.70521545410156, + -47.3089599609375, + 2.000971794128418 + ], + [ + -138.62913513183594, + -47.3089599609375, + 2.000971794128418 + ] + ], + "corners_2d": [ + [ + 621.8115797925309, + 390.7338157174537 + ], + [ + 657.7691311948718, + 391.1539335376468 + ], + [ + 657.846311364375, + 373.9565833533184 + ], + [ + 622.5803335342893, + 373.5524748967132 + ], + [ + 621.0126556261581, + 345.151487023875 + ], + [ + 658.5500213543805, + 345.56768756403636 + ], + [ + 658.6148515236999, + 328.54473325750973 + ], + [ + 621.8305273187713, + 328.14506872854815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 614, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -44.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4718896746635437, + "y": 0.5469556450843811, + "z": 0.9301081895828247 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 491.66629744724116, + "ymin": 265.59710526271965, + "xmax": 533.7158901071876, + "ymax": 333.19996044328377 + }, + "corners_3d": [ + [ + -134.60430908203125, + -45.26535415649414, + 0.01402968168258667 + ], + [ + -135.67431640625, + -45.03791427612305, + 0.01402968168258667 + ], + [ + -135.47808837890625, + -44.1147575378418, + 0.01402968168258667 + ], + [ + -134.4080810546875, + -44.34219741821289, + 0.01402968168258667 + ], + [ + -134.60430908203125, + -45.26535415649414, + 1.8742461204528809 + ], + [ + -135.67431640625, + -45.03791427612305, + 1.8742461204528809 + ], + [ + -135.47808837890625, + -44.1147575378418, + 1.8742461204528809 + ], + [ + -134.4080810546875, + -44.34219741821289, + 1.8742461204528809 + ] + ], + "corners_2d": [ + [ + 499.9156299302088, + 333.19996044328377 + ], + [ + 533.7158901071876, + 329.02057396891394 + ], + [ + 530.5690787808333, + 311.0185651831759 + ], + [ + 497.48866497864344, + 315.01852135132367 + ], + [ + 494.05982055901677, + 287.41556539295095 + ], + [ + 529.2961417449354, + 283.30086177664714 + ], + [ + 526.1209900296677, + 265.59710526271965 + ], + [ + 491.66629744724116, + 269.5280388118349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 487, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -40.74504852294922, + "z": 1.092726707458496 + }, + "extent": { + "x": 0.45414549112319946, + "y": 0.6065612435340881, + "z": 0.9375471472740173 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 688.1501538411209, + "ymin": 197.16858905946407, + "xmax": 728.7901375710799, + "ymax": 258.4098025147313 + }, + "corners_3d": [ + [ + -140.8672332763672, + -41.260108947753906, + 0.15517956018447876 + ], + [ + -142.07371520996094, + -41.133304595947266, + 0.15517956018447876 + ], + [ + -141.97877502441406, + -40.22998809814453, + 0.15517956018447876 + ], + [ + -140.7722930908203, + -40.35679244995117, + 0.15517956018447876 + ], + [ + -140.8672332763672, + -41.260108947753906, + 2.030273914337158 + ], + [ + -142.07371520996094, + -41.133304595947266, + 2.030273914337158 + ], + [ + -141.97877502441406, + -40.22998809814453, + 2.030273914337158 + ], + [ + -140.7722930908203, + -40.35679244995117, + 2.030273914337158 + ] + ], + "corners_2d": [ + [ + 691.3730281612301, + 258.4098025147313 + ], + [ + 725.5048676692497, + 256.6311589338807 + ], + [ + 721.624358521853, + 241.83947502899474 + ], + [ + 688.1501538411209, + 243.5494059594301 + ], + [ + 693.351686365818, + 213.34443612801218 + ], + [ + 728.7901375710799, + 211.60683589626584 + ], + [ + 724.697126247692, + 197.16858905946407 + ], + [ + 689.9670983611145, + 198.83655805836312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 596, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -47.68776321411133, + "z": 1.094250202178955 + }, + "extent": { + "x": 0.3701464831829071, + "y": 0.51702880859375, + "z": 0.887507975101471 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 740.765934589792, + "ymin": 330.1780585546279, + "xmax": 782.8590532432099, + "ymax": 391.9915449483083 + }, + "corners_3d": [ + [ + -142.2299041748047, + -48.05791091918945, + 0.20674222707748413 + ], + [ + -143.2639617919922, + -48.05791091918945, + 0.20674222707748413 + ], + [ + -143.2639617919922, + -47.3176155090332, + 0.20674222707748413 + ], + [ + -142.2299041748047, + -47.3176155090332, + 0.20674222707748413 + ], + [ + -142.2299041748047, + -48.05791091918945, + 1.9817581176757812 + ], + [ + -143.2639617919922, + -48.05791091918945, + 1.9817581176757812 + ], + [ + -143.2639617919922, + -47.3176155090332, + 1.9817581176757812 + ], + [ + -142.2299041748047, + -47.3176155090332, + 1.9817581176757812 + ] + ], + "corners_2d": [ + [ + 742.2821152135575, + 391.5867711483402 + ], + [ + 776.947872329509, + 391.9915449483083 + ], + [ + 774.7778320366781, + 375.136348817592 + ], + [ + 740.765934589792, + 374.7466818094385 + ], + [ + 746.6949088616482, + 346.85225574949555 + ], + [ + 782.8590532432099, + 347.25337561128686 + ], + [ + 780.4810914580619, + 330.56358093044156 + ], + [ + 745.0279732055052, + 330.1780585546279 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 967, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -56.90341567993164, + "z": 1.0949532985687256 + }, + "extent": { + "x": 0.35510745644569397, + "y": 0.5746973156929016, + "z": 0.9022908806800842 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 737.5092912193604, + "ymin": 597.0247257396039, + "xmax": 796.9135293125465, + "ymax": 674.7019776720941 + }, + "corners_3d": [ + [ + -141.5528564453125, + -57.19650650024414, + 0.19266241788864136 + ], + [ + -142.69595336914062, + -57.316650390625, + 0.19266241788864136 + ], + [ + -142.77020263671875, + -56.61032485961914, + 0.19266241788864136 + ], + [ + -141.62710571289062, + -56.49018096923828, + 0.19266241788864136 + ], + [ + -141.5528564453125, + -57.19650650024414, + 1.997244119644165 + ], + [ + -142.69595336914062, + -57.316650390625, + 1.997244119644165 + ], + [ + -142.77020263671875, + -56.61032485961914, + 1.997244119644165 + ], + [ + -141.62710571289062, + -56.49018096923828, + 1.997244119644165 + ] + ], + "corners_2d": [ + [ + 737.5092912193604, + 669.1284202974979 + ], + [ + 788.2131278518078, + 674.7019776720941 + ], + [ + 788.4365652224544, + 647.0495949930666 + ], + [ + 738.9171736126159, + 641.7342065075343 + ], + [ + 743.19106476002, + 624.8824530816701 + ], + [ + 796.8928534679268, + 630.5596110005976 + ], + [ + 796.9135293125465, + 602.4241226567466 + ], + [ + 744.5385643672568, + 597.0247257396039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 795, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.81731414794922, + "y": -55.01250457763672, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.31504881381988525, + "y": 0.5070409774780273, + "z": 0.9000160694122314 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 125.37780444509235, + "ymin": 524.6497695303731, + "xmax": 202.70265547291206, + "ymax": 598.3213899872848 + }, + "corners_3d": [ + [ + -127.25585174560547, + -55.215248107910156, + 0.04412180185317993 + ], + [ + -128.24777221679688, + -55.426090240478516, + 0.04412180185317993 + ], + [ + -128.3787841796875, + -54.80976104736328, + 0.04412180185317993 + ], + [ + -127.38685607910156, + -54.59891891479492, + 0.04412180185317993 + ], + [ + -127.25585174560547, + -55.215248107910156, + 1.844153881072998 + ], + [ + -128.24777221679688, + -55.426090240478516, + 1.844153881072998 + ], + [ + -128.3787841796875, + -54.80976104736328, + 1.844153881072998 + ], + [ + -127.38685607910156, + -54.59891891479492, + 1.844153881072998 + ] + ], + "corners_2d": [ + [ + 151.5482796270844, + 590.4447122891914 + ], + [ + 188.41961562000216, + 598.3213899872848 + ], + [ + 202.70265547291206, + 577.3217761127937 + ], + [ + 166.4291625484002, + 569.7416974479893 + ], + [ + 125.37780444509235, + 545.5447669614013 + ], + [ + 164.04087335615208, + 553.5056281360766 + ], + [ + 179.56914093238237, + 532.2952213314036 + ], + [ + 141.56182878606813, + 524.6497695303731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 10160, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 595.2639825181175, + "xmax": 217.70730354707916, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 34.87335770246227, + 838.7072380991711 + ], + [ + 138.1392952254037, + 841.2845805830486 + ], + [ + 217.70730354707916, + 640.4894584263129 + ], + [ + 129.71604624592567, + 638.6242479735865 + ], + [ + -4.550414899633324, + 800.2845769660968 + ], + [ + 105.37632931304324, + 802.9515232080536 + ], + [ + 194.48459860080357, + 597.1569959421686 + ], + [ + 101.70283401054053, + 595.2639825181175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2439, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 383.4399981326576, + "ymin": 15.697915842538407, + "xmax": 453.6209134988578, + "ymax": 94.31893303876495 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 389.0036882504538, + 93.8259864515424 + ], + [ + 433.71652803684105, + 94.31893303876495 + ], + [ + 453.6209134988578, + 44.176625283567944 + ], + [ + 412.6466428823576, + 43.76299673444146 + ], + [ + 383.4399981326576, + 64.24175887994159 + ], + [ + 429.1400981486489, + 64.7206453570301 + ], + [ + 449.8404789712848, + 16.098254165465676 + ], + [ + 408.0386632214912, + 15.697915842538407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 366.67422456043283, + "ymin": 0.0, + "xmax": 618.8032236801866, + "ymax": 176.14058479846685 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.1850438377658, + 176.14058479846685 + ], + [ + 618.8032236801866, + 166.51678111082083 + ], + [ + 422.79544457739746, + 164.80144047955983 + ], + [ + 419.36681770362304, + 174.3756072413361 + ], + [ + 612.9582604779192, + -123.91235259772515 + ], + [ + 613.8135224190268, + -130.54524303543525 + ], + [ + 371.8275426933168, + -131.7227714740814 + ], + [ + 366.67422456043283, + -125.13217821117729 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 160.66163726851846, + "ymin": 144.14310716814154, + "xmax": 205.72400607249335, + "ymax": 158.93107447318937 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 196.69231794134453, + 158.93107447318937 + ], + [ + 205.72400607249335, + 146.08567990787853 + ], + [ + 171.003044326211, + 145.78950179489738 + ], + [ + 161.288271516647, + 158.62305202076084 + ], + [ + 196.1117569360382, + 157.2684744441915 + ], + [ + 205.16633166674524, + 144.43891252911345 + ], + [ + 170.40105844471788, + 144.14310716814154 + ], + [ + 160.66163726851846, + 156.9608240099676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.78963720162574, + "ymin": 131.45214001103238, + "xmax": 596.9509149029165, + "ymax": 528.7729364453056 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 595.5338974208199, + 528.7729364453056 + ], + [ + 596.9509149029165, + 506.71285348568915 + ], + [ + 301.74874928536826, + 502.81471784776227 + ], + [ + 293.91033205867933, + 524.7028730534462 + ], + [ + 577.0423883574476, + 154.62926523855094 + ], + [ + 579.5860787051943, + 134.90195296949966 + ], + [ + 166.04575805337214, + 131.45214001103238 + ], + [ + 150.78963720162574, + 150.96323649505626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 160.64543676329606, + "ymin": 144.1005436957101, + "xmax": 205.70962572480033, + "ymax": 158.8882032675246 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 196.677347804315, + 158.8882032675246 + ], + [ + 205.70962572480033, + 146.04321590516997 + ], + [ + 170.98752134158394, + 145.74704737982398 + ], + [ + 161.27211334196875, + 158.58019038235904 + ], + [ + 196.0967475625314, + 157.22549087381796 + ], + [ + 205.15191436175212, + 144.39633939448925 + ], + [ + 170.3854955844809, + 144.1005436957101 + ], + [ + 160.64543676329606, + 156.91785008434832 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00025/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a6e67355e6ca26637e13c5da45abcaaa4965745c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/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": 350.70294728851877 + }, + "drone_pose": { + "x": -139.57143682199688, + "y": -68.30818125763382, + "z": 20.06853347369371, + "pitch": -41.927425994184716, + "yaw": 88.90346799215104, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.014237821102142334, + -0.7438555359840393, + 0.6681886911392212, + 39.3890380859375 + ], + [ + 0.9998168349266052, + 0.019137024879455566, + -2.9802322387695312e-08, + -138.23866271972656 + ], + [ + -0.012787103652954102, + 0.6680663824081421, + 0.7439918518066406, + -62.34994125366211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.61759387564283, + "y": -67.80448129190395, + "z": 20.059338480685394 + }, + "t1_image_uv": [ + 780.8759278241387, + -470.9795346220279 + ], + "t1_depth": 0.3801668307188375 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -47.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.393171613490992, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 632, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -47.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4091455042362213, + "y": 0.31114500761032104, + "z": 0.8759464621543884 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.8699301751611, + "ymin": 328.2803087534533, + "xmax": 650.8920291359289, + "ymax": 391.1078046205217 + }, + "corners_3d": [ + [ + -138.8560333251953, + -47.59690856933594, + 0.22058886289596558 + ], + [ + -139.4783172607422, + -47.59690856933594, + 0.22058886289596558 + ], + [ + -139.4783172607422, + -46.77861785888672, + 0.22058886289596558 + ], + [ + -138.8560333251953, + -46.77861785888672, + 0.22058886289596558 + ], + [ + -138.8560333251953, + -47.59690856933594, + 1.9724817276000977 + ], + [ + -139.4783172607422, + -47.59690856933594, + 1.9724817276000977 + ], + [ + -139.4783172607422, + -46.77861785888672, + 1.9724817276000977 + ], + [ + -138.8560333251953, + -46.77861785888672, + 1.9724817276000977 + ] + ], + "corners_2d": [ + [ + 629.3242349971911, + 390.83183122556346 + ], + [ + 650.154195253598, + 391.1078046205217 + ], + [ + 650.4565489527432, + 372.5364028962789 + ], + [ + 630.0594157393934, + 372.2717833541133 + ], + [ + 628.8699301751611, + 346.65674167087167 + ], + [ + 650.5864440109862, + 346.93023011759817 + ], + [ + 650.8920291359289, + 328.5420821880355 + ], + [ + 629.6455542085858, + 328.2803087534533 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 25, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 346499, + "2": 121279, + "3": 213452, + "4": 68215, + "6": 10729, + "10": 1, + "12": 3982, + "14": 10658, + "20": 215, + "24": 7200, + "25": 139370 + }, + "instance_pixel_counts": { + "2453": 2526, + "3413": 6743, + "3662": 29312, + "11605": 1110, + "15960": 8987, + "17240": 1714, + "17496": 28, + "20565": 1286, + "22421": 627, + "22931": 26266, + "22933": 4047, + "23443": 188960, + "36096": 632, + "36352": 610, + "36608": 540, + "36864": 614, + "37120": 841, + "37376": 745, + "38144": 8167, + "41728": 2491, + "47198": 52843, + "48737": 5752, + "48980": 74190, + "49249": 434, + "49492": 130123, + "49761": 1105, + "50246": 29982, + "51297": 41379, + "51526": 8921, + "51809": 5075, + "52321": 3764, + "54366": 74639, + "54878": 11888, + "57482": 4666, + "57994": 10623, + "59737": 215, + "63382": 41851, + "63894": 6630, + "65426": 131273 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 632, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -47.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3851855397224426, + "y": 0.3669213652610779, + "z": 0.8622171878814697 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.9525905578315, + "ymin": 329.14262081162997, + "xmax": 652.7856479462336, + "ymax": 390.2453844583181 + }, + "corners_3d": [ + [ + -138.8002471923828, + -47.57294845581055, + 0.23431813716888428 + ], + [ + -139.5341033935547, + -47.57294845581055, + 0.23431813716888428 + ], + [ + -139.5341033935547, + -46.80257797241211, + 0.23431813716888428 + ], + [ + -138.8002471923828, + -46.80257797241211, + 0.23431813716888428 + ], + [ + -138.8002471923828, + -47.57294845581055, + 1.9587525129318237 + ], + [ + -139.5341033935547, + -47.57294845581055, + 1.9587525129318237 + ], + [ + -139.5341033935547, + -46.80257797241211, + 1.9587525129318237 + ], + [ + -138.8002471923828, + -46.80257797241211, + 1.9587525129318237 + ] + ], + "corners_2d": [ + [ + 627.4766371415468, + 389.9203517052201 + ], + [ + 652.033899205933, + 390.2453844583181 + ], + [ + 652.2819920784257, + 372.76183373698893 + ], + [ + 628.2055675796004, + 372.4494093504014 + ], + [ + 626.9525905578315, + 346.4433895551125 + ], + [ + 652.5376550805184, + 346.765525045994 + ], + [ + 652.7856479462336, + 329.4517532631903 + ], + [ + 627.7220851810099, + 329.14262081162997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 610, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -44.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4447900652885437, + "y": 0.43934571743011475, + "z": 0.8893030881881714 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 495.5104270235561, + "ymin": 267.3459406231944, + "xmax": 530.3982991558504, + "ymax": 331.0974710626639 + }, + "corners_3d": [ + [ + -134.7039337158203, + -44.71647262573242, + 0.05483478307723999 + ], + [ + -135.56341552734375, + -44.53377914428711, + 0.05483478307723999 + ], + [ + -135.3784637451172, + -43.663639068603516, + 0.05483478307723999 + ], + [ + -134.51898193359375, + -43.84633255004883, + 0.05483478307723999 + ], + [ + -134.7039337158203, + -44.71647262573242, + 1.8334410190582275 + ], + [ + -135.56341552734375, + -44.53377914428711, + 1.8334410190582275 + ], + [ + -135.3784637451172, + -43.663639068603516, + 1.8334410190582275 + ], + [ + -134.51898193359375, + -43.84633255004883, + 1.8334410190582275 + ] + ], + "corners_2d": [ + [ + 503.23364742137994, + 331.0974710626639 + ], + [ + 530.3982991558504, + 327.785707775964 + ], + [ + 527.555316805066, + 310.80474860245056 + ], + [ + 500.93750460526223, + 313.9821239415239 + ], + [ + 497.77978780519925, + 287.31986942367797 + ], + [ + 526.0457499838517, + 284.0574845810951 + ], + [ + 523.1847784145413, + 267.3459406231944 + ], + [ + 495.5104270235561, + 270.4708406960856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 540, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -40.24504852294922, + "z": 1.0926729440689087 + }, + "extent": { + "x": 0.47249510884284973, + "y": 0.49321287870407104, + "z": 0.9464539289474487 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 691.6894036548657, + "ymin": 196.9086581496338, + "xmax": 726.051154355956, + "ymax": 258.8357617396508 + }, + "corners_3d": [ + [ + -140.9818878173828, + -40.766510009765625, + 0.14621901512145996 + ], + [ + -141.96290588378906, + -40.66339874267578, + 0.14621901512145996 + ], + [ + -141.86412048339844, + -39.72358703613281, + 0.14621901512145996 + ], + [ + -140.8831024169922, + -39.826698303222656, + 0.14621901512145996 + ], + [ + -140.9818878173828, + -40.766510009765625, + 2.0391268730163574 + ], + [ + -141.96290588378906, + -40.66339874267578, + 2.0391268730163574 + ], + [ + -141.86412048339844, + -39.72358703613281, + 2.0391268730163574 + ], + [ + -140.8831024169922, + -39.826698303222656, + 2.0391268730163574 + ] + ], + "corners_2d": [ + [ + 695.0571616804565, + 258.8357617396508 + ], + [ + 722.8350125086403, + 257.42504275011333 + ], + [ + 718.9100534492395, + 242.02055823937832 + ], + [ + 691.6894036548657, + 243.37458941427326 + ], + [ + 697.1989285251111, + 213.31904388987047 + ], + [ + 726.051154355956, + 211.94120325774156 + ], + [ + 721.9093128625353, + 196.9086581496338 + ], + [ + 693.6577553394451, + 198.2290481605575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 614, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -47.18776321411133, + "z": 1.0942111015319824 + }, + "extent": { + "x": 0.3919726610183716, + "y": 0.4580029249191284, + "z": 0.8842045664787292 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 742.7455055468275, + "ymin": 329.9499619051104, + "xmax": 780.8981136979488, + "ymax": 392.62068779731186 + }, + "corners_3d": [ + [ + -142.28892517089844, + -47.579734802246094, + 0.21000653505325317 + ], + [ + -143.20494079589844, + -47.579734802246094, + 0.21000653505325317 + ], + [ + -143.20494079589844, + -46.79579162597656, + 0.21000653505325317 + ], + [ + -142.28892517089844, + -46.79579162597656, + 0.21000653505325317 + ], + [ + -142.28892517089844, + -47.579734802246094, + 1.9784157276153564 + ], + [ + -143.20494079589844, + -47.579734802246094, + 1.9784157276153564 + ], + [ + -143.20494079589844, + -46.79579162597656, + 1.9784157276153564 + ], + [ + -142.28892517089844, + -46.79579162597656, + 1.9784157276153564 + ] + ], + "corners_2d": [ + [ + 744.334114561179, + 392.21334855047695 + ], + [ + 775.0842150893986, + 392.62068779731186 + ], + [ + 772.881212539459, + 374.76284233891494 + ], + [ + 742.7455055468275, + 374.3715959629061 + ], + [ + 748.822425429819, + 347.61617564268903 + ], + [ + 780.8981136979488, + 348.01986124574347 + ], + [ + 778.4813491821983, + 330.3370340623246 + ], + [ + 747.0735918111162, + 329.9499619051104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 841, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -56.40341567993164, + "z": 1.0949190855026245 + }, + "extent": { + "x": 0.40173831582069397, + "y": 0.33051761984825134, + "z": 0.8769035339355469 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 747.361958964029, + "ymin": 597.3194188139285, + "xmax": 784.8402168649502, + "ymax": 675.1642140257865 + }, + "corners_3d": [ + [ + -141.79083251953125, + -56.76840591430664, + 0.21801555156707764 + ], + [ + -142.4482421875, + -56.837501525878906, + 0.21801555156707764 + ], + [ + -142.5322265625, + -56.03842544555664, + 0.21801555156707764 + ], + [ + -141.87481689453125, + -55.969329833984375, + 0.21801555156707764 + ], + [ + -141.79083251953125, + -56.76840591430664, + 1.9718226194381714 + ], + [ + -142.4482421875, + -56.837501525878906, + 1.9718226194381714 + ], + [ + -142.5322265625, + -56.03842544555664, + 1.9718226194381714 + ], + [ + -141.87481689453125, + -55.969329833984375, + 1.9718226194381714 + ] + ], + "corners_2d": [ + [ + 747.361958964029, + 671.8853408531993 + ], + [ + 776.6075485637075, + 675.1642140257865 + ], + [ + 777.2453776556122, + 643.9136951048918 + ], + [ + 748.7722208928532, + 640.806344666559 + ], + [ + 753.4563496375721, + 628.9130434034671 + ], + [ + 784.3849513734697, + 632.2517483110107 + ], + [ + 784.8402168649502, + 600.4739568282863 + ], + [ + 754.7742020379164, + 597.3194188139285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 745, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.88453674316406, + "y": -55.004798889160156, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3047167956829071, + "y": 0.48966795206069946, + "z": 0.884131133556366 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 120.04824976977466, + "ymin": 541.3788522871425, + "xmax": 196.68831594402639, + "ymax": 614.0947314913587 + }, + "corners_3d": [ + [ + -127.34221649169922, + -55.2010498046875, + 0.06000673770904541 + ], + [ + -128.30015563964844, + -55.4046630859375, + 0.06000673770904541 + ], + [ + -128.42686462402344, + -54.80854797363281, + 0.06000673770904541 + ], + [ + -127.46892547607422, + -54.60493469238281, + 0.06000673770904541 + ], + [ + -127.34221649169922, + -55.2010498046875, + 1.8282690048217773 + ], + [ + -128.30015563964844, + -55.4046630859375, + 1.8282690048217773 + ], + [ + -128.42686462402344, + -54.80854797363281, + 1.8282690048217773 + ], + [ + -127.46892547607422, + -54.60493469238281, + 1.8282690048217773 + ] + ], + "corners_2d": [ + [ + 146.42224865637093, + 606.182798003229 + ], + [ + 182.49164456594394, + 614.0947314913587 + ], + [ + 196.68831594402639, + 593.1794127216488 + ], + [ + 161.19128564949267, + 585.5601748148748 + ], + [ + 120.04824976977466, + 562.2210397582421 + ], + [ + 157.8610863912295, + 570.2282138511814 + ], + [ + 173.29282512923203, + 549.074386196067 + ], + [ + 136.1074364864677, + 541.3788522871425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 8167, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 613.5571473495161, + "xmax": 209.51996411852065, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 21.294126631587687, + 863.7662348447504 + ], + [ + 126.41180682658774, + 866.6974461892014 + ], + [ + 209.51996411852065, + 658.7757735607508 + ], + [ + 120.18841957688528, + 656.6666949970031 + ], + [ + -19.827131613528422, + 826.205045695988 + ], + [ + 92.19889095433575, + 829.2455488500141 + ], + [ + 185.44268381407738, + 615.7013430697158 + ], + [ + 91.1704811285532, + 613.5571473495161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2491, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 382.0291963842261, + "ymin": 19.69251109337125, + "xmax": 453.1251596268669, + "ymax": 99.2786772651549 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 387.66885653747994, + 98.7299425682661 + ], + [ + 432.73478964353205, + 99.2786772651549 + ], + [ + 453.1251596268669, + 48.35377938132922 + ], + [ + 411.8547985473865, + 47.89399705970578 + ], + [ + 382.0291963842261, + 69.00015804668948 + ], + [ + 428.09803887103277, + 69.5334131630342 + ], + [ + 449.3057600059618, + 20.13763680477473 + ], + [ + 407.1958775965569, + 19.69251109337125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.3845061737976, + "ymin": 0.0, + "xmax": 630.9834461492298, + "ymax": 2.106226548215659 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 630.6227996098308, + 2.106226548215659 + ], + [ + 630.9834461492298, + -3.231212114666164 + ], + [ + 484.6323024570404, + -4.314555794056901 + ], + [ + 482.7103376048483, + 0.9996071507180773 + ], + [ + 629.0492912351327, + -237.31321442306296 + ], + [ + 629.4891221835466, + -240.58126196415606 + ], + [ + 458.9481824042067, + -241.2431657263271 + ], + [ + 456.3845061737976, + -237.99173728450762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 363.9575902893988, + "ymin": 0.0, + "xmax": 619.0729193862593, + "ymax": 182.85217002351493 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.4099381341393, + 182.85217002351493 + ], + [ + 619.0729193862593, + 173.04028669384928 + ], + [ + 421.20565859689725, + 171.05780865297112 + ], + [ + 417.6779680147637, + 180.81174486612542 + ], + [ + 613.1736980249359, + -119.35381765691454 + ], + [ + 614.0874864274324, + -126.1434807141136 + ], + [ + 369.2719073507885, + -127.5096186400923 + ], + [ + 363.9575902893988, + -120.76964054251073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 149.5237491894473, + "ymin": 156.7975790622574, + "xmax": 195.7635674835824, + "ymax": 172.17555031071808 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 186.28194356932596, + 172.17555031071808 + ], + [ + 195.7635674835824, + 158.81046328077 + ], + [ + 160.36987888661486, + 158.4611246729888 + ], + [ + 150.17810954084717, + 171.8119458464719 + ], + [ + 185.67548744040027, + 170.4957562033555 + ], + [ + 195.18156831604978, + 157.14649453973902 + ], + [ + 159.7418425762794, + 156.7975790622574 + ], + [ + 149.5237491894473, + 170.13257291788267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 139.28650481379003, + "ymin": 143.86962857788896, + "xmax": 595.5195499198455, + "ymax": 544.349607497874 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 593.983842883653, + 544.349607497874 + ], + [ + 595.5195499198455, + 521.6216965584597 + ], + [ + 296.06367233344565, + 517.070898317034 + ], + [ + 287.91742166207047, + 539.5949863132939 + ], + [ + 574.4318924848599, + 168.50692245095914 + ], + [ + 577.1996017853269, + 147.9421904636556 + ], + [ + 155.29563877580915, + 143.86962857788896 + ], + [ + 139.28650481379003, + 164.17350036777498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 149.5068314090575, + "ymin": 156.75457105409077, + "xmax": 195.74856026991154, + "ymax": 172.13223688359608 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 186.2663061211245, + 172.13223688359608 + ], + [ + 195.74856026991154, + 158.76755680283804 + ], + [ + 160.35368456541028, + 158.41822907680225 + ], + [ + 150.16123687224626, + 171.76864324902553 + ], + [ + 185.65980816036966, + 170.4523269082312 + ], + [ + 195.1665217537145, + 157.10347556173613 + ], + [ + 159.7256058163195, + 156.75457105409077 + ], + [ + 149.5068314090575, + 170.08915454398905 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00026/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec38f684857798721a1973d3047128967f3bb3f4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00026/meta.json @@ -0,0 +1,1617 @@ +{ + "frame_id": 26, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 13.0, + "sim_timestamp": 362.39181675366126 + }, + "drone_pose": { + "x": -139.61759387564283, + "y": -67.80448129190395, + "z": 20.059338480685394, + "pitch": -41.91734713273957, + "yaw": 88.7780897556178, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.015868008136749268, + -0.7439401745796204, + 0.6680578589439392, + 39.25712203979492 + ], + [ + 0.9997726082801819, + 0.021324753761291504, + -2.9802322387695312e-08, + -138.1399383544922 + ], + [ + -0.014246165752410889, + 0.6679059267044067, + 0.7441093325614929, + -62.202369689941406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.66258473166698, + "y": -67.30091204608095, + "z": 20.051133599461334 + }, + "t1_image_uv": [ + 780.9893566932066, + -473.98265718505877 + ], + "t1_depth": 0.3793927820339885 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -46.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.384970616423114, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 602, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -46.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3790283203125, + "y": 0.5861377120018005, + "z": 0.8761993050575256 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.2810583962813, + "ymin": 328.7815577890737, + "xmax": 660.3159227911078, + "ymax": 390.5782004901722 + }, + "corners_3d": [ + [ + -138.58103942871094, + -47.06679153442383, + 0.22033601999282837 + ], + [ + -139.75331115722656, + -47.06679153442383, + 0.22033601999282837 + ], + [ + -139.75331115722656, + -46.30873489379883, + 0.22033601999282837 + ], + [ + -138.58103942871094, + -46.30873489379883, + 0.22033601999282837 + ], + [ + -138.58103942871094, + -47.06679153442383, + 1.9727346897125244 + ], + [ + -139.75331115722656, + -47.06679153442383, + 1.9727346897125244 + ], + [ + -139.75331115722656, + -46.30873489379883, + 1.9727346897125244 + ], + [ + -138.58103942871094, + -46.30873489379883, + 1.9727346897125244 + ] + ], + "corners_2d": [ + [ + 620.1262754492108, + 389.999715537159 + ], + [ + 659.344986280428, + 390.5782004901722 + ], + [ + 659.5026023461414, + 373.36715064723563 + ], + [ + 621.0396400839478, + 372.81075566392985 + ], + [ + 619.2810583962813, + 345.79952044275075 + ], + [ + 660.1682727678896, + 346.37273583147527 + ], + [ + 660.3159227911078, + 329.3319811551631 + ], + [ + 620.2494564692548, + 328.7815577890737 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 26, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 348081, + "2": 121298, + "3": 207784, + "4": 70094, + "6": 11170, + "12": 4120, + "14": 8551, + "20": 232, + "24": 7190, + "25": 143080 + }, + "instance_pixel_counts": { + "2453": 2404, + "3413": 6907, + "3662": 30754, + "11605": 988, + "15960": 9298, + "17240": 1789, + "17496": 83, + "20565": 1467, + "22421": 661, + "22931": 28071, + "22933": 4125, + "23443": 193621, + "36096": 602, + "36352": 612, + "36608": 547, + "36864": 623, + "37120": 890, + "37376": 846, + "38144": 5990, + "41728": 2561, + "47198": 51138, + "48737": 6120, + "48980": 81986, + "49249": 503, + "49492": 116436, + "49761": 1186, + "50246": 30339, + "51297": 42963, + "51526": 9001, + "51809": 5277, + "52321": 3696, + "54366": 78466, + "54878": 13476, + "57482": 4986, + "57994": 10361, + "59737": 232, + "63382": 39872, + "63894": 6334, + "65426": 126389 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 602, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -46.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3661865293979645, + "y": 0.5380908250808716, + "z": 0.9017301201820374 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.9602464710691, + "ymin": 328.4180221747834, + "xmax": 658.6809485405155, + "ymax": 390.87467286006756 + }, + "corners_3d": [ + [ + -138.62908935546875, + -47.053951263427734, + 0.19480520486831665 + ], + [ + -139.70526123046875, + -47.053951263427734, + 0.19480520486831665 + ], + [ + -139.70526123046875, + -46.32157516479492, + 0.19480520486831665 + ], + [ + -138.62908935546875, + -46.32157516479492, + 0.19480520486831665 + ], + [ + -138.62908935546875, + -47.053951263427734, + 1.9982655048370361 + ], + [ + -139.70526123046875, + -47.053951263427734, + 1.9982655048370361 + ], + [ + -139.70526123046875, + -46.32157516479492, + 1.9982655048370361 + ], + [ + -138.62908935546875, + -46.32157516479492, + 1.9982655048370361 + ] + ], + "corners_2d": [ + [ + 621.7588748065525, + 390.34391223437837 + ], + [ + 657.7291780403593, + 390.87467286006756 + ], + [ + 657.9115081378902, + 374.245855224682 + ], + [ + 622.6107027078837, + 373.7346770515992 + ], + [ + 620.9602464710691, + 344.85721157010266 + ], + [ + 658.5058744113611, + 345.38298009855964 + ], + [ + 658.6809485405155, + 328.92356754462764 + ], + [ + 621.8641499289712, + 328.4180221747834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 612, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -43.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4558349847793579, + "y": 0.5571997761726379, + "z": 0.9164949655532837 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 491.9022014852163, + "ymin": 265.87670918009667, + "xmax": 534.3008405667113, + "ymax": 332.2127536498268 + }, + "corners_3d": [ + [ + -134.5909423828125, + -44.25177764892578, + 0.027642905712127686 + ], + [ + -135.68099975585938, + -44.02008056640625, + 0.027642905712127686 + ], + [ + -135.491455078125, + -43.128334045410156, + 0.027642905712127686 + ], + [ + -134.40139770507812, + -43.36003112792969, + 0.027642905712127686 + ], + [ + -134.5909423828125, + -44.25177764892578, + 1.8606328964233398 + ], + [ + -135.68099975585938, + -44.02008056640625, + 1.8606328964233398 + ], + [ + -135.491455078125, + -43.128334045410156, + 1.8606328964233398 + ], + [ + -134.40139770507812, + -43.36003112792969, + 1.8606328964233398 + ] + ], + "corners_2d": [ + [ + 499.8522567774641, + 332.2127536498268 + ], + [ + 534.3008405667113, + 328.05896133866565 + ], + [ + 531.3696845500547, + 310.6692928192274 + ], + [ + 497.63207227036344, + 314.6504235922458 + ], + [ + 494.08543115473014, + 287.07017737464935 + ], + [ + 529.9740579848012, + 282.98036226522 + ], + [ + 527.0198188649713, + 265.87670918009667 + ], + [ + 491.9022014852163, + 269.78977268706217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 547, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -39.74504852294922, + "z": 1.0926241874694824 + }, + "extent": { + "x": 0.45170408487319946, + "y": 0.5637902617454529, + "z": 0.9423061013221741 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 690.2740767952671, + "ymin": 197.33142854283076, + "xmax": 728.4609135898656, + "ymax": 258.56773379969724 + }, + "corners_3d": [ + [ + -140.90951538085938, + -40.253211975097656, + 0.15031808614730835 + ], + [ + -142.03091430664062, + -40.135345458984375, + 0.15031808614730835 + ], + [ + -141.93649291992188, + -39.23688507080078, + 0.15031808614730835 + ], + [ + -140.81509399414062, + -39.35475158691406, + 0.15031808614730835 + ], + [ + -140.90951538085938, + -40.253211975097656, + 2.0349302291870117 + ], + [ + -142.03091430664062, + -40.135345458984375, + 2.0349302291870117 + ], + [ + -141.93649291992188, + -39.23688507080078, + 2.0349302291870117 + ], + [ + -140.81509399414062, + -39.35475158691406, + 2.0349302291870117 + ] + ], + "corners_2d": [ + [ + 693.4096833965217, + 258.56773379969724 + ], + [ + 725.1703009259236, + 256.99742876992804 + ], + [ + 721.4246249414554, + 242.26886247267058 + ], + [ + 690.2740767952671, + 243.77874456175482 + ], + [ + 695.477638178757, + 213.2390160021212 + ], + [ + 728.4609135898656, + 211.7052597550058 + ], + [ + 724.5071530234122, + 197.33142854283076 + ], + [ + 692.1813329658261, + 198.80395438861385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 623, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -46.68776321411133, + "z": 1.0941768884658813 + }, + "extent": { + "x": 0.38462889194488525, + "y": 0.41063475608825684, + "z": 0.8856103420257568 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 744.3860534128238, + "ymin": 330.2389673807576, + "xmax": 779.2587608232105, + "ymax": 392.67729738140343 + }, + "corners_3d": [ + [ + -142.3363037109375, + -47.072391510009766, + 0.2085665464401245 + ], + [ + -143.15756225585938, + -47.072391510009766, + 0.2085665464401245 + ], + [ + -143.15756225585938, + -46.30313491821289, + 0.2085665464401245 + ], + [ + -142.3363037109375, + -46.30313491821289, + 0.2085665464401245 + ], + [ + -142.3363037109375, + -47.072391510009766, + 1.9797872304916382 + ], + [ + -143.15756225585938, + -47.072391510009766, + 1.9797872304916382 + ], + [ + -143.15756225585938, + -46.30313491821289, + 1.9797872304916382 + ], + [ + -142.3363037109375, + -46.30313491821289, + 1.9797872304916382 + ] + ], + "corners_2d": [ + [ + 745.921926638793, + 392.27028219877536 + ], + [ + 773.5029398995964, + 392.67729738140343 + ], + [ + 771.4258490198936, + 375.1457094810713 + ], + [ + 744.3860534128238, + 374.75448783654326 + ], + [ + 750.4864575499358, + 347.5817978246452 + ], + [ + 779.2587608232105, + 347.98514194561943 + ], + [ + 776.976381289616, + 330.62600638552743 + ], + [ + 748.7925594113566, + 330.2389673807576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 890, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -55.90341567993164, + "z": 1.0948799848556519 + }, + "extent": { + "x": 0.35059574246406555, + "y": 0.5813501477241516, + "z": 0.8760834336280823 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 735.5603012176739, + "ymin": 598.3410263734131, + "xmax": 795.4952371767718, + "ymax": 674.7302646897502 + }, + "corners_3d": [ + [ + -141.54672241210938, + -56.191322326660156, + 0.21879655122756958 + ], + [ + -142.7030487060547, + -56.31285858154297, + 0.21879655122756958 + ], + [ + -142.77633666992188, + -55.615509033203125, + 0.21879655122756958 + ], + [ + -141.62001037597656, + -55.49397277832031, + 0.21879655122756958 + ], + [ + -141.54672241210938, + -56.191322326660156, + 1.970963478088379 + ], + [ + -142.7030487060547, + -56.31285858154297, + 1.970963478088379 + ], + [ + -142.77633666992188, + -55.615509033203125, + 1.970963478088379 + ], + [ + -141.62001037597656, + -55.49397277832031, + 1.970963478088379 + ] + ], + "corners_2d": [ + [ + 735.5603012176739, + 668.8769755492707 + ], + [ + 786.9387964279003, + 674.7302646897502 + ], + [ + 787.3230149290835, + 647.3850510952884 + ], + [ + 737.1309170154381, + 641.8000226658557 + ], + [ + 740.9659068405635, + 625.8625509194239 + ], + [ + 795.2946734471327, + 631.8214128462267 + ], + [ + 795.4952371767718, + 604.0118656619002 + ], + [ + 742.4912817819522, + 598.3410263734131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 846, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -54.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.30687010288238525, + "y": 0.3713964819908142, + "z": 0.8720853924751282 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 119.30412201186891, + "ymin": 554.0195720429338, + "xmax": 187.9457666593222, + "ymax": 624.9327046141481 + }, + "corners_3d": [ + [ + -127.49475860595703, + -55.08092498779297, + 0.0720524787902832 + ], + [ + -128.22132873535156, + -55.23535919189453, + 0.0720524787902832 + ], + [ + -128.3489227294922, + -54.635032653808594, + 0.0720524787902832 + ], + [ + -127.62236785888672, + -54.48059844970703, + 0.0720524787902832 + ], + [ + -127.49475860595703, + -55.08092498779297, + 1.8162232637405396 + ], + [ + -128.22132873535156, + -55.23535919189453, + 1.8162232637405396 + ], + [ + -128.3489227294922, + -54.635032653808594, + 1.8162232637405396 + ], + [ + -127.62236785888672, + -54.48059844970703, + 1.8162232637405396 + ] + ], + "corners_2d": [ + [ + 145.67104450031212, + 618.742036219588 + ], + [ + 173.27504026387226, + 624.9327046141481 + ], + [ + 187.9457666593222, + 603.4586661616528 + ], + [ + 160.78653927424858, + 597.5010914840066 + ], + [ + 119.30412201186891, + 575.5085780138097 + ], + [ + 148.23557925274042, + 581.7797235892533 + ], + [ + 164.1798623488378, + 560.0423406858974 + ], + [ + 135.73567715457233, + 554.0195720429338 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 5990, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 632.5095149080666, + "xmax": 201.0075832811989, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 7.147934676724049, + 889.8201109320909 + ], + [ + 114.18330159718187, + 893.122133076628 + ], + [ + 201.0075832811989, + 677.6838430733391 + ], + [ + 110.29500118422368, + 675.3220952584145 + ], + [ + -35.77943665899579, + 853.2272728646275 + ], + [ + 78.42593098987538, + 856.6611179410716 + ], + [ + 176.02727695825155, + 634.9148754340677 + ], + [ + 80.21658859987224, + 632.5095149080666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2561, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 380.51130518032494, + "ymin": 23.747529699317568, + "xmax": 452.53936688922994, + "ymax": 104.32176064388986 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 386.23075108567565, + 103.71704054904626 + ], + [ + 431.65594464972844, + 104.32176064388986 + ], + [ + 452.53936688922994, + 52.592059323650915 + ], + [ + 410.96803300925626, + 52.086100054363726 + ], + [ + 380.51130518032494, + 73.84139537017023 + ], + [ + 426.9554961740141, + 74.42925329622227 + ], + [ + 448.6784036533676, + 24.23749411114852 + ], + [ + 406.25525424412484, + 23.747529699317568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.052421401587, + "ymin": 0.0, + "xmax": 631.9583481842188, + "ymax": 5.846111935326348 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 631.5750880395124, + 5.846111935326348 + ], + [ + 631.9583481842188, + 0.4321798512665964 + ], + [ + 484.57647971011465, + -0.7919474660769765 + ], + [ + 482.6096023034248, + 4.595488107715369 + ], + [ + 630.1494109973507, + -235.03065910872442 + ], + [ + 630.6144624260675, + -238.35163748841865 + ], + [ + 458.67662419383873, + -239.10087594586696 + ], + [ + 456.052421401587, + -235.7988725451013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 361.07726142683254, + "ymin": 0.0, + "xmax": 619.2685216410798, + "ymax": 189.6945559727456 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.5601886702913, + 189.6945559727456 + ], + [ + 619.2685216410798, + 179.68864575819234 + ], + [ + 419.50761911174516, + 177.43690052489254 + ], + [ + 415.8788746392023, + 187.37632379198914 + ], + [ + 613.2958107428906, + -114.67742802733517 + ], + [ + 614.2694785664236, + -121.63048653073537 + ], + [ + 366.55747131995764, + -123.18843314101969 + ], + [ + 361.07726142683254, + -116.29274971387076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 137.8268813100633, + "ymin": 170.01396748898748, + "xmax": 185.30113984990993, + "ymax": 186.01869846798093 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 175.3425382381938, + 186.01869846798093 + ], + [ + 185.30113984990993, + 172.09979229852087 + ], + [ + 149.20831579212182, + 171.69456828591757 + ], + [ + 138.51090420358577, + 185.59656973621642 + ], + [ + 174.70836339889377, + 184.32185958135148 + ], + [ + 184.69313030404123, + 170.41872095490587 + ], + [ + 148.55243911741115, + 170.01396748898748 + ], + [ + 137.8268813100633, + 183.90019775228185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 127.20206261079318, + "ymin": 156.84052628639927, + "xmax": 593.9753364648101, + "ymax": 560.4065529855563 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 592.3169488524087, + 560.4065529855563 + ], + [ + 593.9753364648101, + 536.9801717920673 + ], + [ + 290.1500007968007, + 531.7578794960089 + ], + [ + 281.6840875243998, + 554.9466986227912 + ], + [ + 571.606848719926, + 183.02758479716715 + ], + [ + 574.6118168783195, + 161.56880912319014 + ], + [ + 144.0099181979948, + 156.84052628639927 + ], + [ + 127.20206261079318, + 177.9896525934002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 137.80919612813256, + "ymin": 169.97051734986087, + "xmax": 185.28546235504433, + "ymax": 185.97494674164682 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 175.32618651250215, + 185.97494674164682 + ], + [ + 185.28546235504433, + 172.05644596039627 + ], + [ + 149.1914040325555, + 171.65123404687455 + ], + [ + 138.4932671685686, + 185.55283001293213 + ], + [ + 174.69196700755776, + 184.27798834475362 + ], + [ + 184.67741085347654, + 170.375258614452 + ], + [ + 148.5354821263054, + 169.97051734986087 + ], + [ + 137.80919612813256, + 183.85633862498912 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00027/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..56fc06ec9316bb200e6559eb7eeb7b1273abf4a9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/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": 373.3578105007764 + }, + "drone_pose": { + "x": -139.66258473166698, + "y": -67.30091204608095, + "z": 20.051133599461334, + "pitch": -41.90847448665376, + "yaw": 88.65585064468148, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.017457425594329834, + -0.74400794506073, + 0.6679426431655884, + 39.1175537109375 + ], + [ + 0.9997248649597168, + 0.023457586765289307, + 0.0, + -138.04542541503906 + ], + [ + -0.01566833257675171, + 0.6677588224411011, + 0.7442127466201782, + -62.05136489868164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.70715336519996, + "y": -66.79741977182505, + "z": 20.043855491570156 + }, + "t1_image_uv": [ + 782.8954506144364, + -476.8229423288907 + ], + "t1_depth": 0.37868556937766307 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -46.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.377583992818664, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 609, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -46.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4137011766433716, + "y": 0.5317187309265137, + "z": 0.9056833386421204 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.0863053230897, + "ymin": 327.2385377206231, + "xmax": 658.5109098231316, + "ymax": 392.10345348690925 + }, + "corners_3d": [ + [ + -138.6354522705078, + -46.601463317871094, + 0.19085198640823364 + ], + [ + -139.6988983154297, + -46.601463317871094, + 0.19085198640823364 + ], + [ + -139.6988983154297, + -45.77406311035156, + 0.19085198640823364 + ], + [ + -138.6354522705078, + -45.77406311035156, + 0.19085198640823364 + ], + [ + -138.6354522705078, + -46.601463317871094, + 2.002218723297119 + ], + [ + -139.6988983154297, + -46.601463317871094, + 2.002218723297119 + ], + [ + -139.6988983154297, + -45.77406311035156, + 2.002218723297119 + ], + [ + -138.6354522705078, + -45.77406311035156, + 2.002218723297119 + ] + ], + "corners_2d": [ + [ + 621.8840831992932, + 391.5250133092778 + ], + [ + 657.4771389630258, + 392.10345348690925 + ], + [ + 657.7460412986316, + 373.31428994607757 + ], + [ + 622.9006344881271, + 372.7599083270956 + ], + [ + 621.0863053230897, + 345.8100455646267 + ], + [ + 658.2473071504243, + 346.3830640662093 + ], + [ + 658.5109098231316, + 327.7867076535482 + ], + [ + 622.164125302572, + 327.2385377206231 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 27, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 349855, + "2": 121291, + "3": 201584, + "4": 72067, + "6": 11628, + "12": 4045, + "14": 6323, + "20": 236, + "24": 7265, + "25": 147306 + }, + "instance_pixel_counts": { + "2453": 2353, + "3413": 7055, + "3662": 32273, + "11605": 946, + "15960": 9623, + "17240": 1863, + "17496": 142, + "20565": 1568, + "22421": 710, + "22931": 29921, + "22933": 4202, + "23443": 198407, + "36096": 609, + "36352": 625, + "36608": 536, + "36864": 602, + "37120": 903, + "37376": 770, + "38144": 3711, + "41728": 2612, + "47198": 49439, + "48737": 6498, + "48980": 90049, + "49249": 582, + "49492": 101966, + "49761": 1261, + "50246": 30717, + "51297": 44588, + "51526": 9077, + "51809": 5478, + "52321": 3633, + "54366": 82544, + "54878": 15323, + "57482": 5317, + "57994": 10090, + "59737": 236, + "63382": 37814, + "63894": 6030, + "65426": 121527 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 609, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -46.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3902685344219208, + "y": 0.42000243067741394, + "z": 0.8733665943145752 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.028520813548, + "ymin": 328.657484724815, + "xmax": 654.6691184154676, + "ymax": 390.7177769495554 + }, + "corners_3d": [ + [ + -138.74717712402344, + -46.578033447265625, + 0.2231687307357788 + ], + [ + -139.58717346191406, + -46.578033447265625, + 0.2231687307357788 + ], + [ + -139.58717346191406, + -45.79749298095703, + 0.2231687307357788 + ], + [ + -138.74717712402344, + -45.79749298095703, + 0.2231687307357788 + ], + [ + -138.74717712402344, + -46.578033447265625, + 1.9699019193649292 + ], + [ + -139.58717346191406, + -46.578033447265625, + 1.9699019193649292 + ], + [ + -139.58717346191406, + -45.79749298095703, + 1.9699019193649292 + ], + [ + -138.74717712402344, + -45.79749298095703, + 1.9699019193649292 + ] + ], + "corners_2d": [ + [ + 625.6376128758894, + 390.26148906840154 + ], + [ + 653.7559899169972, + 390.7177769495554 + ], + [ + 654.0838792928108, + 372.9977861086561 + ], + [ + 626.5234342137371, + 372.559435818437 + ], + [ + 625.028520813548, + 346.18354378219215 + ], + [ + 654.3396765034448, + 346.63568530421753 + ], + [ + 654.6691184154676, + 329.09112095896035 + ], + [ + 625.963723619798, + 328.657484724815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 625, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -43.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.46518558263778687, + "y": 0.44016361236572266, + "z": 0.9029966592788696 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 495.8616227533255, + "ymin": 266.29850139351163, + "xmax": 530.8705004154934, + "ymax": 331.4568609671675 + }, + "corners_3d": [ + [ + -134.70736694335938, + -43.73659133911133, + 0.04114121198654175 + ], + [ + -135.56846618652344, + -43.55356216430664, + 0.04114121198654175 + ], + [ + -135.37503051757812, + -42.64352035522461, + 0.04114121198654175 + ], + [ + -134.51393127441406, + -42.8265495300293, + 0.04114121198654175 + ], + [ + -134.70736694335938, + -43.73659133911133, + 1.8471345901489258 + ], + [ + -135.56846618652344, + -43.55356216430664, + 1.8471345901489258 + ], + [ + -135.37503051757812, + -42.64352035522461, + 1.8471345901489258 + ], + [ + -134.51393127441406, + -42.8265495300293, + 1.8471345901489258 + ] + ], + "corners_2d": [ + [ + 503.6381328919771, + 331.4568609671675 + ], + [ + 530.8705004154934, + 328.2123752618468 + ], + [ + 528.0108526276052, + 310.44775356779985 + ], + [ + 501.3527548828385, + 313.5545527711833 + ], + [ + 498.1141031290068, + 286.9702210261337 + ], + [ + 526.4675680576543, + 283.77508161173523 + ], + [ + 523.5930869196063, + 266.29850139351163 + ], + [ + 495.8616227533255, + 269.3527492869012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 536, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -39.24504852294922, + "z": 1.092570424079895 + }, + "extent": { + "x": 0.4658544957637787, + "y": 0.5937731862068176, + "z": 0.9237715005874634 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 689.8617719435069, + "ymin": 197.62061770475106, + "xmax": 729.804294626957, + "ymax": 258.4872246384552 + }, + "corners_3d": [ + [ + -140.8811798095703, + -39.770416259765625, + 0.16879892349243164 + ], + [ + -142.06222534179688, + -39.64628601074219, + 0.16879892349243164 + ], + [ + -141.96482849121094, + -38.71968078613281, + 0.16879892349243164 + ], + [ + -140.78378295898438, + -38.84381103515625, + 0.16879892349243164 + ], + [ + -140.8811798095703, + -39.770416259765625, + 2.0163419246673584 + ], + [ + -142.06222534179688, + -39.64628601074219, + 2.0163419246673584 + ], + [ + -141.96482849121094, + -38.71968078613281, + 2.0163419246673584 + ], + [ + -140.78378295898438, + -38.84381103515625, + 2.0163419246673584 + ] + ], + "corners_2d": [ + [ + 693.034926636921, + 258.4872246384552 + ], + [ + 726.5268222765477, + 256.8746637490595 + ], + [ + 722.6894489190175, + 241.68272523367853 + ], + [ + 689.8617719435069, + 243.2312704995832 + ], + [ + 695.0482223377328, + 214.02907108431685 + ], + [ + 729.804294626957, + 212.45332023257794 + ], + [ + 725.7565081068888, + 197.62061770475106 + ], + [ + 691.7152061422998, + 199.13151588558534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 602, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -46.18776321411133, + "z": 1.0941377878189087 + }, + "extent": { + "x": 0.3764941394329071, + "y": 0.5387988090515137, + "z": 0.9039008021354675 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 740.2049803359737, + "ymin": 330.01389409589234, + "xmax": 783.8276172673516, + "ymax": 393.2088908767397 + }, + "corners_3d": [ + [ + -142.2081298828125, + -46.56425857543945, + 0.19023698568344116 + ], + [ + -143.28573608398438, + -46.56425857543945, + 0.19023698568344116 + ], + [ + -143.28573608398438, + -45.8112678527832, + 0.19023698568344116 + ], + [ + -142.2081298828125, + -45.8112678527832, + 0.19023698568344116 + ], + [ + -142.2081298828125, + -46.56425857543945, + 1.9980385303497314 + ], + [ + -143.28573608398438, + -46.56425857543945, + 1.9980385303497314 + ], + [ + -143.28573608398438, + -45.8112678527832, + 1.9980385303497314 + ], + [ + -142.2081298828125, + -45.8112678527832, + 1.9980385303497314 + ] + ], + "corners_2d": [ + [ + 741.5725694602178, + 392.6213213976028 + ], + [ + 777.7616949967028, + 393.2088908767397 + ], + [ + 775.6986897049081, + 376.03559938026575 + ], + [ + 740.2049803359737, + 375.4703594047479 + ], + [ + 746.0419463663692, + 346.99153902445846 + ], + [ + 783.8276172673516, + 347.57367857579254 + ], + [ + 781.5541528786183, + 330.57296583604455 + ], + [ + 744.5259681922091, + 330.01389409589234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 903, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -55.41828918457031, + "z": 1.0948410034179688 + }, + "extent": { + "x": 0.3894873261451721, + "y": 0.5246680378913879, + "z": 0.904503583908081 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 737.2822108340031, + "ymin": 597.193868810212, + "xmax": 792.5634896600477, + "ymax": 677.6198430483366 + }, + "corners_3d": [ + [ + -141.60386657714844, + -55.75080108642578, + 0.1903374195098877 + ], + [ + -142.64744567871094, + -55.8604850769043, + 0.1903374195098877 + ], + [ + -142.72886657714844, + -55.085777282714844, + 0.1903374195098877 + ], + [ + -141.68528747558594, + -54.97609329223633, + 0.1903374195098877 + ], + [ + -141.60386657714844, + -55.75080108642578, + 1.9993445873260498 + ], + [ + -142.64744567871094, + -55.8604850769043, + 1.9993445873260498 + ], + [ + -142.72886657714844, + -55.085777282714844, + 1.9993445873260498 + ], + [ + -141.68528747558594, + -54.97609329223633, + 1.9993445873260498 + ] + ], + "corners_2d": [ + [ + 737.2822108340031, + 672.226299904758 + ], + [ + 783.7161160459364, + 677.6198430483366 + ], + [ + 784.2971079448922, + 647.2159695318009 + ], + [ + 739.0524704716107, + 642.0963576472707 + ], + [ + 742.9836760937103, + 627.837412111606 + ], + [ + 792.1799357983562, + 633.3326264258519 + ], + [ + 792.5634896600477, + 602.3942568280138 + ], + [ + 744.7001829895555, + 597.193868810212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 770, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -54.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.29847654700279236, + "y": 0.4214794933795929, + "z": 0.8811777830123901 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 116.94748280249951, + "ymin": 552.8104417196374, + "xmax": 189.2055182208332, + "ymax": 624.4616806475285 + }, + "corners_3d": [ + [ + -127.44751739501953, + -54.56230163574219, + 0.06296008825302124 + ], + [ + -128.27206420898438, + -54.73756408691406, + 0.06296008825302124 + ], + [ + -128.3961639404297, + -54.153656005859375, + 0.06296008825302124 + ], + [ + -127.5716323852539, + -53.9783935546875, + 0.06296008825302124 + ], + [ + -127.44751739501953, + -54.56230163574219, + 1.8253157138824463 + ], + [ + -128.27206420898438, + -54.73756408691406, + 1.8253157138824463 + ], + [ + -128.3961639404297, + -54.153656005859375, + 1.8253157138824463 + ], + [ + -127.5716323852539, + -53.9783935546875, + 1.8253157138824463 + ] + ], + "corners_2d": [ + [ + 143.66900081132417, + 617.3855922674965 + ], + [ + 174.91915987202702, + 624.4616806475285 + ], + [ + 189.2055182208332, + 603.5967399723515 + ], + [ + 158.44331637172604, + 596.7796649478756 + ], + [ + 116.94748280249951, + 573.6564795789247 + ], + [ + 149.71317317672663, + 580.8245594598536 + ], + [ + 165.25055730046518, + 559.7023804625885 + ], + [ + 133.01984261428612, + 552.8104417196374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 3711, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 652.1467134646498, + "xmax": 192.14719424340382, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + -7.612156003128348, + 916.9179562427967 + ], + [ + 101.41021472978332, + 920.6114145399498 + ], + [ + 192.14719424340382, + 697.2385166864876 + ], + [ + 100.01117832487387, + 694.6130508973692 + ], + [ + -52.46423571225637, + 881.4094879008351 + ], + [ + 64.00489785826653, + 885.2605836642225 + ], + [ + 166.211590313984, + 654.8256204742045 + ], + [ + 68.81232583604958, + 652.1467134646498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2612, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 378.8947614077981, + "ymin": 27.865003990365835, + "xmax": 451.87361255096323, + "ymax": 109.45043679405276 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 384.69766495625083, + 108.78910219725776 + ], + [ + 430.48823883884126, + 109.45043679405276 + ], + [ + 451.87361255096323, + 56.89387652526358 + ], + [ + 409.99650230279144, + 56.34136016664854 + ], + [ + 378.8947614077981, + 78.76724795021818 + ], + [ + 425.72085693244196, + 79.41036409982308 + ], + [ + 447.968671387586, + 28.400204903492295 + ], + [ + 405.2271384699099, + 27.865003990365835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 455.63063792917467, + "ymin": 0.0, + "xmax": 632.8761021088608, + "ymax": 9.633785949713683 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 632.4700438335899, + 9.633785949713683 + ], + [ + 632.8761021088608, + 4.141458463712468 + ], + [ + 484.44862450798075, + 2.7757985977690396 + ], + [ + 482.43620700806275, + 8.238344834089844 + ], + [ + 631.1849041498377, + -232.71550905339473 + ], + [ + 631.6755274594173, + -236.0911264006021 + ], + [ + 458.3165751441668, + -236.92855192400577 + ], + [ + 455.63063792917467, + -233.57432794159558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 358.0379966109937, + "ymin": 0.0, + "xmax": 619.3964474193615, + "ymax": 196.67274804266077 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.6418956487825, + 196.67274804266077 + ], + [ + 619.3964474193615, + 186.46671191053633 + ], + [ + 417.70670848383617, + 183.94138784422336 + ], + [ + 413.974527003616, + 194.07209576088238 + ], + [ + 613.3315439565986, + -109.87969755091797 + ], + [ + 614.3668534674771, + -117.00289915266222 + ], + [ + 363.689589103654, + -118.75747026630609 + ], + [ + 358.0379966109937, + -111.69970772000374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.53180804207659, + "ymin": 183.81634985441082, + "xmax": 174.302362802012, + "ymax": 200.48774996625468 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 163.8366323354906, + 200.48774996625468 + ], + [ + 174.302362802012, + 185.97833278339886 + ], + [ + 137.48254437595727, + 185.51388340968907 + ], + [ + 126.24760593002236, + 200.003499303531 + ], + [ + 163.17274773431114, + 198.77404942041986 + ], + [ + 173.66650629583916, + 184.28028440395934 + ], + [ + 136.7968787399967, + 183.81634985441082 + ], + [ + 125.53180804207659, + 198.29030767512424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 114.49496123381573, + "ymin": 170.38835701826267, + "xmax": 592.3120971290916, + "ymax": 576.9659721486883 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 590.526093280975, + 576.9659721486883 + ], + [ + 592.3120971290916, + 552.8085568391025 + ], + [ + 283.9954480784763, + 546.8899505274456 + ], + [ + 275.19654913659537, + 570.7738585666334 + ], + [ + 568.5503297511461, + 198.22682847302104 + ], + [ + 571.8080764103828, + 175.81267504612987 + ], + [ + 132.1524162326745, + 170.38835701826267 + ], + [ + 114.49496123381573, + 192.43915503949503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.51330077301975, + "ymin": 183.77246067360076, + "xmax": 174.28596772476732, + "ymax": 200.44356473906373 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 163.81951505557674, + 200.44356473906373 + ], + [ + 174.28596772476732, + 185.93454989515936 + ], + [ + 137.46486499223323, + 185.47011375647278 + ], + [ + 126.22915012570547, + 199.95932715663938 + ], + [ + 163.15558268917158, + 198.72974089575644 + ], + [ + 173.65006641605862, + 184.23638187100005 + ], + [ + 136.77915107683611, + 183.77246067360076 + ], + [ + 125.51330077301975, + 198.24601235245441 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00028/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..376a6e7994c4ed8086aebe130c61409ac28cea89 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00028/meta.json @@ -0,0 +1,1618 @@ +{ + "frame_id": 28, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 14.0, + "sim_timestamp": 386.17642060643993 + }, + "drone_pose": { + "x": -139.70715336519996, + "y": -66.79741977182505, + "z": 20.043855491570156, + "pitch": -41.90077142547028, + "yaw": 88.53473303061322, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.01903247833251953, + -0.7440592050552368, + 0.6678426265716553, + 38.97406768798828 + ], + [ + 0.9996730089187622, + 0.02557086944580078, + 2.9802322387695312e-08, + -137.95339965820312 + ], + [ + -0.017077356576919556, + 0.6676242351531982, + 0.74430251121521, + -61.900089263916016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.7523480920249, + "y": -66.29397561658631, + "z": 20.03743906317713 + }, + "t1_image_uv": [ + 787.4307161077688, + -479.4891590855806 + ], + "t1_depth": 0.37801723731389797 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -45.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.370937780193493, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 622, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -45.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3889111280441284, + "y": 0.4472314417362213, + "z": 0.8792851567268372 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.0467566860323, + "ymin": 328.4893444534098, + "xmax": 655.6334111791033, + "ymax": 390.87441556781016 + }, + "corners_3d": [ + [ + -138.71994018554688, + -46.07667541503906, + 0.21725016832351685 + ], + [ + -139.61441040039062, + -46.07667541503906, + 0.21725016832351685 + ], + [ + -139.61441040039062, + -45.298851013183594, + 0.21725016832351685 + ], + [ + -138.71994018554688, + -45.298851013183594, + 0.21725016832351685 + ], + [ + -138.71994018554688, + -46.07667541503906, + 1.975820541381836 + ], + [ + -139.61441040039062, + -46.07667541503906, + 1.975820541381836 + ], + [ + -139.61441040039062, + -45.298851013183594, + 1.975820541381836 + ], + [ + -138.71994018554688, + -45.298851013183594, + 1.975820541381836 + ] + ], + "corners_2d": [ + [ + 624.7001047074285, + 390.34473550247395 + ], + [ + 654.6422500242204, + 390.87441556781016 + ], + [ + 655.0054616498106, + 373.213391357874 + ], + [ + 625.6554248469287, + 372.70446640712356 + ], + [ + 624.0467566860323, + 345.95247539817075 + ], + [ + 655.2679020392458, + 346.47729284691457 + ], + [ + 655.6334111791033, + 328.9927459553423 + ], + [ + 625.055496056372, + 328.4893444534098 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 28, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 40, + "semantic_pixel_counts": { + "1": 351554, + "2": 121284, + "3": 195324, + "4": 73407, + "6": 12081, + "12": 4128, + "14": 4113, + "20": 250, + "24": 7361, + "25": 152098 + }, + "instance_pixel_counts": { + "2453": 2281, + "3413": 7041, + "3662": 33145, + "11605": 945, + "15960": 9949, + "17240": 1950, + "17496": 182, + "20565": 1627, + "22421": 765, + "22931": 31807, + "22933": 4315, + "23443": 203297, + "36096": 622, + "36352": 602, + "36608": 543, + "36864": 618, + "37120": 988, + "37376": 755, + "38144": 1440, + "41728": 2673, + "47198": 47558, + "47710": 21, + "48737": 6904, + "48980": 97971, + "49249": 663, + "49492": 87740, + "49761": 1336, + "50246": 31111, + "51297": 46279, + "51526": 9151, + "51809": 5706, + "52321": 3573, + "54366": 86944, + "54878": 17575, + "57482": 5650, + "57994": 9816, + "59737": 250, + "63382": 35654, + "63894": 5703, + "65426": 116450 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 622, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -45.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3796435594558716, + "y": 0.3666161894798279, + "z": 0.866722822189331 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.8744799627465, + "ymin": 329.0675749564209, + "xmax": 652.8673301336448, + "ymax": 390.30777225597 + }, + "corners_3d": [ + [ + -138.80055236816406, + -46.067405700683594, + 0.22981250286102295 + ], + [ + -139.53379821777344, + -46.067405700683594, + 0.22981250286102295 + ], + [ + -139.53379821777344, + -45.30812072753906, + 0.22981250286102295 + ], + [ + -138.80055236816406, + -45.30812072753906, + 0.22981250286102295 + ], + [ + -138.80055236816406, + -46.067405700683594, + 1.963258147239685 + ], + [ + -139.53379821777344, + -46.067405700683594, + 1.963258147239685 + ], + [ + -139.53379821777344, + -45.30812072753906, + 1.963258147239685 + ], + [ + -138.80055236816406, + -45.30812072753906, + 1.963258147239685 + ] + ], + "corners_2d": [ + [ + 627.4043976625741, + 389.8737946660203 + ], + [ + 651.9508825279419, + 390.30777225597 + ], + [ + 652.3576306104021, + 373.07053924973144 + ], + [ + 628.2852325904176, + 372.6531739804366 + ], + [ + 626.8744799627465, + 346.1178244269689 + ], + [ + 652.4539309349425, + 346.5478665836879 + ], + [ + 652.8673301336448, + 329.4804835291294 + ], + [ + 627.802288555635, + 329.0675749564209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 602, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -42.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44206058979034424, + "y": 0.43958011269569397, + "z": 0.8799911141395569 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 496.2420932789848, + "ymin": 267.15381965211634, + "xmax": 530.9014941722053, + "ymax": 330.27413192064654 + }, + "corners_3d": [ + [ + -134.70314025878906, + -43.21385192871094, + 0.06414675712585449 + ], + [ + -135.56307983398438, + -43.031063079833984, + 0.06414675712585449 + ], + [ + -135.37925720214844, + -42.166259765625, + 0.06414675712585449 + ], + [ + -134.51931762695312, + -42.34904861450195, + 0.06414675712585449 + ], + [ + -134.70314025878906, + -43.21385192871094, + 1.8241289854049683 + ], + [ + -135.56307983398438, + -43.031063079833984, + 1.8241289854049683 + ], + [ + -135.37925720214844, + -42.166259765625, + 1.8241289854049683 + ], + [ + -134.51931762695312, + -42.34904861450195, + 1.8241289854049683 + ] + ], + "corners_2d": [ + [ + 503.7018354722513, + 330.27413192064654 + ], + [ + 530.9014941722053, + 327.0754165233577 + ], + [ + 528.2371550277181, + 310.1955443703151 + ], + [ + 501.5837103039109, + 313.26499817555873 + ], + [ + 498.327807098943, + 286.91722878558335 + ], + [ + 526.6171012713176, + 283.76620512882516 + ], + [ + 523.9409954050469, + 267.15381965211634 + ], + [ + 496.2420932789848, + 270.17265712472124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 543, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -38.74504852294922, + "z": 1.0925216674804688 + }, + "extent": { + "x": 0.4718407988548279, + "y": 0.48231565952301025, + "z": 0.9456664323806763 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 693.3509537953388, + "ymin": 197.21310746539703, + "xmax": 727.0441191100358, + "ymax": 259.016479429612 + }, + "corners_3d": [ + [ + -140.99264526367188, + -39.26472091674805, + 0.14685523509979248 + ], + [ + -141.95199584960938, + -39.16388702392578, + 0.14685523509979248 + ], + [ + -141.85336303710938, + -38.22537612915039, + 0.14685523509979248 + ], + [ + -140.89401245117188, + -38.326210021972656, + 0.14685523509979248 + ], + [ + -140.99264526367188, + -39.26472091674805, + 2.0381879806518555 + ], + [ + -141.95199584960938, + -39.16388702392578, + 2.0381879806518555 + ], + [ + -141.85336303710938, + -38.22537612915039, + 2.0381879806518555 + ], + [ + -140.89401245117188, + -38.326210021972656, + 2.0381879806518555 + ] + ], + "corners_2d": [ + [ + 696.5798379250161, + 259.016479429612 + ], + [ + 723.7918719033225, + 257.7396193786802 + ], + [ + 720.016129796927, + 242.3359879193821 + ], + [ + 693.3509537953388, + 243.56151335598332 + ], + [ + 698.7797310842378, + 213.49076832908906 + ], + [ + 727.0441191100358, + 212.24376286089918 + ], + [ + 723.0564142508925, + 197.21310746539703 + ], + [ + 695.3815385196627, + 198.4080923580171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 618, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -45.68776321411133, + "z": 1.0940988063812256 + }, + "extent": { + "x": 0.3892187476158142, + "y": 0.4430907964706421, + "z": 0.8780900239944458 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 743.4560868481268, + "ymin": 330.5984629794033, + "xmax": 780.4488596219903, + "ymax": 393.0352577423383 + }, + "corners_3d": [ + [ + -142.30384826660156, + -46.07698059082031, + 0.21600878238677979 + ], + [ + -143.1900177001953, + -46.07698059082031, + 0.21600878238677979 + ], + [ + -143.1900177001953, + -45.298545837402344, + 0.21600878238677979 + ], + [ + -142.30384826660156, + -45.298545837402344, + 0.21600878238677979 + ], + [ + -142.30384826660156, + -46.07698059082031, + 1.9721888303756714 + ], + [ + -143.1900177001953, + -46.07698059082031, + 1.9721888303756714 + ], + [ + -143.1900177001953, + -45.298545837402344, + 1.9721888303756714 + ], + [ + -142.30384826660156, + -45.298545837402344, + 1.9721888303756714 + ] + ], + "corners_2d": [ + [ + 744.8826252178309, + 392.5079792079507 + ], + [ + 774.687774576815, + 393.0352577423383 + ], + [ + 772.6686394739206, + 375.2768799724077 + ], + [ + 743.4560868481268, + 374.77032555369533 + ], + [ + 749.3660780562756, + 348.1618702243303 + ], + [ + 780.4488596219903, + 348.684425065043 + ], + [ + 778.2259693925787, + 331.09962827414097 + ], + [ + 747.787129116519, + 330.5984629794033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 988, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -54.91828918457031, + "z": 1.0947970151901245 + }, + "extent": { + "x": 0.4053906500339508, + "y": 0.4435156583786011, + "z": 0.8803373575210571 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 740.0502632886261, + "ymin": 597.8534833245533, + "xmax": 787.9689295691564, + "ymax": 677.6217373450693 + }, + "corners_3d": [ + [ + -141.6829071044922, + -55.27510070800781, + 0.21445965766906738 + ], + [ + -142.56507873535156, + -55.367820739746094, + 0.21445965766906738 + ], + [ + -142.6498260498047, + -54.56147766113281, + 0.21445965766906738 + ], + [ + -141.7676544189453, + -54.46875762939453, + 0.21445965766906738 + ], + [ + -141.6829071044922, + -55.27510070800781, + 1.9751343727111816 + ], + [ + -142.56507873535156, + -55.367820739746094, + 1.9751343727111816 + ], + [ + -142.6498260498047, + -54.56147766113281, + 1.9751343727111816 + ], + [ + -141.7676544189453, + -54.46875762939453, + 1.9751343727111816 + ] + ], + "corners_2d": [ + [ + 740.0502632886261, + 672.9780072986778 + ], + [ + 779.3680649334432, + 677.6217373450693 + ], + [ + 780.1636073954022, + 645.9741589282881 + ], + [ + 741.8941041460909, + 641.5759179204158 + ], + [ + 745.7603983510901, + 629.7779673571584 + ], + [ + 787.3554269102899, + 634.5072209731541 + ], + [ + 787.9689295691564, + 602.319031597783 + ], + [ + 747.5453462509404, + 597.8534833245533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 755, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -53.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.30196288228034973, + "y": 0.52294921875, + "z": 0.8862472176551819 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 112.38703318293994, + "ymin": 550.8798997828667, + "xmax": 192.59458693861683, + "ymax": 624.7664360614542 + }, + "corners_3d": [ + [ + -127.34754180908203, + -54.04461669921875, + 0.05789065361022949 + ], + [ + -128.37059020996094, + -54.26206970214844, + 0.05789065361022949 + ], + [ + -128.49615478515625, + -53.67134094238281, + 0.05789065361022949 + ], + [ + -127.47310638427734, + -53.453887939453125, + 0.05789065361022949 + ], + [ + -127.34754180908203, + -54.04461669921875, + 1.8303850889205933 + ], + [ + -128.37059020996094, + -54.26206970214844, + 1.8303850889205933 + ], + [ + -128.49615478515625, + -53.67134094238281, + 1.8303850889205933 + ], + [ + -127.47310638427734, + -53.453887939453125, + 1.8303850889205933 + ] + ], + "corners_2d": [ + [ + 139.45761662205382, + 615.9184874048045 + ], + [ + 178.15239219784172, + 624.7664360614542 + ], + [ + 192.59458693861683, + 603.6628339277386 + ], + [ + 154.50798598129995, + 595.1421380725811 + ], + [ + 112.38703318293994, + 571.8958723373926 + ], + [ + 152.9659312655458, + 580.8587078375801 + ], + [ + 168.67738648149594, + 559.4937587535907 + ], + [ + 128.76549792223682, + 550.8798997828667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 1440, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 672.4874707185277, + "xmax": 182.91260216513126, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + -23.036789998831523, + 945.0974934311498 + ], + [ + 88.04226595131752, + 949.2089633218559 + ], + [ + 182.91260216513126, + 717.4582441611988 + ], + [ + 89.31120421629794, + 714.5542301780272 + ], + [ + -69.94257361761197, + 910.8000898626988 + ], + [ + 48.87577926646509, + 915.0989019784271 + ], + [ + 155.9653730566613, + 675.4562977572818 + ], + [ + 56.92767908700091, + 672.4874707185277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2673, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 377.1947261530494, + "ymin": 32.043287327346206, + "xmax": 451.145141395555, + "ymax": 114.66366929676465 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 383.0844752162039, + 113.94430454823018 + ], + [ + 429.24612608348616, + 114.66366929676465 + ], + [ + 451.145141395555, + 61.258131171996865 + ], + [ + 408.9578167824512, + 60.658025906803914 + ], + [ + 377.1947261530494, + 83.7760267900419 + ], + [ + 424.40884775147947, + 84.4758240014441 + ], + [ + 447.19413079633966, + 32.624755412276045 + ], + [ + 404.1294732628503, + 32.043287327346206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 455.1418005399628, + "ymin": 0.0, + "xmax": 633.7562457821795, + "ymax": 13.470493529113753 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 633.3269167813135, + 13.470493529113753 + ], + [ + 633.7562457821795, + 7.897825743320311 + ], + [ + 484.26860270289353, + 6.387805733163987 + ], + [ + 482.20973230017734, + 11.927296755153463 + ], + [ + 632.1781572579158, + -230.3668153641512 + ], + [ + 632.6950058880359, + -233.7988216957507 + ], + [ + 457.8909869303985, + -234.72659174973012 + ], + [ + 455.1418005399628, + -231.31849476294326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 354.85003183307975, + "ymin": 0.0, + "xmax": 619.4664834477392, + "ymax": 203.79066815968443 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.664285962535, + 203.79066815968443 + ], + [ + 619.4664834477392, + 193.3781871145549 + ], + [ + 415.8129751594108, + 190.57100331640717 + ], + [ + 411.9743966815526, + 200.89888553145306 + ], + [ + 613.2917688738466, + -104.95639394131831 + ], + [ + 614.3911845645281, + -112.2567936939538 + ], + [ + 360.6793021042777, + -114.21571940983495 + ], + [ + 354.85003183307975, + -106.98932016838984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.59543990968814, + "ymin": 198.23242990870554, + "xmax": 162.72885387720987, + "ymax": 215.61417145828125 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 151.72218830140162, + 215.61417145828125 + ], + [ + 162.72885387720987, + 200.47472646223142 + ], + [ + 125.15342320779371, + 199.946707088172 + ], + [ + 113.34531640475984, + 215.06313599618326 + ], + [ + 151.02641917573987, + 213.88386857343076 + ], + [ + 162.06314874196948, + 198.75989331983516 + ], + [ + 124.43584828832013, + 198.23242990870554 + ], + [ + 112.59543990968814, + 213.33338020905757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.11982751406742, + "ymin": 184.54039605402437, + "xmax": 590.5180568824757, + "ymax": 594.0502434650715 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 588.5979438738426, + 594.0502434650715 + ], + [ + 590.5180568824757, + 569.1272769615268 + ], + [ + 277.5861358460896, + 562.4770905379554 + ], + [ + 268.4390363584951, + 587.0878080167294 + ], + [ + 565.2355083835066, + 214.14939577031168 + ], + [ + 568.7649437827317, + 190.7130472318666 + ], + [ + 119.68374068774688, + 184.54039605402437 + ], + [ + 101.11982751406742, + 207.55361071647667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.5760509159926, + "ymin": 198.18810649636387, + "xmax": 162.71168966718244, + "ymax": 215.56955949717099 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 151.70424946222647, + 215.56955949717099 + ], + [ + 162.71168966718244, + 200.43051205759497 + ], + [ + 125.13492159414022, + 199.9025069730219 + ], + [ + 113.32598250835383, + 215.01853809317439 + ], + [ + 151.00842917547288, + 213.83912938019517 + ], + [ + 162.04593661587728, + 198.71555548509184 + ], + [ + 124.41729506400895, + 198.18810649636387 + ], + [ + 112.5760509159926, + 213.28865521197864 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00029/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f3b9756487074248817b93d60d586a1ff3061e78 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00029/meta.json @@ -0,0 +1,1514 @@ +{ + "frame_id": 29, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 14.5, + "sim_timestamp": 400.5566006076988 + }, + "drone_pose": { + "x": -139.7523480920249, + "y": -66.29397561658631, + "z": 20.03743906317713, + "pitch": -41.89414483174089, + "yaw": 88.411893739857, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.020629823207855225, + -0.7440938353538513, + 0.6677564978599548, + 38.83187484741211 + ], + [ + 0.9996158480644226, + 0.027714133262634277, + 0.0, + -137.86138916015625 + ], + [ + -0.018506288528442383, + 0.6675000190734863, + 0.7443797588348389, + -61.75299072265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.79946889738974, + "y": -65.79055980739923, + "z": 20.031817575785823 + }, + "t1_image_uv": [ + 795.3176300469162, + -481.970217943189 + ], + "t1_depth": 0.37737030533721805 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -45.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.364986438249346, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 603, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -45.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4085448980331421, + "y": 0.31037595868110657, + "z": 0.8796948194503784 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.765404802475, + "ymin": 328.102178367878, + "xmax": 650.9959024983614, + "ymax": 391.2807873512914 + }, + "corners_3d": [ + [ + -138.85679626464844, + -45.596309661865234, + 0.21684050559997559 + ], + [ + -139.47755432128906, + -45.596309661865234, + 0.21684050559997559 + ], + [ + -139.47755432128906, + -44.77921676635742, + 0.21684050559997559 + ], + [ + -138.85679626464844, + -44.77921676635742, + 0.21684050559997559 + ], + [ + -138.85679626464844, + -45.596309661865234, + 1.9762301445007324 + ], + [ + -139.47755432128906, + -45.596309661865234, + 1.9762301445007324 + ], + [ + -139.47755432128906, + -44.77921676635742, + 1.9762301445007324 + ], + [ + -138.85679626464844, + -44.77921676635742, + 1.9762301445007324 + ] + ], + "corners_2d": [ + [ + 629.226021812664, + 390.88193642551994 + ], + [ + 650.0192863179084, + 391.2807873512914 + ], + [ + 650.5542454939991, + 372.72996318302097 + ], + [ + 630.1927688459564, + 372.3475174956655 + ], + [ + 628.765404802475, + 346.45006710365226 + ], + [ + 650.4478379007155, + 346.8452622756145 + ], + [ + 650.9959024983614, + 328.48044605376066 + ], + [ + 629.7825588024294, + 328.102178367878 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 29, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 352419, + "2": 121356, + "3": 188858, + "4": 74802, + "6": 12536, + "10": 1, + "12": 4027, + "14": 2732, + "20": 261, + "24": 7375, + "25": 157233 + }, + "instance_pixel_counts": { + "2453": 2172, + "3413": 7058, + "3662": 33973, + "11605": 999, + "15960": 10282, + "17240": 2028, + "17496": 226, + "20565": 1634, + "22421": 823, + "22931": 33710, + "22933": 4380, + "23443": 208331, + "36096": 603, + "36352": 615, + "36608": 543, + "36864": 627, + "37120": 868, + "37376": 771, + "41728": 2732, + "47198": 45406, + "47710": 77, + "48737": 7315, + "48980": 105137, + "49249": 750, + "49492": 74030, + "49761": 1419, + "50246": 31603, + "51297": 48129, + "51526": 9226, + "51809": 5952, + "52321": 3499, + "54366": 91562, + "54878": 20188, + "57482": 5997, + "57994": 9529, + "59737": 261, + "63382": 33417, + "63894": 5349, + "65426": 110378 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 603, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -45.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3812646269798279, + "y": 0.3585790991783142, + "z": 0.8663253784179688 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.1226964088072, + "ymin": 329.022812850934, + "xmax": 652.6232090199593, + "ymax": 390.3557362781141 + }, + "corners_3d": [ + [ + -138.80859375, + -45.569026947021484, + 0.23020994663238525 + ], + [ + -139.5257568359375, + -45.569026947021484, + 0.23020994663238525 + ], + [ + -139.5257568359375, + -44.80649948120117, + 0.23020994663238525 + ], + [ + -138.80859375, + -44.80649948120117, + 0.23020994663238525 + ], + [ + -138.80859375, + -45.569026947021484, + 1.9628607034683228 + ], + [ + -139.5257568359375, + -45.569026947021484, + 1.9628607034683228 + ], + [ + -139.5257568359375, + -44.80649948120117, + 1.9628607034683228 + ], + [ + -138.80859375, + -44.80649948120117, + 1.9628607034683228 + ] + ], + "corners_2d": [ + [ + 627.6424159830674, + 389.89561917801177 + ], + [ + 651.6553985609182, + 390.3557362781141 + ], + [ + 652.123379399787, + 373.04379180351583 + ], + [ + 628.5762100220671, + 372.60136595814697 + ], + [ + 627.1226964088072, + 346.14560723517 + ], + [ + 652.145850275605, + 346.60154438567184 + ], + [ + 652.6232090199593, + 329.46050426918174 + ], + [ + 628.1054716523137, + 329.022812850934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 615, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -42.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44099611043930054, + "y": 0.43945804238319397, + "z": 0.8787044882774353 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 496.49390794670535, + "ymin": 267.0494194927266, + "xmax": 531.0730878061648, + "ymax": 330.037751280349 + }, + "corners_3d": [ + [ + -134.70303344726562, + -42.71278381347656, + 0.06543338298797607 + ], + [ + -135.562744140625, + -42.53004455566406, + 0.06543338298797607 + ], + [ + -135.37936401367188, + -41.667327880859375, + 0.06543338298797607 + ], + [ + -134.5196533203125, + -41.850067138671875, + 0.06543338298797607 + ], + [ + -134.70303344726562, + -42.71278381347656, + 1.8228423595428467 + ], + [ + -135.562744140625, + -42.53004455566406, + 1.8228423595428467 + ], + [ + -135.37936401367188, + -41.667327880859375, + 1.8228423595428467 + ], + [ + -134.5196533203125, + -41.850067138671875, + 1.8228423595428467 + ] + ], + "corners_2d": [ + [ + 503.8765045784673, + 330.037751280349 + ], + [ + 531.0730878061648, + 326.87808311069716 + ], + [ + 528.4688585746252, + 310.0377959208344 + ], + [ + 501.81770660582833, + 313.070018992914 + ], + [ + 498.5184375060801, + 286.73504851090513 + ], + [ + 526.8024645091735, + 283.6225590618011 + ], + [ + 524.1884742686179, + 267.0494194927266 + ], + [ + 496.49390794670535, + 270.03159091940853 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 543, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -38.24504852294922, + "z": 1.0924923419952393 + }, + "extent": { + "x": 0.4769824147224426, + "y": 0.5281957983970642, + "z": 0.9464194178581238 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 692.5123138034811, + "ymin": 197.14686917219908, + "xmax": 728.8452916343053, + "ymax": 259.2526647761166 + }, + "corners_3d": [ + [ + -140.9475555419922, + -38.774627685546875, + 0.14607292413711548 + ], + [ + -141.9981689453125, + -38.664207458496094, + 0.14607292413711548 + ], + [ + -141.89845275878906, + -37.71546936035156, + 0.14607292413711548 + ], + [ + -140.84783935546875, + -37.825889587402344, + 0.14607292413711548 + ], + [ + -140.9475555419922, + -38.774627685546875, + 2.038911819458008 + ], + [ + -141.9981689453125, + -38.664207458496094, + 2.038911819458008 + ], + [ + -141.89845275878906, + -37.71546936035156, + 2.038911819458008 + ], + [ + -140.84783935546875, + -37.825889587402344, + 2.038911819458008 + ] + ], + "corners_2d": [ + [ + 695.7027226658189, + 259.2526647761166 + ], + [ + 725.5224579121, + 257.8915939337652 + ], + [ + 721.7257435094548, + 242.31546705732256 + ], + [ + 692.5123138034811, + 243.62120481450947 + ], + [ + 697.8709915541683, + 213.67434566294378 + ], + [ + 728.8452916343053, + 212.3451410734517 + ], + [ + 724.8334272112909, + 197.14686917219908 + ], + [ + 694.5127750010964, + 198.42000162582315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 627, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -45.18776321411133, + "z": 1.0940645933151245 + }, + "extent": { + "x": 0.38759276270866394, + "y": 0.46180906891822815, + "z": 0.8832099437713623 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 742.8902429399, + "ymin": 330.63114008721124, + "xmax": 781.1450666419594, + "ymax": 393.3425097196119 + }, + "corners_3d": [ + [ + -142.28512573242188, + -45.575355529785156, + 0.2108546495437622 + ], + [ + -143.208740234375, + -45.575355529785156, + 0.2108546495437622 + ], + [ + -143.208740234375, + -44.8001708984375, + 0.2108546495437622 + ], + [ + -142.28512573242188, + -44.8001708984375, + 0.2108546495437622 + ], + [ + -142.28512573242188, + -45.575355529785156, + 1.9772745370864868 + ], + [ + -143.208740234375, + -45.575355529785156, + 1.9772745370864868 + ], + [ + -143.208740234375, + -44.8001708984375, + 1.9772745370864868 + ], + [ + -142.28512573242188, + -44.8001708984375, + 1.9772745370864868 + ] + ], + "corners_2d": [ + [ + 744.2440515883419, + 392.74663242247345 + ], + [ + 775.3207458529723, + 393.3425097196119 + ], + [ + 773.3513588474826, + 375.64891446733606 + ], + [ + 742.8902429399, + 375.0763692746232 + ], + [ + 748.7276874906188, + 348.12660447848776 + ], + [ + 781.1450666419594, + 348.71710573641724 + ], + [ + 778.9726020889123, + 331.19755555557526 + ], + [ + 747.224488343385, + 330.63114008721124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 868, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -54.41828918457031, + "z": 1.0947628021240234 + }, + "extent": { + "x": 0.3993799090385437, + "y": 0.34504398703575134, + "z": 0.8797327876091003 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 743.5517149116414, + "ymin": 598.8348525107144, + "xmax": 782.6626140502776, + "ymax": 677.1787836797196 + }, + "corners_3d": [ + [ + -141.78146362304688, + -54.779415130615234, + 0.2150300145149231 + ], + [ + -142.4677734375, + -54.85154724121094, + 0.2150300145149231 + ], + [ + -142.55126953125, + -54.05716323852539, + 0.2150300145149231 + ], + [ + -141.86495971679688, + -53.98503112792969, + 0.2150300145149231 + ], + [ + -141.78146362304688, + -54.779415130615234, + 1.9744956493377686 + ], + [ + -142.4677734375, + -54.85154724121094, + 1.9744956493377686 + ], + [ + -142.55126953125, + -54.05716323852539, + 1.9744956493377686 + ], + [ + -141.86495971679688, + -53.98503112792969, + 1.9744956493377686 + ] + ], + "corners_2d": [ + [ + 743.5517149116414, + 673.5059688320823 + ], + [ + 774.1447785303751, + 677.1787836797196 + ], + [ + 775.1409619111956, + 646.0133546347126 + ], + [ + 745.3515489971912, + 642.5319618091432 + ], + [ + 749.4611823740977, + 630.325540055681 + ], + [ + 781.8254304062397, + 634.0659077711344 + ], + [ + 782.6626140502776, + 602.3695977039838 + ], + [ + 751.1964055690386, + 598.8348525107144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 771, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -53.35797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.30092284083366394, + "y": 0.31160399317741394, + "z": 0.8667161464691162 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 120.40333557798715, + "ymin": 552.3018625607469, + "xmax": 184.113196726694, + "ymax": 621.6428070957381 + }, + "corners_3d": [ + [ + -127.55448150634766, + -53.58753967285156, + 0.0774264931678772 + ], + [ + -128.16407775878906, + -53.71711349487305, + 0.0774264931678772 + ], + [ + -128.28919982910156, + -53.12841796875, + 0.0774264931678772 + ], + [ + -127.67961883544922, + -52.998844146728516, + 0.0774264931678772 + ], + [ + -127.55448150634766, + -53.58753967285156, + 1.8108587265014648 + ], + [ + -128.16407775878906, + -53.71711349487305, + 1.8108587265014648 + ], + [ + -128.28919982910156, + -53.12841796875, + 1.8108587265014648 + ], + [ + -127.67961883544922, + -52.998844146728516, + 1.8108587265014648 + ] + ], + "corners_2d": [ + [ + 146.51328135057997, + 616.3300864605557 + ], + [ + 169.53334186690057, + 621.6428070957381 + ], + [ + 184.113196726694, + 600.7129528238827 + ], + [ + 161.453157641021, + 595.5960116861157 + ], + [ + 120.40333557798715, + 573.2711992508268 + ], + [ + 144.51673662477464, + 578.6508290126261 + ], + [ + 160.34728466492356, + 557.4730401751995 + ], + [ + 136.62781008872986, + 552.3018625607469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2732, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 375.4321135986457, + "ymin": 36.279851209679464, + "xmax": 450.37761837626056, + "ymax": 119.95935773983047 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 381.4116414762459, + 119.17939161195761 + ], + [ + 427.94930188100693, + 119.95935773983047 + ], + [ + 450.37761837626056, + 65.68307134713876 + ], + [ + 407.87628621061265, + 65.03338977127777 + ], + [ + 375.4321135986457, + 88.86468589386368 + ], + [ + 423.039590706667, + 89.62371447510208 + ], + [ + 446.3789324709433, + 36.9095451659249 + ], + [ + 402.9870763340588, + 36.279851209679464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 454.6174485489489, + "ymin": 0.0, + "xmax": 634.6253681158682, + "ymax": 17.358242697608603 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 634.1718724032715, + 17.358242697608603 + ], + [ + 634.6253681158682, + 11.703259612687305 + ], + [ + 484.0637961839406, + 10.043000915436892 + ], + [ + 481.9571508647532, + 15.661231266542814 + ], + [ + 633.1597841960443, + -227.98254943246627 + ], + [ + 633.7039556405126, + -231.47272658803217 + ], + [ + 457.43182954269764, + -232.4949110596683 + ], + [ + 454.6174485489489, + -229.0313088623965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 351.5279015654197, + "ymin": 0.0, + "xmax": 619.4908458484173, + "ymax": 211.05257637765536 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.6387490394924, + 211.05257637765536 + ], + [ + 619.4908458484173, + 200.4271329449159 + ], + [ + 413.83981345607674, + 197.32393878560688 + ], + [ + 409.89106388405196, + 207.85489266398582 + ], + [ + 613.1901695646319, + -99.90252336622336 + ], + [ + 614.3571861021098, + -107.38747043699902 + ], + [ + 357.54222333400577, + -109.56277773531707 + ], + [ + 351.5279015654197, + -102.16107265734638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 98.96525864826492, + "ymin": 213.28682425112396, + "xmax": 150.53305300237565, + "ymax": 231.42678692751508 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 138.94716377822027, + 231.42678692751508 + ], + [ + 150.53305300237565, + 215.61496493283698 + ], + [ + 112.17321017080951, + 215.01757442992 + ], + [ + 99.75173036277681, + 230.80276152420112 + ], + [ + 138.21712846125052, + 229.68023312348316 + ], + [ + 149.83531225042702, + 213.88362064335442 + ], + [ + 111.42141499795173, + 213.28682425112396 + ], + [ + 98.96525864826492, + 229.056789144336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.02156759459774, + "ymin": 199.32087748251115, + "xmax": 588.5736790755024, + "ymax": 611.6818834595562 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 586.5106857445608, + 611.6818834595562 + ], + [ + 588.5736790755024, + 585.9568490279001 + ], + [ + 270.9026385306873, + 578.524357699413 + ], + [ + 261.3896087442061, + 603.8947390481446 + ], + [ + 561.6219562997657, + 230.8428726297601 + ], + [ + 565.4467589903405, + 206.31156156797948 + ], + [ + 106.55604218149517, + 199.32087748251115 + ], + [ + 87.02156759459774, + 223.3615632503632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 98.94492277469226, + "ymin": 213.2420735211126, + "xmax": 150.5150633391695, + "ymax": 231.38175737738447 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 138.92834204949548, + 231.38175737738447 + ], + [ + 150.5150633391695, + 215.57032614604586 + ], + [ + 112.15382681449069, + 214.97295090927798 + ], + [ + 99.73145356956763, + 230.75774690988993 + ], + [ + 138.19825184491896, + 229.63507225894062 + ], + [ + 149.81727126077624, + 213.83885449730215 + ], + [ + 111.40197638502161, + 213.2420735211126 + ], + [ + 98.94492277469226, + 229.0116433712294 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00030/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00030/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..291db44000a6cddd8c08f23efd6833da8dfe1a19 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00030/meta.json @@ -0,0 +1,1513 @@ +{ + "frame_id": 30, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 15.0, + "sim_timestamp": 415.1520482262131 + }, + "drone_pose": { + "x": -139.79946889738974, + "y": -65.79055980739923, + "z": 20.031817575785823, + "pitch": -41.888464229913325, + "yaw": 88.28380647687311, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.02229517698287964, + -0.7441120743751526, + 0.6676827669143677, + 38.69750213623047 + ], + [ + 0.9995514750480652, + 0.029948711395263672, + 0.0, + -137.76641845703125 + ], + [ + -0.01999625563621521, + 0.6673831939697266, + 0.7444459795951843, + -61.61558151245117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.85007432285215, + "y": -65.28706552109203, + "z": 20.02692288088102 + }, + "t1_image_uv": [ + 807.2928516200908, + -484.25827079895987 + ], + "t1_depth": 0.3767960135675949 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -44.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.35970247547634, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 616, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -44.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.41796875, + "y": 0.44471678137779236, + "z": 0.8881300687789917 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.0250621188478, + "ymin": 327.5642815437725, + "xmax": 655.631670472054, + "ymax": 391.8192998830035 + }, + "corners_3d": [ + [ + -138.7224578857422, + -45.10573196411133, + 0.2084052562713623 + ], + [ + -139.6118927001953, + -45.10573196411133, + 0.2084052562713623 + ], + [ + -139.6118927001953, + -44.26979446411133, + 0.2084052562713623 + ], + [ + -138.7224578857422, + -44.26979446411133, + 0.2084052562713623 + ], + [ + -138.7224578857422, + -45.10573196411133, + 1.9846653938293457 + ], + [ + -139.6118927001953, + -45.10573196411133, + 1.9846653938293457 + ], + [ + -139.6118927001953, + -44.26979446411133, + 1.9846653938293457 + ], + [ + -138.7224578857422, + -44.26979446411133, + 1.9846653938293457 + ] + ], + "corners_2d": [ + [ + 624.6863142964626, + 391.201360822099 + ], + [ + 654.4843675187667, + 391.8192998830035 + ], + [ + 654.9979468409922, + 372.83483458657315 + ], + [ + 625.8327204499129, + 372.2428862332061 + ], + [ + 624.0250621188478, + 346.3295272921911 + ], + [ + 655.1102612404328, + 346.94174769745274 + ], + [ + 655.631670472054, + 328.1496762825708 + ], + [ + 625.234518490687, + 327.5642815437725 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 30, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 351805, + "2": 120732, + "3": 182738, + "4": 76266, + "6": 13028, + "12": 4106, + "14": 2787, + "20": 271, + "24": 7394, + "25": 162473 + }, + "instance_pixel_counts": { + "2453": 2008, + "3413": 7705, + "3662": 34856, + "11605": 1088, + "15960": 10668, + "17240": 2102, + "17496": 258, + "20565": 1606, + "22421": 855, + "22931": 35713, + "22933": 4531, + "23443": 213419, + "36096": 616, + "36352": 569, + "36608": 545, + "36864": 611, + "37120": 920, + "37376": 845, + "41728": 2787, + "47198": 42591, + "47710": 202, + "48737": 7745, + "48980": 111408, + "49249": 849, + "49492": 60931, + "49761": 1495, + "50246": 32106, + "51297": 49381, + "51526": 9304, + "51809": 6185, + "52321": 3434, + "54366": 96464, + "54878": 23216, + "57482": 6353, + "57994": 9239, + "59737": 271, + "63382": 31067, + "63894": 4984, + "65426": 102673 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 616, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -44.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3862255811691284, + "y": 0.3574169874191284, + "z": 0.8611329197883606 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.1267509021142, + "ymin": 329.02659508729965, + "xmax": 652.6163766367887, + "ymax": 390.36861960434476 + }, + "corners_3d": [ + [ + -138.80975341796875, + -45.07398986816406, + 0.2354024052619934 + ], + [ + -139.52459716796875, + -45.07398986816406, + 0.2354024052619934 + ], + [ + -139.52459716796875, + -44.301536560058594, + 0.2354024052619934 + ], + [ + -138.80975341796875, + -44.301536560058594, + 0.2354024052619934 + ], + [ + -138.80975341796875, + -45.07398986816406, + 1.9576683044433594 + ], + [ + -139.52459716796875, + -45.07398986816406, + 1.9576683044433594 + ], + [ + -139.52459716796875, + -44.301536560058594, + 1.9576683044433594 + ], + [ + -138.80975341796875, + -44.301536560058594, + 1.9576683044433594 + ] + ], + "corners_2d": [ + [ + 627.6433509630531, + 389.8728485840583 + ], + [ + 651.5875535961113, + 390.36861960434476 + ], + [ + 652.1197699648905, + 372.83060858726503 + ], + [ + 628.6461261774745, + 372.35414917790126 + ], + [ + 627.1267509021142, + 346.3722698715776 + ], + [ + 652.072280602141, + 346.8635593635244 + ], + [ + 652.6163766367887, + 329.49797172467913 + ], + [ + 628.181166093201, + 329.02659508729965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 569, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -41.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44150882959365845, + "y": 0.43916505575180054, + "z": 0.8808224201202393 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 496.75211541014164, + "ymin": 266.82481378782387, + "xmax": 531.2632853844456, + "ymax": 329.9041026913815 + }, + "corners_3d": [ + [ + -134.70343017578125, + -42.213226318359375, + 0.06331545114517212 + ], + [ + -135.56256103515625, + -42.030609130859375, + 0.06331545114517212 + ], + [ + -135.37896728515625, + -41.16688537597656, + 0.06331545114517212 + ], + [ + -134.51983642578125, + -41.34950256347656, + 0.06331545114517212 + ], + [ + -134.70343017578125, + -42.213226318359375, + 1.8249602317810059 + ], + [ + -135.56256103515625, + -42.030609130859375, + 1.8249602317810059 + ], + [ + -135.37896728515625, + -41.16688537597656, + 1.8249602317810059 + ], + [ + -134.51983642578125, + -41.34950256347656, + 1.8249602317810059 + ] + ], + "corners_2d": [ + [ + 504.08265116841795, + 329.9041026913815 + ], + [ + 531.2632853844456, + 326.7860030836322 + ], + [ + 528.7121941760669, + 309.92451672002886 + ], + [ + 502.07783590024405, + 312.9166544785888 + ], + [ + 498.7204857759786, + 286.4888557784288 + ], + [ + 526.9901719539159, + 283.4175448116108 + ], + [ + 524.4313368173774, + 266.82481378782387 + ], + [ + 496.75211541014164, + 269.7673224458043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 545, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -37.74504852294922, + "z": 1.0924679040908813 + }, + "extent": { + "x": 0.47392088174819946, + "y": 0.5367162823677063, + "z": 0.9465965628623962 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 692.7538110718967, + "ymin": 197.27464867940768, + "xmax": 729.5336339526465, + "ymax": 259.29094945845264 + }, + "corners_3d": [ + [ + -140.9387664794922, + -38.27247619628906, + 0.1458713412284851 + ], + [ + -142.00631713867188, + -38.16027069091797, + 0.1458713412284851 + ], + [ + -141.90724182128906, + -37.217620849609375, + 0.1458713412284851 + ], + [ + -140.83969116210938, + -37.32982635498047, + 0.1458713412284851 + ], + [ + -140.9387664794922, + -38.27247619628906, + 2.039064407348633 + ], + [ + -142.00631713867188, + -38.16027069091797, + 2.039064407348633 + ], + [ + -141.90724182128906, + -37.217620849609375, + 2.039064407348633 + ], + [ + -140.83969116210938, + -37.32982635498047, + 2.039064407348633 + ] + ], + "corners_2d": [ + [ + 695.8694930960746, + 259.29094945845264 + ], + [ + 726.1840991922637, + 257.947763237397 + ], + [ + 722.4553827223962, + 242.46481350031252 + ], + [ + 692.7538110718967, + 243.75370943058155 + ], + [ + 698.0448467493535, + 213.6933787196268 + ], + [ + 729.5336339526465, + 212.38167547659975 + ], + [ + 725.5921392490822, + 197.27464867940768 + ], + [ + 694.7642761163735, + 198.53133704590226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 611, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -140.8831329345703, + "y": -44.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3865283131599426, + "y": 0.5104443430900574, + "z": 0.8972653746604919 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 679.9693694672543, + "ymin": 329.103949951905, + "xmax": 717.4981670401758, + "ymax": 392.5499480327605 + }, + "corners_3d": [ + [ + -140.37269592285156, + -45.07429122924805, + 0.19926995038986206 + ], + [ + -141.39356994628906, + -45.07429122924805, + 0.19926995038986206 + ], + [ + -141.39356994628906, + -44.30123519897461, + 0.19926995038986206 + ], + [ + -140.37269592285156, + -44.30123519897461, + 0.19926995038986206 + ], + [ + -140.37269592285156, + -45.07429122924805, + 1.9938006401062012 + ], + [ + -141.39356994628906, + -45.07429122924805, + 1.9938006401062012 + ], + [ + -141.39356994628906, + -44.30123519897461, + 1.9938006401062012 + ], + [ + -140.37269592285156, + -44.30123519897461, + 1.9938006401062012 + ] + ], + "corners_2d": [ + [ + 679.9961117649474, + 391.83992969511684 + ], + [ + 714.2538779802004, + 392.5499480327605 + ], + [ + 713.552161889209, + 374.9448637924406 + ], + [ + 679.9693694672543, + 374.26253698992963 + ], + [ + 681.7421665756497, + 346.5022203786604 + ], + [ + 717.4981670401758, + 347.2056317004068 + ], + [ + 716.699766602665, + 329.7787660572548 + ], + [ + 681.6784366642298, + 329.103949951905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 920, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -53.91828918457031, + "z": 1.0947238206863403 + }, + "extent": { + "x": 0.4003027677536011, + "y": 0.4384985566139221, + "z": 0.8854768872261047 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 738.4964603747845, + "ymin": 598.408951598769, + "xmax": 786.130887557956, + "ymax": 678.1893837585568 + }, + "corners_3d": [ + [ + -141.6884307861328, + -54.270565032958984, + 0.2092469334602356 + ], + [ + -142.5606231689453, + -54.36223602294922, + 0.2092469334602356 + ], + [ + -142.64430236816406, + -53.56601333618164, + 0.2092469334602356 + ], + [ + -141.77210998535156, + -53.474342346191406, + 0.2092469334602356 + ], + [ + -141.6884307861328, + -54.270565032958984, + 1.9802007675170898 + ], + [ + -142.5606231689453, + -54.36223602294922, + 1.9802007675170898 + ], + [ + -142.64430236816406, + -53.56601333618164, + 1.9802007675170898 + ], + [ + -141.77210998535156, + -53.474342346191406, + 1.9802007675170898 + ] + ], + "corners_2d": [ + [ + 738.4964603747845, + 673.440174101825 + ], + [ + 777.3812253968141, + 678.1893837585568 + ], + [ + 778.37137588689, + 646.9138005694842 + ], + [ + 740.5100145454279, + 642.4126932487534 + ], + [ + 744.1548576399736, + 629.956225217476 + ], + [ + 785.3072195035546, + 634.7934490786474 + ], + [ + 786.130887557956, + 602.9795339793768 + ], + [ + 746.1230234321037, + 598.408951598769 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 845, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -52.85797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.29780271649360657, + "y": 0.5336328148841858, + "z": 0.8832285404205322 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 111.25296040575279, + "ymin": 549.2338459488823, + "xmax": 191.90506748881677, + "ymax": 622.969783423355 + }, + "corners_3d": [ + [ + -127.33795928955078, + -53.038326263427734, + 0.06090444326400757 + ], + [ + -128.38189697265625, + -53.260223388671875, + 0.06090444326400757 + ], + [ + -128.5057373046875, + -52.67763137817383, + 0.06090444326400757 + ], + [ + -127.4617919921875, + -52.45573425292969, + 0.06090444326400757 + ], + [ + -127.33795928955078, + -53.038326263427734, + 1.8273615837097168 + ], + [ + -128.38189697265625, + -53.260223388671875, + 1.8273615837097168 + ], + [ + -128.5057373046875, + -52.67763137817383, + 1.8273615837097168 + ], + [ + -127.4617919921875, + -52.45573425292969, + 1.8273615837097168 + ] + ], + "corners_2d": [ + [ + 138.24821684651602, + 613.8036692810526 + ], + [ + 177.5636521498517, + 622.969783423355 + ], + [ + 191.90506748881677, + 602.229238099547 + ], + [ + 153.19418135286628, + 593.3969463259004 + ], + [ + 111.25296040575279, + 569.8707048943945 + ], + [ + 152.46797781535986, + 579.1534249155927 + ], + [ + 168.0602801722825, + 558.1607570195365 + ], + [ + 127.50777524435568, + 549.2338459488823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2787, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 373.63185588616176, + "ymin": 40.57115974047065, + "xmax": 449.599375010471, + "ymax": 125.3342388822619 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 379.7035084083295, + 124.48960254334133 + ], + [ + 426.62103710884946, + 125.3342388822619 + ], + [ + 449.599375010471, + 70.16616064191425 + ], + [ + 406.7811361454594, + 69.463680608289 + ], + [ + 373.63185588616176, + 94.02873176646358 + ], + [ + 421.6369006604648, + 94.85100396408177 + ], + [ + 445.5520220050656, + 41.252237938748465 + ], + [ + 401.82982092488317, + 40.57115974047065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 454.09589991603764, + "ymin": 0.0, + "xmax": 635.5153399620766, + "ymax": 21.299547656953337 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 635.0362336251007, + 21.299547656953337 + ], + [ + 635.5153399620766, + 15.560254099786334 + ], + [ + 483.8672608938043, + 13.73993725668413 + ], + [ + 481.71099592352215, + 19.43863012735642 + ], + [ + 634.1666161947, + -225.55998642666964 + ], + [ + 634.7397849416458, + -229.11014032735568 + ], + [ + 456.9779671230733, + -230.2332855294427 + ], + [ + 454.09589991603764, + -226.7125904106614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 348.08853577007994, + "ymin": 0.0, + "xmax": 619.4827071544427, + "ymax": 218.46290227149237 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.5773765071779, + 218.46290227149237 + ], + [ + 619.4827071544427, + 207.61779764659613 + ], + [ + 411.802417923355, + 204.19677466850155 + ], + [ + 407.73868537322215, + 214.9366253041732 + ], + [ + 613.0414436660897, + -94.71263291209016 + ], + [ + 614.2809083632275, + -102.38976194739581 + ], + [ + 354.29662681318854, + -104.7991205188402 + ], + [ + 348.08853577007994, + -97.21539874473751 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 84.57708927078261, + "ymin": 229.00069726219283, + "xmax": 137.65601420578554, + "ymax": 247.95144008091603 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 125.44724424568574, + 247.95144008091603 + ], + [ + 137.65601420578554, + 231.42205800184334 + ], + [ + 98.48339399466113, + 230.74755449486938 + ], + [ + 85.40291311207523, + 247.24616357545807 + ], + [ + 124.68032522929218, + 246.1890940444174 + ], + [ + 136.9238400340094, + 229.67457134152974 + ], + [ + 97.69485302327212, + 229.00069726219283 + ], + [ + 84.57708927078261, + 245.48442937006635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 72.13309616116021, + "ymin": 214.75062324603448, + "xmax": 586.4503516688109, + "ymax": 629.8835302522066 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 584.2326948317535, + 629.8835302522066 + ], + [ + 586.4503516688109, + 603.3178535350557 + ], + [ + 263.9187125262099, + 595.0318235343652 + ], + [ + 254.01888660404882, + 621.1956163634643 + ], + [ + 557.6530644251031, + 248.35783571151802 + ], + [ + 561.8031962801724, + 222.65230505907397 + ], + [ + 92.71083013104771, + 214.75062324603448 + ], + [ + 72.13309616116021, + 239.88811045192242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 84.555735137321, + "ymin": 228.955528590321, + "xmax": 137.63713734264707, + "ymax": 247.9060048550371 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 125.42747222701337, + 247.9060048550371 + ], + [ + 137.63713734264707, + 231.37700442334446 + ], + [ + 98.46306386006461, + 230.70251708533732 + ], + [ + 85.38162243289378, + 247.20074406115657 + ], + [ + 124.6604942268541, + 246.14352327644906 + ], + [ + 136.90490810308984, + 229.62938633226378 + ], + [ + 97.67446363613283, + 228.955528590321 + ], + [ + 84.555735137321, + 245.43887448842582 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00031/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00031/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ecc7af456847cf10eaf6b3abc3625e8f4c8a0e72 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00031/meta.json @@ -0,0 +1,1513 @@ +{ + "frame_id": 31, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 15.5, + "sim_timestamp": 425.9739057121333 + }, + "drone_pose": { + "x": -139.85007432285215, + "y": -65.28706552109203, + "z": 20.02692288088102, + "pitch": -41.883686672147576, + "yaw": 88.14623531425032, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.024083614349365234, + -0.7441120147705078, + 0.6676205992698669, + 38.57859802246094 + ], + [ + 0.9994766712188721, + 0.0323486328125, + 0.0, + -137.66493225097656 + ], + [ + -0.02159661054611206, + 0.6672711968421936, + 0.7445017099380493, + -61.494544982910156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.90599493847415, + "y": -64.7832758220359, + "z": 20.02268574151212 + }, + "t1_image_uv": [ + 824.1351483697827, + -486.34847337301824 + ], + "t1_depth": 0.3763580029170397 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -44.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.9999999999998 + ], + "depth": 28.355007890856655, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 620, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -44.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37632322311401367, + "y": 0.4968579113483429, + "z": 0.8752968311309814 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.2406946507032, + "ymin": 328.7498872717933, + "xmax": 657.4192114840605, + "ymax": 390.612227623334 + }, + "corners_3d": [ + [ + -138.67031860351562, + -44.5640869140625, + 0.22123849391937256 + ], + [ + -139.66403198242188, + -44.5640869140625, + 0.22123849391937256 + ], + [ + -139.66403198242188, + -43.811439514160156, + 0.22123849391937256 + ], + [ + -138.67031860351562, + -43.811439514160156, + 0.22123849391937256 + ], + [ + -138.67031860351562, + -44.5640869140625, + 1.9718321561813354 + ], + [ + -139.66403198242188, + -44.5640869140625, + 1.9718321561813354 + ], + [ + -139.66403198242188, + -43.811439514160156, + 1.9718321561813354 + ], + [ + -138.67031860351562, + -43.811439514160156, + 1.9718321561813354 + ] + ], + "corners_2d": [ + [ + 622.9646194793579, + 389.8681025992677 + ], + [ + 656.2332063029451, + 390.612227623334 + ], + [ + 656.7221835934342, + 373.51809945598234 + ], + [ + 624.0906009139344, + 372.80222663879005 + ], + [ + 622.2406946507032, + 345.64391587861377 + ], + [ + 656.9236432450386, + 346.3811737531043 + ], + [ + 657.4192114840605, + 329.4579991531833 + ], + [ + 623.4280177223897, + 328.7498872717933 + ] + ], + "center_offset_px": [ + 0.0, + -2.2737367544323206e-13 + ] + }, + "trace_timestep_index": 31, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 351411, + "2": 120765, + "3": 175886, + "4": 77877, + "6": 13519, + "12": 3951, + "14": 2874, + "20": 285, + "24": 7373, + "25": 167659 + }, + "instance_pixel_counts": { + "2453": 1860, + "3413": 7928, + "3662": 35766, + "11605": 1221, + "15960": 11033, + "17240": 2195, + "17496": 291, + "20565": 1543, + "22421": 886, + "22931": 37718, + "22933": 4627, + "23443": 218801, + "36096": 620, + "36352": 391, + "36608": 549, + "36864": 605, + "37120": 970, + "37376": 816, + "41728": 2874, + "47198": 39064, + "47710": 413, + "48737": 8192, + "48980": 116635, + "49249": 947, + "49492": 48559, + "49761": 1586, + "50246": 32722, + "51297": 51329, + "51526": 9389, + "51809": 6489, + "52321": 3358, + "54366": 101454, + "54878": 26728, + "57482": 6702, + "57994": 8954, + "59737": 285, + "63382": 28612, + "63894": 4596, + "65426": 94892 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 620, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -44.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3782958984375, + "y": 0.4699414074420929, + "z": 0.8889181613922119 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.1706591169994, + "ymin": 328.36850844855866, + "xmax": 656.5044079290282, + "ymax": 390.9677404566731 + }, + "corners_3d": [ + [ + -138.69723510742188, + -44.56605911254883, + 0.2076171636581421 + ], + [ + -139.63711547851562, + -44.56605911254883, + 0.2076171636581421 + ], + [ + -139.63711547851562, + -43.80946731567383, + 0.2076171636581421 + ], + [ + -138.69723510742188, + -43.80946731567383, + 0.2076171636581421 + ], + [ + -138.69723510742188, + -44.56605911254883, + 1.985453486442566 + ], + [ + -139.63711547851562, + -44.56605911254883, + 1.985453486442566 + ], + [ + -139.63711547851562, + -43.80946731567383, + 1.985453486442566 + ], + [ + -138.69723510742188, + -43.80946731567383, + 1.985453486442566 + ] + ], + "corners_2d": [ + [ + 623.8671819232853, + 390.26381799503287 + ], + [ + 655.3251171715405, + 390.9677404566731 + ], + [ + 655.8339656578087, + 373.7837695618542 + ], + [ + 624.9813033218139, + 373.10670202253806 + ], + [ + 623.1706591169994, + 345.35018805362546 + ], + [ + 655.9873133089276, + 346.0475156390928 + ], + [ + 656.5044079290282, + 329.03811813675816 + ], + [ + 624.3458942906125, + 328.36850844855866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 391, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -41.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.42662110924720764, + "y": 0.5107226967811584, + "z": 0.8749606013298035 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 494.8177831364659, + "ymin": 266.83934434204787, + "xmax": 533.6229502187108, + "ymax": 329.5163813563099 + }, + "corners_3d": [ + [ + -134.63034057617188, + -41.713539123535156, + 0.06917726993560791 + ], + [ + -135.62945556640625, + -41.50116729736328, + 0.06917726993560791 + ], + [ + -135.45205688476562, + -40.66657257080078, + 0.06917726993560791 + ], + [ + -134.45294189453125, + -40.878944396972656, + 0.06917726993560791 + ], + [ + -134.63034057617188, + -41.713539123535156, + 1.8190984725952148 + ], + [ + -135.62945556640625, + -41.50116729736328, + 1.8190984725952148 + ], + [ + -135.45205688476562, + -40.66657257080078, + 1.8190984725952148 + ], + [ + -134.45294189453125, + -40.878944396972656, + 1.8190984725952148 + ] + ], + "corners_2d": [ + [ + 502.01744010328616, + 329.5163813563099 + ], + [ + 533.6229502187108, + 325.94233355171787 + ], + [ + 531.1733065989873, + 309.65893328692215 + ], + [ + 500.18250263033815, + 313.09329823284827 + ], + [ + 496.61211917567357, + 286.38453238882977 + ], + [ + 529.4743773141613, + 282.8639848906319 + ], + [ + 527.0159783745402, + 266.83934434204787 + ], + [ + 494.8177831364659, + 270.2170866321493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 549, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -37.245052337646484, + "z": 1.092448353767395 + }, + "extent": { + "x": 0.4631591737270355, + "y": 0.41191282868385315, + "z": 0.9362369179725647 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 696.7610934003516, + "ymin": 197.943960888721, + "xmax": 726.2967054786144, + "ymax": 258.79874637342147 + }, + "corners_3d": [ + [ + -141.061767578125, + -37.74872970581055, + 0.15621143579483032 + ], + [ + -141.88107299804688, + -37.66261672973633, + 0.15621143579483032 + ], + [ + -141.78424072265625, + -36.74137496948242, + 0.15621143579483032 + ], + [ + -140.96493530273438, + -36.82748794555664, + 0.15621143579483032 + ], + [ + -141.061767578125, + -37.74872970581055, + 2.0286853313446045 + ], + [ + -141.88107299804688, + -37.66261672973633, + 2.0286853313446045 + ], + [ + -141.78424072265625, + -36.74137496948242, + 2.0286853313446045 + ], + [ + -140.96493530273438, + -36.82748794555664, + 2.0286853313446045 + ] + ], + "corners_2d": [ + [ + 699.8250861015113, + 258.79874637342147 + ], + [ + 723.1024342481032, + 257.80126042764323 + ], + [ + 719.5777662578661, + 242.65819637293072 + ], + [ + 696.7610934003516, + 243.61623474215742 + ], + [ + 702.127768046743, + 213.69773849103444 + ], + [ + 726.2967054786144, + 212.72340812428968 + ], + [ + 722.5732052169691, + 197.943960888721 + ], + [ + 698.9005317675721, + 198.87832323166208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 605, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -140.8831329345703, + "y": -44.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4082958996295929, + "y": 0.30382323265075684, + "z": 0.8753414154052734 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 686.8214267772711, + "ymin": 329.40510908870857, + "xmax": 710.2192779083064, + "ymax": 392.49897313342564 + }, + "corners_3d": [ + [ + -140.57931518554688, + -44.5960578918457, + 0.22119390964508057 + ], + [ + -141.18695068359375, + -44.5960578918457, + 0.22119390964508057 + ], + [ + -141.18695068359375, + -43.77946853637695, + 0.22119390964508057 + ], + [ + -140.57931518554688, + -43.77946853637695, + 0.22119390964508057 + ], + [ + -140.57931518554688, + -44.5960578918457, + 1.9718767404556274 + ], + [ + -141.18695068359375, + -44.5960578918457, + 1.9718767404556274 + ], + [ + -141.18695068359375, + -43.77946853637695, + 1.9718767404556274 + ], + [ + -140.57931518554688, + -43.77946853637695, + 1.9718767404556274 + ] + ], + "corners_2d": [ + [ + 686.9295098326448, + 392.04188106067653 + ], + [ + 707.3483265048478, + 392.49897313342564 + ], + [ + 706.815207393036, + 373.9051578826364 + ], + [ + 686.8214267772711, + 373.4668902750191 + ], + [ + 688.9289725648309, + 347.7955347650113 + ], + [ + 710.2192779083064, + 348.2484960551776 + ], + [ + 709.6016797057092, + 329.83864678901114 + ], + [ + 688.7730561291017, + 329.40510908870857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 970, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -53.41828918457031, + "z": 1.0946847200393677 + }, + "extent": { + "x": 0.36231938004493713, + "y": 0.4480249285697937, + "z": 0.8719034194946289 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 737.2385092004721, + "ymin": 600.4197275018139, + "xmax": 785.5548240526344, + "ymax": 676.7587309244924 + }, + "corners_3d": [ + [ + -141.68292236328125, + -53.73179244995117, + 0.22278130054473877 + ], + [ + -142.57406616210938, + -53.82545471191406, + 0.22278130054473877 + ], + [ + -142.64981079101562, + -53.10478591918945, + 0.22278130054473877 + ], + [ + -141.7586669921875, + -53.01112365722656, + 0.22278130054473877 + ], + [ + -141.68292236328125, + -53.73179244995117, + 1.9665881395339966 + ], + [ + -142.57406616210938, + -53.82545471191406, + 1.9665881395339966 + ], + [ + -142.64981079101562, + -53.10478591918945, + 1.9665881395339966 + ], + [ + -141.7586669921875, + -53.01112365722656, + 1.9665881395339966 + ] + ], + "corners_2d": [ + [ + 737.2385092004721, + 671.8290256059596 + ], + [ + 776.9440527720601, + 676.7587309244924 + ], + [ + 777.9283081685865, + 648.4335716780756 + ], + [ + 739.1698704194417, + 643.7376879487961 + ], + [ + 742.7307808128681, + 628.9745575292652 + ], + [ + 784.7133521490115, + 633.9935721040748 + ], + [ + 785.5548240526344, + 605.1877181167774 + ], + [ + 744.629665032289, + 600.4197275018139 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 816, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -52.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3091455101966858, + "y": 0.3796704113483429, + "z": 0.8740731477737427 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 116.53018410695381, + "ymin": 549.3974039760105, + "xmax": 185.96617378437765, + "ymax": 620.8849492545717 + }, + "corners_3d": [ + [ + -127.48619842529297, + -52.5814323425293, + 0.0700647234916687 + ], + [ + -128.22894287109375, + -52.73930740356445, + 0.0700647234916687 + ], + [ + -128.3574981689453, + -52.134525299072266, + 0.0700647234916687 + ], + [ + -127.61474609375, + -51.97665023803711, + 0.0700647234916687 + ], + [ + -127.48619842529297, + -52.5814323425293, + 1.8182110786437988 + ], + [ + -128.22894287109375, + -52.73930740356445, + 1.8182110786437988 + ], + [ + -128.3574981689453, + -52.134525299072266, + 1.8182110786437988 + ], + [ + -127.61474609375, + -51.97665023803711, + 1.8182110786437988 + ] + ], + "corners_2d": [ + [ + 143.00558637777544, + 614.3046581796315 + ], + [ + 170.92499892119508, + 620.8849492545717 + ], + [ + 185.96617378437765, + 599.4484335105544 + ], + [ + 158.49036360532108, + 593.1165181823358 + ], + [ + 116.53018410695381, + 570.8224031383963 + ], + [ + 145.78154141953195, + 577.4850833267208 + ], + [ + 162.11846578038717, + 555.7955622723546 + ], + [ + 133.35265191576713, + 549.3974039760105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2874, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 371.82201431207864, + "ymin": 44.9110401389903, + "xmax": 448.8427956832069, + "ymax": 130.7825426825066 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 377.98745802145726, + 129.86728732470456 + ], + [ + 425.28739741196307, + 130.7825426825066 + ], + [ + 448.8427956832069, + 74.70254490370831 + ], + [ + 405.70582719201616, + 73.94249895516379 + ], + [ + 371.82201431207864, + 99.26077793802665 + ], + [ + 420.22746903465725, + 100.15214255185037 + ], + [ + 444.7464999237958, + 45.648163314393855 + ], + [ + 400.69192379049457, + 44.9110401389903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.6216221356606, + "ymin": 0.0, + "xmax": 636.4631686226203, + "ymax": 25.295826822437334 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 635.9563212652159, + 25.295826822437334 + ], + [ + 636.4631686226203, + 19.470193430508232 + ], + [ + 483.7172880162633, + 17.47507052599417 + ], + [ + 481.5089062987538, + 23.255866956445573 + ], + [ + 635.2415574005606, + -223.09811082568137 + ], + [ + 635.8461249951678, + -226.71008419815826 + ], + [ + 456.57455219804604, + -227.9438465166562 + ], + [ + 453.6216221356606, + -224.36452163395927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 344.54965850080595, + "ymin": 0.0, + "xmax": 619.4555168359208, + "ymax": 226.0254635169331 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.4922484225468, + 226.0254635169331 + ], + [ + 619.4555168359208, + 214.95378966411747 + ], + [ + 409.71676230888187, + 211.1834188015758 + ], + [ + 405.53193791386764, + 222.13787370081573 + ], + [ + 612.8603903740214, + -89.38241043761752 + ], + [ + 614.1788784451787, + -97.25968313206852 + ], + [ + 350.961909263509, + -99.92795965287968 + ], + [ + 344.54965850080595, + -92.15550035850163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 69.34992015319858, + "ymin": 245.3914864003358, + "xmax": 124.02247478551567, + "ymax": 265.21091777630267 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 111.14068182707717, + 265.21091777630267 + ], + [ + 124.02247478551567, + 247.91586933360753 + ], + [ + 84.00975416202448, + 247.1539790264536 + ], + [ + 70.21813540909386, + 264.41344407615014 + ], + [ + 110.33398198786108, + 263.43335756947005 + ], + [ + 123.25321934649719, + 246.15271473527497 + ], + [ + 83.18168963330709, + 245.3914864003358 + ], + [ + 69.34992015319858, + 262.6365219368939 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 56.37000730368277, + "ymin": 230.8467171996128, + "xmax": 584.1081328323991, + "ymax": 648.6788956009377 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 581.7201517729176, + 648.6788956009377 + ], + [ + 584.1081328323991, + 621.2317707457341 + ], + [ + 256.598788445378, + 611.9945380923598 + ], + [ + 246.2874285198899, + 638.9861921512953 + ], + [ + 553.2515315672167, + 266.74916640257453 + ], + [ + 557.7651218124084, + 239.78283885652274 + ], + [ + 78.07399906699732, + 230.8467171996128 + ], + [ + 56.37000730368277, + 257.15470151723866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 69.32746906518798, + "ymin": 245.345911893515, + "xmax": 124.00264253924843, + "ymax": 265.16509186812016 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 111.11988492094679, + 265.16509186812016 + ], + [ + 124.00264253924843, + 247.87041328035417 + ], + [ + 83.98840572157701, + 247.1085399724152 + ], + [ + 70.1957525868446, + 264.3676345466311 + ], + [ + 110.31312158663286, + 263.38739175006697 + ], + [ + 123.23332792040515, + 246.10712304023747 + ], + [ + 83.16027755364621, + 245.345911893515 + ], + [ + 69.32746906518798, + 262.59057269208915 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00032/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00032/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..046e4f0eb69850dee1b275393b4171d8354945d8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00032/meta.json @@ -0,0 +1,1513 @@ +{ + "frame_id": 32, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 16.0, + "sim_timestamp": 437.0680374351796 + }, + "drone_pose": { + "x": -139.90599493847415, + "y": -64.7832758220359, + "z": 20.02268574151212, + "pitch": -41.87988097115281, + "yaw": 87.99419351222845, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.02605968713760376, + -0.7440898418426514, + 0.6675711870193481, + 38.483909606933594 + ], + [ + 0.999387264251709, + 0.03500080108642578, + 2.9802322387695312e-08, + -137.55279541015625 + ], + [ + -0.023365497589111328, + 0.6671621799468994, + 0.7445459961891174, + -61.397735595703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.9693218678809, + "y": -64.27890465865352, + "z": 20.019036214616268 + }, + "t1_image_uv": [ + 846.6133024798296, + -488.2382969324585 + ], + "t1_depth": 0.3760834823574953 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -43.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.35076129388671, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 606, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -43.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3717431426048279, + "y": 0.5075414776802063, + "z": 0.8870242834091187 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.8355403897497, + "ymin": 328.50129401474925, + "xmax": 657.8224756696061, + "ymax": 390.8340129874085 + }, + "corners_3d": [ + [ + -138.65963745117188, + -44.059505462646484, + 0.20951104164123535 + ], + [ + -139.67471313476562, + -44.059505462646484, + 0.20951104164123535 + ], + [ + -139.67471313476562, + -43.31602096557617, + 0.20951104164123535 + ], + [ + -138.65963745117188, + -43.31602096557617, + 0.20951104164123535 + ], + [ + -138.65963745117188, + -44.059505462646484, + 1.9835596084594727 + ], + [ + -139.67471313476562, + -44.059505462646484, + 1.9835596084594727 + ], + [ + -139.67471313476562, + -43.31602096557617, + 1.9835596084594727 + ], + [ + -138.65963745117188, + -43.31602096557617, + 1.9835596084594727 + ] + ], + "corners_2d": [ + [ + 622.5856306401374, + 390.0116603094439 + ], + [ + 656.5580697626139, + 390.8340129874085 + ], + [ + 657.099781408223, + 373.9458164705985 + ], + [ + 623.7697682555277, + 373.1543085581185 + ], + [ + 621.8355403897497, + 345.18630008464737 + ], + [ + 657.2719633868842, + 346.00094109357303 + ], + [ + 657.8224756696061, + 329.2841015940077 + ], + [ + 623.0844710024433, + 328.50129401474925 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 32, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 350726, + "2": 120796, + "3": 168741, + "4": 79660, + "6": 14075, + "12": 3974, + "14": 2938, + "20": 293, + "24": 7308, + "25": 173089 + }, + "instance_pixel_counts": { + "2453": 1660, + "3413": 8161, + "3662": 36690, + "11605": 1395, + "15960": 11458, + "17240": 2296, + "17496": 321, + "20565": 1444, + "22421": 920, + "22931": 39778, + "22933": 4728, + "23443": 223945, + "36096": 606, + "36352": 524, + "36608": 540, + "36864": 612, + "37120": 917, + "37376": 775, + "41728": 2938, + "47198": 34785, + "47710": 730, + "48737": 8658, + "48980": 120693, + "49249": 1033, + "49492": 37048, + "49761": 1665, + "50246": 33483, + "51297": 53400, + "51526": 9487, + "51809": 6791, + "52321": 3289, + "54366": 106731, + "54878": 30843, + "57482": 7062, + "57994": 8663, + "59737": 293, + "63382": 26047, + "63894": 4188, + "65426": 87003 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 606, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -43.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3725878894329071, + "y": 0.4019531011581421, + "z": 0.8700839281082153 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.5231398760774, + "ymin": 329.008245196302, + "xmax": 654.2008473476635, + "ymax": 390.3574304996698 + }, + "corners_3d": [ + [ + -138.76522827148438, + -44.06035232543945, + 0.22645139694213867 + ], + [ + -139.56912231445312, + -44.06035232543945, + 0.22645139694213867 + ], + [ + -139.56912231445312, + -43.3151741027832, + 0.22645139694213867 + ], + [ + -138.76522827148438, + -43.3151741027832, + 0.22645139694213867 + ], + [ + -138.76522827148438, + -44.06035232543945, + 1.9666192531585693 + ], + [ + -139.56912231445312, + -44.06035232543945, + 1.9666192531585693 + ], + [ + -139.56912231445312, + -43.3151741027832, + 1.9666192531585693 + ], + [ + -138.76522827148438, + -43.3151741027832, + 1.9666192531585693 + ] + ], + "corners_2d": [ + [ + 626.1098364772504, + 389.7061788921838 + ], + [ + 653.0256791446649, + 390.3574304996698 + ], + [ + 653.6358526620579, + 373.4352160369995 + ], + [ + 627.2303401991924, + 372.8084555213344 + ], + [ + 625.5231398760774, + 345.736661678296 + ], + [ + 653.5762808083724, + 346.3819247675817 + ], + [ + 654.2008473476635, + 329.6282473596458 + ], + [ + 626.701630834182, + 329.008245196302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 524, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -40.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44447267055511475, + "y": 0.43994632363319397, + "z": 0.8819373846054077 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 497.3132679938552, + "ymin": 266.3771890966297, + "xmax": 531.7465785251168, + "ymax": 329.55325516944725 + }, + "corners_3d": [ + [ + -134.70327758789062, + -41.216285705566406, + 0.06220048666000366 + ], + [ + -135.56394958496094, + -41.03334426879883, + 0.06220048666000366 + ], + [ + -135.37911987304688, + -40.16382598876953, + 0.06220048666000366 + ], + [ + -134.51844787597656, + -40.34676742553711, + 0.06220048666000366 + ], + [ + -134.70327758789062, + -41.216285705566406, + 1.8260753154754639 + ], + [ + -135.56394958496094, + -41.03334426879883, + 1.8260753154754639 + ], + [ + -135.37911987304688, + -40.16382598876953, + 1.8260753154754639 + ], + [ + -134.51844787597656, + -40.34676742553711, + 1.8260753154754639 + ] + ], + "corners_2d": [ + [ + 504.51151758670653, + 329.55325516944725 + ], + [ + 531.7465785251168, + 326.5188168315916 + ], + [ + 529.3049890011126, + 309.5417379863509 + ], + [ + 502.6220778772373, + 312.45269069130626 + ], + [ + 499.16127344908693, + 286.0708159940431 + ], + [ + 527.4880447421781, + 283.08217003608826 + ], + [ + 525.0432111284009, + 266.3771890966297 + ], + [ + 497.3132679938552, + 269.23957230717997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 540, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -36.745052337646484, + "z": 1.092419147491455 + }, + "extent": { + "x": 0.469970703125, + "y": 0.4694885015487671, + "z": 0.945702314376831 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 695.6852390788106, + "ymin": 197.6503422329874, + "xmax": 728.5588614047234, + "ymax": 259.2923421041501 + }, + "corners_3d": [ + [ + -141.00521850585938, + -37.26152420043945, + 0.14671683311462402 + ], + [ + -141.9390411376953, + -37.16337203979492, + 0.14671683311462402 + ], + [ + -141.84078979492188, + -36.228580474853516, + 0.14671683311462402 + ], + [ + -140.90696716308594, + -36.32673263549805, + 0.14671683311462402 + ], + [ + -141.00521850585938, + -37.26152420043945, + 2.038121461868286 + ], + [ + -141.9390411376953, + -37.16337203979492, + 2.038121461868286 + ], + [ + -141.84078979492188, + -36.228580474853516, + 2.038121461868286 + ], + [ + -140.90696716308594, + -36.32673263549805, + 2.038121461868286 + ] + ], + "corners_2d": [ + [ + 698.702244503484, + 259.2923421041501 + ], + [ + 725.247418378838, + 258.1962162834464 + ], + [ + 721.6969792615334, + 242.82306099361944 + ], + [ + 695.6852390788106, + 243.87519972464287 + ], + [ + 700.9859595404328, + 213.72088740942831 + ], + [ + 728.5588614047234, + 212.6504581721028 + ], + [ + 724.8037779693607, + 197.6503422329874 + ], + [ + 697.8059655494438, + 198.67619820806507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 612, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -140.8831329345703, + "y": -43.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39011716842651367, + "y": 0.4253173768520355, + "z": 0.8741074204444885 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 682.821322573666, + "ymin": 329.8224649211926, + "xmax": 714.4408928720302, + "ymax": 392.2745727962712 + }, + "corners_3d": [ + [ + -140.4578094482422, + -44.077880859375, + 0.22242790460586548 + ], + [ + -141.30845642089844, + -44.077880859375, + 0.22242790460586548 + ], + [ + -141.30845642089844, + -43.297645568847656, + 0.22242790460586548 + ], + [ + -140.4578094482422, + -43.297645568847656, + 0.22242790460586548 + ], + [ + -140.4578094482422, + -44.077880859375, + 1.9706428050994873 + ], + [ + -141.30845642089844, + -44.077880859375, + 1.9706428050994873 + ], + [ + -141.30845642089844, + -43.297645568847656, + 1.9706428050994873 + ], + [ + -140.4578094482422, + -43.297645568847656, + 1.9706428050994873 + ] + ], + "corners_2d": [ + [ + 682.821322573666, + 391.58264835177874 + ], + [ + 711.4019884554459, + 392.2745727962712 + ], + [ + 710.8796141524982, + 374.5001121278414 + ], + [ + 682.8677726425925, + 373.83544697245964 + ], + [ + 684.6423473862467, + 347.3932884872745 + ], + [ + 714.4408928720302, + 348.0789383586925 + ], + [ + 713.8337407957068, + 330.4799891102237 + ], + [ + 684.6530060682182, + 329.8224649211926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 917, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -52.91828918457031, + "z": 1.094645619392395 + }, + "extent": { + "x": 0.4030371308326721, + "y": 0.3255298137664795, + "z": 0.8813467025756836 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 741.4220135573596, + "ymin": 599.5378955457891, + "xmax": 779.0214089490224, + "ymax": 678.3006418862395 + }, + "corners_3d": [ + [ + -141.8004913330078, + -53.285091400146484, + 0.21329891681671143 + ], + [ + -142.44798278808594, + -53.353145599365234, + 0.21329891681671143 + ], + [ + -142.53224182128906, + -52.55148696899414, + 0.21329891681671143 + ], + [ + -141.88475036621094, + -52.48343276977539, + 0.21329891681671143 + ], + [ + -141.8004913330078, + -53.285091400146484, + 1.9759923219680786 + ], + [ + -142.44798278808594, + -53.353145599365234, + 1.9759923219680786 + ], + [ + -142.53224182128906, + -52.55148696899414, + 1.9759923219680786 + ], + [ + -141.88475036621094, + -52.48343276977539, + 1.9759923219680786 + ] + ], + "corners_2d": [ + [ + 741.4220135573596, + 674.6375884929625 + ], + [ + 770.3086945500228, + 678.3006418862395 + ], + [ + 771.6714683169705, + 646.8178200716832 + ], + [ + 743.5496608886571, + 643.3474875370118 + ], + [ + 747.2285239598223, + 631.352635213708 + ], + [ + 777.7935811685313, + 635.0834487994689 + ], + [ + 779.0214089490224, + 603.0616400297922 + ], + [ + 749.3113815602524, + 599.5378955457891 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 775, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -51.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3252831995487213, + "y": 0.46342772245407104, + "z": 0.8901829123497009 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 112.15119615452772, + "ymin": 546.6465421230399, + "xmax": 189.11033056662643, + "ymax": 621.5265631582491 + }, + "corners_3d": [ + [ + -127.40091705322266, + -52.079803466796875, + 0.05395495891571045 + ], + [ + -128.30751037597656, + -52.27250671386719, + 0.05395495891571045 + ], + [ + -128.44277954101562, + -51.63615417480469, + 0.05395495891571045 + ], + [ + -127.53617095947266, + -51.443450927734375, + 0.05395495891571045 + ], + [ + -127.40091705322266, + -52.079803466796875, + 1.8343207836151123 + ], + [ + -128.30751037597656, + -52.27250671386719, + 1.8343207836151123 + ], + [ + -128.44277954101562, + -51.63615417480469, + 1.8343207836151123 + ], + [ + -127.53617095947266, + -51.443450927734375, + 1.8343207836151123 + ] + ], + "corners_2d": [ + [ + 139.2990881977733, + 613.4155918097251 + ], + [ + 173.28476460021244, + 621.5265631582491 + ], + [ + 189.11033056662643, + 598.9976114765277 + ], + [ + 155.68935298207828, + 591.2078675407362 + ], + [ + 112.15119615452772, + 569.1029598200133 + ], + [ + 147.785285158742, + 577.3168679197992 + ], + [ + 164.9964728682516, + 554.517996685475 + ], + [ + 129.98132316067836, + 546.6465421230399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2938, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 370.03343663918787, + "ymin": 49.29030958053494, + "xmax": 448.1441160793141, + "ymax": 136.2956655769486 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 376.29357519119446, + 135.3015335682011 + ], + [ + 423.97688794139947, + 136.2956655769486 + ], + [ + 448.1441160793141, + 79.28472498283719 + ], + [ + 404.68786447236073, + 78.46045350668197 + ], + [ + 370.03343663918787, + 104.55016357279422 + ], + [ + 418.8404998846328, + 105.51872672184263 + ], + [ + 443.9994165556163, + 50.089979310644765 + ], + [ + 399.6117510381482, + 49.29030958053494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.2451618226514, + "ymin": 0.0, + "xmax": 637.5109699632152, + "ymax": 29.347194891450613 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 636.9734095236139, + 29.347194891450613 + ], + [ + 637.5109699632152, + 23.433138802200972 + ], + [ + 483.6573448676661, + 21.242429829776256 + ], + [ + 481.39355209724306, + 27.106879723682482 + ], + [ + 636.4335845781698, + -220.59800076506917 + ], + [ + 637.0728494054199, + -224.2736910958049 + ], + [ + 456.2729738462555, + -225.63155254370008 + ], + [ + 453.2451618226514, + -221.9921160538156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 340.92893976014994, + "ymin": 0.0, + "xmax": 619.4223423063315, + "ymax": 233.74343052244416 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.3947338024977, + 233.74343052244416 + ], + [ + 619.4223423063315, + 222.43803324661508 + ], + [ + 407.5989883427328, + 218.2747848584396 + ], + [ + 403.28537318103474, + 229.44938542607224 + ], + [ + 612.6610262875292, + -83.90885579578355 + ], + [ + 614.0672770468873, + -91.99461634199918 + ], + [ + 347.55779274875795, + -94.95567372225412 + ], + [ + 340.92893976014994, + -86.98777833616566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 53.182015863143306, + "ymin": 262.4721058944152, + "xmax": 109.53701893590687, + "ymax": 283.22425867221466 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 95.924246915195, + 283.22425867221466 + ], + [ + 109.53701893590687, + 265.1124484117741 + ], + [ + 68.65868310535825, + 264.24964576779223 + ], + [ + 54.09599656005969, + 282.3201889188581 + ], + [ + 95.074534773447, + 281.4321945535741 + ], + [ + 108.72773514304379, + 263.33421699492226 + ], + [ + 67.78801806825493, + 262.4721058944152 + ], + [ + 53.182015863143306, + 280.52878430652515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 39.62658958420013, + "ymin": 247.62170680921764, + "xmax": 581.4932244603343, + "ymax": 668.0930630686042 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 578.914357984806, + 668.0930630686042 + ], + [ + 581.4932244603343, + 639.7212551691316 + ], + [ + 248.89592273173406, + 629.4017677741131 + ], + [ + 238.14357046837233, + 657.2561874707063 + ], + [ + 548.3142059047988, + 286.0770646118855 + ], + [ + 553.2398840650889, + 257.75505030057735 + ], + [ + 62.552156664425866, + 247.62170680921764 + ], + [ + 39.62658958420013, + 275.1782871823102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 53.15838045543444, + "ymin": 262.426140669628, + "xmax": 109.51615542013292, + "ymax": 283.17806048542707 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 95.90234191758259, + 283.17806048542707 + ], + [ + 109.51615542013292, + 265.06660521122757 + ], + [ + 68.63623712990227, + 264.20382031865927 + ], + [ + 54.07243472172888, + 282.27400765266395 + ], + [ + 95.0525613006173, + 281.38585195084386 + ], + [ + 108.70680791794985, + 263.2882338065059 + ], + [ + 67.76550362863861, + 262.426140669628 + ], + [ + 53.15838045543444, + 280.482458844153 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00033/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00033/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bda4d3aa853e05326a2a7210caeb83030c0b8be9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00033/meta.json @@ -0,0 +1,1514 @@ +{ + "frame_id": 33, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 16.5, + "sim_timestamp": 449.3329832700547 + }, + "drone_pose": { + "x": -139.9693218678809, + "y": -64.27890465865352, + "z": 20.019036214616268, + "pitch": -41.877163850234446, + "yaw": 87.82197485611441, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.0282973051071167, + -0.7440397143363953, + 0.6675357818603516, + 38.423397064208984 + ], + [ + 0.9992775321006775, + 0.038004517555236816, + 0.0, + -137.42530822753906 + ], + [ + -0.025369375944137573, + 0.6670535802841187, + 0.7445776462554932, + -61.334136962890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.0423188489211, + "y": -63.77361959209293, + "z": 20.01590407468598 + }, + "t1_image_uv": [ + 875.2840656751757, + -489.92742725116955 + ], + "t1_depth": 0.3759773717820222 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -43.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.346793737690888, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 597, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -43.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4177001714706421, + "y": 0.4712255895137787, + "z": 0.8937007188796997 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.9782845829677, + "ymin": 327.30917344486323, + "xmax": 656.660154653998, + "ymax": 392.06837669384464 + }, + "corners_3d": [ + [ + -138.69595336914062, + -43.605464935302734, + 0.2028346061706543 + ], + [ + -139.63839721679688, + -43.605464935302734, + 0.2028346061706543 + ], + [ + -139.63839721679688, + -42.77006149291992, + 0.2028346061706543 + ], + [ + -138.69595336914062, + -42.77006149291992, + 0.2028346061706543 + ], + [ + -138.69595336914062, + -43.605464935302734, + 1.9902360439300537 + ], + [ + -139.63839721679688, + -43.605464935302734, + 1.9902360439300537 + ], + [ + -139.63839721679688, + -42.77006149291992, + 1.9902360439300537 + ], + [ + -138.69595336914062, + -42.77006149291992, + 1.9902360439300537 + ] + ], + "corners_2d": [ + [ + 623.6872699347276, + 391.23726043876843 + ], + [ + 655.2624310535128, + 392.06837669384464 + ], + [ + 655.9803468864142, + 373.09143638057554 + ], + [ + 625.0751144847884, + 372.2952629635914 + ], + [ + 622.9782845829677, + 346.05587454817373 + ], + [ + 655.9264132319638, + 346.8792143864575 + ], + [ + 656.660154653998, + 328.09644199833866 + ], + [ + 624.4408094140085, + 327.30917344486323 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 33, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 349949, + "2": 120826, + "3": 161376, + "4": 81601, + "6": 14640, + "10": 1, + "12": 4058, + "14": 3020, + "20": 311, + "24": 7251, + "25": 178567 + }, + "instance_pixel_counts": { + "2453": 1436, + "3413": 8392, + "3662": 37639, + "11605": 1591, + "15960": 11889, + "17240": 2400, + "17496": 351, + "20565": 1334, + "22421": 968, + "22931": 41839, + "22933": 4847, + "23443": 229204, + "36096": 597, + "36352": 578, + "36608": 547, + "36864": 623, + "37120": 895, + "37376": 818, + "41728": 3020, + "47198": 29459, + "47710": 1182, + "48737": 9123, + "48980": 123485, + "49249": 1143, + "49492": 26574, + "49761": 1753, + "50246": 34370, + "51297": 55547, + "51526": 9592, + "51809": 7122, + "52321": 3223, + "54366": 112382, + "54878": 35544, + "57482": 7417, + "57994": 8384, + "59737": 311, + "63382": 23370, + "63894": 3744, + "65426": 78906 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 597, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -43.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3908105492591858, + "y": 0.32365232706069946, + "z": 0.8609589338302612 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.1868297622925, + "ymin": 328.88159414846047, + "xmax": 651.5754720329381, + "ymax": 390.5208841542475 + }, + "corners_3d": [ + [ + -138.84352111816406, + -43.578575134277344, + 0.23557639122009277 + ], + [ + -139.49082946777344, + -43.578575134277344, + 0.23557639122009277 + ], + [ + -139.49082946777344, + -42.79695129394531, + 0.23557639122009277 + ], + [ + -138.84352111816406, + -42.79695129394531, + 0.23557639122009277 + ], + [ + -138.84352111816406, + -43.578575134277344, + 1.9574942588806152 + ], + [ + -139.49082946777344, + -43.578575134277344, + 1.9574942588806152 + ], + [ + -139.49082946777344, + -42.79695129394531, + 1.9574942588806152 + ], + [ + -138.84352111816406, + -42.79695129394531, + 1.9574942588806152 + ] + ], + "corners_2d": [ + [ + 628.6609430013569, + 389.95090970865994 + ], + [ + 650.3494541100775, + 390.5208841542475 + ], + [ + 651.1198588897256, + 372.7734992519157 + ], + [ + 629.8625050469235, + 372.2259930465245 + ], + [ + 628.1868297622925, + 346.43068348973344 + ], + [ + 650.7824782001566, + 346.9954886208171 + ], + [ + 651.5754720329381, + 329.4232324138318 + ], + [ + 629.4474132535164, + 328.88159414846047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 578, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -40.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4527246356010437, + "y": 0.43901368975639343, + "z": 0.8800532221794128 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 497.6945260680592, + "ymin": 266.0626946722266, + "xmax": 532.007423214087, + "ymax": 329.40557275948316 + }, + "corners_3d": [ + [ + -134.70590209960938, + -40.72416305541992, + 0.06408464908599854 + ], + [ + -135.5647430419922, + -40.54161071777344, + 0.06408464908599854 + ], + [ + -135.37649536132812, + -39.655948638916016, + 0.06408464908599854 + ], + [ + -134.5176544189453, + -39.8385009765625, + 0.06408464908599854 + ], + [ + -134.70590209960938, + -40.72416305541992, + 1.8241910934448242 + ], + [ + -135.5647430419922, + -40.54161071777344, + 1.8241910934448242 + ], + [ + -135.37649536132812, + -39.655948638916016, + 1.8241910934448242 + ], + [ + -134.5176544189453, + -39.8385009765625, + 1.8241910934448242 + ] + ], + "corners_2d": [ + [ + 504.8227529854571, + 329.40557275948316 + ], + [ + 532.007423214087, + 326.4296111676598 + ], + [ + 529.5984549936209, + 309.13599125998695 + ], + [ + 502.97569986458257, + 311.9885917383461 + ], + [ + 499.49670743103405, + 286.01029384643437 + ], + [ + 527.7683197180503, + 283.07920169684957 + ], + [ + 525.3588819936114, + 266.0626946722266 + ], + [ + 497.6945260680592, + 268.86766267116207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 547, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -36.245052337646484, + "z": 1.0923995971679688 + }, + "extent": { + "x": 0.47310057282447815, + "y": 0.5611633062362671, + "z": 0.9404260516166687 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 693.7610718427298, + "ymin": 197.7641756987748, + "xmax": 731.8498721070474, + "ymax": 259.4258331341003 + }, + "corners_3d": [ + [ + -140.91436767578125, + -36.77421951293945, + 0.15197354555130005 + ], + [ + -142.03054809570312, + -36.65690231323242, + 0.15197354555130005 + ], + [ + -141.931640625, + -35.715885162353516, + 0.15197354555130005 + ], + [ + -140.81546020507812, + -35.83320236206055, + 0.15197354555130005 + ], + [ + -140.91436767578125, + -36.77421951293945, + 2.0328257083892822 + ], + [ + -142.03054809570312, + -36.65690231323242, + 2.0328257083892822 + ], + [ + -141.931640625, + -35.715885162353516, + 2.0328257083892822 + ], + [ + -140.81546020507812, + -35.83320236206055, + 2.0328257083892822 + ] + ], + "corners_2d": [ + [ + 696.679238186378, + 259.4258331341003 + ], + [ + 728.4335167116323, + 258.1715175101288 + ], + [ + 724.8722802544814, + 242.69118029482723 + ], + [ + 693.7610718427298, + 243.8948012371031 + ], + [ + 698.8726246263935, + 214.09588504487851 + ], + [ + 731.8498721070474, + 212.8708066081906 + ], + [ + 728.0816419337997, + 197.7641756987748 + ], + [ + 695.797410133364, + 198.9378873067975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 623, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -140.8831329345703, + "y": -43.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.38276365399360657, + "y": 0.5273535251617432, + "z": 0.902004599571228 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 679.3377197922761, + "ymin": 329.24860812601156, + "xmax": 718.0414856959619, + "ymax": 393.02349992467055 + }, + "corners_3d": [ + [ + -140.35577392578125, + -43.570526123046875, + 0.19453072547912598 + ], + [ + -141.41049194335938, + -43.570526123046875, + 0.19453072547912598 + ], + [ + -141.41049194335938, + -42.80500030517578, + 0.19453072547912598 + ], + [ + -140.35577392578125, + -42.80500030517578, + 0.19453072547912598 + ], + [ + -140.35577392578125, + -43.570526123046875, + 1.998539924621582 + ], + [ + -141.41049194335938, + -43.570526123046875, + 1.998539924621582 + ], + [ + -141.41049194335938, + -42.80500030517578, + 1.998539924621582 + ], + [ + -140.35577392578125, + -42.80500030517578, + 1.998539924621582 + ] + ], + "corners_2d": [ + [ + 679.3377197922761, + 392.0918751272883 + ], + [ + 714.7555197279664, + 393.02349992467055 + ], + [ + 714.2533075615681, + 375.57315618077905 + ], + [ + 679.5268866817378, + 374.67754000858235 + ], + [ + 681.0649734235735, + 346.48412066050776 + ], + [ + 718.0414856959619, + 347.4070108965778 + ], + [ + 717.4507227303836, + 330.1343079111052 + ], + [ + 681.2271359532289, + 329.24860812601156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 895, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -52.41828918457031, + "z": 1.094606637954712 + }, + "extent": { + "x": 0.39497074484825134, + "y": 0.48883306980133057, + "z": 0.8960198163986206 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 732.9444808925048, + "ymin": 598.8741729468671, + "xmax": 785.4044760694612, + "ymax": 679.6659924569186 + }, + "corners_3d": [ + [ + -141.63893127441406, + -52.7599983215332, + 0.1985868215560913 + ], + [ + -142.61123657226562, + -52.8621940612793, + 0.1985868215560913 + ], + [ + -142.6938018798828, + -52.07658004760742, + 0.1985868215560913 + ], + [ + -141.72149658203125, + -51.97438430786133, + 0.1985868215560913 + ], + [ + -141.63893127441406, + -52.7599983215332, + 1.9906264543533325 + ], + [ + -142.61123657226562, + -52.8621940612793, + 1.9906264543533325 + ], + [ + -142.6938018798828, + -52.07658004760742, + 1.9906264543533325 + ], + [ + -141.72149658203125, + -51.97438430786133, + 1.9906264543533325 + ] + ], + "corners_2d": [ + [ + 732.9444808925048, + 674.0475117226466 + ], + [ + 776.2982569373221, + 679.6659924569186 + ], + [ + 777.5808836579773, + 648.7575394976577 + ], + [ + 735.3511682345419, + 643.4287950138787 + ], + [ + 738.3528621865572, + 630.0128034983959 + ], + [ + 784.2695191207915, + 635.7369468107636 + ], + [ + 785.4044760694612, + 604.2866205472776 + ], + [ + 740.7467911479449, + 598.8741729468671 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 818, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -51.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3227587938308716, + "y": 0.4892578125, + "z": 0.8995129466056824 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 110.59228138854223, + "ymin": 545.0432081397889, + "xmax": 189.56725952306624, + "ymax": 620.7038731411246 + }, + "corners_3d": [ + [ + -127.37617492675781, + -51.57196044921875, + 0.044624924659729004 + ], + [ + -128.33331298828125, + -51.77540588378906, + 0.044624924659729004 + ], + [ + -128.46751403808594, + -51.14399719238281, + 0.044624924659729004 + ], + [ + -127.51038360595703, + -50.9405517578125, + 0.044624924659729004 + ], + [ + -127.37617492675781, + -51.57196044921875, + 1.8436508178710938 + ], + [ + -128.33331298828125, + -51.77540588378906, + 1.8436508178710938 + ], + [ + -128.46751403808594, + -51.14399719238281, + 1.8436508178710938 + ], + [ + -127.51038360595703, + -50.9405517578125, + 1.8436508178710938 + ] + ], + "corners_2d": [ + [ + 138.0620642388355, + 612.0575038090499 + ], + [ + 173.8189308891192, + 620.7038731411246 + ], + [ + 189.56725952306624, + 598.4029785377016 + ], + [ + 154.39739446106944, + 590.0958289775615 + ], + [ + 110.59228138854223, + 567.250047263369 + ], + [ + 148.09684519417908, + 576.0061055932622 + ], + [ + 165.23506424436033, + 553.4374553686962 + ], + [ + 128.37423313012368, + 545.0432081397889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3020, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 368.29926953201687, + "ymin": 53.69756812971934, + "xmax": 447.54287799899373, + "ymax": 141.8627850728847 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 374.65415343450087, + 140.77876545221505 + ], + [ + 422.7198842938262, + 141.8627850728847 + ], + [ + 447.54287799899373, + 83.90332745892289 + ], + [ + 403.76831280412426, + 83.00592130015093 + ], + [ + 368.29926953201687, + 109.88358329557167 + ], + [ + 417.5071425501431, + 110.94014529395506 + ], + [ + 443.35122845929953, + 54.56847610605581 + ], + [ + 398.63133855631054, + 53.69756812971934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.0226201912586, + "ymin": 0.0, + "xmax": 638.7052470597661, + "ymax": 33.453405159279384 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 638.1329985449979, + 33.453405159279384 + ], + [ + 638.7052470597661, + 27.448783299589252 + ], + [ + 483.7355314309099, + 25.034534910427112 + ], + [ + 481.4120892404062, + 30.984073646838567 + ], + [ + 637.7969472564494, + -218.06150357249965 + ], + [ + 638.4752830403713, + -221.80287119094885 + ], + [ + 456.1303345669727, + -223.30288852794206 + ], + [ + 453.0226201912586, + -219.60192937846864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 337.24335213782166, + "ymin": 0.0, + "xmax": 619.394861271624, + "ymax": 241.6198063541081 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.2944613828055, + 241.6198063541081 + ], + [ + 619.394861271624, + 230.07327533431638 + ], + [ + 405.46475120061837, + 225.4591638564703 + ], + [ + 401.0127541797814, + 236.8592016272044 + ], + [ + 612.455291344029, + -78.28935373775334 + ], + [ + 613.9606836070259, + -86.59235941626298 + ], + [ + 344.1036921247244, + -89.89100532160313 + ], + [ + 337.24335213782166, + -81.72106594704519 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 35.949076096580484, + "ymin": 280.24943434519327, + "xmax": 94.08205096009601, + "ymax": 302.00520546581015 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 79.67107688198575, + 302.00520546581015 + ], + [ + 94.08205096009601, + 283.0226283162052 + ], + [ + 52.31545338601575, + 282.04130361666046 + ], + [ + 36.91258714525975, + 300.97579690849875 + ], + [ + 78.77472673208206, + 300.19949538111763 + ], + [ + 93.22943886199528, + 281.23004160257017 + ], + [ + 51.39876151162207, + 280.24943434519327 + ], + [ + 35.949076096580484, + 299.17076168634014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 21.773965741867073, + "ymin": 265.0821343232153, + "xmax": 578.5357223761483, + "ymax": 688.1518349519587 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 575.7393642971153, + 688.1518349519587 + ], + [ + 578.5357223761483, + 658.8095596870737 + ], + [ + 240.75060275654766, + 647.2356687019935 + ], + [ + 229.5221777112152, + 675.9878162819007 + ], + [ + 542.707168632433, + 306.40709593503186 + ], + [ + 548.1068302266051, + 276.6252098575852 + ], + [ + 46.03092652191515, + 265.0821343232153 + ], + [ + 21.773965741867073, + 293.9696091950683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 35.92415887953257, + "ymin": 280.2030968721644, + "xmax": 94.06007120448987, + "ymax": 301.9586572128368 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 79.64797044098839, + 301.9586572128368 + ], + [ + 94.06007120448987, + 282.9764166591619 + ], + [ + 52.29182165266593, + 281.9951103667755 + ], + [ + 36.88774935648246, + 300.929265959378 + ], + [ + 78.75154630434099, + 300.1527980808003 + ], + [ + 93.20739039563068, + 281.18368548359274 + ], + [ + 51.375055996001265, + 280.2030968721644 + ], + [ + 35.92415887953257, + 299.12408193682273 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00034/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00034/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47ffb2d41a236d9cf13ecd44d2ff0db7e7c5f504 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00034/meta.json @@ -0,0 +1,1515 @@ +{ + "frame_id": 34, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 17.0, + "sim_timestamp": 460.19838031730615 + }, + "drone_pose": { + "x": -140.0423188489211, + "y": -63.77361959209293, + "z": 20.01590407468598, + "pitch": -41.87566144823291, + "yaw": 87.62339107015623, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.030876636505126953, + -0.7439547777175903, + 0.6675163507461548, + 38.40778732299805 + ], + [ + 0.9991399049758911, + 0.04146766662597656, + -2.9802322387695312e-08, + -137.27731323242188 + ], + [ + -0.027680426836013794, + 0.6669422388076782, + 0.7445951700210571, + -61.3134880065918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.12717393557003, + "y": -63.267074105612195, + "z": 20.01321926385745 + }, + "t1_image_uv": [ + 910.0818462494896, + -491.4172626080501 + ], + "t1_depth": 0.3760190047267711 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -42.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.342930634239565, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 628, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -42.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.40480467677116394, + "y": 0.2937890589237213, + "z": 0.8759595155715942 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 629.1531636903981, + "ymin": 328.18010631064095, + "xmax": 650.6204207188607, + "ymax": 391.2094640409537 + }, + "corners_3d": [ + [ + -138.87338256835938, + -43.092567443847656, + 0.22057580947875977 + ], + [ + -139.46096801757812, + -43.092567443847656, + 0.22057580947875977 + ], + [ + -139.46096801757812, + -42.282958984375, + 0.22057580947875977 + ], + [ + -138.87338256835938, + -42.282958984375, + 0.22057580947875977 + ], + [ + -138.87338256835938, + -43.092567443847656, + 1.9724948406219482 + ], + [ + -139.46096801757812, + -43.092567443847656, + 1.9724948406219482 + ], + [ + -139.46096801757812, + -42.282958984375, + 1.9724948406219482 + ], + [ + -138.87338256835938, + -42.282958984375, + 1.9724948406219482 + ] + ], + "corners_2d": [ + [ + 629.5961326268862, + 390.64442390471174 + ], + [ + 649.2837237017638, + 391.2094640409537 + ], + [ + 650.1953693684266, + 372.8259501751786 + ], + [ + 630.9127849081895, + 372.283957436591 + ], + [ + 629.1531636903981, + 346.35514745914634 + ], + [ + 649.6792611784427, + 346.91498687270513 + ], + [ + 650.6204207188607, + 328.7161690704744 + ], + [ + 630.5341780850127, + 328.18010631064095 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 34, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 40, + "semantic_pixel_counts": { + "1": 349137, + "2": 120868, + "3": 155024, + "4": 83688, + "6": 15277, + "10": 2, + "12": 4271, + "14": 3074, + "20": 331, + "24": 7170, + "25": 182758 + }, + "instance_pixel_counts": { + "2453": 1273, + "3413": 8646, + "3662": 38627, + "11605": 1811, + "15960": 12366, + "17240": 2518, + "17496": 393, + "20565": 1213, + "22421": 1033, + "22931": 43901, + "22933": 4864, + "23443": 234382, + "36096": 628, + "36352": 623, + "36608": 553, + "36864": 619, + "37120": 987, + "37376": 861, + "41728": 3074, + "47198": 22856, + "47710": 1773, + "47713": 4, + "48737": 9609, + "48980": 126004, + "49249": 1244, + "49492": 17350, + "49761": 1838, + "50246": 35350, + "51297": 57800, + "51526": 9711, + "51809": 7481, + "52321": 3155, + "54366": 118343, + "54878": 39786, + "57482": 7779, + "57994": 8111, + "59737": 331, + "63382": 20582, + "63894": 3265, + "65426": 70854 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 628, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -42.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.38655272126197815, + "y": 0.3521728515625, + "z": 0.8607879281044006 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.1527897105191, + "ymin": 328.9257524171117, + "xmax": 652.5931755024366, + "ymax": 390.47457218075925 + }, + "corners_3d": [ + [ + -138.81500244140625, + -43.074317932128906, + 0.23574739694595337 + ], + [ + -139.51934814453125, + -43.07431411743164, + 0.23574739694595337 + ], + [ + -139.51934814453125, + -42.30120849609375, + 0.23574739694595337 + ], + [ + -138.81500244140625, + -42.301212310791016, + 0.23574739694595337 + ], + [ + -138.81500244140625, + -43.074317932128906, + 1.9573233127593994 + ], + [ + -139.51934814453125, + -43.07431411743164, + 1.9573233127593994 + ], + [ + -139.51934814453125, + -42.30120849609375, + 1.9573233127593994 + ], + [ + -138.81500244140625, + -42.301212310791016, + 1.9573233127593994 + ] + ], + "corners_2d": [ + [ + 627.6682693536254, + 389.79802234333226 + ], + [ + 651.2652012533223, + 390.47457218075925 + ], + [ + 652.0974670141811, + 372.919057089006 + ], + [ + 628.9644529092898, + 372.268892359455 + ], + [ + 627.1527897105191, + 346.28083230192607 + ], + [ + 651.7364715774878, + 346.9512370504969 + ], + [ + 652.5931755024366, + 329.56895187257214 + ], + [ + 628.5126082296745, + 328.9257524171117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 623, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -39.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4433935880661011, + "y": 0.43924564123153687, + "z": 0.8858910799026489 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 498.1081831470717, + "ymin": 265.8395944018582, + "xmax": 532.3198411745602, + "ymax": 329.0586414509472 + }, + "corners_3d": [ + [ + -134.7037353515625, + -40.215084075927734, + 0.05824679136276245 + ], + [ + -135.5630340576172, + -40.03243637084961, + 0.05824679136276245 + ], + [ + -135.378662109375, + -39.1650276184082, + 0.05824679136276245 + ], + [ + -134.5193634033203, + -39.34767532348633, + 0.05824679136276245 + ], + [ + -134.7037353515625, + -40.215084075927734, + 1.830029010772705 + ], + [ + -135.5630340576172, + -40.03243637084961, + 1.830029010772705 + ], + [ + -135.378662109375, + -39.1650276184082, + 1.830029010772705 + ], + [ + -134.5193634033203, + -39.34767532348633, + 1.830029010772705 + ] + ], + "corners_2d": [ + [ + 505.12954799568894, + 329.0586414509472 + ], + [ + 532.3198411745602, + 326.14356601071836 + ], + [ + 530.0470924661847, + 309.2041166446535 + ], + [ + 503.4079708315533, + 312.00076100619435 + ], + [ + 499.78235633402784, + 285.375970012661 + ], + [ + 528.0662518432604, + 282.5052842736832 + ], + [ + 525.7961557180736, + 265.8395944018582 + ], + [ + 498.1081831470717, + 268.5891840425552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 553, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -35.745052337646484, + "z": 1.0923800468444824 + }, + "extent": { + "x": 0.47343748807907104, + "y": 0.5202966332435608, + "z": 0.94693922996521 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 695.6064650284846, + "ymin": 197.78998152518116, + "xmax": 731.3537584361028, + "ymax": 259.6489000211361 + }, + "corners_3d": [ + [ + -140.95504760742188, + -36.27028274536133, + 0.14544081687927246 + ], + [ + -141.9899444580078, + -36.1615104675293, + 0.14544081687927246 + ], + [ + -141.89096069335938, + -35.21982192993164, + 0.14544081687927246 + ], + [ + -140.85606384277344, + -35.32859420776367, + 0.14544081687927246 + ], + [ + -140.95504760742188, + -36.27028274536133, + 2.0393192768096924 + ], + [ + -141.9899444580078, + -36.1615104675293, + 2.0393192768096924 + ], + [ + -141.89096069335938, + -35.21982192993164, + 2.0393192768096924 + ], + [ + -140.85606384277344, + -35.32859420776367, + 2.0393192768096924 + ] + ], + "corners_2d": [ + [ + 698.4726423005112, + 259.6489000211361 + ], + [ + 727.9314460613324, + 258.54569641472574 + ], + [ + 724.4676479375075, + 243.03970711511224 + ], + [ + 695.6064650284846, + 244.0982737547072 + ], + [ + 700.7518471605754, + 213.9965696045673 + ], + [ + 731.3537584361028, + 212.91925179278 + ], + [ + 727.6854434441594, + 197.78998152518116 + ], + [ + 697.7279239895437, + 198.82206577971 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 619, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -140.8831329345703, + "y": -42.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3895898461341858, + "y": 0.4842480421066284, + "z": 0.8903236389160156 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 680.752487100539, + "ymin": 329.5317291458668, + "xmax": 716.4805987197327, + "ymax": 393.0419523016648 + }, + "corners_3d": [ + [ + -140.3988800048828, + -43.077354431152344, + 0.20621168613433838 + ], + [ + -141.3673858642578, + -43.077354431152344, + 0.20621168613433838 + ], + [ + -141.3673858642578, + -42.29817199707031, + 0.20621168613433838 + ], + [ + -140.3988800048828, + -42.29817199707031, + 0.20621168613433838 + ], + [ + -140.3988800048828, + -43.077354431152344, + 1.9868589639663696 + ], + [ + -141.3673858642578, + -43.077354431152344, + 1.9868589639663696 + ], + [ + -141.3673858642578, + -42.29817199707031, + 1.9868589639663696 + ], + [ + -140.3988800048828, + -42.29817199707031, + 1.9868589639663696 + ] + ], + "corners_2d": [ + [ + 680.752487100539, + 392.10783923384486 + ], + [ + 713.2997940229932, + 393.0419523016648 + ], + [ + 712.9063786739902, + 375.2761170845962 + ], + [ + 681.0058442787333, + 374.3787560748046 + ], + [ + 682.5189905155099, + 347.0812483589504 + ], + [ + 716.4805987197327, + 348.00673849117044 + ], + [ + 716.0045444104762, + 330.4192761211409 + ], + [ + 682.7465317626072, + 329.5317291458668 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 987, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -51.91828918457031, + "z": 1.0945724248886108 + }, + "extent": { + "x": 0.40193361043930054, + "y": 0.3447168171405792, + "z": 0.8777902126312256 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 737.9040630500942, + "ymin": 600.2331552333527, + "xmax": 777.3818400863746, + "ymax": 679.1537380768276 + }, + "corners_3d": [ + [ + -141.78152465820312, + -52.28199005126953, + 0.21678221225738525 + ], + [ + -142.46717834472656, + -52.35405349731445, + 0.21678221225738525 + ], + [ + -142.55120849609375, + -51.554588317871094, + 0.21678221225738525 + ], + [ + -141.8655548095703, + -51.48252487182617, + 0.21678221225738525 + ], + [ + -141.78152465820312, + -52.28199005126953, + 1.9723626375198364 + ], + [ + -142.46717834472656, + -52.35405349731445, + 1.9723626375198364 + ], + [ + -142.55120849609375, + -51.554588317871094, + 1.9723626375198364 + ], + [ + -141.8655548095703, + -51.48252487182617, + 1.9723626375198364 + ] + ], + "corners_2d": [ + [ + 737.9040630500942, + 675.090192803945 + ], + [ + 768.5050682818962, + 679.1537380768276 + ], + [ + 770.139338922171, + 647.7252286935443 + ], + [ + 740.3453124834405, + 643.8749470072468 + ], + [ + 743.489855743233, + 631.9711424554052 + ], + [ + 775.863553804635, + 636.1098118448627 + ], + [ + 777.3818400863746, + 604.1427234216142 + ], + [ + 745.9099573204227, + 600.2331552333527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 861, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -50.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.30631834268569946, + "y": 0.474738746881485, + "z": 0.8817772269248962 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 111.35012133046962, + "ymin": 544.7765000235265, + "xmax": 187.8203531811214, + "ymax": 618.2119393704318 + }, + "corners_3d": [ + [ + -127.39379119873047, + -51.05889892578125, + 0.06236064434051514 + ], + [ + -128.32252502441406, + -51.25630569458008, + 0.06236064434051514 + ], + [ + -128.44989013671875, + -50.65705871582031, + 0.06236064434051514 + ], + [ + -127.52116394042969, + -50.459651947021484, + 0.06236064434051514 + ], + [ + -127.39379119873047, + -51.05889892578125, + 1.8259150981903076 + ], + [ + -128.32252502441406, + -51.25630569458008, + 1.8259150981903076 + ], + [ + -128.44989013671875, + -50.65705871582031, + 1.8259150981903076 + ], + [ + -127.52116394042969, + -50.459651947021484, + 1.8259150981903076 + ] + ], + "corners_2d": [ + [ + 138.21042518125023, + 609.7351974388685 + ], + [ + 172.78001816913934, + 618.2119393704318 + ], + [ + 187.8203531811214, + 597.1160252457522 + ], + [ + 153.78621867782437, + 588.9547768762873 + ], + [ + 111.35012133046962, + 565.7816064071536 + ], + [ + 147.56895708229104, + 574.3620923552719 + ], + [ + 163.90525474331707, + 553.0209753506804 + ], + [ + 128.27232000102595, + 544.7765000235265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3074, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 366.65287278155057, + "ymin": 58.12004578243676, + "xmax": 447.0796469691627, + "ymax": 147.47159239840497 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 373.1016504934761, + 146.28354890530125 + ], + [ + 421.5466007715076, + 147.47159239840497 + ], + [ + 447.0796469691627, + 88.54788256506464 + ], + [ + 402.98950067615755, + 87.56588801642079 + ], + [ + 366.65287278155057, + 115.24589700972686 + ], + [ + 416.2584181132098, + 116.40431944167094 + ], + [ + 442.84347312121645, + 59.07336313912259 + ], + [ + 397.7940532089992, + 58.12004578243676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.01276496386214, + "ymin": 0.0, + "xmax": 640.1112250843122, + "ymax": 37.61445079520678 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 639.4822689300262, + 37.61445079520678 + ], + [ + 640.0943193108546, + 31.517061023145743 + ], + [ + 484.002045667538, + 28.84319755213744 + ], + [ + 481.6136517916559, + 34.8791181947326 + ], + [ + 639.3882144530494, + -215.49041561554372 + ], + [ + 640.1112250843122, + -219.29948570948056 + ], + [ + 456.20653553769773, + -220.96493115573003 + ], + [ + 453.01276496386214, + -217.2011289379742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 333.50717876466376, + "ymin": 0.0, + "xmax": 619.381563567876, + "ymax": 249.65772559812652 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.1975599075022, + 249.65772559812652 + ], + [ + 619.381563567876, + 237.86240280284534 + ], + [ + 403.32754241167777, + 232.72284422612336 + ], + [ + 398.72542363208265, + 244.35326415892172 + ], + [ + 612.2507962223518, + -72.52110957829052 + ], + [ + 613.869793031059, + -81.05054477546588 + ], + [ + 340.6166752910745, + -84.74432222706923 + ], + [ + 333.50717876466376, + -76.36590612778895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 17.50348885823462, + "ymin": 298.72368688732126, + "xmax": 77.51686874555537, + "ymax": 321.5615066325204 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 62.22973912118573, + 321.5615066325204 + ], + [ + 77.51686874555537, + 301.6514288295541 + ], + [ + 34.84346833269797, + 300.52902491111166 + ], + [ + 18.520746501115468, + 320.38274287328045 + ], + [ + 61.28266575298403, + 319.7431719071718 + ], + [ + 76.61721712928681, + 299.8453527092171 + ], + [ + 33.87691994675265, + 298.72368688732126 + ], + [ + 17.50348885823462, + 318.5650899177922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 2.6593411477605287, + "ymin": 283.22793361286256, + "xmax": 575.1487578576465, + "ymax": 708.8811879509258 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 572.1011350780534, + 708.8811879509258 + ], + [ + 575.1487578576465, + 678.520052342717 + ], + [ + 232.09050105339526, + 665.4711138954916 + ], + [ + 220.3444766027007, + 695.1555287368557 + ], + [ + 536.2627405941597, + 327.81025164138697 + ], + [ + 542.2145601761697, + 296.45400735664725 + ], + [ + 28.37418891775701, + 283.22793361286256 + ], + [ + 2.6593411477605287, + 313.53242757334425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 17.477180652169068, + "ymin": 298.67699932830016, + "xmax": 77.49367719235556, + "ymax": 321.5146347378389 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 62.205326056555236, + 321.5146347378389 + ], + [ + 77.49367719235556, + 301.60487112913955 + ], + [ + 34.81855223542982, + 300.4824861361712 + ], + [ + 18.494524210135523, + 320.3358884455619 + ], + [ + 61.25817258591553, + 319.69614621971215 + ], + [ + 76.59395132875716, + 299.79864595518313 + ], + [ + 33.85192419292662, + 298.67699932830016 + ], + [ + 17.477180652169068, + 318.51808197556306 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00035/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00035/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..acccd992ec98d340cc0bbff3929299599b0a97d4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00035/meta.json @@ -0,0 +1,1518 @@ +{ + "frame_id": 35, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 17.5, + "sim_timestamp": 472.5660421808716 + }, + "drone_pose": { + "x": -140.12717393557003, + "y": -63.267074105612195, + "z": 20.01321926385745, + "pitch": -41.87546557213825, + "yaw": 87.39244541069198, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.03387516736984253, + -0.7438265085220337, + 0.6675138473510742, + 38.44746398925781 + ], + [ + 0.9989646673202515, + 0.04549461603164673, + 2.9802322387695312e-08, + -137.10377502441406 + ], + [ + -0.03036835789680481, + 0.6668226718902588, + 0.7445974349975586, + -61.34513854980469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.22576406323557, + "y": -62.75886523344886, + "z": 20.010931337107277 + }, + "t1_image_uv": [ + 950.3201295310948, + -492.77611365939765 + ], + "t1_depth": 0.3762066733047392 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -42.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.339016613432026, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 603, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -42.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.36698728799819946, + "y": 0.5392431616783142, + "z": 0.9039380550384521 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.598343379593, + "ymin": 328.00234478976415, + "xmax": 659.0480276732417, + "ymax": 391.3004150105558 + }, + "corners_3d": [ + [ + -138.6279296875, + -42.554752349853516, + 0.19259727001190186 + ], + [ + -139.7064208984375, + -42.55474853515625, + 0.19259727001190186 + ], + [ + -139.7064208984375, + -41.82077407836914, + 0.19259727001190186 + ], + [ + -138.6279296875, + -41.820777893066406, + 0.19259727001190186 + ], + [ + -138.6279296875, + -42.554752349853516, + 2.0004734992980957 + ], + [ + -139.7064208984375, + -42.55474853515625, + 2.0004734992980957 + ], + [ + -139.7064208984375, + -41.82077407836914, + 2.0004734992980957 + ], + [ + -138.6279296875, + -41.820777893066406, + 2.0004734992980957 + ] + ], + "corners_2d": [ + [ + 621.4144972199837, + 390.16463504638415 + ], + [ + 657.4898422476178, + 391.3004150105558 + ], + [ + 658.2607299992425, + 374.6226729514047 + ], + [ + 622.858142596637, + 373.52894516072803 + ], + [ + 620.598343379593, + 344.464111256777 + ], + [ + 658.2589041767507, + 345.58900152709066 + ], + [ + 659.0480276732417, + 329.08380923588277 + ], + [ + 622.1200475926705, + 328.00234478976415 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 35, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 348233, + "2": 121298, + "3": 150269, + "4": 86097, + "6": 15608, + "10": 6, + "12": 4130, + "14": 3175, + "20": 347, + "24": 7174, + "25": 185263 + }, + "instance_pixel_counts": { + "2453": 1104, + "3413": 8901, + "3662": 39669, + "11605": 1989, + "15960": 12545, + "17240": 2640, + "17496": 423, + "20565": 1152, + "21907": 478, + "21909": 9, + "22421": 1067, + "22931": 45503, + "22933": 4994, + "23443": 239413, + "36096": 603, + "36352": 622, + "36608": 554, + "36864": 619, + "37120": 889, + "37376": 843, + "41728": 3175, + "47198": 15667, + "47201": 139, + "47710": 1657, + "47713": 34, + "48737": 9950, + "48980": 128492, + "49249": 1335, + "49492": 9735, + "49761": 1924, + "50246": 36581, + "51297": 60229, + "51526": 9847, + "51809": 7876, + "52321": 3092, + "54366": 124758, + "54878": 43181, + "57482": 8133, + "57994": 7857, + "59737": 347, + "63382": 17983, + "63894": 2746, + "65426": 62839 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 603, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -42.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3961279094219208, + "y": 0.5586401224136353, + "z": 0.909816324710846 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.8569559037396, + "ymin": 327.1881324958158, + "xmax": 659.7459129929607, + "ymax": 392.13862500694984 + }, + "corners_3d": [ + [ + -138.60853576660156, + -42.583892822265625, + 0.18671900033950806 + ], + [ + -139.72581481933594, + -42.583892822265625, + 0.18671900033950806 + ], + [ + -139.72581481933594, + -41.79163360595703, + 0.18671900033950806 + ], + [ + -138.60853576660156, + -41.79163360595703, + 0.18671900033950806 + ], + [ + -138.60853576660156, + -42.583892822265625, + 2.0063517093658447 + ], + [ + -139.72581481933594, + -42.583892822265625, + 2.0063517093658447 + ], + [ + -139.72581481933594, + -41.79163360595703, + 2.0063517093658447 + ], + [ + -138.60853576660156, + -41.79163360595703, + 2.0063517093658447 + ] + ], + "corners_2d": [ + [ + 620.7103157944408, + 390.96009729140496 + ], + [ + 658.1062001454658, + 392.13862500694984 + ], + [ + 658.9251639843177, + 374.134968834974 + ], + [ + 622.2813847065162, + 373.00346500330426 + ], + [ + 619.8569559037396, + 344.95579068757024 + ], + [ + 658.9083093755996, + 346.1230229390382 + ], + [ + 659.7459129929607, + 328.30679456476776 + ], + [ + 621.5139984751169, + 327.1881324958158 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 622, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -39.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45096683502197266, + "y": 0.47749635577201843, + "z": 0.9120473265647888 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 497.29756432329395, + "ymin": 264.63391563527944, + "xmax": 533.9499227367215, + "ymax": 329.59881753955125 + }, + "corners_3d": [ + [ + -134.6678924560547, + -39.730445861816406, + 0.03209054470062256 + ], + [ + -135.60202026367188, + -39.531890869140625, + 0.03209054470062256 + ], + [ + -135.4145050048828, + -38.64966583251953, + 0.03209054470062256 + ], + [ + -134.48037719726562, + -38.84822082519531, + 0.03209054470062256 + ], + [ + -134.6678924560547, + -39.730445861816406, + 1.8561851978302002 + ], + [ + -135.60202026367188, + -39.531890869140625, + 1.8561851978302002 + ], + [ + -135.4145050048828, + -38.64966583251953, + 1.8561851978302002 + ], + [ + -134.48037719726562, + -38.84822082519531, + 1.8561851978302002 + ] + ], + "corners_2d": [ + [ + 504.40370015050416, + 329.59881753955125 + ], + [ + 533.9499227367215, + 326.50550524105444 + ], + [ + 531.7168309635792, + 309.27640137811863 + ], + [ + 502.7801380220568, + 312.2419563782869 + ], + [ + 498.86558703662445, + 284.62040056922467 + ], + [ + 529.6353507197718, + 281.5756428522701 + ], + [ + 527.4068254889619, + 264.63391563527944 + ], + [ + 497.29756432329395, + 267.54796153472915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 554, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -35.245052337646484, + "z": 1.092350721359253 + }, + "extent": { + "x": 0.42887693643569946, + "y": 0.5221203565597534, + "z": 0.9407147169113159 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 696.5259134558988, + "ymin": 198.81557959106868, + "xmax": 732.0230121508707, + "ymax": 258.88888744066367 + }, + "corners_3d": [ + [ + -140.94857788085938, + -35.726158142089844, + 0.151636004447937 + ], + [ + -141.98709106445312, + -35.61700439453125, + 0.151636004447937 + ], + [ + -141.89743041992188, + -34.763946533203125, + 0.151636004447937 + ], + [ + -140.85891723632812, + -34.87310028076172, + 0.151636004447937 + ], + [ + -140.94857788085938, + -35.726158142089844, + 2.0330653190612793 + ], + [ + -141.98709106445312, + -35.61700439453125, + 2.0330653190612793 + ], + [ + -141.89743041992188, + -34.763946533203125, + 2.0330653190612793 + ], + [ + -140.85891723632812, + -34.87310028076172, + 2.0330653190612793 + ] + ], + "corners_2d": [ + [ + 699.0400752593113, + 258.88888744066367 + ], + [ + 728.5999096698798, + 257.853808547057 + ], + [ + 725.5412420731928, + 243.7961386923556 + ], + [ + 696.5259134558988, + 244.79317916164155 + ], + [ + 701.3243518948935, + 213.54501957744716 + ], + [ + 732.0230121508707, + 212.53413347988646 + ], + [ + 728.7825960042796, + 198.81557959106868 + ], + [ + 698.67078764765, + 199.78792136426964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 619, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -140.8831329345703, + "y": -42.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3775048851966858, + "y": 0.5376025438308716, + "z": 0.8795517683029175 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 678.9282757744106, + "ymin": 330.1343466304059, + "xmax": 718.2878834452715, + "ymax": 392.7654229957129 + }, + "corners_3d": [ + [ + -140.3455352783203, + -42.565269470214844, + 0.21698355674743652 + ], + [ + -141.4207305908203, + -42.565269470214844, + 0.21698355674743652 + ], + [ + -141.4207305908203, + -41.81025695800781, + 0.21698355674743652 + ], + [ + -140.3455352783203, + -41.81025695800781, + 0.21698355674743652 + ], + [ + -140.3455352783203, + -42.565269470214844, + 1.9760870933532715 + ], + [ + -141.4207305908203, + -42.565269470214844, + 1.9760870933532715 + ], + [ + -141.4207305908203, + -41.81025695800781, + 1.9760870933532715 + ], + [ + -140.3455352783203, + -41.81025695800781, + 1.9760870933532715 + ] + ], + "corners_2d": [ + [ + 678.9282757744106, + 391.62790328571975 + ], + [ + 715.0701409554378, + 392.7654229957129 + ], + [ + 714.7548656617927, + 375.5422200737618 + ], + [ + 679.3092902915217, + 374.4481104071631 + ], + [ + 680.5946486694854, + 347.1423067184072 + ], + [ + 718.2878834452715, + 348.269438618613 + ], + [ + 717.8947266663763, + 331.21667771839077 + ], + [ + 680.958214580718, + 330.1343466304059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 889, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -51.41828918457031, + "z": 1.0945333242416382 + }, + "extent": { + "x": 0.39390626549720764, + "y": 0.5389966368675232, + "z": 0.9068617224693298 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 727.587792260981, + "ymin": 599.0558408174484, + "xmax": 784.841677008611, + "ymax": 681.2158258634643 + }, + "corners_3d": [ + [ + -141.58914184570312, + -51.75369644165039, + 0.18767160177230835 + ], + [ + -142.66123962402344, + -51.86637878417969, + 0.18767160177230835 + ], + [ + -142.74359130859375, + -51.082881927490234, + 0.18767160177230835 + ], + [ + -141.67149353027344, + -50.97019958496094, + 0.18767160177230835 + ], + [ + -141.58914184570312, + -51.75369644165039, + 2.0013949871063232 + ], + [ + -142.66123962402344, + -51.86637878417969, + 2.0013949871063232 + ], + [ + -142.74359130859375, + -51.082881927490234, + 2.0013949871063232 + ], + [ + -141.67149353027344, + -50.97019958496094, + 2.0013949871063232 + ] + ], + "corners_2d": [ + [ + 727.587792260981, + 674.6875818502424 + ], + [ + 775.3843137083666, + 681.2158258634643 + ], + [ + 776.9455695328459, + 650.3506122545085 + ], + [ + 730.3822047141073, + 644.1580105924248 + ], + [ + 732.7510734528956, + 630.1114053935972 + ], + [ + 783.4121478690623, + 636.7644715928877 + ], + [ + 784.841677008611, + 605.3474546944694 + ], + [ + 735.563881568442, + 599.0558408174484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 843, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -50.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3114599585533142, + "y": 0.4198974370956421, + "z": 0.8945803046226501 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 112.46644231449272, + "ymin": 543.1043746966849, + "xmax": 185.4667486616545, + "ymax": 616.603136072365 + }, + "corners_3d": [ + [ + -127.44636535644531, + -50.57533264160156, + 0.04955756664276123 + ], + [ + -128.26780700683594, + -50.749935150146484, + 0.04955756664276123 + ], + [ + -128.39732360839844, + -50.140625, + 0.04955756664276123 + ], + [ + -127.57588195800781, + -49.96602249145508, + 0.04955756664276123 + ], + [ + -127.44636535644531, + -50.57533264160156, + 1.8387181758880615 + ], + [ + -128.26780700683594, + -50.749935150146484, + 1.8387181758880615 + ], + [ + -128.39732360839844, + -50.140625, + 1.8387181758880615 + ], + [ + -127.57588195800781, + -49.96602249145508, + 1.8387181758880615 + ] + ], + "corners_2d": [ + [ + 139.62744765030322, + 609.0076071467854 + ], + [ + 170.065091715111, + 616.603136072365 + ], + [ + 185.4667486616545, + 595.2533552346034 + ], + [ + 155.50415851187108, + 587.9444000744369 + ], + [ + 112.46644231449272, + 564.3961932889063 + ], + [ + 144.37213158155294, + 572.0849291570407 + ], + [ + 161.11618559793527, + 550.4876904895173 + ], + [ + 129.73074119758894, + 543.1043746966849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3175, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 365.1228388282108, + "ymin": 62.54533000923931, + "xmax": 446.79043405806715, + "ymax": 153.10992142298812 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 371.66382984958767, + 151.80049121140704 + ], + [ + 420.4823982029004, + 153.10992142298812 + ], + [ + 446.79043405806715, + 93.20834212020083 + ], + [ + 402.389304683704, + 92.12769132902048 + ], + [ + 365.1228388282108, + 120.62200976057935 + ], + [ + 415.12041180847484, + 121.8993193354662 + ], + [ + 442.5130682809275, + 63.59477828280541 + ], + [ + 397.1387498335826, + 62.54533000923931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.26956982720725, + "ymin": 0.0, + "xmax": 642.0335418900386, + "ymax": 41.83121138906574 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 641.0638752451579, + 41.83121138906574 + ], + [ + 641.7220190284839, + 35.638801581025916 + ], + [ + 484.50275503462024, + 32.66088575746983 + ], + [ + 482.04301721266637, + 38.78431893838274 + ], + [ + 641.2589662076816, + -212.88558104469143 + ], + [ + 642.0335418900386, + -216.76443898866057 + ], + [ + 456.5567215878172, + -218.6240081577298 + ], + [ + 453.26956982720725, + -214.7961486106433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 329.7279453747395, + "ymin": 0.0, + "xmax": 619.3846590307194, + "ymax": 257.86080874920674 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.1037448719351, + 257.86080874920674 + ], + [ + 619.3846590307194, + 245.80881403153853 + ], + [ + 401.19535990302387, + 240.0517966957044 + ], + [ + 396.4291464853578, + 251.91712198710695 + ], + [ + 612.0470566309735, + -66.60052446334714 + ], + [ + 613.7974486065881, + -75.36599693339991 + ], + [ + 337.1072013995991, + -79.52608401365745 + ], + [ + 329.7279453747395, + -70.93300475165438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 317.8904172204219, + "xmax": 59.680988034977986, + "ymax": 341.8967378367951 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 43.42786147973061, + 341.8967378367951 + ], + [ + 59.680988034977986, + 320.9998676146218 + ], + [ + 16.08746766043214, + 319.7082101019013 + ], + [ + -1.2464218650691237, + 340.53859546558397 + ], + [ + 42.42545406008708, + 340.0669767628855 + ], + [ + 58.73011537413049, + 319.1813242307285 + ], + [ + 15.06677529958074, + 317.8904172204219 + ], + [ + -2.322154715862439, + 338.7095105641301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 302.0544331187036, + "xmax": 571.2316382207198, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 567.8910778515237, + 730.3068720546869 + ], + [ + 571.2316382207198, + 698.8758686358428 + ], + [ + 222.83322917824023, + 684.0782734603031 + ], + [ + 210.52119916657801, + 714.7286524443589 + ], + [ + 528.7829011492519, + 350.36303157728054 + ], + [ + 535.3839942933187, + 317.30660705484956 + ], + [ + 9.427187732226912, + 302.0544331187036 + ], + [ + -17.89041522645755, + 333.86554343674896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 317.84340570174413, + "xmax": 59.656477019006275, + "ymax": 341.84957328588166 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 43.4020230812348, + 341.84957328588166 + ], + [ + 59.656477019006275, + 320.9529903115264 + ], + [ + 16.061156808755754, + 319.6613520272084 + ], + [ + -1.2741503982738323, + 340.49144821951205 + ], + [ + 42.39952875533595, + 340.01965357619207 + ], + [ + 58.70552396636458, + 319.13429317837534 + ], + [ + 15.040378288966735, + 317.84340570174413 + ], + [ + -2.3499763619789746, + 338.6622049967602 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00036/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00036/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..80721c78aad85dafd818434b2997a9e78f550a42 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00036/meta.json @@ -0,0 +1,1413 @@ +{ + "frame_id": 36, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 18.0, + "sim_timestamp": 484.34886177419685 + }, + "drone_pose": { + "x": -140.22576406323557, + "y": -62.75886523344886, + "z": 20.010931337107277, + "pitch": -41.876722592197, + "yaw": 87.12396239151913, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.03735959529876709, + -0.7436450123786926, + 0.6675301790237427, + 38.55119705200195 + ], + [ + 0.9987404942512512, + 0.05017518997192383, + -2.9802322387695312e-08, + -136.90020751953125 + ], + [ + -0.033493489027023315, + 0.6666892766952515, + 0.7445827722549438, + -61.43711853027344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.3394622000031, + "y": -62.24851999423487, + "z": 20.00899298496923 + }, + "t1_image_uv": [ + 994.7761437491877, + -494.01825483375046 + ], + "t1_depth": 0.37656184751581107 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -41.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.33489565556237, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 613, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -41.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3864111304283142, + "y": 0.5805273056030273, + "z": 0.9012287855148315 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.0583412170995, + "ymin": 327.54283852311295, + "xmax": 660.5437331689893, + "ymax": 391.7937525201819 + }, + "corners_3d": [ + [ + -138.58665466308594, + -42.07417297363281, + 0.19530653953552246 + ], + [ + -139.74769592285156, + -42.07417297363281, + 0.19530653953552246 + ], + [ + -139.74769592285156, + -41.301353454589844, + 0.19530653953552246 + ], + [ + -138.58665466308594, + -41.301353454589844, + 0.19530653953552246 + ], + [ + -138.58665466308594, + -42.07417297363281, + 1.9977641105651855 + ], + [ + -139.74769592285156, + -42.07417297363281, + 1.9977641105651855 + ], + [ + -139.74769592285156, + -41.301353454589844, + 1.9977641105651855 + ], + [ + -138.58665466308594, + -41.301353454589844, + 1.9977641105651855 + ] + ], + "corners_2d": [ + [ + 619.9371749730799, + 390.4435677315545 + ], + [ + 658.7923753703362, + 391.7937525201819 + ], + [ + 659.6972850456004, + 374.23021199093995 + ], + [ + 621.6042852109327, + 372.9326093535244 + ], + [ + 619.0583412170995, + 344.8711615862271 + ], + [ + 659.6168602394523, + 346.2085031239915 + ], + [ + 660.5437331689893, + 328.8258848638608 + ], + [ + 620.814992022827, + 327.54283852311295 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 36, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 42, + "semantic_pixel_counts": { + "1": 347731, + "2": 122817, + "3": 148973, + "4": 87820, + "6": 14935, + "10": 2, + "12": 3482, + "14": 3244, + "20": 375, + "24": 7319, + "25": 184902 + }, + "instance_pixel_counts": { + "2453": 906, + "3413": 9178, + "3662": 40729, + "11605": 2173, + "15960": 11722, + "17240": 2745, + "17496": 468, + "20565": 1103, + "21907": 1334, + "21909": 239, + "22421": 1097, + "22931": 46577, + "22933": 5077, + "23443": 245315, + "36096": 613, + "36352": 620, + "36608": 546, + "37120": 894, + "37376": 809, + "41728": 3244, + "47198": 7952, + "47201": 414, + "47710": 279, + "47713": 64, + "48737": 10234, + "48980": 130979, + "49249": 1397, + "49492": 5540, + "49761": 2003, + "50246": 37086, + "51297": 63351, + "51526": 10005, + "51809": 8320, + "52321": 3035, + "54366": 131534, + "54878": 45137, + "57482": 8480, + "57994": 7619, + "59737": 375, + "63382": 15720, + "63894": 2180, + "65426": 54505 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 613, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -41.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39442381262779236, + "y": 0.41905516386032104, + "z": 0.8759565353393555 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.6832584960409, + "ymin": 328.20829184153627, + "xmax": 655.0127506014776, + "ymax": 391.17884945241775 + }, + "corners_3d": [ + [ + -138.7481231689453, + -42.08218765258789, + 0.22057878971099854 + ], + [ + -139.5862274169922, + -42.08218765258789, + 0.22057878971099854 + ], + [ + -139.5862274169922, + -41.293338775634766, + 0.22057878971099854 + ], + [ + -138.7481231689453, + -41.293338775634766, + 0.22057878971099854 + ], + [ + -138.7481231689453, + -42.08218765258789, + 1.9724918603897095 + ], + [ + -139.5862274169922, + -42.08218765258789, + 1.9724918603897095 + ], + [ + -139.5862274169922, + -41.293338775634766, + 1.9724918603897095 + ], + [ + -138.7481231689453, + -41.293338775634766, + 1.9724918603897095 + ] + ], + "corners_2d": [ + [ + 625.3086427663411, + 390.20390093776956 + ], + [ + 653.3788362572147, + 391.17884945241775 + ], + [ + 654.4114366260724, + 373.2603760736378 + ], + [ + 626.9035111839444, + 372.32419021185456 + ], + [ + 624.6832584960409, + 345.907097754703 + ], + [ + 653.9489987360967, + 346.87305137605176 + ], + [ + 655.0127506014776, + 329.13425580812753 + ], + [ + 626.3576728951236, + 328.20829184153627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 620, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -38.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4745508134365082, + "y": 0.4456128180027008, + "z": 0.9100492000579834 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 498.85427386348783, + "ymin": 264.0186780936365, + "xmax": 533.4529697203511, + "ymax": 329.500160666442 + }, + "corners_3d": [ + [ + -134.70399475097656, + -39.246883392333984, + 0.03408867120742798 + ], + [ + -135.57574462890625, + -39.061588287353516, + 0.03408867120742798 + ], + [ + -135.37840270996094, + -38.13322830200195, + 0.03408867120742798 + ], + [ + -134.50665283203125, + -38.31852340698242, + 0.03408867120742798 + ], + [ + -134.70399475097656, + -39.246883392333984, + 1.85418701171875 + ], + [ + -135.57574462890625, + -39.061588287353516, + 1.85418701171875 + ], + [ + -135.37840270996094, + -38.13322830200195, + 1.85418701171875 + ], + [ + -134.50665283203125, + -38.31852340698242, + 1.85418701171875 + ] + ], + "corners_2d": [ + [ + 505.8644140019044, + 329.500160666442 + ], + [ + 533.4529697203511, + 326.6941837179728 + ], + [ + 531.2490113081406, + 308.5573430934092 + ], + [ + 504.25993729104886, + 311.24144575461395 + ], + [ + 500.39761980991415, + 284.61537432962865 + ], + [ + 529.1258410389725, + 281.85331483528404 + ], + [ + 526.9330369579714, + 264.0186780936365 + ], + [ + 498.85427386348783, + 266.656056534121 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 546, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -34.745052337646484, + "z": 1.0923311710357666 + }, + "extent": { + "x": 0.4663134515285492, + "y": 0.6072973608970642, + "z": 0.9194238781929016 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 695.0401737139423, + "ymin": 198.8872757846707, + "xmax": 735.5590660300877, + "ymax": 259.2489717406829 + }, + "corners_3d": [ + [ + -140.86778259277344, + -35.27228927612305, + 0.172907292842865 + ], + [ + -142.07571411132812, + -35.14533233642578, + 0.172907292842865 + ], + [ + -141.9782257080078, + -34.21781539916992, + 0.172907292842865 + ], + [ + -140.77029418945312, + -34.34477233886719, + 0.172907292842865 + ], + [ + -140.86778259277344, + -35.27228927612305, + 2.0117549896240234 + ], + [ + -142.07571411132812, + -35.14533233642578, + 2.0117549896240234 + ], + [ + -141.9782257080078, + -34.21781539916992, + 2.0117549896240234 + ], + [ + -140.77029418945312, + -34.34477233886719, + 2.0117549896240234 + ] + ], + "corners_2d": [ + [ + 697.6236978119479, + 259.2489717406829 + ], + [ + 732.0792590434206, + 258.13794983448736 + ], + [ + 728.8049592883659, + 242.8439287919213 + ], + [ + 695.0401737139423, + 243.9105836736478 + ], + [ + 699.8046890628808, + 214.9066336077696 + ], + [ + 735.5590660300877, + 213.82090561599688 + ], + [ + 732.0908789210355, + 198.8872757846707 + ], + [ + 697.0797745389441, + 199.92805832122218 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 894, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -50.91828918457031, + "z": 1.0944992303848267 + }, + "extent": { + "x": 0.35878419876098633, + "y": 0.5696558356285095, + "z": 0.9060533046722412 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 724.4199751441074, + "ymin": 600.6734089979918, + "xmax": 784.3391911355142, + "ymax": 680.6211110707735 + }, + "corners_3d": [ + [ + -141.5623321533203, + -51.21556091308594, + 0.18844592571258545 + ], + [ + -142.69540405273438, + -51.334651947021484, + 0.18844592571258545 + ], + [ + -142.77040100097656, + -50.62101745605469, + 0.18844592571258545 + ], + [ + -141.6373291015625, + -50.50192642211914, + 0.18844592571258545 + ], + [ + -141.5623321533203, + -51.21556091308594, + 2.0005526542663574 + ], + [ + -142.69540405273438, + -51.334651947021484, + 2.0005526542663574 + ], + [ + -142.77040100097656, + -50.62101745605469, + 2.0005526542663574 + ], + [ + -141.6373291015625, + -50.50192642211914, + 2.0005526542663574 + ] + ], + "corners_2d": [ + [ + 724.4199751441074, + 673.5174533997301 + ], + [ + 774.8785981664661, + 680.6211110707735 + ], + [ + 776.4613956245928, + 652.4852837260221 + ], + [ + 727.188255345754, + 645.7150185587213 + ], + [ + 729.3875838319267, + 628.9551950571945 + ], + [ + 782.8662545264099, + 636.1939746902392 + ], + [ + 784.3391911355142, + 607.5531511279771 + ], + [ + 732.1903094402059, + 600.6734089979918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 809, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -49.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.29130858182907104, + "y": 0.5140356421470642, + "z": 0.9046822786331177 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 108.6691020785438, + "ymin": 540.7787670445117, + "xmax": 187.7266750372046, + "ymax": 615.1509467245857 + }, + "corners_3d": [ + [ + -127.35847473144531, + -50.036048889160156, + 0.03946036100387573 + ], + [ + -128.36407470703125, + -50.249794006347656, + 0.03946036100387573 + ], + [ + -128.48521423339844, + -49.679908752441406, + 0.03946036100387573 + ], + [ + -127.47960662841797, + -49.466163635253906, + 0.03946036100387573 + ], + [ + -127.35847473144531, + -50.036048889160156, + 1.8488249778747559 + ], + [ + -128.36407470703125, + -50.249794006347656, + 1.8488249778747559 + ], + [ + -128.48521423339844, + -49.679908752441406, + 1.8488249778747559 + ], + [ + -127.47960662841797, + -49.466163635253906, + 1.8488249778747559 + ] + ], + "corners_2d": [ + [ + 136.24309761854198, + 605.7291964305373 + ], + [ + 173.28715899429096, + 615.1509467245857 + ], + [ + 187.7266750372046, + 595.2405563940188 + ], + [ + 151.21807239820845, + 586.150666048264 + ], + [ + 108.6691020785438, + 560.5668586479678 + ], + [ + 147.51127117784478, + 570.1031246882287 + ], + [ + 163.21812795874524, + 549.96118730742 + ], + [ + 124.96263250387017, + 540.7787670445117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3244, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 363.7283896567556, + "ymin": 66.96181674929352, + "xmax": 446.70161363296785, + "ymax": 158.76641230654727 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 370.35930486379635, + 157.31518031897502 + ], + [ + 419.54358145063236, + 158.76641230654727 + ], + [ + 446.70161363296785, + 97.87536257012778 + ], + [ + 401.9958520776398, + 96.67953115376798 + ], + [ + 363.7283896567556, + 125.99775699848536 + ], + [ + 414.10993753303364, + 127.41398104154294 + ], + [ + 442.387093545071, + 68.12351856445684 + ], + [ + 396.6943265032854, + 66.96181674929352 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.8351763823709, + "ymin": 0.0, + "xmax": 644.2836445168747, + "ymax": 46.104623617100856 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 642.9105399872413, + 46.104623617100856 + ], + [ + 643.6221871890717, + 39.814881862998504 + ], + [ + 485.27330036889043, + 36.4805879088899 + ], + [ + 482.73480230852556, + 42.69251708041094 + ], + [ + 643.4493719868645, + -210.24809445741084 + ], + [ + 644.2836445168747, + -214.19890173281374 + ], + [ + 457.22415455154186, + -216.28648589385136 + ], + [ + 453.8351763823709, + -212.39344407953672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 325.9026059599239, + "ymin": 0.0, + "xmax": 619.397888547889, + "ymax": 266.23294490726704 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 618.0043180763664, + 266.23294490726704 + ], + [ + 619.397888547889, + 253.91617002292116 + ], + [ + 399.06791230339735, + 247.43279355656654 + ], + [ + 394.1214903564983, + 259.53712535273763 + ], + [ + 611.8327909684656, + -60.5236173619823 + ], + [ + 613.735722860207, + -69.53520157703088 + ], + [ + 333.5751201469996, + -74.24636724821335 + ], + [ + 325.9026059599239, + -65.43267265940591 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 337.7450425698968, + "xmax": 40.39785274488611, + "ymax": 363.01481019855885 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 23.076158192462117, + 363.01481019855885 + ], + [ + 40.39785274488611, + 341.0692474333221 + ], + [ + -4.123081222972928, + 339.57411413174896 + ], + [ + -22.57184806446128, + 361.44077077821987 + ], + [ + 22.013207801271278, + 361.175011275235 + ], + [ + 39.39104231284341, + 339.2394262163129 + ], + [ + -5.202723746550646, + 337.7450425698968 + ], + [ + -23.711365127721024, + 359.60162356292756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 321.5568367118736, + "xmax": 566.6744988772447, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 562.9911435294941, + 752.4551772414475 + ], + [ + 566.6744988772447, + 719.9006268276521 + ], + [ + 212.89000632184457, + 703.0266417556027 + ], + [ + 199.95668603649017, + 734.6756212689488 + ], + [ + 520.0449425344509, + 374.14980929663534 + ], + [ + 527.4135717931923, + 339.25469644325335 + ], + [ + -10.98023823020776, + 321.5568367118736 + ], + [ + -40.06506905940353, + 354.9676339870968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 337.6977374164335, + "xmax": 40.37190082385587, + "ymax": 362.9673888782561 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 23.048760355487843, + 362.9673888782561 + ], + [ + 40.37190082385587, + 341.0220812794843 + ], + [ + -4.150910572010048, + 339.52696716430665 + ], + [ + -22.601219518196558, + 361.39336611084974 + ], + [ + 21.98571546874564, + 361.1274263980862 + ], + [ + 39.36500316341005, + 339.1921015297686 + ], + [ + -5.230646467743668, + 337.6977374164335 + ], + [ + -23.740837698936843, + 359.55405569490097 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00037/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00037/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0695cdbf62257f49efa07e26a94792d1d82801ff --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00037/meta.json @@ -0,0 +1,1412 @@ +{ + "frame_id": 37, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 18.5, + "sim_timestamp": 496.11126477620564 + }, + "drone_pose": { + "x": -140.3394622000031, + "y": -62.24851999423487, + "z": 20.00899298496923, + "pitch": -41.87963434734154, + "yaw": 86.81410224830215, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.04137885570526123, + -0.7433980703353882, + 0.6675679683685303, + 38.72515869140625 + ], + [ + 0.9984544515609741, + 0.05557572841644287, + 0.0, + -136.66305541992188 + ], + [ + -0.03710055351257324, + 0.6665362119674683, + 0.7445488572120667, + -61.595245361328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.46912013445427, + "y": -61.73542003973341, + "z": 20.007360211069017 + }, + "t1_image_uv": [ + 1042.0933792816181, + -495.1611772233921 + ], + "t1_depth": 0.3771624504340807 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -41.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999998, + 360.0 + ], + "depth": 28.330385993910852, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 599, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -41.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3828125, + "y": 0.4221130311489105, + "z": 0.8863909244537354 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.5280095985034, + "ymin": 328.13384089698354, + "xmax": 655.1763286581987, + "ymax": 391.2210737800713 + }, + "corners_3d": [ + [ + -138.74505615234375, + -41.57057571411133, + 0.21014440059661865 + ], + [ + -139.58929443359375, + -41.57057571411133, + 0.21014440059661865 + ], + [ + -139.58929443359375, + -40.80495071411133, + 0.21014440059661865 + ], + [ + -138.74505615234375, + -40.80495071411133, + 0.21014440059661865 + ], + [ + -138.74505615234375, + -41.57057571411133, + 1.9829262495040894 + ], + [ + -139.58929443359375, + -41.57057571411133, + 1.9829262495040894 + ], + [ + -139.58929443359375, + -40.80495071411133, + 1.9829262495040894 + ], + [ + -138.74505615234375, + -40.80495071411133, + 1.9829262495040894 + ] + ], + "corners_2d": [ + [ + 625.1670033207862, + 390.13367052891635 + ], + [ + 653.4233339656279, + 391.2210737800713 + ], + [ + 654.5610173568066, + 373.82856058684337 + ], + [ + 626.8536416893563, + 372.7831258463442 + ], + [ + 624.5280095985034, + 345.3067751652948 + ], + [ + 654.0023368142574, + 346.38400675332605 + ], + [ + 655.1763286581987, + 329.16775875860577 + ], + [ + 626.2988023473133, + 328.13384089698354 + ] + ], + "center_offset_px": [ + -2.2737367544323206e-13, + 0.0 + ] + }, + "trace_timestep_index": 37, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 41, + "semantic_pixel_counts": { + "1": 347134, + "2": 123651, + "3": 148736, + "4": 84583, + "6": 14274, + "10": 2, + "12": 3452, + "14": 3339, + "20": 395, + "24": 7639, + "25": 188395 + }, + "instance_pixel_counts": { + "2453": 696, + "3413": 9472, + "3662": 42433, + "11605": 2349, + "15960": 10954, + "17240": 2845, + "17496": 475, + "20565": 1083, + "21907": 2135, + "21909": 633, + "22421": 1125, + "22931": 47541, + "22933": 5185, + "23443": 251438, + "36096": 599, + "36352": 623, + "36608": 550, + "37120": 915, + "37376": 765, + "41728": 3339, + "47198": 3503, + "47201": 727, + "47713": 81, + "48737": 10514, + "48980": 133452, + "49249": 1489, + "49492": 2380, + "49761": 2090, + "50246": 31963, + "51297": 65998, + "51526": 10187, + "51809": 8828, + "52321": 2973, + "54366": 138170, + "54878": 46722, + "57482": 8817, + "57994": 7402, + "59737": 395, + "63382": 13160, + "63894": 1572, + "65426": 46020 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 599, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -41.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3771923780441284, + "y": 0.5205675959587097, + "z": 0.8777376413345337 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.1135337867105, + "ymin": 328.3639921658909, + "xmax": 658.5367684395901, + "ymax": 391.0079990358591 + }, + "corners_3d": [ + [ + -138.6466064453125, + -41.56495666503906, + 0.2187976837158203 + ], + [ + -139.687744140625, + -41.56495666503906, + 0.2187976837158203 + ], + [ + -139.687744140625, + -40.810569763183594, + 0.2187976837158203 + ], + [ + -138.6466064453125, + -40.810569763183594, + 0.2187976837158203 + ], + [ + -138.6466064453125, + -41.56495666503906, + 1.9742729663848877 + ], + [ + -139.687744140625, + -41.56495666503906, + 1.9742729663848877 + ], + [ + -139.687744140625, + -40.810569763183594, + 1.9742729663848877 + ], + [ + -138.6466064453125, + -40.810569763183594, + 1.9742729663848877 + ] + ], + "corners_2d": [ + [ + 621.8858640172609, + 389.6674197618326 + ], + [ + 656.7343111378846, + 391.0079990358591 + ], + [ + 657.7921901364327, + 373.86663502187474 + ], + [ + 623.6110573270562, + 372.5770607612731 + ], + [ + 621.1135337867105, + 345.28091659652426 + ], + [ + 657.4489300421781, + 346.609062751878 + ], + [ + 658.5367684395901, + 329.6395146286937 + ], + [ + 622.926256487699, + 328.3639921658909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 623, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -38.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45170900225639343, + "y": 0.45228031277656555, + "z": 0.8987506628036499 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 499.3870430443819, + "ymin": 264.3269705339531, + "xmax": 534.0829570167109, + "ymax": 328.32889241326166 + }, + "corners_3d": [ + [ + -134.69271850585938, + -38.725929260253906, + 0.045387208461761475 + ], + [ + -135.5775146484375, + -38.53786087036133, + 0.045387208461761475 + ], + [ + -135.38967895507812, + -37.65418243408203, + 0.045387208461761475 + ], + [ + -134.5048828125, + -37.84225082397461, + 0.045387208461761475 + ], + [ + -134.69271850585938, + -38.725929260253906, + 1.842888593673706 + ], + [ + -135.5775146484375, + -38.53786087036133, + 1.842888593673706 + ], + [ + -135.38967895507812, + -37.65418243408203, + 1.842888593673706 + ], + [ + -134.5048828125, + -37.84225082397461, + 1.842888593673706 + ] + ], + "corners_2d": [ + [ + 506.09166840806586, + 328.32889241326166 + ], + [ + 534.0829570167109, + 325.58228366022195 + ], + [ + 532.1186753680444, + 308.3183626385939 + ], + [ + 504.7077029412788, + 310.95122091393466 + ], + [ + 500.7081577359979, + 284.0102003935734 + ], + [ + 529.8394508484612, + 281.3062548049635 + ], + [ + 527.8903119194922, + 264.3269705339531 + ], + [ + 499.3870430443819, + 266.9145842638717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 550, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -34.245052337646484, + "z": 1.0923067331314087 + }, + "extent": { + "x": 0.4568261504173279, + "y": 0.3946325480937958, + "z": 0.9490823745727539 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 702.0704989342345, + "ymin": 198.7066532698045, + "xmax": 730.3936922126098, + "ymax": 259.7669813808254 + }, + "corners_3d": [ + [ + -141.07827758789062, + -34.74062728881836, + 0.14322435855865479 + ], + [ + -141.86322021484375, + -34.65812683105469, + 0.14322435855865479 + ], + [ + -141.76773071289062, + -33.74947738647461, + 0.14322435855865479 + ], + [ + -140.9827880859375, + -33.83197784423828, + 0.14322435855865479 + ], + [ + -141.07827758789062, + -34.74062728881836, + 2.041388988494873 + ], + [ + -141.86322021484375, + -34.65812683105469, + 2.041388988494873 + ], + [ + -141.76773071289062, + -33.74947738647461, + 2.041388988494873 + ], + [ + -140.9827880859375, + -33.83197784423828, + 2.041388988494873 + ] + ], + "corners_2d": [ + [ + 704.600820105832, + 259.7669813808254 + ], + [ + 726.995740940371, + 259.1160874681879 + ], + [ + 724.0250729081083, + 244.10310249082357 + ], + [ + 702.0704989342345, + 244.72851971176402 + ], + [ + 707.1262980153343, + 213.99089477485342 + ], + [ + 730.3936922126098, + 213.35528611734935 + ], + [ + 727.2396698091533, + 198.7066532698045 + ], + [ + 704.4472369778427, + 199.3164411821855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 915, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -50.41828918457031, + "z": 1.094460129737854 + }, + "extent": { + "x": 0.3938818573951721, + "y": 0.40989506244659424, + "z": 0.8857263922691345 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 729.1158279163403, + "ymin": 601.3387077562586, + "xmax": 774.8454752853237, + "ymax": 681.2634188861018 + }, + "corners_3d": [ + [ + -141.71754455566406, + -50.76716613769531, + 0.20873373746871948 + ], + [ + -142.5328369140625, + -50.85285949707031, + 0.20873373746871948 + ], + [ + -142.6151885986328, + -50.06941223144531, + 0.20873373746871948 + ], + [ + -141.79989624023438, + -49.98371887207031, + 0.20873373746871948 + ], + [ + -141.71754455566406, + -50.76716613769531, + 1.9801864624023438 + ], + [ + -142.5328369140625, + -50.85285949707031, + 1.9801864624023438 + ], + [ + -142.6151885986328, + -50.06941223144531, + 1.9801864624023438 + ], + [ + -141.79989624023438, + -49.98371887207031, + 1.9801864624023438 + ] + ], + "corners_2d": [ + [ + 729.1158279163403, + 675.9548935006355 + ], + [ + 765.4874555038999, + 681.2634188861018 + ], + [ + 767.6552351421925, + 650.4042236423854 + ], + [ + 732.2195422156391, + 645.368673859045 + ], + [ + 734.2531525220902, + 632.4453904901052 + ], + [ + 772.7560475706271, + 637.853743611823 + ], + [ + 774.8454752853237, + 606.4535412477951 + ], + [ + 737.3898548103446, + 601.3387077562586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 765, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -49.35797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.32444822788238525, + "y": 0.43409422039985657, + "z": 0.8817119598388672 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 110.33543732325052, + "ymin": 538.8044280914016, + "xmax": 184.54089406882844, + "ymax": 612.8772524528035 + }, + "corners_3d": [ + [ + -127.42977905273438, + -49.5850830078125, + 0.06243067979812622 + ], + [ + -128.27899169921875, + -49.76559066772461, + 0.06243067979812622 + ], + [ + -128.41390991210938, + -49.13087463378906, + 0.06243067979812622 + ], + [ + -127.56468963623047, + -48.95036697387695, + 0.06243067979812622 + ], + [ + -127.42977905273438, + -49.5850830078125, + 1.8258545398712158 + ], + [ + -128.27899169921875, + -49.76559066772461, + 1.8258545398712158 + ], + [ + -128.41390991210938, + -49.13087463378906, + 1.8258545398712158 + ], + [ + -127.56468963623047, + -48.95036697387695, + 1.8258545398712158 + ] + ], + "corners_2d": [ + [ + 137.1377042544811, + 604.7716434712825 + ], + [ + 168.27949134994054, + 612.8772524528035 + ], + [ + 184.54089406882844, + 590.8388952225866 + ], + [ + 153.8946635816186, + 583.0497926777426 + ], + [ + 110.33543732325052, + 560.7499907135543 + ], + [ + 142.94281844943794, + 568.9508597259786 + ], + [ + 160.58722543851297, + 546.6684675496698 + ], + [ + 128.5211844383649, + 538.8044280914016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3339, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 362.47615315534335, + "ymin": 71.35966937293978, + "xmax": 446.82625421839214, + "ymax": 164.43156231330624 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 369.194422296962, + 162.8154888523825 + ], + [ + 418.73451075629805, + 164.43156231330624 + ], + [ + 446.82625421839214, + 102.54110683300269 + ], + [ + 401.82366605537175, + 101.21147826094722 + ], + [ + 362.47615315534335, + 131.36115625638277 + ], + [ + 413.23155350095243, + 132.93891093698022 + ], + [ + 442.4790204299548, + 72.65179813197983 + ], + [ + 396.475760523062, + 71.35966937293978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 454.73464733360197, + "ymin": 0.0, + "xmax": 646.8865863021467, + "ymax": 50.43557302015199 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 645.0410510629606, + 50.43557302015199 + ], + [ + 645.8145819343304, + 44.04611397928943 + ], + [ + 486.33470468472837, + 40.29634592131566 + ], + [ + 483.7091536127745, + 46.59764205587726 + ], + [ + 645.9833813482971, + -207.5796038677223 + ], + [ + 646.8865863021467, + -211.60461424575647 + ], + [ + 458.2348856556547, + -213.95866852049642 + ], + [ + 454.73464733360197, + -209.99938026979055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 322.01525989792736, + "ymin": 0.0, + "xmax": 619.4054855136952, + "ymax": 274.7783715875261 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 617.8813057149505, + 274.7783715875261 + ], + [ + 619.4054855136952, + 262.18846114511086 + ], + [ + 396.93499120037245, + 254.85475806854348 + ], + [ + 391.7903557173586, + 267.2018314235928 + ], + [ + 611.5846318721888, + -54.28624221970864 + ], + [ + 613.6644191579037, + -63.55453218360634 + ], + [ + 330.00721651089896, + -68.9141723610204 + ], + [ + 322.01525989792736, + -59.87408508509685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 358.28677571290336, + "xmax": 19.47957436740319, + "ymax": 384.92386755430533 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 0.9734568057624529, + 384.92386755430533 + ], + [ + 19.47957436740319, + 361.8648290777178 + ], + [ + -25.969629543863675, + 360.12578266240547 + ], + [ + -45.64986608784568, + 383.09070163502327 + ], + [ + -0.15592100412777654, + 383.07561943524166 + ], + [ + 18.41150502742778, + 360.025094073927 + ], + [ + -27.113613273950364, + 358.28677571290336 + ], + [ + -46.85913063068347, + 381.2430526816918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 341.7340977389984, + "xmax": 561.3638860993325, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 557.2798582910921, + 775.3537375150453 + ], + [ + 561.3638860993325, + 741.6191701732455 + ], + [ + 202.16988286112849, + 722.2891103914299 + ], + [ + 188.55350662147754, + 754.9682776854398 + ], + [ + 509.8087185185204, + 399.2643120996229 + ], + [ + 518.0860125482852, + 362.37767387886527 + ], + [ + -33.02945090842809, + 341.7340977389984 + ], + [ + -64.06640227028265, + 376.8414891673209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 358.2392115734388, + "xmax": 19.452044541614896, + "ymax": 384.87623050866745 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 0.9443480396193991, + 384.87623050866745 + ], + [ + 19.452044541614896, + 361.8174093248465 + ], + [ + -25.999116186803803, + 360.0783815151181 + ], + [ + -45.68103397862615, + 383.0430798626667 + ], + [ + -0.18513275377540594, + 383.0278138551534 + ], + [ + 18.38388034667014, + 359.9775109346531 + ], + [ + -27.143201308785137, + 358.2392115734388 + ], + [ + -46.89040856107283, + 381.1952627785739 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00038/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00038/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0ff7e611f71ff8c9948f33d703a261e72df58d5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00038/meta.json @@ -0,0 +1,1414 @@ +{ + "frame_id": 38, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 19.0, + "sim_timestamp": 506.57647546730004 + }, + "drone_pose": { + "x": -140.46912013445427, + "y": -61.73542003973341, + "z": 20.007360211069017, + "pitch": -41.88456440298798, + "yaw": 86.46038579501214, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.04596388339996338, + -0.7430712580680847, + 0.667631983757019, + 38.97277069091797 + ], + [ + 0.9980923533439636, + 0.06173861026763916, + 0.0, + -136.3896942138672 + ], + [ + -0.04121866822242737, + 0.6663584113121033, + 0.744491457939148, + -61.82317352294922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.6153457882892, + "y": -61.218740753424804, + "z": 20.00599249181995 + }, + "t1_image_uv": [ + 1091.5266465640204, + -496.2278165326734 + ], + "t1_depth": 0.378121534723856 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -40.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.325221926622476, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 626, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -40.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3848583996295929, + "y": 0.5191967487335205, + "z": 0.8997860550880432 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.0542904927142, + "ymin": 327.54596692027997, + "xmax": 658.5903103234428, + "ymax": 391.7942125308249 + }, + "corners_3d": [ + [ + -138.64797973632812, + -41.0726203918457, + 0.1967492699623108 + ], + [ + -139.68637084960938, + -41.0726203918457, + 0.1967492699623108 + ], + [ + -139.68637084960938, + -40.30290603637695, + 0.1967492699623108 + ], + [ + -138.64797973632812, + -40.30290603637695, + 0.1967492699623108 + ], + [ + -138.64797973632812, + -41.0726203918457, + 1.996321439743042 + ], + [ + -139.68637084960938, + -41.0726203918457, + 1.996321439743042 + ], + [ + -139.68637084960938, + -40.30290603637695, + 1.996321439743042 + ], + [ + -138.64797973632812, + -40.30290603637695, + 1.996321439743042 + ] + ], + "corners_2d": [ + [ + 621.8484047283538, + 390.30779026155386 + ], + [ + 656.5871428025833, + 391.7942125308249 + ], + [ + 657.8250876570833, + 374.3016425679253 + ], + [ + 623.7639377814195, + 372.8728570870084 + ], + [ + 621.0542904927142, + 344.7996486653969 + ], + [ + 657.3140771809449, + 346.27198467990956 + ], + [ + 658.5903103234428, + 328.9587888089989 + ], + [ + 623.068117887459, + 327.54596692027997 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 38, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 346440, + "2": 124340, + "3": 149734, + "4": 75833, + "6": 13866, + "10": 2, + "12": 3355, + "14": 3416, + "20": 426, + "24": 7951, + "25": 196237 + }, + "instance_pixel_counts": { + "2453": 505, + "3413": 9756, + "3662": 44397, + "11605": 2527, + "15960": 10356, + "17240": 2973, + "17496": 537, + "20565": 1083, + "21907": 3051, + "21909": 913, + "22421": 1151, + "22931": 48529, + "22933": 5382, + "23443": 257489, + "36096": 626, + "36352": 611, + "36608": 542, + "36864": 41, + "37120": 769, + "37376": 766, + "41728": 3416, + "47198": 2570, + "47201": 1124, + "47713": 90, + "48737": 10775, + "48980": 135907, + "49249": 1554, + "49492": 461, + "49761": 2170, + "50246": 21047, + "51297": 68763, + "51526": 10389, + "51809": 9370, + "52321": 2927, + "52833": 16, + "54366": 145588, + "54878": 48079, + "57482": 9147, + "57994": 7204, + "59737": 426, + "63382": 10258, + "63894": 942, + "65426": 37371 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 626, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -40.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4165283143520355, + "y": 0.49702024459838867, + "z": 0.8990768194198608 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.7434863657255, + "ymin": 326.8998288351705, + "xmax": 657.8823267151265, + "ymax": 392.47989628649646 + }, + "corners_3d": [ + [ + -138.67015075683594, + -41.10429000854492, + 0.19745850563049316 + ], + [ + -139.66419982910156, + -41.10429000854492, + 0.19745850563049316 + ], + [ + -139.66419982910156, + -40.271236419677734, + 0.19745850563049316 + ], + [ + -138.67015075683594, + -40.271236419677734, + 0.19745850563049316 + ], + [ + -138.67015075683594, + -41.10429000854492, + 1.9956121444702148 + ], + [ + -139.66419982910156, + -41.10429000854492, + 1.9956121444702148 + ], + [ + -139.66419982910156, + -40.271236419677734, + 1.9956121444702148 + ], + [ + -138.67015075683594, + -40.271236419677734, + 1.9956121444702148 + ] + ], + "corners_2d": [ + [ + 622.50877773161, + 391.05461082130165 + ], + [ + 655.7918705998324, + 392.47989628649646 + ], + [ + 657.1474328512119, + 373.54895041571257 + ], + [ + 624.5664051286383, + 372.18338364022384 + ], + [ + 621.7434863657255, + 345.5751131485856 + ], + [ + 656.4839629088024, + 346.9870040471043 + ], + [ + 657.8823267151265, + 328.2500572657995 + ], + [ + 623.9060389890069, + 326.8998288351705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 611, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -37.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45005860924720764, + "y": 0.4660644829273224, + "z": 0.8870460987091064 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 499.7602454403772, + "ymin": 264.1848489040313, + "xmax": 535.0571646684813, + "ymax": 327.5163380672976 + }, + "corners_3d": [ + [ + -134.67889404296875, + -38.22718048095703, + 0.05709177255630493 + ], + [ + -135.5906524658203, + -38.03337860107422, + 0.05709177255630493 + ], + [ + -135.40350341796875, + -37.152931213378906, + 0.05709177255630493 + ], + [ + -134.4917449951172, + -37.34673309326172, + 0.05709177255630493 + ], + [ + -134.67889404296875, + -38.22718048095703, + 1.831183910369873 + ], + [ + -135.5906524658203, + -38.03337860107422, + 1.831183910369873 + ], + [ + -135.40350341796875, + -37.152931213378906, + 1.831183910369873 + ], + [ + -134.4917449951172, + -37.34673309326172, + 1.831183910369873 + ] + ], + "corners_2d": [ + [ + 506.20989415187, + 327.5163380672976 + ], + [ + 535.0571646684813, + 324.8015772607254 + ], + [ + 533.2476369846682, + 307.601047801256 + ], + [ + 504.9974110139227, + 310.2037027420432 + ], + [ + 500.90458956517006, + 283.7779967157389 + ], + [ + 530.9099441230551, + 281.1049501347731 + ], + [ + 529.1201868397858, + 264.1848489040313 + ], + [ + 499.7602454403772, + 266.7432840372491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 542, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -33.745052337646484, + "z": 1.0922824144363403 + }, + "extent": { + "x": 0.4282812476158142, + "y": 0.5516149997711182, + "z": 0.929405927658081 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 699.0659081269819, + "ymin": 199.79403335795993, + "xmax": 736.1019819917834, + "ymax": 259.1523312234444 + }, + "corners_3d": [ + [ + -140.91917419433594, + -34.22864532470703, + 0.16287648677825928 + ], + [ + -142.016357421875, + -34.11332702636719, + 0.16287648677825928 + ], + [ + -141.9268341064453, + -33.26145935058594, + 0.16287648677825928 + ], + [ + -140.82965087890625, + -33.37677764892578, + 0.16287648677825928 + ], + [ + -140.91917419433594, + -34.22864532470703, + 2.021688461303711 + ], + [ + -142.016357421875, + -34.11332702636719, + 2.021688461303711 + ], + [ + -141.9268341064453, + -33.26145935058594, + 2.021688461303711 + ], + [ + -140.82965087890625, + -33.37677764892578, + 2.021688461303711 + ] + ], + "corners_2d": [ + [ + 701.231807766053, + 259.1523312234444 + ], + [ + 732.563329005161, + 258.357196414628 + ], + [ + 729.8183564692483, + 244.27077209599744 + ], + [ + 699.0659081269819, + 245.03666129627106 + ], + [ + 703.5752166033528, + 214.32289249345064 + ], + [ + 736.1019819917834, + 213.54605215190463 + ], + [ + 733.1859758324802, + 199.79403335795993 + ], + [ + 701.2828671253307, + 200.54123952466168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 41, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -40.68776321411133, + "z": 1.0937179327011108 + }, + "extent": { + "x": 0.37062498927116394, + "y": 0.5749353170394897, + "z": 0.87894606590271 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 739.8611081060006, + "ymin": 333.2986411678645, + "xmax": 785.1541493873516, + "ymax": 396.2666533130632 + }, + "corners_3d": [ + [ + -142.1719970703125, + -41.058387756347656, + 0.21477186679840088 + ], + [ + -143.32186889648438, + -41.058387756347656, + 0.21477186679840088 + ], + [ + -143.32186889648438, + -40.317138671875, + 0.21477186679840088 + ], + [ + -142.1719970703125, + -40.317138671875, + 0.21477186679840088 + ], + [ + -142.1719970703125, + -41.058387756347656, + 1.9726639986038208 + ], + [ + -143.32186889648438, + -41.058387756347656, + 1.9726639986038208 + ], + [ + -143.32186889648438, + -40.317138671875, + 1.9726639986038208 + ], + [ + -142.1719970703125, + -40.317138671875, + 1.9726639986038208 + ] + ], + "corners_2d": [ + [ + 740.249538624651, + 394.6029172777397 + ], + [ + 779.1657057250554, + 396.2666533130632 + ], + [ + 778.037385272327, + 379.2258302049499 + ], + [ + 739.8611081060006, + 377.6246402408926 + ], + [ + 744.5550361548496, + 350.1126592948878 + ], + [ + 785.1541493873516, + 351.7617724842485 + ], + [ + 783.8596937803279, + 334.8831716134037 + ], + [ + 744.0651856523364, + 333.2986411678645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 769, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.3095245361328, + "y": -50.3588752746582, + "z": 1.0944552421569824 + }, + "extent": { + "x": 0.4043896794319153, + "y": 0.5270606279373169, + "z": 0.9028149247169495 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 727.7243343823402, + "ymin": 618.0405686620411, + "xmax": 785.5036242334123, + "ymax": 702.3002311948044 + }, + "corners_3d": [ + [ + -141.7430877685547, + -50.705955505371094, + 0.19164031744003296 + ], + [ + -142.7914276123047, + -50.81614303588867, + 0.19164031744003296 + ], + [ + -142.87596130371094, + -50.01179504394531, + 0.19164031744003296 + ], + [ + -141.82762145996094, + -49.901607513427734, + 0.19164031744003296 + ], + [ + -141.7430877685547, + -50.705955505371094, + 1.997270107269287 + ], + [ + -142.7914276123047, + -50.81614303588867, + 1.997270107269287 + ], + [ + -142.87596130371094, + -50.01179504394531, + 1.997270107269287 + ], + [ + -141.82762145996094, + -49.901607513427734, + 1.997270107269287 + ] + ], + "corners_2d": [ + [ + 727.7243343823402, + 694.97619350544 + ], + [ + 775.2537019176715, + 702.3002311948044 + ], + [ + 777.4687959123618, + 669.5726541870649 + ], + [ + 731.2114807763967, + 662.6404865968155 + ], + [ + 732.9696163741919, + 650.9961303943131 + ], + [ + 783.3934073997598, + 658.4753723483118 + ], + [ + 785.5036242334123, + 625.0966590827607 + ], + [ + 736.5092358740206, + 618.0405686620411 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 766, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -48.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.28714844584465027, + "y": 0.5407299399375916, + "z": 0.901933491230011 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 106.31467231633883, + "ymin": 536.0360975643458, + "xmax": 186.71992931144774, + "ymax": 610.646014038144 + }, + "corners_3d": [ + [ + -127.3332290649414, + -49.02642822265625, + 0.04220438003540039 + ], + [ + -128.39105224609375, + -49.251277923583984, + 0.04220438003540039 + ], + [ + -128.5104522705078, + -48.68952941894531, + 0.04220438003540039 + ], + [ + -127.45262908935547, + -48.46467971801758, + 0.04220438003540039 + ], + [ + -127.3332290649414, + -49.02642822265625, + 1.8460713624954224 + ], + [ + -128.39105224609375, + -49.251277923583984, + 1.8460713624954224 + ], + [ + -128.5104522705078, + -48.68952941894531, + 1.8460713624954224 + ], + [ + -127.45262908935547, + -48.46467971801758, + 1.8460713624954224 + ] + ], + "corners_2d": [ + [ + 133.8088748674379, + 600.3897146874681 + ], + [ + 172.28109606481974, + 610.646014038144 + ], + [ + 186.71992931144774, + 591.2222803324107 + ], + [ + 148.78297880468125, + 581.3197027890604 + ], + [ + 106.31467231633883, + 555.3006142416423 + ], + [ + 146.62697393130003, + 565.6765163268218 + ], + [ + 162.31561752687088, + 546.0351555415482 + ], + [ + 122.5887555327613, + 536.0360975643458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3416, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 361.3603058308658, + "ymin": 75.72994322619292, + "xmax": 447.1643214784368, + "ymax": 170.09716753088776 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 368.1634458533504, + 168.29106444559238 + ], + [ + 418.04791663047877, + 170.09716753088776 + ], + [ + 447.1643214784368, + 107.19838768522138 + ], + [ + 401.87375587300704, + 105.71465409838419 + ], + [ + 361.3603058308658, + 136.70184915840397 + ], + [ + 412.47784625114764, + 138.46588001117811 + ], + [ + 442.78888883006016, + 77.17233724747598 + ], + [ + 396.48416420304545, + 75.72994322619292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 455.9758843824536, + "ymin": 0.0, + "xmax": 649.851518056215, + "ymax": 54.8236694545796 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 647.4607341662144, + 54.8236694545796 + ], + [ + 648.3053357474917, + 48.33199575261153 + ], + [ + 487.69350641365264, + 44.10210832386605 + ], + [ + 484.9718911449153, + 50.49359308975045 + ], + [ + 648.8691954243153, + -204.88421881336626 + ], + [ + 649.851518056215, + -208.98581727694568 + ], + [ + 459.59766823935814, + -211.6486650348644 + ], + [ + 455.9758843824536, + -207.62207316718047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 318.0372788210344, + "ymin": 0.0, + "xmax": 619.3832213575718, + "ymax": 283.5013437213268 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 617.7085417185311, + 283.5013437213268 + ], + [ + 619.3832213575718, + 270.62962525314686 + ], + [ + 394.77702888994384, + 262.3086481732417 + ], + [ + 389.4145620029862, + 274.9019510582042 + ], + [ + 611.268279167226, + -47.885025940252376 + ], + [ + 613.5521817657276, + -57.42125272030978 + ], + [ + 326.3773252160677, + -63.53823906203888 + ], + [ + 318.0372788210344, + -54.266022851144385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.1116486202945, + "ymin": 0.0, + "xmax": 694.5373301428834, + "ymax": 0.17769304919488604 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 674.1116486202945, + -0.043633521533990915 + ], + [ + 682.1768509162417, + 0.17769304919488604 + ], + [ + 689.4487618129508, + -74.0388705313539 + ], + [ + 682.5749608687329, + -74.19949779548307 + ], + [ + 678.3052573888433, + -175.9135814915528 + ], + [ + 687.3645505302941, + -175.75230870446637 + ], + [ + 694.5373301428834, + -228.86657105431686 + ], + [ + 686.9543564025881, + -228.97946533479717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 362.59248586745105, + "xmax": 555.185395780144, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 550.6350767897352, + 799.0332750246295 + ], + [ + 555.185395780144, + 764.0591668190932 + ], + [ + 190.58161381812926, + 741.8444761797546 + ], + [ + 176.21443974701117, + 775.5845786999126 + ], + [ + 497.8186396129989, + 425.8135860822984 + ], + [ + 507.1704383597489, + 386.76600423315307 + ], + [ + -56.912919039160215, + 362.59248586745105 + ], + [ + -90.10823719670509, + 399.4980560006693 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00039/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00039/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e19c77b52c3d3016d08af184bb7d0395cfb017b2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00039/meta.json @@ -0,0 +1,1414 @@ +{ + "frame_id": 39, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 19.5, + "sim_timestamp": 517.6194425986614 + }, + "drone_pose": { + "x": -140.6153457882892, + "y": -61.218740753424804, + "z": 20.00599249181995, + "pitch": -41.89210460842272, + "yaw": 86.06091290420845, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.051137566566467285, + -0.7426449656486511, + 0.6677299737930298, + 39.2959098815918 + ], + [ + 0.9976375699043274, + 0.0686960220336914, + 0.0, + -136.0776824951172 + ], + [ + -0.0458703339099884, + 0.6661525368690491, + 0.744403600692749, + -62.123626708984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.77861265840056, + "y": -60.69765325657501, + "z": 20.004852911390437 + }, + "t1_image_uv": [ + 1142.723232640641, + -497.2463648574526 + ], + "t1_depth": 0.37939491356956134 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -40.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.319017695826727, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 600, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -40.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37717771530151367, + "y": 0.570098876953125, + "z": 0.8794816136360168 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.2261005573207, + "ymin": 328.0890921234141, + "xmax": 660.4007660252879, + "ymax": 391.2904657338821 + }, + "corners_3d": [ + [ + -138.59707641601562, + -40.56494140625, + 0.21705371141433716 + ], + [ + -139.73727416992188, + -40.56494140625, + 0.21705371141433716 + ], + [ + -139.73727416992188, + -39.810585021972656, + 0.21705371141433716 + ], + [ + -138.59707641601562, + -39.810585021972656, + 0.21705371141433716 + ], + [ + -138.59707641601562, + -40.56494140625, + 1.9760169982910156 + ], + [ + -139.73727416992188, + -40.56494140625, + 1.9760169982910156 + ], + [ + -139.73727416992188, + -39.810585021972656, + 1.9760169982910156 + ], + [ + -138.59707641601562, + -39.810585021972656, + 1.9760169982910156 + ] + ], + "corners_2d": [ + [ + 620.0775726959628, + 389.4746205778184 + ], + [ + 658.2229022006771, + 391.2904657338821 + ], + [ + 659.5789816897768, + 374.14393665242716 + ], + [ + 622.1623969631678, + 372.39713115360763 + ], + [ + 619.2261005573207, + 344.993206691953 + ], + [ + 659.003393686111, + 346.7922467713469 + ], + [ + 660.4007660252879, + 329.81689245616144 + ], + [ + 621.4152599237839, + 328.0890921234141 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 39, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 345863, + "2": 125266, + "3": 152280, + "4": 65105, + "6": 13418, + "10": 1, + "12": 3246, + "14": 3503, + "20": 461, + "24": 7984, + "25": 204473 + }, + "instance_pixel_counts": { + "2453": 305, + "3413": 10101, + "3662": 46405, + "11605": 2687, + "15960": 9786, + "17240": 3091, + "17496": 537, + "20565": 1122, + "21907": 4142, + "21909": 1006, + "22421": 1177, + "22931": 49554, + "22933": 5496, + "23443": 263492, + "25856": 4, + "36096": 600, + "36352": 607, + "36608": 536, + "36864": 270, + "37120": 427, + "37376": 806, + "41728": 3503, + "47198": 1698, + "47201": 1531, + "47713": 116, + "48737": 11101, + "48980": 138370, + "49249": 1621, + "49761": 2249, + "50246": 8087, + "51297": 71778, + "51526": 10613, + "51809": 9974, + "52321": 2878, + "52833": 39, + "54366": 153515, + "54878": 49260, + "57482": 9461, + "57994": 7032, + "59737": 461, + "63382": 7022, + "63894": 464, + "65426": 28675 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 600, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -40.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4015771448612213, + "y": 0.5350109934806824, + "z": 0.9090350866317749 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.3623178302886, + "ymin": 326.8305609787513, + "xmax": 659.2569800620344, + "ymax": 392.51670009092214 + }, + "corners_3d": [ + [ + -138.63217163085938, + -40.58934020996094, + 0.1875002384185791 + ], + [ + -139.70217895507812, + -40.58934020996094, + 0.1875002384185791 + ], + [ + -139.70217895507812, + -39.78618621826172, + 0.1875002384185791 + ], + [ + -138.63217163085938, + -39.78618621826172, + 0.1875002384185791 + ], + [ + -138.63217163085938, + -40.58934020996094, + 2.005570411682129 + ], + [ + -139.70217895507812, + -40.58934020996094, + 2.005570411682129 + ], + [ + -139.70217895507812, + -39.78618621826172, + 2.005570411682129 + ], + [ + -138.63217163085938, + -39.78618621826172, + 2.005570411682129 + ] + ], + "corners_2d": [ + [ + 621.1942717027644, + 390.8102858788659 + ], + [ + 656.9892494622726, + 392.51670009092214 + ], + [ + 658.456292139077, + 374.26074073419517 + ], + [ + 623.388452115359, + 372.6232706158057 + ], + [ + 620.3623178302886, + 344.82681277943806 + ], + [ + 657.7423450935935, + 346.51699463587653 + ], + [ + 659.2569800620344, + 328.4495267563046 + ], + [ + 622.6692010086182, + 326.8305609787513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 607, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -37.190059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4505224823951721, + "y": 0.46869632601737976, + "z": 0.8995153903961182 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 500.5115679355225, + "ymin": 263.3654944149088, + "xmax": 535.8238544088612, + "ymax": 327.21294299770636 + }, + "corners_3d": [ + [ + -134.67640686035156, + -37.72818374633789, + 0.04462248086929321 + ], + [ + -135.59332275390625, + -37.53329086303711, + 0.04462248086929321 + ], + [ + -135.40599060058594, + -36.65193557739258, + 0.04462248086929321 + ], + [ + -134.48907470703125, + -36.84682846069336, + 0.04462248086929321 + ], + [ + -134.67640686035156, + -37.72818374633789, + 1.8436532020568848 + ], + [ + -135.59332275390625, + -37.53329086303711, + 1.8436532020568848 + ], + [ + -135.40599060058594, + -36.65193557739258, + 1.8436532020568848 + ], + [ + -134.48907470703125, + -36.84682846069336, + 1.8436532020568848 + ] + ], + "corners_2d": [ + [ + 506.8253323051399, + 327.21294299770636 + ], + [ + 535.8238544088612, + 324.6131360346618 + ], + [ + 534.1873541023538, + 307.38991336167305 + ], + [ + 505.7905058678564, + 309.88223366365 + ], + [ + 501.4706585399357, + 282.86277661294866 + ], + [ + 531.6488238776691, + 280.3035541744506 + ], + [ + 530.0386573028319, + 263.3654944149088 + ], + [ + 500.5115679355225, + 265.8147985052631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 536, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -33.245052337646484, + "z": 1.0922530889511108 + }, + "extent": { + "x": 0.42937010526657104, + "y": 0.5418652296066284, + "z": 0.9344804286956787 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 700.7633849010855, + "ymin": 199.96141405955316, + "xmax": 737.2140418951038, + "ymax": 259.49768768160556 + }, + "corners_3d": [ + [ + -140.92898559570312, + -33.72871017456055, + 0.15777266025543213 + ], + [ + -142.00677490234375, + -33.61542892456055, + 0.15777266025543213 + ], + [ + -141.91702270507812, + -32.76139450073242, + 0.15777266025543213 + ], + [ + -140.8392333984375, + -32.87467575073242, + 0.15777266025543213 + ], + [ + -140.92898559570312, + -33.72871017456055, + 2.0267333984375 + ], + [ + -142.00677490234375, + -33.61542892456055, + 2.0267333984375 + ], + [ + -141.91702270507812, + -32.76139450073242, + 2.0267333984375 + ], + [ + -140.8392333984375, + -32.87467575073242, + 2.0267333984375 + ] + ], + "corners_2d": [ + [ + 702.7975362963132, + 259.49768768160556 + ], + [ + 733.6120903625978, + 258.84251319515135 + ], + [ + 731.0060815142538, + 244.69669741498632 + ], + [ + 700.7633849010855, + 245.32769815860667 + ], + [ + 705.2159866910919, + 214.41044056508025 + ], + [ + 737.2140418951038, + 213.77038787475158 + ], + [ + 734.4401213804913, + 199.96141405955316 + ], + [ + 703.0582545509689, + 200.5769681315271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 270, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -40.18776321411133, + "z": 1.0936788320541382 + }, + "extent": { + "x": 0.4002001881599426, + "y": 0.30564939975738525, + "z": 0.8770256638526917 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 748.9016985058058, + "ymin": 333.5705436842953, + "xmax": 775.6409185640343, + "ymax": 397.16261159963835 + }, + "corners_3d": [ + [ + -142.4412841796875, + -40.58796310424805, + 0.21665316820144653 + ], + [ + -143.05258178710938, + -40.58796310424805, + 0.21665316820144653 + ], + [ + -143.05258178710938, + -39.78756332397461, + 0.21665316820144653 + ], + [ + -142.4412841796875, + -39.78756332397461, + 0.21665316820144653 + ], + [ + -142.4412841796875, + -40.58796310424805, + 1.9707045555114746 + ], + [ + -143.05258178710938, + -40.58796310424805, + 1.9707045555114746 + ], + [ + -143.05258178710938, + -39.78756332397461, + 1.9707045555114746 + ], + [ + -142.4412841796875, + -39.78756332397461, + 1.9707045555114746 + ] + ], + "corners_2d": [ + [ + 749.3217746082889, + 396.1753182563764 + ], + [ + 770.0491033474658, + 397.16261159963835 + ], + [ + 769.2038006047134, + 378.75372705161914 + ], + [ + 748.9016985058058, + 377.8064637673103 + ], + [ + 754.0169736464727, + 351.7641110053589 + ], + [ + 775.6409185640343, + 352.7428889851335 + ], + [ + 774.6406283812292, + 334.5079858788212 + ], + [ + 753.4790836667968, + 333.5705436842953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 427, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.47198486328125, + "y": -50.3588752746582, + "z": 1.0944552421569824 + }, + "extent": { + "x": 0.3564697504043579, + "y": 0.5180689096450806, + "z": 0.8781524300575256 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 732.6848894591018, + "ymin": 642.2869545771675, + "xmax": 790.6110652487746, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.91949462890625, + -50.65924072265625, + 0.2163028120994568 + ], + [ + -142.949951171875, + -50.76754379272461, + 0.2163028120994568 + ], + [ + -143.02447509765625, + -50.058509826660156, + 0.2163028120994568 + ], + [ + -141.9940185546875, + -49.9502067565918, + 0.2163028120994568 + ], + [ + -141.91949462890625, + -50.65924072265625, + 1.9726076126098633 + ], + [ + -142.949951171875, + -50.76754379272461, + 1.9726076126098633 + ], + [ + -143.02447509765625, + -50.058509826660156, + 1.9726076126098633 + ], + [ + -141.9940185546875, + -49.9502067565918, + 1.9726076126098633 + ] + ], + "corners_2d": [ + [ + 732.6848894591018, + 714.7886851509547 + ], + [ + 780.2531113514374, + 722.5498202596439 + ], + [ + 782.3493733899534, + 692.6292903167791 + ], + [ + 735.9240943617583, + 685.2419117436842 + ], + [ + 738.1699110896999, + 672.4491644068572 + ], + [ + 788.6093201404631, + 680.3863496426108 + ], + [ + 790.6110652487746, + 649.8200819346214 + ], + [ + 741.4549109309382, + 642.2869545771675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 806, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -48.35797882080078, + "z": 0.944118320941925 + }, + "extent": { + "x": 0.3251953125, + "y": 0.45692381262779236, + "z": 0.8884830474853516 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 107.62793044210161, + "ymin": 533.1074777517248, + "xmax": 183.49544571210618, + "ymax": 608.0859480719562 + }, + "corners_3d": [ + [ + -127.40729522705078, + -48.5810661315918, + 0.055635273456573486 + ], + [ + -128.30117797851562, + -48.77106857299805, + 0.055635273456573486 + ], + [ + -128.4364013671875, + -48.134891510009766, + 0.055635273456573486 + ], + [ + -127.54251861572266, + -47.944889068603516, + 0.055635273456573486 + ], + [ + -127.40729522705078, + -48.5810661315918, + 1.8326013088226318 + ], + [ + -128.30117797851562, + -48.77106857299805, + 1.8326013088226318 + ], + [ + -128.4364013671875, + -48.134891510009766, + 1.8326013088226318 + ], + [ + -127.54251861572266, + -47.944889068603516, + 1.8326013088226318 + ] + ], + "corners_2d": [ + [ + 134.64325511077442, + 599.2237903848779 + ], + [ + 166.9411503898624, + 608.0859480719562 + ], + [ + 183.49544571210618, + 586.2618343487873 + ], + [ + 151.69836666091487, + 577.7436405487973 + ], + [ + 107.62793044210161, + 554.7996985975012 + ], + [ + 141.43774850580797, + 563.7625498616441 + ], + [ + 159.39430969891157, + 541.7043569724083 + ], + [ + 126.13103049401877, + 533.1074777517248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3503, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 360.36828826842276, + "ymin": 80.062651624816, + "xmax": 447.7091041703137, + "ymax": 175.7545296505359 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 367.254146152946, + 173.7312181051999 + ], + [ + 417.47028193195575, + 175.7545296505359 + ], + [ + 447.7091041703137, + 111.83898761586005 + ], + [ + 402.1402045306042, + 110.17928464449997 + ], + [ + 360.36828826842276, + 142.0090106533148 + ], + [ + 411.8349315237203, + 143.9860438484412 + ], + [ + 443.30986480727154, + 81.6766867485062 + ], + [ + 396.7135087105655, + 80.062651624816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 457.55819441215027, + "ymin": 0.0, + "xmax": 653.180301292449, + "ymax": 59.26660194574612 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 650.1686477020941, + 59.26660194574612 + ], + [ + 651.0942696953598, + 52.67005172922444 + ], + [ + 489.3491956344794, + 47.89020282512894 + ], + [ + 486.52183283795887, + 54.37270626337562 + ], + [ + 652.107754583681, + -202.16959556724487 + ], + [ + 653.180301292449, + -206.35035211795662 + ], + [ + 461.31264122915604, + -209.36803876206216 + ], + [ + 457.55819441215027, + -205.2730391328206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.9316184853824, + "ymin": 0.0, + "xmax": 619.3017120106507, + "ymax": 292.4059317926333 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 617.4547466298272, + 292.4059317926333 + ], + [ + 619.3017120106507, + 279.24332332889844 + ], + [ + 392.56887100333984, + 269.78559875665724 + ], + [ + 386.9674182839391, + 282.62846298242187 + ], + [ + 610.8422486669508, + -41.317827742638656 + ], + [ + 613.3605304951743, + -51.1340186495849 + ], + [ + 322.6508889746618, + -58.12876124714302 + ], + [ + 313.9316184853824, + -48.618596058724734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.6748165261837, + "ymin": 0.0, + "xmax": 699.5159242119521, + "ymax": 3.8224357692362787 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 677.6748165261837, + 3.575594877643937 + ], + [ + 685.8009861252766, + 3.8224357692362787 + ], + [ + 693.9251973524216, + -71.4156910990339 + ], + [ + 687.005970628692, + -71.59446385496778 + ], + [ + 682.3469717232166, + -173.3481636026322 + ], + [ + 691.4840121124095, + -173.16796277902893 + ], + [ + 699.5159242119521, + -227.10012919415794 + ], + [ + 691.8771049410717, + -227.22594534029167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 384.14297660347654, + "xmax": 548.0184653391461, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 542.9281771647477, + 823.5280325205262 + ], + [ + 548.0184653391461, + 787.2515147975203 + ], + [ + 178.0304304003688, + 761.673775963639 + ], + [ + 162.83880323706217, + 796.5047427119114 + ], + [ + 483.79179274392664, + 453.92123413580043 + ], + [ + 494.4120110472061, + 412.5239253953508 + ], + [ + -82.84016566858531, + 384.14297660347654 + ], + [ + -118.42328554052744, + 422.9537175155211 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00040/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00040/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7260472d177edb95d9c69066b6475e0039f46f97 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00040/meta.json @@ -0,0 +1,1310 @@ +{ + "frame_id": 40, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 20.0, + "sim_timestamp": 530.5041517743375 + }, + "drone_pose": { + "x": -140.77861265840056, + "y": -60.69765325657501, + "z": 20.004852911390437, + "pitch": -41.90279458132965, + "yaw": 85.61407920592211, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.05691796541213989, + -0.742099404335022, + 0.6678688526153564, + 39.69591522216797 + ], + [ + 0.9970716238021851, + 0.07647395133972168, + 2.9802322387695312e-08, + -135.72454833984375 + ], + [ + -0.05107462406158447, + 0.6659131050109863, + 0.7442789673805237, + -62.4987678527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.9589180943775, + "y": -60.17166092082899, + "z": 20.003908267304162 + }, + "t1_image_uv": [ + 1194.7630010707676, + -498.2427955690256 + ], + "t1_depth": 0.38070687252478874 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -39.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.311422788438904, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 592, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -39.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37318357825279236, + "y": 0.5388208031654358, + "z": 0.9087164998054504 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.2188585836881, + "ymin": 327.3615470052871, + "xmax": 659.4320399995869, + "ymax": 391.9555657787815 + }, + "corners_3d": [ + [ + -138.62835693359375, + -40.06094741821289, + 0.18781882524490356 + ], + [ + -139.70599365234375, + -40.06094741821289, + 0.18781882524490356 + ], + [ + -139.70599365234375, + -39.314579010009766, + 0.18781882524490356 + ], + [ + -138.62835693359375, + -39.314579010009766, + 0.18781882524490356 + ], + [ + -138.62835693359375, + -40.06094741821289, + 2.005251884460449 + ], + [ + -139.70599365234375, + -40.06094741821289, + 2.005251884460449 + ], + [ + -139.70599365234375, + -39.314579010009766, + 2.005251884460449 + ], + [ + -138.62835693359375, + -39.314579010009766, + 2.005251884460449 + ] + ], + "corners_2d": [ + [ + 621.0562762882671, + 390.04435489503317 + ], + [ + 657.0686453994792, + 391.9555657787815 + ], + [ + 658.6232942360267, + 374.98857921605696 + ], + [ + 623.2901560054478, + 373.14919780707953 + ], + [ + 620.2188585836881, + 344.079949024695 + ], + [ + 657.8248634972776, + 345.9729288511834 + ], + [ + 659.4320399995869, + 329.1803272025654 + ], + [ + 622.5660937466583, + 327.3615470052871 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 40, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 344809, + "2": 126139, + "3": 155289, + "4": 60262, + "6": 13321, + "10": 1, + "12": 3115, + "14": 3594, + "20": 504, + "24": 8049, + "25": 206517 + }, + "instance_pixel_counts": { + "2453": 184, + "3413": 10418, + "3662": 48507, + "11605": 2846, + "15960": 9491, + "17240": 3214, + "17496": 592, + "20565": 1187, + "21907": 5307, + "21909": 1019, + "22421": 1188, + "22931": 50626, + "22933": 5658, + "23443": 269064, + "25856": 24, + "36096": 592, + "36352": 617, + "36608": 550, + "36864": 471, + "37376": 885, + "41728": 3594, + "47198": 690, + "47201": 1907, + "47713": 141, + "48225": 9, + "48737": 11415, + "48980": 140838, + "49249": 1674, + "49761": 2316, + "50246": 902, + "51297": 74888, + "51526": 10853, + "51809": 10594, + "52321": 2837, + "52833": 67, + "54366": 159799, + "54878": 46028, + "57482": 9765, + "57994": 6880, + "59737": 504, + "63382": 3360, + "63894": 286, + "65426": 19812 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 592, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -39.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39744138717651367, + "y": 0.5537256002426147, + "z": 0.9102568030357361 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.620822654371, + "ymin": 326.7637180171157, + "xmax": 659.9947463244783, + "ymax": 392.5818877581326 + }, + "corners_3d": [ + [ + -138.6134490966797, + -40.085205078125, + 0.18627852201461792 + ], + [ + -139.7209014892578, + -40.085205078125, + 0.18627852201461792 + ], + [ + -139.7209014892578, + -39.290321350097656, + 0.18627852201461792 + ], + [ + -138.6134490966797, + -39.290321350097656, + 0.18627852201461792 + ], + [ + -138.6134490966797, + -40.085205078125, + 2.0067920684814453 + ], + [ + -139.7209014892578, + -40.085205078125, + 2.0067920684814453 + ], + [ + -139.7209014892578, + -39.290321350097656, + 2.0067920684814453 + ], + [ + -138.6134490966797, + -39.290321350097656, + 2.0067920684814453 + ] + ], + "corners_2d": [ + [ + 620.485506278662, + 390.61531528369505 + ], + [ + 657.5160615098009, + 392.5818877581326 + ], + [ + 659.1616900317583, + 374.5106138628227 + ], + [ + 622.8744875127678, + 372.62265611048264 + ], + [ + 619.620822654371, + 344.5677929489472 + ], + [ + 658.293981971619, + 346.51568284990066 + ], + [ + 659.9947463244783, + 328.6303945150023 + ], + [ + 622.1316285446431, + 326.7637180171157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 617, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -36.690059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45097172260284424, + "y": 0.47773197293281555, + "z": 0.9125397801399231 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 501.16596568496664, + "ymin": 262.45824375406096, + "xmax": 536.8689457783883, + "ymax": 326.86477570230926 + }, + "corners_3d": [ + [ + -134.66766357421875, + -37.23050308227539, + 0.03159809112548828 + ], + [ + -135.6022491455078, + -37.0318489074707, + 0.03159809112548828 + ], + [ + -135.41473388671875, + -36.14961624145508, + 0.03159809112548828 + ], + [ + -134.4801483154297, + -36.348270416259766, + 0.03159809112548828 + ], + [ + -134.66766357421875, + -37.23050308227539, + 1.8566776514053345 + ], + [ + -135.6022491455078, + -37.0318489074707, + 1.8566776514053345 + ], + [ + -135.41473388671875, + -36.14961624145508, + 1.8566776514053345 + ], + [ + -134.4801483154297, + -36.348270416259766, + 1.8566776514053345 + ] + ], + "corners_2d": [ + [ + 507.32525452196796, + 326.86477570230926 + ], + [ + 536.8689457783883, + 324.36294292792576 + ], + [ + 535.4221626726057, + 307.11749521764824 + ], + [ + 506.4929758850376, + 309.51577494972423 + ], + [ + 501.91358202063117, + 281.87580583026664 + ], + [ + 532.6755537531175, + 279.4136570109117 + ], + [ + 531.262275348886, + 262.45824375406096 + ], + [ + 501.16596568496664, + 264.81446665157574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 550, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -32.745052337646484, + "z": 1.0922335386276245 + }, + "extent": { + "x": 0.42714354395866394, + "y": 0.5291894674301147, + "z": 0.9387384653091431 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 702.7215704558494, + "ymin": 200.2336878751294, + "xmax": 738.3913433704133, + "ymax": 259.79283379380365 + }, + "corners_3d": [ + [ + -140.9413604736328, + -33.22517013549805, + 0.15349507331848145 + ], + [ + -141.9939422607422, + -33.114540100097656, + 0.15349507331848145 + ], + [ + -141.90464782714844, + -32.26493453979492, + 0.15349507331848145 + ], + [ + -140.85206604003906, + -32.37556457519531, + 0.15349507331848145 + ], + [ + -140.9413604736328, + -33.22517013549805, + 2.0309720039367676 + ], + [ + -141.9939422607422, + -33.114540100097656, + 2.0309720039367676 + ], + [ + -141.90464782714844, + -32.26493453979492, + 2.0309720039367676 + ], + [ + -140.85206604003906, + -32.37556457519531, + 2.0309720039367676 + ] + ], + "corners_2d": [ + [ + 704.5934252178188, + 259.79283379380365 + ], + [ + 734.725870740035, + 259.2910258688968 + ], + [ + 732.29677794182, + 245.19222414474217 + ], + [ + 702.7215704558494, + 245.6755983582205 + ], + [ + 707.0946179440925, + 214.48644690337304 + ], + [ + 738.3913433704133, + 213.99624294794688 + ], + [ + 735.7995526726245, + 200.2336878751294 + ], + [ + 705.1035297478472, + 200.70520739131356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 471, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -39.68776321411133, + "z": 1.093639850616455 + }, + "extent": { + "x": 0.377509742975235, + "y": 0.5741259455680847, + "z": 0.8789799213409424 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 740.1280828978017, + "ymin": 334.136092440727, + "xmax": 785.1072495881285, + "ymax": 397.8776209493469 + }, + "corners_3d": [ + [ + -142.1728057861328, + -40.06527328491211, + 0.2146599292755127 + ], + [ + -143.32106018066406, + -40.06527328491211, + 0.2146599292755127 + ], + [ + -143.32106018066406, + -39.31025314331055, + 0.2146599292755127 + ], + [ + -142.1728057861328, + -39.31025314331055, + 0.2146599292755127 + ], + [ + -142.1728057861328, + -40.06527328491211, + 1.9726197719573975 + ], + [ + -143.32106018066406, + -40.06527328491211, + 1.9726197719573975 + ], + [ + -143.32106018066406, + -39.31025314331055, + 1.9726197719573975 + ], + [ + -142.1728057861328, + -39.31025314331055, + 1.9726197719573975 + ] + ], + "corners_2d": [ + [ + 740.1517009887763, + 395.8116092232639 + ], + [ + 779.1049396370727, + 397.8776209493469 + ], + [ + 778.3272117801711, + 380.4685756029633 + ], + [ + 740.1280828978017, + 378.48168898945414 + ], + [ + 744.462842652364, + 351.30102659635156 + ], + [ + 785.1072495881285, + 353.3492736314424 + ], + [ + 784.175535088002, + 336.1026157601709 + ], + [ + 744.3514491637773, + 334.136092440727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 885, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -47.85797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.31639158725738525, + "y": 0.5084008574485779, + "z": 0.902817964553833 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 104.80858982740165, + "ymin": 529.4068260816384, + "xmax": 184.1269881704804, + "ymax": 605.574941146856 + }, + "corners_3d": [ + [ + -127.35877227783203, + -48.06175231933594, + 0.04131501913070679 + ], + [ + -128.3533477783203, + -48.27315902709961, + 0.04131501913070679 + ], + [ + -128.48492431640625, + -47.654205322265625, + 0.04131501913070679 + ], + [ + -127.4903335571289, + -47.44279861450195, + 0.04131501913070679 + ], + [ + -127.35877227783203, + -48.06175231933594, + 1.8469510078430176 + ], + [ + -128.3533477783203, + -48.27315902709961, + 1.8469510078430176 + ], + [ + -128.48492431640625, + -47.654205322265625, + 1.8469510078430176 + ], + [ + -127.4903335571289, + -47.44279861450195, + 1.8469510078430176 + ] + ], + "corners_2d": [ + [ + 132.30299620613903, + 595.5066828630246 + ], + [ + 167.90357535413125, + 605.574941146856 + ], + [ + 184.1269881704804, + 584.4807854271749 + ], + [ + 149.05336539763732, + 574.7908530362716 + ], + [ + 104.80858982740165, + 550.3236445205391 + ], + [ + 142.08963315300662, + 560.5050444370065 + ], + [ + 159.7005619177944, + 539.1854490406968 + ], + [ + 122.99482747339857, + 529.4068260816384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3594, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 359.4845156093255, + "ymin": 84.3493231227946, + "xmax": 448.45061285774904, + "ymax": 181.39620545690173 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 366.4513500956101, + 179.12657647488558 + ], + [ + 416.9850338566632, + 181.39620545690173 + ], + [ + 448.45061285774904, + 116.45613639380204 + ], + [ + 402.61387642729676, + 114.59709527435427 + ], + [ + 359.4845156093255, + 147.27315225325356 + ], + [ + 411.2857835536462, + 149.491840122496 + ], + [ + 444.03176125169534, + 86.15786522954073 + ], + [ + 397.15447248476823, + 84.3493231227946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 459.4768097032023, + "ymin": 0.0, + "xmax": 656.8705936479736, + "ymax": 63.763557930961554 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 653.1601665692984, + 63.763557930961554 + ], + [ + 654.1775182757078, + 57.05931672794537 + ], + [ + 491.29775881378976, + 51.65453159182414 + ], + [ + 488.35431354940886, + 58.2288793095006 + ], + [ + 655.6957814871208, + -199.44168199701903 + ], + [ + 656.8705936479736, + -203.70435089360728 + ], + [ + 463.3758601509828, + -207.12667700498218 + ], + [ + 459.4768097032023, + -202.96212377951088 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 309.65722659812343, + "ymin": 0.0, + "xmax": 619.1276721606624, + "ymax": 301.497075766503 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 617.0847043780108, + 301.497075766503 + ], + [ + 619.1276721606624, + 288.034132028758 + ], + [ + 390.2825493184524, + 277.27758632729876 + ], + [ + 384.4194582950855, + 290.37312425166687 + ], + [ + 610.2593196401634, + -34.58077985460227 + ], + [ + 613.0454053881299, + -44.68976702448788 + ], + [ + 318.7893569261057, + -52.6946694100194 + ], + [ + 309.65722659812343, + -42.940693840282336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.6186146919438, + "ymin": 0.0, + "xmax": 705.0533692831963, + "ymax": 7.509389309781568 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 681.6186146919438, + 7.233571461489873 + ], + [ + 689.8072077957985, + 7.509389309781568 + ], + [ + 698.899776731977, + -68.77884511328062 + ], + [ + 691.933838169892, + -68.97818878267793 + ], + [ + 686.8262302844257, + -170.77207432219723 + ], + [ + 696.0432404806085, + -170.57032698830176 + ], + [ + 705.0533692831963, + -225.3472422961123 + ], + [ + 697.3568988425152, + -225.48773269801256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 406.3941465349955, + "xmax": 539.7346790530577, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 534.0221494385996, + 848.8706570597368 + ], + [ + 539.7346790530577, + 811.2256839474283 + ], + [ + 164.419909845034, + 781.7543323351022 + ], + [ + 148.3243020972444, + 817.7047635674876 + ], + [ + 467.412521751417, + 483.7221647588351 + ], + [ + 479.52738260191154, + 439.76480522961566 + ], + [ + -111.03116798238511, + 406.3941465349955 + ], + [ + -149.2562444250234, + 447.222129533701 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00041/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00041/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2b8ac1ecedac51587259ced6615d275747cd641 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00041/meta.json @@ -0,0 +1,1414 @@ +{ + "frame_id": 41, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 20.5, + "sim_timestamp": 540.3994563219603 + }, + "drone_pose": { + "x": -140.9589180943775, + "y": -60.17166092082899, + "z": 20.003908267304162, + "pitch": -41.916707699174026, + "yaw": 85.11956920327926, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.06330698728561401, + -0.7414188385009766, + 0.6680495738983154, + 40.17249298095703 + ], + [ + 0.9963743686676025, + 0.08507668972015381, + 0.0, + -135.3286590576172 + ], + [ + -0.056835442781448364, + 0.6656274795532227, + 0.7441167831420898, + -62.9486198425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.15533134403861, + "y": -59.640417530388355, + "z": 20.003129143626666 + }, + "t1_image_uv": [ + 1245.4602206771935, + -499.23258441157213 + ], + "t1_depth": 0.3819600674859525 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -39.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.302350263525586, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 603, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -39.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3906494081020355, + "y": 0.4722045660018921, + "z": 0.887188196182251 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.3831965521534, + "ymin": 327.56402384953043, + "xmax": 657.289081691739, + "ymax": 391.81582287173154 + }, + "corners_3d": [ + [ + -138.69497680664062, + -39.57841110229492, + 0.20934712886810303 + ], + [ + -139.63937377929688, + -39.57841110229492, + 0.20934712886810303 + ], + [ + -139.63937377929688, + -38.797115325927734, + 0.20934712886810303 + ], + [ + -138.69497680664062, + -38.797115325927734, + 0.20934712886810303 + ], + [ + -138.69497680664062, + -39.57841110229492, + 1.983723521232605 + ], + [ + -139.63937377929688, + -39.57841110229492, + 1.983723521232605 + ], + [ + -139.63937377929688, + -38.797115325927734, + 1.983723521232605 + ], + [ + -138.69497680664062, + -38.797115325927734, + 1.983723521232605 + ] + ], + "corners_2d": [ + [ + 623.1124523164663, + 389.94993189857666 + ], + [ + 654.6892965792114, + 391.81582287173154 + ], + [ + 656.5861442974585, + 374.05956455526035 + ], + [ + 625.6315250360502, + 372.26700828186574 + ], + [ + 622.3831965521534, + 345.0671964203788 + ], + [ + 655.3250097681304, + 346.91586860358075 + ], + [ + 657.289081691739, + 329.3369941816224 + ], + [ + 625.0238735919586, + 327.56402384953043 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 41, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 343793, + "2": 126954, + "3": 158626, + "4": 61616, + "6": 13344, + "10": 1, + "12": 3411, + "14": 3693, + "20": 430, + "24": 8208, + "25": 201524 + }, + "instance_pixel_counts": { + "2453": 79, + "3413": 10785, + "3662": 50493, + "11605": 3005, + "15960": 9166, + "17240": 3487, + "17496": 639, + "20565": 1271, + "21907": 6219, + "21909": 1137, + "22421": 1219, + "22931": 51682, + "22933": 5773, + "23443": 274887, + "25856": 52, + "36096": 603, + "36352": 619, + "36608": 539, + "36864": 580, + "37120": 278, + "37376": 792, + "41728": 3693, + "47201": 2289, + "47713": 171, + "48225": 31, + "48737": 11738, + "48980": 143565, + "49249": 1704, + "49761": 2366, + "50246": 4, + "51297": 77578, + "51526": 11119, + "51809": 11176, + "52321": 2789, + "52833": 95, + "54366": 159453, + "54878": 42071, + "57482": 10066, + "57994": 6746, + "59737": 430, + "63382": 130, + "63894": 75, + "65426": 11005 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 603, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -39.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.40342283248901367, + "y": 0.5689501762390137, + "z": 0.9082549214363098 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.9602761119897, + "ymin": 326.54933676447524, + "xmax": 660.6432406608897, + "ymax": 392.814642529406 + }, + "corners_3d": [ + [ + -138.5982208251953, + -39.5911865234375, + 0.1882804036140442 + ], + [ + -139.7361297607422, + -39.5911865234375, + 0.1882804036140442 + ], + [ + -139.7361297607422, + -38.784339904785156, + 0.1882804036140442 + ], + [ + -138.5982208251953, + -38.784339904785156, + 0.1882804036140442 + ], + [ + -138.5982208251953, + -39.5911865234375, + 2.0047903060913086 + ], + [ + -139.7361297607422, + -39.5911865234375, + 2.0047903060913086 + ], + [ + -139.7361297607422, + -38.784339904785156, + 2.0047903060913086 + ], + [ + -138.5982208251953, + -38.784339904785156, + 2.0047903060913086 + ] + ], + "corners_2d": [ + [ + 619.8515725220471, + 390.56475067738285 + ], + [ + 657.8924879459726, + 392.814642529406 + ], + [ + 659.7845135024503, + 374.4681663510294 + ], + [ + 622.5170910623508, + 372.3094906219314 + ], + [ + 618.9602761119897, + 344.6142698937161 + ], + [ + 658.6860733800202, + 346.84296790133965 + ], + [ + 660.6432406608897, + 328.68380336402754 + ], + [ + 621.7602129146941, + 326.54933676447524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 619, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -36.190059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4511719048023224, + "y": 0.47993654012680054, + "z": 0.9076513648033142 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 502.1997012101443, + "ymin": 261.97173126478094, + "xmax": 537.7456756291688, + "ymax": 325.9944066323726 + }, + "corners_3d": [ + [ + -134.66555786132812, + -36.73115539550781, + 0.03648650646209717 + ], + [ + -135.6044464111328, + -36.531585693359375, + 0.03648650646209717 + ], + [ + -135.41683959960938, + -35.648963928222656, + 0.03648650646209717 + ], + [ + -134.4779510498047, + -35.848533630371094, + 0.03648650646209717 + ], + [ + -134.66555786132812, + -36.73115539550781, + 1.8517892360687256 + ], + [ + -135.6044464111328, + -36.531585693359375, + 1.8517892360687256 + ], + [ + -135.41683959960938, + -35.648963928222656, + 1.8517892360687256 + ], + [ + -134.4779510498047, + -35.848533630371094, + 1.8517892360687256 + ] + ], + "corners_2d": [ + [ + 508.069914832648, + 325.9944066323726 + ], + [ + 537.7456756291688, + 323.64585496449536 + ], + [ + 536.5146830806224, + 306.38877493314965 + ], + [ + 507.4575858138879, + 308.6400272821204 + ], + [ + 502.71971571955925, + 281.25132767944575 + ], + [ + 533.6111658430025, + 278.93987955163914 + ], + [ + 532.4213311557085, + 261.97173126478094 + ], + [ + 502.1997012101443, + 264.18366561427365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 539, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -32.245052337646484, + "z": 1.0922091007232666 + }, + "extent": { + "x": 0.42793455719947815, + "y": 0.5507592558860779, + "z": 0.9298107624053955 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 703.9028211525749, + "ymin": 200.80791338144155, + "xmax": 740.7284555700857, + "ymax": 259.87320642964846 + }, + "corners_3d": [ + [ + -140.9199981689453, + -32.728214263916016, + 0.1623983383178711 + ], + [ + -142.01547241210938, + -32.61307144165039, + 0.1623983383178711 + ], + [ + -141.92601013183594, + -31.761892318725586, + 0.1623983383178711 + ], + [ + -140.83053588867188, + -31.877031326293945, + 0.1623983383178711 + ], + [ + -140.9199981689453, + -32.728214263916016, + 2.022019863128662 + ], + [ + -142.01547241210938, + -32.61307144165039, + 2.022019863128662 + ], + [ + -141.92601013183594, + -31.761892318725586, + 2.022019863128662 + ], + [ + -140.83053588867188, + -31.877031326293945, + 2.022019863128662 + ] + ], + "corners_2d": [ + [ + 705.5913719048374, + 259.87320642964846 + ], + [ + 737.0064340512492, + 259.510290942865 + ], + [ + 734.7347562713657, + 245.35860010687668 + ], + [ + 703.9028211525749, + 245.70808508485933 + ], + [ + 708.1092804844327, + 214.9810978938212 + ], + [ + 740.7284555700857, + 214.62646640659992 + ], + [ + 738.2995127108617, + 200.80791338144155 + ], + [ + 706.3085754614428, + 201.14893411289583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 580, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -39.18776321411133, + "z": 1.0936007499694824 + }, + "extent": { + "x": 0.37605467438697815, + "y": 0.5840185284614563, + "z": 0.8876376152038574 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 739.7144448361769, + "ymin": 334.50278735824475, + "xmax": 785.4606582966926, + "ymax": 398.9232368049005 + }, + "corners_3d": [ + [ + -142.1629180908203, + -39.563819885253906, + 0.205963134765625 + ], + [ + -143.33094787597656, + -39.56381607055664, + 0.205963134765625 + ], + [ + -143.33094787597656, + -38.81170654296875, + 0.205963134765625 + ], + [ + -142.1629180908203, + -38.811710357666016, + 0.205963134765625 + ], + [ + -142.1629180908203, + -39.563819885253906, + 1.9812383651733398 + ], + [ + -143.33094787597656, + -39.56381607055664, + 1.9812383651733398 + ], + [ + -143.33094787597656, + -38.81170654296875, + 1.9812383651733398 + ], + [ + -142.1629180908203, + -38.811710357666016, + 1.9812383651733398 + ] + ], + "corners_2d": [ + [ + 739.7144448361769, + 396.580346569827 + ], + [ + 779.3766193548711, + 398.9232368049005 + ], + [ + 778.8130960002234, + 381.5499832325188 + ], + [ + 739.9153617408039, + 379.29648188373864 + ], + [ + 744.0553448824487, + 351.6222033920372 + ], + [ + 785.4606582966926, + 353.9450091506635 + ], + [ + 784.7506704375157, + 336.73322320852907 + ], + [ + 744.1777622043289, + 334.50278735824475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 278, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.78268432617188, + "y": -50.31512451171875, + "z": 1.0944552421569824 + }, + "extent": { + "x": 0.40772464871406555, + "y": 0.5029858946800232, + "z": 0.8964717388153076 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 739.0977455869362, + "ymin": 684.1260014903637, + "xmax": 799.2308743841379, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -142.23983764648438, + -50.66803741455078, + 0.1979835033416748 + ], + [ + -143.24029541015625, + -50.773193359375, + 0.1979835033416748 + ], + [ + -143.32553100585938, + -49.96221160888672, + 0.1979835033416748 + ], + [ + -142.3250732421875, + -49.8570556640625, + 0.1979835033416748 + ], + [ + -142.23983764648438, + -50.66803741455078, + 1.99092698097229 + ], + [ + -143.24029541015625, + -50.773193359375, + 1.99092698097229 + ], + [ + -143.32553100585938, + -49.96221160888672, + 1.99092698097229 + ], + [ + -142.3250732421875, + -49.8570556640625, + 1.99092698097229 + ] + ], + "corners_2d": [ + [ + 739.0977455869362, + 763.3119441045258 + ], + [ + 787.0840793087932, + 772.2258824181972 + ], + [ + 789.9953495569634, + 735.4622154238418 + ], + [ + 743.3644597160944, + 727.0535783909393 + ], + [ + 745.345393697208, + 721.3238888100507 + ], + [ + 796.4265242350074, + 730.4893981058597 + ], + [ + 799.2308743841379, + 692.7405667475741 + ], + [ + 749.6829290520574, + 684.1260014903637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 792, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -47.35797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.30019041895866394, + "y": 0.3121093809604645, + "z": 0.8665957450866699 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 111.90599562235911, + "ymin": 529.3565354869851, + "xmax": 175.25958929822008, + "ymax": 598.8006705657647 + }, + "corners_3d": [ + [ + -127.55414581298828, + -47.58671951293945, + 0.07753723859786987 + ], + [ + -128.1647186279297, + -47.71649932861328, + 0.07753723859786987 + ], + [ + -128.28955078125, + -47.12923812866211, + 0.07753723859786987 + ], + [ + -127.67897033691406, + -46.99945831298828, + 0.07753723859786987 + ], + [ + -127.55414581298828, + -47.58671951293945, + 1.8107287883758545 + ], + [ + -128.1647186279297, + -47.71649932861328, + 1.8107287883758545 + ], + [ + -128.28955078125, + -47.12923812866211, + 1.8107287883758545 + ], + [ + -127.67897033691406, + -46.99945831298828, + 1.8107287883758545 + ] + ], + "corners_2d": [ + [ + 137.93529862982052, + 592.481186022142 + ], + [ + 159.58728438992028, + 598.8006705657647 + ], + [ + 175.25958929822008, + 579.0166500208103 + ], + [ + 153.9059251541625, + 572.9216535533441 + ], + [ + 111.90599562235911, + 549.0961975346042 + ], + [ + 134.52918776948343, + 555.4817015836936 + ], + [ + 151.476965878261, + 535.5037414106488 + ], + [ + 129.17795524241876, + 529.3565354869851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3693, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 358.6865310049781, + "ymin": 88.5890670505733, + "xmax": 449.36998507107137, + "ymax": 187.02097769868837 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 365.73311014342437, + 184.4745631656993 + ], + [ + 416.56872843135204, + 187.02097769868837 + ], + [ + 449.36998507107137, + 121.05000349552495 + ], + [ + 403.27685145481286, + 118.96721990953489 + ], + [ + 358.6865310049781, + 152.4917322575126 + ], + [ + 410.80639185210214, + 154.9820981762666 + ], + [ + 444.9353688341843, + 90.61601798648832 + ], + [ + 397.788812759572, + 88.5890670505733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.7147902303603, + "ymin": 0.0, + "xmax": 660.9060725185508, + "ymax": 68.31974720595571 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 656.4190254217061, + 68.31974720595571 + ], + [ + 657.5393915055823, + 61.50495434841895 + ], + [ + 493.5243334529684, + 55.39651264042527 + ], + [ + 490.45402223983547, + 62.06345075585563 + ], + [ + 659.6161997224879, + -196.69739068848912 + ], + [ + 660.9060725185508, + -201.04482356245524 + ], + [ + 465.7709871934605, + -204.92452363448103 + ], + [ + 461.7147902303603, + -200.6892956606963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.169219819898, + "ymin": 0.0, + "xmax": 618.8220567527401, + "ymax": 310.7817334894268 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 616.5577718605165, + 310.7817334894268 + ], + [ + 618.8220567527401, + 297.00888483484425 + ], + [ + 387.886169748052, + 284.7814352619143 + ], + [ + 381.7376884056071, + 298.1323765080725 + ], + [ + 609.4645796750327, + -27.66459742199646 + ], + [ + 612.5547409002918, + -38.07978606505691 + ], + [ + 314.749850497749, + -47.23766853719013 + ], + [ + 305.169219819898, + -37.234171314924424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.9318438605964, + "ymin": 0.0, + "xmax": 711.1454798955693, + "ymax": 11.243963373279826 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 685.9318438605964, + 10.935521196678337 + ], + [ + 694.1843750630034, + 11.243963373279826 + ], + [ + 704.3670938432239, + -66.12373110015773 + ], + [ + 697.3530653478757, + -66.34618935509849 + ], + [ + 691.7322776515872, + -168.1817682591768 + ], + [ + 701.0316031683953, + -167.95569977660045 + ], + [ + 711.1454798955693, + -223.60524341424343 + ], + [ + 703.3894083280517, + -223.76225432482306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 429.3502871266378, + "xmax": 530.2102607829258, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 523.7851150047679, + 875.0852203724152 + ], + [ + 530.2102607829258, + 836.0033170895949 + ], + [ + 149.66462140954246, + 802.0607528315081 + ], + [ + 132.5806480108236, + 839.1572522749939 + ], + [ + 448.3529404166279, + 515.3517674695615 + ], + [ + 462.22360364963447, + 468.60159372611304 + ], + [ + -141.69184057046948, + 429.3502871266378 + ], + [ + -182.83703327138426, + 472.3115320313948 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00042/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00042/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..20775ce70b3ec68cf46da3dd2d7b4c696185e714 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00042/meta.json @@ -0,0 +1,1619 @@ +{ + "frame_id": 42, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 21.0, + "sim_timestamp": 554.8349335265812 + }, + "drone_pose": { + "x": -141.15533134403861, + "y": -59.640417530388355, + "z": 20.003129143626666, + "pitch": -41.93377790406273, + "yaw": 84.57956638149311, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.07027292251586914, + -0.7405912280082703, + 0.6682712435722351, + 40.7210578918457 + ], + [ + 0.9955283999443054, + 0.09446334838867188, + 0.0, + -134.8903045654297 + ], + [ + -0.06312716007232666, + 0.6652829647064209, + 0.74391770362854, + -63.46916961669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.3657692802339, + "y": -59.103319721617716, + "z": 20.002489949870522 + }, + "t1_image_uv": [ + 1291.5854033782718, + -500.22947869307245 + ], + "t1_depth": 0.38340894529157193 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -38.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.29179647590079, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 601, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -38.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4143456816673279, + "y": 0.5266784429550171, + "z": 0.9049769639968872 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.2705203694718, + "ymin": 326.36399478152094, + "xmax": 659.348086740689, + "ymax": 393.0212761465019 + }, + "corners_3d": [ + [ + -138.6405029296875, + -39.102108001708984, + 0.1915583610534668 + ], + [ + -139.69384765625, + -39.102108001708984, + 0.1915583610534668 + ], + [ + -139.69384765625, + -38.27341842651367, + 0.1915583610534668 + ], + [ + -138.6405029296875, + -38.27341842651367, + 0.1915583610534668 + ], + [ + -138.6405029296875, + -39.102108001708984, + 2.001512289047241 + ], + [ + -139.69384765625, + -39.102108001708984, + 2.001512289047241 + ], + [ + -139.69384765625, + -38.27341842651367, + 2.001512289047241 + ], + [ + -138.6405029296875, + -38.27341842651367, + 2.001512289047241 + ] + ], + "corners_2d": [ + [ + 621.1041331481188, + 390.7059862841038 + ], + [ + 656.3123823514801, + 393.0212761465019 + ], + [ + 658.5457157019362, + 374.1802109760707 + ], + [ + 624.0707899097663, + 371.96121197493176 + ], + [ + 620.2705203694718, + 344.91504474399346 + ], + [ + 657.0339699186231, + 347.2087904467095 + ], + [ + 659.348086740689, + 328.5582695187413 + ], + [ + 623.3834405676683, + 326.36399478152094 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 42, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 40, + "semantic_pixel_counts": { + "1": 343124, + "2": 127346, + "3": 162177, + "4": 63759, + "6": 13331, + "10": 6, + "12": 3354, + "14": 3789, + "20": 417, + "24": 8382, + "25": 195915 + }, + "instance_pixel_counts": { + "3413": 11154, + "3662": 52355, + "11605": 3169, + "15960": 8765, + "17240": 3821, + "17496": 672, + "20565": 1370, + "21907": 7035, + "21909": 1330, + "22421": 1256, + "22931": 52779, + "22933": 5796, + "23443": 279473, + "25856": 73, + "36096": 601, + "36352": 613, + "36608": 555, + "36864": 631, + "37120": 172, + "37376": 782, + "41728": 3789, + "47201": 2654, + "47713": 212, + "48225": 62, + "48737": 12087, + "48980": 146484, + "49249": 1734, + "49761": 2403, + "51297": 77134, + "51526": 11404, + "51809": 11208, + "52321": 2748, + "52833": 129, + "54366": 157931, + "54878": 37984, + "56970": 74, + "57482": 10266, + "57994": 6635, + "59737": 417, + "65426": 3837 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 601, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -38.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3770751953125, + "y": 0.5285668969154358, + "z": 0.9055619835853577 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.3474382931746, + "ymin": 327.1615311677663, + "xmax": 659.3113028467037, + "ymax": 392.174878128146 + }, + "corners_3d": [ + [ + -138.63861083984375, + -39.06483840942383, + 0.19097334146499634 + ], + [ + -139.69573974609375, + -39.06483840942383, + 0.19097334146499634 + ], + [ + -139.69573974609375, + -38.31068801879883, + 0.19097334146499634 + ], + [ + -138.63861083984375, + -38.31068801879883, + 0.19097334146499634 + ], + [ + -138.63861083984375, + -39.06483840942383, + 2.0020973682403564 + ], + [ + -139.69573974609375, + -39.06483840942383, + 2.0020973682403564 + ], + [ + -139.69573974609375, + -38.31068801879883, + 2.0020973682403564 + ], + [ + -138.63861083984375, + -38.31068801879883, + 2.0020973682403564 + ] + ], + "corners_2d": [ + [ + 621.1775223888548, + 389.8557454646542 + ], + [ + 656.4780059747267, + 392.174878128146 + ], + [ + 658.5091875328293, + 375.028667328735 + ], + [ + 623.8784328757746, + 372.7974747650293 + ], + [ + 620.3474382931746, + 344.043356688124 + ], + [ + 657.206669639589, + 346.34069947143837 + ], + [ + 659.3113028467037, + 329.3680279519247 + ], + [ + 623.1816410240606, + 327.1615311677663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 613, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -35.690059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4690283536911011, + "y": 0.5191736221313477, + "z": 0.9335755705833435 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 502.0729349058278, + "ymin": 260.24461761932923, + "xmax": 539.9311175169948, + "ymax": 326.21514747294134 + }, + "corners_3d": [ + [ + -134.63088989257812, + -36.25678253173828, + 0.010562300682067871 + ], + [ + -135.64654541015625, + -36.040897369384766, + 0.010562300682067871 + ], + [ + -135.45150756835938, + -35.12333679199219, + 0.010562300682067871 + ], + [ + -134.43585205078125, + -35.3392219543457, + 0.010562300682067871 + ], + [ + -134.63088989257812, + -36.25678253173828, + 1.8777134418487549 + ], + [ + -135.64654541015625, + -36.040897369384766, + 1.8777134418487549 + ], + [ + -135.45150756835938, + -35.12333679199219, + 1.8777134418487549 + ], + [ + -134.43585205078125, + -35.3392219543457, + 1.8777134418487549 + ] + ], + "corners_2d": [ + [ + 507.84341861195924, + 326.21514747294134 + ], + [ + 539.9311175169948, + 323.8664451956436 + ], + [ + 538.871597963621, + 305.920996832703 + ], + [ + 507.47981062457484, + 308.16864431110184 + ], + [ + 502.32631525540216, + 280.1913037301256 + ], + [ + 535.7659046127463, + 277.8807276125208 + ], + [ + 534.757426541953, + 260.24461761932923 + ], + [ + 502.0729349058278, + 262.4517753890521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 555, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -31.74505043029785, + "z": 1.0921846628189087 + }, + "extent": { + "x": 0.455146461725235, + "y": 0.6053380966186523, + "z": 0.927693784236908 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 704.2672965322283, + "ymin": 200.8315198297422, + "xmax": 744.2886212640664, + "ymax": 260.58421529003135 + }, + "corners_3d": [ + [ + -140.86856079101562, + -32.26097869873047, + 0.16449087858200073 + ], + [ + -142.07260131835938, + -32.134429931640625, + 0.16449087858200073 + ], + [ + -141.97744750976562, + -31.229122161865234, + 0.16449087858200073 + ], + [ + -140.77340698242188, + -31.35567283630371, + 0.16449087858200073 + ], + [ + -140.86856079101562, + -32.26097869873047, + 2.019878387451172 + ], + [ + -142.07260131835938, + -32.134429931640625, + 2.019878387451172 + ], + [ + -141.97744750976562, + -31.229122161865234, + 2.019878387451172 + ], + [ + -140.77340698242188, + -31.35567283630371, + 2.019878387451172 + ] + ], + "corners_2d": [ + [ + 705.8277379537177, + 260.58421529003135 + ], + [ + 740.4360303313597, + 260.37714251022174 + ], + [ + 738.1915926657816, + 245.29283611903992 + ], + [ + 704.2672965322283, + 245.49182953066526 + ], + [ + 708.3535131789569, + 215.76541066360227 + ], + [ + 744.2886212640664, + 215.56302550977097 + ], + [ + 741.880805152533, + 200.8315198297422 + ], + [ + 706.6825866909429, + 201.02571369692438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 631, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -38.68776321411133, + "z": 1.0935616493225098 + }, + "extent": { + "x": 0.3690185546875, + "y": 0.5335631966590881, + "z": 0.8974061608314514 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 741.3088244306771, + "ymin": 335.1436545578655, + "xmax": 783.6570827950508, + "ymax": 399.81389955216866 + }, + "corners_3d": [ + [ + -142.21336364746094, + -39.05678176879883, + 0.19615548849105835 + ], + [ + -143.28050231933594, + -39.05678176879883, + 0.19615548849105835 + ], + [ + -143.28050231933594, + -38.31874465942383, + 0.19615548849105835 + ], + [ + -142.21336364746094, + -38.31874465942383, + 0.19615548849105835 + ], + [ + -142.21336364746094, + -39.05678176879883, + 1.9909677505493164 + ], + [ + -143.28050231933594, + -39.05678176879883, + 1.9909677505493164 + ], + [ + -143.28050231933594, + -38.31874465942383, + 1.9909677505493164 + ], + [ + -142.21336364746094, + -38.31874465942383, + 1.9909677505493164 + ] + ], + "corners_2d": [ + [ + 741.3088244306771, + 397.4321437270968 + ], + [ + 777.5752471838265, + 399.81389955216866 + ], + [ + 777.2889494124138, + 382.7375926460289 + ], + [ + 741.7079236069104, + 380.4450304498499 + ], + [ + 745.7750734588711, + 351.9695470278875 + ], + [ + 783.6570827950508, + 354.3309371531738 + ], + [ + 783.2382760563339, + 337.4128248912061 + ], + [ + 746.1034606467091, + 335.1436545578655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 172, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.78268432617188, + "y": -49.81512451171875, + "z": 1.0944112539291382 + }, + "extent": { + "x": 0.372978538274765, + "y": 0.56749027967453, + "z": 0.9081633687019348 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 731.0815388939739, + "ymin": 685.9913179983693, + "xmax": 797.441014537211, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -142.1793212890625, + -50.126739501953125, + 0.18624788522720337 + ], + [ + -143.30807495117188, + -50.24538040161133, + 0.18624788522720337 + ], + [ + -143.38604736328125, + -49.503509521484375, + 0.18624788522720337 + ], + [ + -142.25729370117188, + -49.38486862182617, + 0.18624788522720337 + ], + [ + -142.1793212890625, + -50.126739501953125, + 2.0025746822357178 + ], + [ + -143.30807495117188, + -50.24538040161133, + 2.0025746822357178 + ], + [ + -143.38604736328125, + -49.503509521484375, + 2.0025746822357178 + ], + [ + -142.25729370117188, + -49.38486862182617, + 2.0025746822357178 + ] + ], + "corners_2d": [ + [ + 731.0815388939739, + 762.5546899570459 + ], + [ + 785.1087354074629, + 773.102432732876 + ], + [ + 788.1613468077577, + 739.4127842156615 + ], + [ + 735.5251094030962, + 729.4126985798033 + ], + [ + 736.8992753127485, + 720.0073237413519 + ], + [ + 794.4596693440074, + 730.8571258871108 + ], + [ + 797.441014537211, + 696.243144045236 + ], + [ + 741.4568828751123, + 685.9913179983693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 782, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -46.85797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3199560344219208, + "y": 0.5041796565055847, + "z": 0.9054986238479614 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.72934105094828, + "ymin": 522.0683564610653, + "xmax": 181.5932815373273, + "ymax": 598.6782955382882 + }, + "corners_3d": [ + [ + -127.3621597290039, + -47.06611633300781, + 0.03863435983657837 + ], + [ + -128.34848022460938, + -47.2757682800293, + 0.03863435983657837 + ], + [ + -128.48153686523438, + -46.64984130859375, + 0.03863435983657837 + ], + [ + -127.49520874023438, + -46.440189361572266, + 0.03863435983657837 + ], + [ + -127.3621597290039, + -47.06611633300781, + 1.8496315479278564 + ], + [ + -128.34848022460938, + -47.2757682800293, + 1.8496315479278564 + ], + [ + -128.48153686523438, + -46.64984130859375, + 1.8496315479278564 + ], + [ + -127.49520874023438, + -46.440189361572266, + 1.8496315479278564 + ] + ], + "corners_2d": [ + [ + 130.25395570128353, + 588.2109749956757 + ], + [ + 164.83448084561712, + 598.6782955382882 + ], + [ + 181.5932815373273, + 577.7120968260363 + ], + [ + 147.50848612016216, + 567.6377676197405 + ], + [ + 102.72934105094828, + 542.828978390741 + ], + [ + 138.9174142834205, + 553.4078942422343 + ], + [ + 157.09184457041658, + 532.2291774618785 + ], + [ + 121.44376513214092, + 522.0683564610653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3789, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 357.9367307863021, + "ymin": 92.78733551292083, + "xmax": 450.43056770730044, + "ymax": 192.63371731181388 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 365.0627594515531, + 189.77985996855503 + ], + [ + 416.18393337128396, + 192.63371731181388 + ], + [ + 450.43056770730044, + 125.6262027632749 + ], + [ + 404.0928353220557, + 123.29519382662863 + ], + [ + 357.9367307863021, + 157.6693968967952 + ], + [ + 410.35836058855176, + 160.46169444126892 + ], + [ + 445.9832533775099, + 95.05670404440104 + ], + [ + 398.5794564559129, + 92.78733551292083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 464.2300976742571, + "ymin": 0.0, + "xmax": 665.2454635831077, + "ymax": 72.94203340659084 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 659.9084538271075, + 72.94203340659084 + ], + [ + 661.1432833115491, + 66.01380809741437 + ], + [ + 495.99267701076826, + 59.122226139302654 + ], + [ + 492.7846619059696, + 65.88246635276562 + ], + [ + 663.8274044210327, + -193.9309477175267 + ], + [ + 665.2454635831077, + -198.36607324521367 + ], + [ + 468.45618536377833, + -202.75697905516165 + ], + [ + 464.2300976742571, + -198.44994948278872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 300.41245108730436, + "ymin": 0.0, + "xmax": 618.3389086142324, + "ymax": 320.2675808575602 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 615.827197138815, + 320.2675808575602 + ], + [ + 618.3389086142324, + 306.1751873468852 + ], + [ + 385.3398407286979, + 292.30060252812734 + ], + [ + 378.8818848283112, + 305.90943283234236 + ], + [ + 608.394233610128, + -20.55801835093564 + ], + [ + 611.8266816250065, + -31.29335169977145 + ], + [ + 310.47835847053443, + -41.75341684902958 + ], + [ + 300.41245108730436, + -31.494718034086247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1087.727850916871, + "ymin": 0.0, + "xmax": 1168.7982768439128, + "ymax": 4.49830262811264 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1105.9902636131346, + 4.188913791656887 + ], + [ + 1114.5809642678312, + 4.49830262811264 + ], + [ + 1095.8510510044307, + -22.46263844656528 + ], + [ + 1087.727850916871, + -22.73999877428804 + ], + [ + 1159.1899493285237, + -158.43661319488444 + ], + [ + 1168.7982768439128, + -158.20254999861345 + ], + [ + 1144.8607912109705, + -178.47763989461305 + ], + [ + 1135.8334359824212, + -178.68494694157164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.3969725682951, + "ymin": 0.0, + "xmax": 443.1099653346939, + "ymax": 1.4692383771613322 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 227.2508766645011, + -10.500347745705653 + ], + [ + 223.8935120889543, + -7.480058012278505 + ], + [ + 441.0412951444399, + 1.4692383771613322 + ], + [ + 443.1099653346939, + -1.6609254028641658 + ], + [ + 177.5042969844294, + -183.9562477758409 + ], + [ + 173.3969725682951, + -181.7637524233653 + ], + [ + 416.40602353098086, + -175.2481499646242 + ], + [ + 418.90091617429647, + -177.53034570960904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.579099800802, + "ymin": 0.0, + "xmax": 717.7561763956301, + "ymax": 15.032991470359775 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 690.579099800802, + 14.688227610905699 + ], + [ + 698.8971094155359, + 15.032991470359775 + ], + [ + 710.2928414829561, + -63.44392435858947 + ], + [ + 703.229280986125, + -63.692061328462955 + ], + [ + 697.0271121720829, + -165.57136356105855 + ], + [ + 706.411177757097, + -165.31813966480206 + ], + [ + 717.7561763956301, + -221.8688927362831 + ], + [ + 709.938445267579, + -222.0442963228844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 453.0303698165458, + "xmax": 519.3437382088796, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 512.1093775309247, + 902.1944667625879 + ], + [ + 519.3437382088796, + 861.6048283326517 + ], + [ + 133.69977011185495, + 822.5809927579157 + ], + [ + 115.54014122420745, + 860.8487236031999 + ], + [ + 426.3012477312682, + 548.9564784224806 + ], + [ + 442.2242122393126, + 499.15577316647074 + ], + [ + -175.0069707258715, + 453.0303698165458 + ], + [ + -219.37291571244873, + 498.24605181416746 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00043/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00043/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c034653670cdca94d9c23d3883754ab5046559e4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00043/meta.json @@ -0,0 +1,1619 @@ +{ + "frame_id": 43, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 21.5, + "sim_timestamp": 565.6527001669165 + }, + "drone_pose": { + "x": -141.3657692802339, + "y": -59.103319721617716, + "z": 20.002489949870522, + "pitch": -41.95444333420877, + "yaw": 83.99926089969134, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.07774490118026733, + -0.739601731300354, + 0.6685395240783691, + 41.3309326171875 + ], + [ + 0.9945205450057983, + 0.10454130172729492, + 0.0, + -134.41241455078125 + ], + [ + -0.06989002227783203, + 0.6648762822151184, + 0.7436766624450684, + -64.05183410644531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.58696978817704, + "y": -58.55943391834642, + "z": 20.001968924658723 + }, + "t1_image_uv": [ + 1329.5854244376033, + -501.2616156430412 + ], + "t1_depth": 0.3854099673101544 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -38.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.2794873934551, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 629, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -38.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3797656297683716, + "y": 0.41050413250923157, + "z": 0.8683941960334778 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.3333958617608, + "ymin": 328.230721665317, + "xmax": 655.3869668381617, + "ymax": 391.1732630615624 + }, + "corners_3d": [ + [ + -138.7566680908203, + -38.567527770996094, + 0.22814112901687622 + ], + [ + -139.5776824951172, + -38.567527770996094, + 0.22814112901687622 + ], + [ + -139.5776824951172, + -37.80799865722656, + 0.22814112901687622 + ], + [ + -138.7566680908203, + -37.80799865722656, + 0.22814112901687622 + ], + [ + -138.7566680908203, + -38.567527770996094, + 1.9649295806884766 + ], + [ + -139.5776824951172, + -38.567527770996094, + 1.9649295806884766 + ], + [ + -139.5776824951172, + -37.80799865722656, + 1.9649295806884766 + ], + [ + -138.7566680908203, + -37.80799865722656, + 1.9649295806884766 + ] + ], + "corners_2d": [ + [ + 624.9691871266542, + 389.17839854920203 + ], + [ + 652.3937387892576, + 391.1732630615624 + ], + [ + 654.7732052828721, + 373.9172712521545 + ], + [ + 627.8715316723984, + 371.9985754773107 + ], + [ + 624.3333958617608, + 345.2415516698271 + ], + [ + 652.9192058204641, + 347.2185890995347 + ], + [ + 655.3869668381617, + 330.1291701645698 + ], + [ + 627.3687954692166, + 328.230721665317 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 43, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 40, + "semantic_pixel_counts": { + "1": 342926, + "2": 127699, + "3": 165975, + "4": 65917, + "6": 13208, + "10": 4, + "12": 3238, + "14": 3888, + "20": 368, + "24": 8429, + "25": 189948 + }, + "instance_pixel_counts": { + "3413": 11557, + "3662": 54221, + "11605": 3338, + "15960": 8242, + "17240": 4163, + "17496": 702, + "20565": 1479, + "21907": 7858, + "21909": 1517, + "22421": 1267, + "22931": 53913, + "22933": 5645, + "23443": 280661, + "25856": 101, + "36096": 629, + "36352": 612, + "36608": 548, + "36864": 616, + "37120": 257, + "37376": 576, + "41728": 3888, + "47201": 3015, + "47713": 259, + "48225": 90, + "48737": 12446, + "48980": 149601, + "49249": 1759, + "49761": 2483, + "51297": 76554, + "51526": 11696, + "51809": 11112, + "52321": 2698, + "52833": 156, + "54366": 156274, + "54878": 33674, + "56970": 191, + "57482": 10404, + "57994": 6532, + "59737": 368, + "65426": 494 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 629, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -38.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37995603680610657, + "y": 0.4603906273841858, + "z": 0.8889444470405579 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.5914410237922, + "ymin": 327.57188689655953, + "xmax": 657.1023509717232, + "ymax": 391.79787113214593 + }, + "corners_3d": [ + [ + -138.706787109375, + -38.567718505859375, + 0.20759087800979614 + ], + [ + -139.6275634765625, + -38.567718505859375, + 0.20759087800979614 + ], + [ + -139.6275634765625, + -37.80780792236328, + 0.20759087800979614 + ], + [ + -138.706787109375, + -37.80780792236328, + 0.20759087800979614 + ], + [ + -138.706787109375, + -38.567718505859375, + 1.9854798316955566 + ], + [ + -139.6275634765625, + -38.567718505859375, + 1.9854798316955566 + ], + [ + -139.6275634765625, + -37.80780792236328, + 1.9854798316955566 + ], + [ + -138.706787109375, + -37.80780792236328, + 1.9854798316955566 + ] + ], + "corners_2d": [ + [ + 623.3142025627984, + 389.5604132596524 + ], + [ + 654.0565112611287, + 391.79787113214593 + ], + [ + 656.4042616557066, + 374.5270869397766 + ], + [ + 626.248103124742, + 372.37506282476267 + ], + [ + 622.5914410237922, + 344.5839695913707 + ], + [ + 654.6669752979818, + 346.80095670886595 + ], + [ + 657.1023509717232, + 329.70066060110264 + ], + [ + 625.6643822329698, + 327.57188689655953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 612, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -35.190059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4267187714576721, + "y": 0.5116638541221619, + "z": 0.8758038282394409 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 503.7657419023722, + "ymin": 261.81014610829806, + "xmax": 540.506665715484, + "ymax": 323.098643193666 + }, + "corners_3d": [ + [ + -134.6294403076172, + -35.713836669921875, + 0.06833404302597046 + ], + [ + -135.63040161132812, + -35.50107192993164, + 0.06833404302597046 + ], + [ + -135.4529571533203, + -34.666282653808594, + 0.06833404302597046 + ], + [ + -134.45199584960938, + -34.87904739379883, + 0.06833404302597046 + ], + [ + -134.6294403076172, + -35.713836669921875, + 1.819941759109497 + ], + [ + -135.63040161132812, + -35.50107192993164, + 1.819941759109497 + ], + [ + -135.4529571533203, + -34.666282653808594, + 1.819941759109497 + ], + [ + -134.45199584960938, + -34.87904739379883, + 1.819941759109497 + ] + ], + "corners_2d": [ + [ + 508.88728406191103, + 323.098643193666 + ], + [ + 540.506665715484, + 320.9945150794507 + ], + [ + 539.7899946837747, + 304.6695589377147 + ], + [ + 508.7968243759821, + 306.69103749776934 + ], + [ + 503.7657419023722, + 279.9429682483762 + ], + [ + 536.6305285443264, + 277.87106770918405 + ], + [ + 535.9662346925181, + 261.81014610829806 + ], + [ + 503.777434011209, + 263.7975858881832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 548, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -31.24505043029785, + "z": 1.092165231704712 + }, + "extent": { + "x": 0.4630468785762787, + "y": 0.4180224537849426, + "z": 0.9361390471458435 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 711.5887979504683, + "ymin": 200.94685705346606, + "xmax": 740.7626629774262, + "ymax": 261.22088306048335 + }, + "corners_3d": [ + [ + -141.05567932128906, + -31.749256134033203, + 0.1560261845588684 + ], + [ + -141.8871307373047, + -31.661865234375, + 0.1560261845588684 + ], + [ + -141.7903289794922, + -30.7408447265625, + 0.1560261845588684 + ], + [ + -140.95887756347656, + -30.828235626220703, + 0.1560261845588684 + ], + [ + -141.05567932128906, + -31.749256134033203, + 2.0283043384552 + ], + [ + -141.8871307373047, + -31.661865234375, + 2.0283043384552 + ], + [ + -141.7903289794922, + -30.7408447265625, + 2.0283043384552 + ], + [ + -140.95887756347656, + -30.828235626220703, + 2.0283043384552 + ] + ], + "corners_2d": [ + [ + 713.0591579859619, + 261.2207311535128 + ], + [ + 737.0003963399674, + 261.22088306048335 + ], + [ + 735.0480812887271, + 245.8364194393485 + ], + [ + 711.5887979504683, + 245.83627358681562 + ], + [ + 715.8928368807665, + 215.97002638317392 + ], + [ + 740.7626629774262, + 215.97017483858826 + ], + [ + 738.6575941269509, + 200.94699936968314 + ], + [ + 714.3074286638038, + 200.94685705346606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 616, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -38.18776321411133, + "z": 1.0935274362564087 + }, + "extent": { + "x": 0.41355466842651367, + "y": 0.36415648460388184, + "z": 0.8789017200469971 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 746.9661564222741, + "ymin": 335.7280172088969, + "xmax": 777.5072993287614, + "ymax": 400.98864161109594 + }, + "corners_3d": [ + [ + -142.38278198242188, + -38.601318359375, + 0.21462571620941162 + ], + [ + -143.111083984375, + -38.601318359375, + 0.21462571620941162 + ], + [ + -143.111083984375, + -37.774208068847656, + 0.21462571620941162 + ], + [ + -142.38278198242188, + -37.774208068847656, + 0.21462571620941162 + ], + [ + -142.38278198242188, + -38.601318359375, + 1.9724291563034058 + ], + [ + -143.111083984375, + -38.601318359375, + 1.9724291563034058 + ], + [ + -143.111083984375, + -37.774208068847656, + 1.9724291563034058 + ], + [ + -142.38278198242188, + -37.774208068847656, + 1.9724291563034058 + ] + ], + "corners_2d": [ + [ + 746.9661564222741, + 399.18079949827563 + ], + [ + 771.788520208996, + 400.98864161109594 + ], + [ + 771.871282708458, + 381.8325938873932 + ], + [ + 747.5737237353912, + 380.1004844815615 + ], + [ + 751.5981191747093, + 354.6343469363847 + ], + [ + 777.5072993287614, + 356.427500251648 + ], + [ + 777.4672480656814, + 337.4429042981673 + ], + [ + 752.1293064014031, + 335.7280172088969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 257, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.78268432617188, + "y": -49.31512451171875, + "z": 1.0943771600723267 + }, + "extent": { + "x": 0.3714892864227295, + "y": 0.38426271080970764, + "z": 0.8661516308784485 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 734.3547523133932, + "ymin": 690.0943216792725, + "xmax": 782.7759411200922, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -142.3616943359375, + -49.644412994384766, + 0.22822552919387817 + ], + [ + -143.12600708007812, + -49.72474670410156, + 0.22822552919387817 + ], + [ + -143.20367431640625, + -48.985836029052734, + 0.22822552919387817 + ], + [ + -142.43936157226562, + -48.90550231933594, + 0.22822552919387817 + ], + [ + -142.3616943359375, + -49.644412994384766, + 1.96052885055542 + ], + [ + -143.12600708007812, + -49.72474670410156, + 1.96052885055542 + ], + [ + -143.20367431640625, + -48.985836029052734, + 1.96052885055542 + ], + [ + -142.43936157226562, + -48.90550231933594, + 1.96052885055542 + ] + ], + "corners_2d": [ + [ + 734.3547523133932, + 764.5436553189222 + ], + [ + 770.9626895735264, + 772.067898024851 + ], + [ + 774.7335515123406, + 738.5498049970524 + ], + [ + 739.0607324203288, + 731.4148381153042 + ], + [ + 740.1120004496213, + 724.0679568282188 + ], + [ + 779.0039931324118, + 731.7991807523495 + ], + [ + 782.7759411200922, + 697.4020932351498 + ], + [ + 744.937776321896, + 690.0943216792725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 576, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -46.35797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3149121105670929, + "y": 0.5054223537445068, + "z": 0.8970292210578918 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 101.88328172414151, + "ymin": 518.4309373426483, + "xmax": 180.0576665913644, + "ymax": 594.3926862537337 + }, + "corners_3d": [ + [ + -127.36199188232422, + -46.5609245300293, + 0.04710376262664795 + ], + [ + -128.3507537841797, + -46.77109146118164, + 0.04710376262664795 + ], + [ + -128.481689453125, + -46.155033111572266, + 0.04710376262664795 + ], + [ + -127.4929428100586, + -45.94486618041992, + 0.04710376262664795 + ], + [ + -127.36199188232422, + -46.5609245300293, + 1.8411622047424316 + ], + [ + -128.3507537841797, + -46.77109146118164, + 1.8411622047424316 + ], + [ + -128.481689453125, + -46.155033111572266, + 1.8411622047424316 + ], + [ + -127.4929428100586, + -45.94486618041992, + 1.8411622047424316 + ] + ], + "corners_2d": [ + [ + 129.10908562094505, + 583.6385605254209 + ], + [ + 163.37000775850402, + 594.3926862537337 + ], + [ + 180.0576665913644, + 573.9553235484866 + ], + [ + 146.26872566658272, + 563.596187579038 + ], + [ + 101.88328172414151, + 538.6474641795833 + ], + [ + 137.70508687803766, + 549.5114274110003 + ], + [ + 155.7769037762459, + 528.8751270439144 + ], + [ + 120.46802664255722, + 518.4309373426483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3888, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 357.1775810265765, + "ymin": 96.9505552933021, + "xmax": 451.57378375584005, + "ymax": 198.24214838960506 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 364.3844550618077, + 195.05142150337645 + ], + [ + 415.77569056211684, + 198.24214838960506 + ], + [ + 451.57378375584005, + 130.19056358815314 + ], + [ + 405.0022628677957, + 127.58792625492524 + ], + [ + 357.1775810265765, + 162.81469248726637 + ], + [ + 409.88510586491174, + 165.9380221599595 + ], + [ + 447.11539314069864, + 99.48533337555159 + ], + [ + 399.46532729685043, + 96.9505552933021 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 466.94922435623914, + "ymin": 0.0, + "xmax": 669.8195688251151, + "ymax": 77.63125883262467 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 663.5689009112359, + 77.63125883262467 + ], + [ + 664.9292818116244, + 70.58655969028138 + ], + [ + 498.64061860489176, + 62.83528767071857 + ], + [ + 495.28447002280063, + 69.68973810356897 + ], + [ + 668.2604135001991, + -191.1456467159802 + ], + [ + 669.8195688251151, + -195.6715969766592 + ], + [ + 471.3577142208951, + -200.62636090259195 + ], + [ + 466.94922435623914, + -196.246206221374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 295.3157177077294, + "ymin": 0.0, + "xmax": 617.6271087923398, + "ymax": 329.96167992524204 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 614.8421237266581, + 329.96167992524204 + ], + [ + 617.6271087923398, + 315.5397030377059 + ], + [ + 382.5934019374711, + 299.8450251899915 + ], + [ + 375.8024489217715, + 313.71456931158303 + ], + [ + 606.9777505500535, + -13.25298911994264 + ], + [ + 610.791411574062, + -24.323367952585613 + ], + [ + 305.9039508461335, + -36.23603713632184 + ], + [ + 295.3157177077294, + -25.715858941326985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1097.7164749658764, + "ymin": 0.0, + "xmax": 1180.8118408041203, + "ymax": 9.888032236168442 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1115.97953009893, + 9.537702365729388 + ], + [ + 1124.6985804168517, + 9.888032236168442 + ], + [ + 1105.9554601059865, + -17.65674376333442 + ], + [ + 1097.7164749658764, + -17.970466947811133 + ], + [ + 1171.0413988908936, + -154.539452774526 + ], + [ + 1180.8118408041203, + -154.2736973778076 + ], + [ + 1156.68642475298, + -175.04131657538608 + ], + [ + 1147.5147024715952, + -175.27637278089992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.62613288541996, + "ymin": 0.0, + "xmax": 446.69331737216976, + "ymax": 4.060562864210908 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 230.43495809719622, + -8.904790634451217 + ], + [ + 227.0060451778594, + -5.8623444310759965 + ], + [ + 444.5541595924504, + 4.060562864210908 + ], + [ + 446.69331737216976, + 0.8958378475581412 + ], + [ + 180.81612867876186, + -182.97309185036158 + ], + [ + 176.62613288541996, + -180.76208637298623 + ], + [ + 420.1770657144673, + -173.5279170620829 + ], + [ + 422.75214587525375, + -175.83895194082572 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 695.4977022394373, + "ymin": 0.0, + "xmax": 724.8128053230779, + "ymax": 18.875508299722412 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 695.4977022394373, + 18.490844239198054 + ], + [ + 703.8828098057932, + 18.875508299722412 + ], + [ + 716.6095369512198, + -60.74214792847829 + ], + [ + 709.4949005529991, + -61.01842677906478 + ], + [ + 702.6420314149605, + -162.94446072595667 + ], + [ + 712.1134179901513, + -162.66130859356963 + ], + [ + 724.8128053230779, + -220.14377235767995 + ], + [ + 716.9311951404854, + -220.33938237739562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 477.49817168942843, + "xmax": 507.0685185394815, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 498.9248457209979, + 930.2365061197407 + ], + [ + 507.0685185394815, + 888.0646947859536 + ], + [ + 116.48326043680731, + 843.3367437256588 + ], + [ + 97.15999476456409, + 882.8017343129549 + ], + [ + 400.9794258664804, + 584.7234641569657 + ], + [ + 419.28592610021053, + 531.5829539198369 + ], + [ + -211.15360021403626, + 477.49817168942843 + ], + [ + -259.0634487345883, + 525.1000838444704 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00044/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00044/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd6a0853317dc0c5e7f9e8c940df6f6e225ba5fd --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00044/meta.json @@ -0,0 +1,1618 @@ +{ + "frame_id": 44, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 22.0, + "sim_timestamp": 577.0238432248589 + }, + "drone_pose": { + "x": -141.58696978817704, + "y": -58.55943391834642, + "z": 20.001968924658723, + "pitch": -41.979841134271865, + "yaw": 83.38685639624215, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.08561134338378906, + -0.7384340763092041, + 0.6688690185546875, + 41.98503875732422 + ], + [ + 0.9933463335037231, + 0.11516493558883667, + 2.9802322387695312e-08, + -133.90090942382812 + ], + [ + -0.07703027129173279, + 0.6644186973571777, + 0.7433802485466003, + -64.68354034423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.81374365786883, + "y": -58.008420960344, + "z": 20.001546962085797 + }, + "t1_image_uv": [ + 1354.816992136412, + -502.3711490834685 + ], + "t1_depth": 0.3877545286526392 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -37.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.26477360638652, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 604, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -37.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.40834471583366394, + "y": 0.31050413846969604, + "z": 0.8800204396247864 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.5461339723212, + "ymin": 327.45342477369934, + "xmax": 652.2083300278929, + "ymax": 391.95208410887375 + }, + "corners_3d": [ + [ + -138.85667419433594, + -38.096107482910156, + 0.21651488542556763 + ], + [ + -139.47767639160156, + -38.096107482910156, + 0.21651488542556763 + ], + [ + -139.47767639160156, + -37.2794189453125, + 0.21651488542556763 + ], + [ + -138.85667419433594, + -37.2794189453125, + 0.21651488542556763 + ], + [ + -138.85667419433594, + -38.096107482910156, + 1.9765558242797852 + ], + [ + -139.47767639160156, + -38.096107482910156, + 1.9765558242797852 + ], + [ + -139.47767639160156, + -37.2794189453125, + 1.9765558242797852 + ], + [ + -138.85667419433594, + -37.2794189453125, + 1.9765558242797852 + ] + ], + "corners_2d": [ + [ + 628.0591483949682, + 390.28574784323223 + ], + [ + 648.7972704861699, + 391.95208410887375 + ], + [ + 651.7149241215224, + 373.40700175273525 + ], + [ + 631.4000643991606, + 371.80888900438697 + ], + [ + 627.5461339723212, + 345.7478888810832 + ], + [ + 649.1759620865405, + 347.3993730136725 + ], + [ + 652.2083300278929, + 329.03447934512707 + ], + [ + 631.0385423493944, + 327.45342477369934 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 44, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 342537, + "2": 128093, + "3": 169906, + "4": 68128, + "6": 12892, + "10": 4, + "12": 3300, + "14": 4004, + "20": 350, + "24": 8505, + "25": 183881 + }, + "instance_pixel_counts": { + "3413": 11971, + "3662": 56127, + "11605": 3508, + "15960": 7561, + "17240": 4460, + "17496": 749, + "20565": 1595, + "21907": 8823, + "21909": 1669, + "22421": 1286, + "22931": 55096, + "22933": 5550, + "23443": 278618, + "25856": 122, + "36096": 604, + "36352": 601, + "36608": 546, + "36864": 639, + "37120": 151, + "37376": 759, + "41728": 4004, + "47201": 3350, + "47713": 289, + "48225": 120, + "48737": 12826, + "48980": 152832, + "49249": 1794, + "49761": 2495, + "51297": 76048, + "51526": 12001, + "51809": 11013, + "52321": 2686, + "52833": 186, + "54366": 154688, + "54878": 29193, + "56970": 295, + "57482": 10553, + "57994": 6438, + "59737": 350 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 604, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -37.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3704003691673279, + "y": 0.4210253953933716, + "z": 0.8711165189743042 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.8785101062006, + "ymin": 328.2384470143872, + "xmax": 655.8467244254435, + "ymax": 391.1536056108362 + }, + "corners_3d": [ + [ + -138.74615478515625, + -38.058162689208984, + 0.2254188060760498 + ], + [ + -139.58819580078125, + -38.058162689208984, + 0.2254188060760498 + ], + [ + -139.58819580078125, + -37.31736373901367, + 0.2254188060760498 + ], + [ + -138.74615478515625, + -37.31736373901367, + 0.2254188060760498 + ], + [ + -138.74615478515625, + -38.058162689208984, + 1.9676518440246582 + ], + [ + -139.58819580078125, + -38.058162689208984, + 1.9676518440246582 + ], + [ + -139.58819580078125, + -37.31736373901367, + 1.9676518440246582 + ], + [ + -138.74615478515625, + -37.31736373901367, + 1.9676518440246582 + ] + ], + "corners_2d": [ + [ + 624.535162020097, + 388.8986571563495 + ], + [ + 652.6334682498706, + 391.1536056108362 + ], + [ + 655.2118041744089, + 374.3216931269269 + ], + [ + 627.6342916696428, + 372.1506665937458 + ], + [ + 623.8785101062006, + 344.8223076767695 + ], + [ + 653.1713102175204, + 347.05717616595615 + ], + [ + 655.8467244254435, + 330.38670800597333 + ], + [ + 627.1194928416356, + 328.2384470143872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 601, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -34.690059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4455273747444153, + "y": 0.44010013341903687, + "z": 0.8826314210891724 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 507.1355656569666, + "ymin": 260.6746452516212, + "xmax": 539.362924996834, + "ymax": 322.54640143063955 + }, + "corners_3d": [ + [ + -134.70335388183594, + -35.21735382080078, + 0.061506450176239014 + ], + [ + -135.56431579589844, + -35.03434753417969, + 0.061506450176239014 + ], + [ + -135.37904357910156, + -34.16276550292969, + 0.061506450176239014 + ], + [ + -134.51808166503906, + -34.34577178955078, + 0.061506450176239014 + ], + [ + -134.70335388183594, + -35.21735382080078, + 1.8267693519592285 + ], + [ + -135.56431579589844, + -35.03434753417969, + 1.8267693519592285 + ], + [ + -135.37904357910156, + -34.16276550292969, + 1.8267693519592285 + ], + [ + -134.51808166503906, + -34.34577178955078, + 1.8267693519592285 + ] + ], + "corners_2d": [ + [ + 512.1695699155633, + 322.54640143063955 + ], + [ + 539.362924996834, + 320.9207450616086 + ], + [ + 538.9253965611045, + 303.86345335864445 + ], + [ + 512.2947253811351, + 305.42249439138004 + ], + [ + 507.1355656569666, + 279.0549132468037 + ], + [ + 535.4079071905055, + 277.4542939373763 + ], + [ + 535.0385010556299, + 260.6746452516212 + ], + [ + 507.3738832271589, + 262.20717778970123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 546, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -30.74505043029785, + "z": 1.0921359062194824 + }, + "extent": { + "x": 0.466987282037735, + "y": 0.4539282023906708, + "z": 0.9452716112136841 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 712.7760869520854, + "ymin": 200.9484018764369, + "xmax": 743.9690221853629, + "ymax": 262.01407752654313 + }, + "corners_3d": [ + [ + -141.02037048339844, + -31.256927490234375, + 0.14686429500579834 + ], + [ + -141.9232635498047, + -31.162031173706055, + 0.14686429500579834 + ], + [ + -141.8256378173828, + -30.233173370361328, + 0.14686429500579834 + ], + [ + -140.92274475097656, + -30.32806968688965, + 0.14686429500579834 + ], + [ + -141.02037048339844, + -31.256927490234375, + 2.037407398223877 + ], + [ + -141.9232635498047, + -31.162031173706055, + 2.037407398223877 + ], + [ + -141.8256378173828, + -30.233173370361328, + 2.037407398223877 + ], + [ + -140.92274475097656, + -30.32806968688965, + 2.037407398223877 + ] + ], + "corners_2d": [ + [ + 713.9982237690525, + 261.84890880587704 + ], + [ + 740.0424891200267, + 262.01407752654313 + ], + [ + 738.2910427519887, + 246.45815964789776 + ], + [ + 712.7760869520854, + 246.29963240065393 + ], + [ + 716.9019034705402, + 216.1307955615179 + ], + [ + 743.9690221853629, + 216.29219704110955 + ], + [ + 742.0674576484022, + 201.10306669760797 + ], + [ + 715.571584764758, + 200.9484018764369 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 639, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -37.68776321411133, + "z": 1.0934884548187256 + }, + "extent": { + "x": 0.3904101550579071, + "y": 0.4111926257610321, + "z": 0.8720300793647766 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 745.2794634634122, + "ymin": 337.0815397981203, + "xmax": 779.3034744236845, + "ymax": 401.41164877170576 + }, + "corners_3d": [ + [ + -142.3357391357422, + -38.07817459106445, + 0.22145837545394897 + ], + [ + -143.1581268310547, + -38.07817459106445, + 0.22145837545394897 + ], + [ + -143.1581268310547, + -37.2973518371582, + 0.22145837545394897 + ], + [ + -142.3357391357422, + -37.2973518371582, + 0.22145837545394897 + ], + [ + -142.3357391357422, + -38.07817459106445, + 1.9655184745788574 + ], + [ + -143.1581268310547, + -38.07817459106445, + 1.9655184745788574 + ], + [ + -143.1581268310547, + -37.2973518371582, + 1.9655184745788574 + ], + [ + -142.3357391357422, + -37.2973518371582, + 1.9655184745788574 + ] + ], + "corners_2d": [ + [ + 745.2794634634122, + 399.15893505589435 + ], + [ + 773.3321939586842, + 401.41164877170576 + ], + [ + 773.6603233115778, + 383.2873937424781 + ], + [ + 746.1671122776189, + 381.1238796396782 + ], + [ + 749.8073217433603, + 354.9560197915119 + ], + [ + 779.0814672348035, + 357.19083415353197 + ], + [ + 779.3034744236845, + 339.22417122502605 + ], + [ + 750.6381047431364, + 337.0815397981203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 151, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.78268432617188, + "y": -48.81512451171875, + "z": 1.094338059425354 + }, + "extent": { + "x": 0.40248048305511475, + "y": 0.32471194863319397, + "z": 0.8802053928375244 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 731.0426141731431, + "ymin": 690.3548500217665, + "xmax": 774.4034610630323, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -142.4176788330078, + -49.18145751953125, + 0.2141326665878296 + ], + [ + -143.0635528564453, + -49.24934005737305, + 0.2141326665878296 + ], + [ + -143.14768981933594, + -48.44879150390625, + 0.2141326665878296 + ], + [ + -142.50181579589844, + -48.38090896606445, + 0.2141326665878296 + ], + [ + -142.4176788330078, + -49.18145751953125, + 1.9745434522628784 + ], + [ + -143.0635528564453, + -49.24934005737305, + 1.9745434522628784 + ], + [ + -143.14768981933594, + -48.44879150390625, + 1.9745434522628784 + ], + [ + -142.50181579589844, + -48.38090896606445, + 1.9745434522628784 + ] + ], + "corners_2d": [ + [ + 731.0426141731431, + 768.2384596205918 + ], + [ + 761.9677499645525, + 774.9486961202122 + ], + [ + 766.7090449360244, + 738.6440376110608 + ], + [ + 736.6332587749696, + 732.3084728655909 + ], + [ + 736.7110732782407, + 727.2264780516126 + ], + [ + 769.60422577829, + 734.1269510579323 + ], + [ + 774.4034610630323, + 696.8470507902077 + ], + [ + 742.4695898539103, + 690.3548500217665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 759, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -45.85797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.2923876941204071, + "y": 0.5079370141029358, + "z": 0.9034649729728699 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 101.27526522237656, + "ymin": 514.7323710265645, + "xmax": 178.261802922051, + "ymax": 589.7128128109191 + }, + "corners_3d": [ + [ + -127.36421966552734, + -46.03837203979492, + 0.04066801071166992 + ], + [ + -128.35789489746094, + -46.24958419799805, + 0.04066801071166992 + ], + [ + -128.47947692871094, + -45.67758560180664, + 0.04066801071166992 + ], + [ + -127.48580169677734, + -45.466373443603516, + 0.04066801071166992 + ], + [ + -127.36421966552734, + -46.03837203979492, + 1.8475979566574097 + ], + [ + -128.35789489746094, + -46.24958419799805, + 1.8475979566574097 + ], + [ + -128.47947692871094, + -45.67758560180664, + 1.8475979566574097 + ], + [ + -127.48580169677734, + -45.466373443603516, + 1.8475979566574097 + ] + ], + "corners_2d": [ + [ + 128.6151613950089, + 578.6454472275555 + ], + [ + 162.59179963561667, + 589.7128128109191 + ], + [ + 178.261802922051, + 570.9314902666334 + ], + [ + 144.7070260214103, + 560.2391781292432 + ], + [ + 101.27526522237656, + 533.2933818216468 + ], + [ + 136.79330852049094, + 544.4700464894936 + ], + [ + 153.76139769102696, + 525.5104670451649 + ], + [ + 118.70136039804584, + 514.7323710265645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4004, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 356.3325068393211, + "ymin": 101.08470680881368, + "xmax": 452.72038585821224, + "ymax": 203.85636298835647 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 363.62413256330126, + 200.30201736122774 + ], + [ + 415.2728367216039, + 203.85636298835647 + ], + [ + 452.72038585821224, + 134.7477659102469 + ], + [ + 405.92327452150175, + 131.85235611568504 + ], + [ + 356.3325068393211, + 167.93955100624143 + ], + [ + 409.31313442450227, + 171.4204513270872 + ], + [ + 448.25040604197795, + 103.90572646405849 + ], + [ + 400.36227974745896, + 101.08470680881368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 469.76824881465603, + "ymin": 0.0, + "xmax": 674.5335043564662, + "ymax": 82.38002220194733 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 667.320064675334, + 82.38002220194733 + ], + [ + 668.8161594339336, + 75.21543617101815 + ], + [ + 501.38129459714054, + 66.53471141458226 + ], + [ + 497.8674662216287, + 73.48478374690751 + ], + [ + 672.8211536789081, + -188.35721857269118 + ], + [ + 674.5335043564662, + -192.97751964039912 + ], + [ + 474.3709855350856, + -198.54524262965344 + ], + [ + 469.76824881465603, + -194.09018348995698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 289.792287143408, + "ymin": 0.0, + "xmax": 616.6339340427552, + "ymax": 339.87124897369984 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 613.5512533168605, + 339.87124897369984 + ], + [ + 616.6339340427552, + 325.1087273221743 + ], + [ + 379.58800046564824, + 307.4321353483145 + ], + [ + 372.4419977048132, + 321.5663589834019 + ], + [ + 605.1423211518792, + -5.744751229396513 + ], + [ + 609.3754626735973, + -17.16670384043738 + ], + [ + 300.93937062309465, + -30.678134850809897 + ], + [ + 289.792287143408, + -19.888702573114188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1108.1603197854283, + "ymin": 0.0, + "xmax": 1193.4008491208215, + "ymax": 15.479385766832081 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1126.4071176355678, + 15.084158434045662 + ], + [ + 1135.2622458110745, + 15.479385766832081 + ], + [ + 1116.522052183646, + -12.682029053265978 + ], + [ + 1108.1603197854283, + -13.035563821260666 + ], + [ + 1183.457663607403, + -150.5123087307594 + ], + [ + 1193.4008491208215, + -150.21163157365743 + ], + [ + 1169.0922738595273, + -171.5023616481334 + ], + [ + 1159.7667904121136, + -171.76793074860893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 180.11323633933642, + "ymin": 0.0, + "xmax": 450.45796172056924, + "ymax": 6.598661995629698 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 233.85124475531637, + -7.429155086671642 + ], + [ + 230.34804910013162, + -4.365230892535635 + ], + [ + 448.24431353832483, + 6.598661995629698 + ], + [ + 450.45796172056924, + 3.3991634818563625 + ], + [ + 184.3887928167661, + -182.11280911038762 + ], + [ + 180.11323633933642, + -179.8837056559953 + ], + [ + 424.1485906589535, + -171.87957152143792 + ], + [ + 426.80834251180477, + -174.21981079679767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.5994495652745, + "ymin": 0.0, + "xmax": 732.2076127766444, + "ymax": 22.75989718318806 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 700.5994495652745, + 22.33205171947236 + ], + [ + 709.0534344620161, + 22.75989718318806 + ], + [ + 723.2178847439975, + -58.033802148640916 + ], + [ + 716.0504733721781, + -58.340457707325584 + ], + [ + 708.479550968566, + -160.31769794090997 + ], + [ + 718.0411097825728, + -160.00203444371175 + ], + [ + 732.2076127766444, + -218.45045868304942 + ], + [ + 724.2596697515418, + -218.6679419422925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 502.8858486693176, + "xmax": 493.361634324288, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 484.20823377495697, + 959.2767056122109 + ], + [ + 493.361634324288, + 915.4423646955039 + ], + [ + 97.99719870707702, + 864.3963426917844 + ], + [ + 77.42377019832725, + 905.0889454019441 + ], + [ + 372.15476756304474, + 622.907228016011 + ], + [ + 393.20994287291114, + 566.0957055633332 + ], + [ + -250.3113451674178, + 502.8858486693176 + ], + [ + -302.11286998771004, + 553.0253353743753 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00045/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00045/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0af4f0d88e3bde2cf7b9f8e7c2839f0fe55e86ba --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00045/meta.json @@ -0,0 +1,1619 @@ +{ + "frame_id": 45, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 22.5, + "sim_timestamp": 588.6839553897735 + }, + "drone_pose": { + "x": -141.81374365786883, + "y": -58.008420960344, + "z": 20.001546962085797, + "pitch": -42.01079506680771, + "yaw": 82.75585345062339, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.09369289875030518, + -0.7370878458023071, + 0.6692706346511841, + 42.657806396484375 + ], + [ + 0.9920178651809692, + 0.1260976791381836, + 0.0, + -133.36703491210938 + ], + [ + -0.08439350128173828, + 0.6639283895492554, + 0.7430187463760376, + -65.34312438964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.03753266320754, + "y": -57.45109565274055, + "z": 20.001207436119156 + }, + "t1_image_uv": [ + 1359.3525960811244, + -503.59080400708626 + ], + "t1_depth": 0.39005750450619653 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -37.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.24718638516046, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 593, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -37.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3904150426387787, + "y": 0.4015429615974426, + "z": 0.8704107403755188 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.3265517981148, + "ymin": 327.76585426730855, + "xmax": 655.3920242700266, + "ymax": 391.6525084214717 + }, + "corners_3d": [ + [ + -138.765625, + -37.57817840576172, + 0.2261245846748352 + ], + [ + -139.5687255859375, + -37.57817840576172, + 0.2261245846748352 + ], + [ + -139.5687255859375, + -36.79734802246094, + 0.2261245846748352 + ], + [ + -138.765625, + -36.79734802246094, + 0.2261245846748352 + ], + [ + -138.765625, + -37.57817840576172, + 1.9669461250305176 + ], + [ + -139.5687255859375, + -37.57817840576172, + 1.9669461250305176 + ], + [ + -139.5687255859375, + -36.79734802246094, + 1.9669461250305176 + ], + [ + -138.765625, + -36.79734802246094, + 1.9669461250305176 + ] + ], + "corners_2d": [ + [ + 624.9654986340463, + 389.29253505921804 + ], + [ + 651.7576073282846, + 391.6525084214717 + ], + [ + 654.7753452044615, + 373.91184984922984 + ], + [ + 628.504341437903, + 371.6442497343984 + ], + [ + 624.3265517981148, + 345.2429848723594 + ], + [ + 652.258665671052, + 347.58229413360056 + ], + [ + 655.3920242700266, + 330.00982229395686 + ], + [ + 628.0258365791695, + 327.76585426730855 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 45, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 40, + "semantic_pixel_counts": { + "1": 342548, + "2": 128060, + "3": 173960, + "4": 70270, + "6": 12215, + "10": 7, + "12": 3980, + "14": 4107, + "20": 314, + "24": 8680, + "25": 177459 + }, + "instance_pixel_counts": { + "3413": 12413, + "3662": 57980, + "11605": 3678, + "15960": 6503, + "17240": 4767, + "17496": 796, + "20565": 1708, + "21907": 9837, + "21909": 1797, + "22421": 1281, + "22931": 56320, + "22933": 5602, + "23443": 276391, + "25856": 149, + "36096": 593, + "36352": 612, + "36608": 551, + "36864": 628, + "37120": 754, + "37376": 842, + "41728": 4107, + "47201": 3613, + "47713": 360, + "48225": 147, + "48737": 13224, + "48980": 156161, + "49249": 1830, + "49761": 2538, + "51297": 75118, + "51526": 12290, + "51809": 10913, + "52321": 2651, + "52833": 216, + "53345": 8, + "54366": 152896, + "54878": 24563, + "56970": 398, + "57482": 10708, + "57994": 6336, + "59737": 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": 141, + "instance_id": 36096, + "pixel_count": 593, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -37.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.40467771887779236, + "y": 0.5125158429145813, + "z": 0.9053258299827576 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.3921287075951, + "ymin": 326.227142785061, + "xmax": 659.2554759930902, + "ymax": 393.15768863393873 + }, + "corners_3d": [ + [ + -138.6546630859375, + -37.59244155883789, + 0.19120949506759644 + ], + [ + -139.6796875, + -37.59244155883789, + 0.19120949506759644 + ], + [ + -139.6796875, + -36.783084869384766, + 0.19120949506759644 + ], + [ + -138.6546630859375, + -36.783084869384766, + 0.19120949506759644 + ], + [ + -138.6546630859375, + -37.59244155883789, + 2.001861095428467 + ], + [ + -139.6796875, + -37.59244155883789, + 2.001861095428467 + ], + [ + -139.6796875, + -36.783084869384766, + 2.001861095428467 + ], + [ + -138.6546630859375, + -36.783084869384766, + 2.001861095428467 + ] + ], + "corners_2d": [ + [ + 621.2228552459878, + 390.14296956256663 + ], + [ + 655.4029714927417, + 393.15768863393873 + ], + [ + 658.4537097310398, + 374.7528903900299 + ], + [ + 624.9618865735562, + 371.8602982500891 + ], + [ + 620.3921287075951, + 344.3247898492182 + ], + [ + 656.0868176758847, + 347.3121420075921 + ], + [ + 659.2554759930902, + 329.08828434084745 + ], + [ + 624.3107611792259, + 326.227142785061 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 612, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -34.190059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44969239830970764, + "y": 0.45359987020492554, + "z": 0.883611261844635 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 507.81571835497846, + "ymin": 259.76850752888276, + "xmax": 540.8476191777819, + "ymax": 321.7059106526396 + }, + "corners_3d": [ + [ + -134.69100952148438, + -34.72423553466797, + 0.06052660942077637 + ], + [ + -135.57838439941406, + -34.53561782836914, + 0.06052660942077637 + ], + [ + -135.39138793945312, + -33.6558837890625, + 0.06052660942077637 + ], + [ + -134.50401306152344, + -33.84450149536133, + 0.06052660942077637 + ], + [ + -134.69100952148438, + -34.72423553466797, + 1.8277491331100464 + ], + [ + -135.57838439941406, + -34.53561782836914, + 1.8277491331100464 + ], + [ + -135.39138793945312, + -33.6558837890625, + 1.8277491331100464 + ], + [ + -134.50401306152344, + -33.84450149536133, + 1.8277491331100464 + ] + ], + "corners_2d": [ + [ + 512.8305400947512, + 321.7059106526396 + ], + [ + 540.8476191777819, + 320.2270817637024 + ], + [ + 540.6734079367966, + 303.00385791745884 + ], + [ + 513.2419928296742, + 304.4215281175923 + ], + [ + 507.81571835497846, + 278.1675057519041 + ], + [ + 536.944899696405, + 276.71144473868475 + ], + [ + 536.8485989932154, + 259.76850752888276 + ], + [ + 508.3519737665947, + 261.1620559760059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 551, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -30.24505043029785, + "z": 1.092116355895996 + }, + "extent": { + "x": 0.4388964772224426, + "y": 0.5550439357757568, + "z": 0.9318499565124512 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 712.2609916901522, + "ymin": 201.985964907023, + "xmax": 749.0864945299227, + "ymax": 261.7840794328187 + }, + "corners_3d": [ + [ + -140.91688537597656, + -30.739561080932617, + 0.16026639938354492 + ], + [ + -142.02088928222656, + -30.623525619506836, + 0.16026639938354492 + ], + [ + -141.9291229248047, + -29.750539779663086, + 0.16026639938354492 + ], + [ + -140.8251190185547, + -29.866575241088867, + 0.16026639938354492 + ], + [ + -140.91688537597656, + -30.739561080932617, + 2.0239663124084473 + ], + [ + -142.02088928222656, + -30.623525619506836, + 2.0239663124084473 + ], + [ + -141.9291229248047, + -29.750539779663086, + 2.0239663124084473 + ], + [ + -140.8251190185547, + -29.866575241088867, + 2.0239663124084473 + ] + ], + "corners_2d": [ + [ + 713.1226420113844, + 261.37385513517523 + ], + [ + 745.018133789491, + 261.7840794328187 + ], + [ + 743.54606555608, + 247.12563961867428 + ], + [ + 712.2609916901522, + 246.73095140806402 + ], + [ + 715.953809324829, + 216.29014087893952 + ], + [ + 749.0864945299227, + 216.69118051970142 + ], + [ + 747.4777739161358, + 202.37124552964275 + ], + [ + 715.0032913315993, + 201.985964907023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 628, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -37.18776321411133, + "z": 1.093449354171753 + }, + "extent": { + "x": 0.3936816453933716, + "y": 0.5849999785423279, + "z": 0.90022212266922 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 739.1602381133932, + "ymin": 336.56166302374504, + "xmax": 785.7127285740928, + "ymax": 403.7560546098626 + }, + "corners_3d": [ + [ + -142.16192626953125, + -37.581443786621094, + 0.19322723150253296 + ], + [ + -143.33193969726562, + -37.581443786621094, + 0.19322723150253296 + ], + [ + -143.33193969726562, + -36.79408264160156, + 0.19322723150253296 + ], + [ + -142.16192626953125, + -36.79408264160156, + 0.19322723150253296 + ], + [ + -142.16192626953125, + -37.581443786621094, + 1.9936714172363281 + ], + [ + -143.33193969726562, + -37.581443786621094, + 1.9936714172363281 + ], + [ + -143.33193969726562, + -36.79408264160156, + 1.9936714172363281 + ], + [ + -142.16192626953125, + -36.79408264160156, + 1.9936714172363281 + ] + ], + "corners_2d": [ + [ + 739.1602381133932, + 400.23466270573215 + ], + [ + 779.0985803018225, + 403.7560546098626 + ], + [ + 779.6059076726076, + 385.41852557799785 + ], + [ + 740.468733402116, + 382.0375932439297 + ], + [ + 743.5732442682616, + 354.5938274332529 + ], + [ + 785.3141588125897, + 358.08703553224296 + ], + [ + 785.7127285740928, + 339.9095174041389 + ], + [ + 744.8461458930242, + 336.56166302374504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 754, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.2977294921875, + "y": -43.74491500854492, + "z": 1.0930538177490234 + }, + "extent": { + "x": 0.4050195515155792, + "y": 0.42417240142822266, + "z": 0.8749921917915344 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 671.7949233938624, + "ymin": 508.483592601743, + "xmax": 715.297596353709, + "ymax": 585.8936182656645 + }, + "corners_3d": [ + [ + -140.8335418701172, + -44.10337829589844, + 0.218061625957489 + ], + [ + -141.67724609375, + -44.192054748535156, + 0.218061625957489 + ], + [ + -141.7619171142578, + -43.386451721191406, + 0.218061625957489 + ], + [ + -140.918212890625, + -43.29777526855469, + 0.218061625957489 + ], + [ + -140.8335418701172, + -44.10337829589844, + 1.968045949935913 + ], + [ + -141.67724609375, + -44.192054748535156, + 1.968045949935913 + ], + [ + -141.7619171142578, + -43.386451721191406, + 1.968045949935913 + ], + [ + -140.918212890625, + -43.29777526855469, + 1.968045949935913 + ] + ], + "corners_2d": [ + [ + 671.7949233938624, + 579.2148288987596 + ], + [ + 705.8155751233502, + 585.8936182656645 + ], + [ + 711.6265563477712, + 559.2961483466213 + ], + [ + 678.3959097988596, + 552.9381980548558 + ], + [ + 673.4565931110669, + 534.971332949437 + ], + [ + 709.2775445915352, + 541.714481508307 + ], + [ + 715.297596353709, + 514.8864741621778 + ], + [ + 680.3514382221687, + 508.483592601743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 842, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -45.35797882080078, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.30280759930610657, + "y": 0.3110644519329071, + "z": 0.8666181564331055 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 107.17524000142623, + "ymin": 513.2045895678243, + "xmax": 170.2023843052475, + "ymax": 582.7437232337195 + }, + "corners_3d": [ + [ + -127.55461883544922, + -45.58949661254883, + 0.0775342583656311 + ], + [ + -128.16314697265625, + -45.718841552734375, + 0.0775342583656311 + ], + [ + -128.2890625, + -45.126461029052734, + 0.0775342583656311 + ], + [ + -127.68053436279297, + -44.99711608886719, + 0.0775342583656311 + ], + [ + -127.55461883544922, + -45.58949661254883, + 1.8107705116271973 + ], + [ + -128.16314697265625, + -45.718841552734375, + 1.8107705116271973 + ], + [ + -128.2890625, + -45.126461029052734, + 1.8107705116271973 + ], + [ + -127.68053436279297, + -44.99711608886719, + 1.8107705116271973 + ] + ], + "corners_2d": [ + [ + 133.11837381743965, + 575.7895824012794 + ], + [ + 153.67602557925716, + 582.7437232337195 + ], + [ + 170.2023843052475, + 563.5713002609234 + ], + [ + 149.90106450268962, + 556.8594507521423 + ], + [ + 107.17524000142623, + 532.2852984689157 + ], + [ + 128.61661701790194, + 539.3033522136401 + ], + [ + 146.44292991887374, + 519.9659144131427 + ], + [ + 125.2784457567841, + 513.2045895678243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4107, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 355.2999351497774, + "ymin": 105.21000485456699, + "xmax": 453.76036637108484, + "ymax": 209.50129760387014 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 362.6835299774733, + 205.56198327226366 + ], + [ + 414.58234733569907, + 209.50129760387014 + ], + [ + 453.76036637108484, + 139.31457337659867 + ], + [ + 406.74152937759953, + 136.10973062042183 + ], + [ + 355.2999351497774, + 173.07337594069506 + ], + [ + 408.546388552122, + 176.93316048526393 + ], + [ + 449.2753375000048, + 108.33377206957815 + ], + [ + 401.1528142716547, + 105.21000485456699 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 472.53694181391757, + "ymin": 0.0, + "xmax": 679.2468955721978, + "ymax": 87.18289967038663 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 671.0452870748131, + 87.18289967038663 + ], + [ + 672.6852693022424, + 79.89463709963769 + ], + [ + 504.0886762705678, + 70.22886039666224 + ], + [ + 500.4094460525188, + 77.27665847932639 + ], + [ + 677.3712147136665, + -185.5765202753139 + ], + [ + 679.2468955721978, + -190.2950849025657 + ], + [ + 477.3441179511628, + -196.51658699740517 + ], + [ + 472.53694181391757, + -191.9842552379123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 283.7449092621147, + "ymin": 0.0, + "xmax": 615.3065222001657, + "ymax": 350.00728173278145 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 611.9053601946623, + 350.00728173278145 + ], + [ + 615.3065222001657, + 334.8921412592052 + ], + [ + 376.25725643731585, + 315.09802655684587 + ], + [ + 368.7374128519226, + 329.5027623472502 + ], + [ + 602.8163345258428, + 1.977785055035838 + ], + [ + 607.5037369459508, + -9.814099024079383 + ], + [ + 295.4847935573352, + -25.054845597104475 + ], + [ + 283.7449092621147, + -13.986174734029078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1118.8920863754809, + "ymin": 0.0, + "xmax": 1206.3871302182647, + "ymax": 21.231484627894815 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1137.111325058597, + 20.787972974413094 + ], + [ + 1146.109343017828, + 21.231484627894815 + ], + [ + 1127.3826946478475, + -7.577781383055594 + ], + [ + 1118.8920863754809, + -7.974054474060324 + ], + [ + 1196.2615784264322, + -146.38962737119834 + ], + [ + 1206.3871302182647, + -146.0511913234149 + ], + [ + 1181.8948970658025, + -167.89474644451775 + ], + [ + 1172.4071749888828, + -168.1932317317585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.65384296533279, + "ymin": 0.0, + "xmax": 454.2551142997792, + "ymax": 9.092976231733246 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 237.32225325891147, + -6.046970165445032 + ], + [ + 233.7424761463376, + -2.961659397666949 + ], + [ + 451.9637639068205, + 9.092976231733246 + ], + [ + 454.2551142997792, + 5.8581133176196545 + ], + [ + 188.01764409534292, + -181.36302165419704 + ], + [ + 183.65384296533279, + -179.11574725590037 + ], + [ + 428.1527323714612, + -170.30264634667128 + ], + [ + 430.90093949524226, + -172.67277964858795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.7502640107214, + "ymin": 0.0, + "xmax": 739.7683219306958, + "ymax": 26.675364147873267 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 705.7502640107214, + 26.20170113419198 + ], + [ + 714.2749887640399, + 26.675364147873267 + ], + [ + 729.9607157418865, + -55.332873028125164 + ], + [ + 722.7387731338434, + -55.67166400720248 + ], + [ + 714.3898866397955, + -157.7042370459891 + ], + [ + 724.0446177228336, + -157.3539262367218 + ], + [ + 739.7683219306958, + -216.80571287270834 + ], + [ + 731.7514948255631, + -217.04641284057243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 529.4140269225112, + "xmax": 478.288034572809, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 468.0305941810325, + 989.4027140123003 + ], + [ + 478.288034572809, + 943.8175120126728 + ], + [ + 78.28070046306368, + 885.8910134573566 + ], + [ + 56.376223152107855, + 927.8504262295452 + ], + [ + 339.72581390924387, + 663.8225859444767 + ], + [ + 363.9206455984162, + 602.9567534380681 + ], + [ + -292.60753380571714, + 529.4140269225112 + ], + [ + -348.6719979590541, + 582.2730743562765 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00046/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00046/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88d6f622c3713197049368220b87e7f69f2d66a1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00046/meta.json @@ -0,0 +1,1828 @@ +{ + "frame_id": 46, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 23.0, + "sim_timestamp": 602.2001954910811 + }, + "drone_pose": { + "x": -142.03753266320754, + "y": -57.45109565274055, + "z": 20.001207436119156, + "pitch": -42.04749957325757, + "yaw": 82.12924330496047, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10168945789337158, + -0.7355942726135254, + 0.6697465181350708, + 43.308685302734375 + ], + [ + 0.9905794858932495, + 0.1369389295578003, + 0.0, + -132.83216857910156 + ], + [ + -0.09171441197395325, + 0.6634371280670166, + 0.7425898313522339, + -65.99478149414062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.24537641048107, + "y": -56.88829949768987, + "z": 20.000936013471303 + }, + "t1_image_uv": [ + 1331.1234214665044, + -504.9372874801725 + ], + "t1_depth": 0.39303588301260706 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -36.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.226609966268942, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 612, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -36.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.36631345748901367, + "y": 0.5097070336341858, + "z": 0.8785945177078247 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.5667562611164, + "ymin": 327.6488373134163, + "xmax": 659.129073685365, + "ymax": 391.74449232388235 + }, + "corners_3d": [ + [ + -138.657470703125, + -37.0540771484375, + 0.2179408073425293 + ], + [ + -139.6768798828125, + -37.0540771484375, + 0.2179408073425293 + ], + [ + -139.6768798828125, + -36.321449279785156, + 0.2179408073425293 + ], + [ + -138.657470703125, + -36.321449279785156, + 0.2179408073425293 + ], + [ + -138.657470703125, + -37.0540771484375, + 1.9751298427581787 + ], + [ + -139.6768798828125, + -37.0540771484375, + 1.9751298427581787 + ], + [ + -139.6768798828125, + -36.321449279785156, + 1.9751298427581787 + ], + [ + -138.657470703125, + -36.321449279785156, + 1.9751298427581787 + ] + ], + "corners_2d": [ + [ + 621.3664935836704, + 388.490861186315 + ], + [ + 655.3206682926221, + 391.74449232388235 + ], + [ + 658.3536557751393, + 375.08333089840454 + ], + [ + 625.0167195475884, + 371.9491583653322 + ], + [ + 620.5667562611164, + 344.02983082957184 + ], + [ + 655.9807161805531, + 347.25491301833404 + ], + [ + 659.129073685365, + 330.7505643223003 + ], + [ + 624.3860425943539, + 327.6488373134163 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 46, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 41, + "semantic_pixel_counts": { + "1": 342939, + "2": 128041, + "3": 178161, + "4": 72484, + "6": 11426, + "10": 6, + "12": 3905, + "14": 4228, + "20": 257, + "24": 8972, + "25": 171181 + }, + "instance_pixel_counts": { + "3413": 12894, + "3662": 59918, + "11605": 3848, + "15960": 5293, + "17240": 5121, + "17496": 836, + "20565": 1802, + "21907": 11048, + "21909": 1954, + "22421": 1299, + "22931": 57520, + "22933": 5719, + "23443": 274347, + "23955": 24, + "25856": 176, + "36096": 612, + "36352": 616, + "36608": 557, + "36864": 627, + "37120": 730, + "37376": 763, + "41728": 4228, + "47201": 3722, + "47713": 457, + "48225": 170, + "48737": 13651, + "48980": 159617, + "49249": 1867, + "49761": 2582, + "51297": 74360, + "51526": 12566, + "51809": 10819, + "52321": 2610, + "52833": 212, + "53345": 13, + "54366": 151436, + "54878": 19745, + "56970": 496, + "57482": 10865, + "57994": 6217, + "59737": 257 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 612, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -36.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3753662109375, + "y": 0.46882322430610657, + "z": 0.8873506188392639 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.9300418843354, + "ymin": 327.34417554358237, + "xmax": 657.7731102881421, + "ymax": 392.03580573896465 + }, + "corners_3d": [ + [ + -138.69834899902344, + -37.06312942504883, + 0.2091847062110901 + ], + [ + -139.63600158691406, + -37.06312942504883, + 0.2091847062110901 + ], + [ + -139.63600158691406, + -36.31239700317383, + 0.2091847062110901 + ], + [ + -138.69834899902344, + -36.31239700317383, + 0.2091847062110901 + ], + [ + -138.69834899902344, + -37.06312942504883, + 1.9838860034942627 + ], + [ + -139.63600158691406, + -37.06312942504883, + 1.9838860034942627 + ], + [ + -139.63600158691406, + -36.31239700317383, + 1.9838860034942627 + ], + [ + -138.69834899902344, + -36.31239700317383, + 1.9838860034942627 + ] + ], + "corners_2d": [ + [ + 622.6812170032445, + 389.04162603525657 + ], + [ + 653.9129816458601, + 392.03580573896465 + ], + [ + 657.0458955643668, + 374.96718230574544 + ], + [ + 626.3956614846298, + 372.0855778648397 + ], + [ + 621.9300418843354, + 344.1340505687212 + ], + [ + 654.518542456346, + 347.10175393730424 + ], + [ + 657.7731102881421, + 330.1955944427596 + ], + [ + 625.8172505465066, + 327.34417554358237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 616, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -33.690059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4304834306240082, + "y": 0.5263099074363708, + "z": 0.8801174759864807 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 506.61718973313896, + "ymin": 259.32803402295644, + "xmax": 544.1900544683601, + "ymax": 320.37877862506696 + }, + "corners_3d": [ + [ + -134.6158905029297, + -34.22056198120117, + 0.06402039527893066 + ], + [ + -135.6455078125, + -34.001708984375, + 0.06402039527893066 + ], + [ + -135.4665069580078, + -33.1595573425293, + 0.06402039527893066 + ], + [ + -134.4368896484375, + -33.37841033935547, + 0.06402039527893066 + ], + [ + -134.6158905029297, + -34.22056198120117, + 1.824255347251892 + ], + [ + -135.6455078125, + -34.001708984375, + 1.824255347251892 + ], + [ + -135.4665069580078, + -33.1595573425293, + 1.824255347251892 + ], + [ + -134.4368896484375, + -33.37841033935547, + 1.824255347251892 + ] + ], + "corners_2d": [ + [ + 511.6578177894987, + 320.37877862506696 + ], + [ + 544.1393388226603, + 318.8907575354983 + ], + [ + 544.1900544683601, + 302.399217073084 + ], + [ + 512.3592886993287, + 303.8282711379875 + ], + [ + 506.61718973313896, + 277.017965031488 + ], + [ + 540.381466202086, + 275.55276663364566 + ], + [ + 540.5121576377442, + 259.32803402295644 + ], + [ + 507.4504941673057, + 260.7329623046329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 557, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -29.74505043029785, + "z": 1.0920968055725098 + }, + "extent": { + "x": 0.4661620855331421, + "y": 0.47014281153678894, + "z": 0.934047520160675 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 716.8959971767686, + "ymin": 201.7939325730087, + "xmax": 748.7768591437281, + "ymax": 262.78076006015976 + }, + "corners_3d": [ + [ + -141.00416564941406, + -30.257802963256836, + 0.15804928541183472 + ], + [ + -141.93930053710938, + -30.159515380859375, + 0.15804928541183472 + ], + [ + -141.8418426513672, + -29.232297897338867, + 0.15804928541183472 + ], + [ + -140.90670776367188, + -29.330585479736328, + 0.15804928541183472 + ], + [ + -141.00416564941406, + -30.257802963256836, + 2.02614426612854 + ], + [ + -141.93930053710938, + -30.159515380859375, + 2.02614426612854 + ], + [ + -141.8418426513672, + -29.232297897338867, + 2.02614426612854 + ], + [ + -140.90670776367188, + -29.330585479736328, + 2.02614426612854 + ] + ], + "corners_2d": [ + [ + 717.6144282293498, + 262.25619829152276 + ], + [ + 744.6991207213039, + 262.78076006015976 + ], + [ + 743.4300727565003, + 247.16896559996684 + ], + [ + 716.8959971767686, + 246.6654899216496 + ], + [ + 720.63515016315, + 217.02556314694 + ], + [ + 748.7768591437281, + 217.5384619474223 + ], + [ + 747.373443877901, + 202.2854366918596 + ], + [ + 719.8256961944871, + 201.7939325730087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 627, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -36.68776321411133, + "z": 1.0934102535247803 + }, + "extent": { + "x": 0.4076171815395355, + "y": 0.3107556104660034, + "z": 0.880787193775177 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 748.3886704037674, + "ymin": 338.35767825565534, + "xmax": 776.2701701161122, + "ymax": 403.8173759423421 + }, + "corners_3d": [ + [ + -142.43617248535156, + -37.09537887573242, + 0.21262305974960327 + ], + [ + -143.0576934814453, + -37.09537887573242, + 0.21262305974960327 + ], + [ + -143.0576934814453, + -36.280147552490234, + 0.21262305974960327 + ], + [ + -142.43617248535156, + -36.280147552490234, + 0.21262305974960327 + ], + [ + -142.43617248535156, + -37.09537887573242, + 1.9741973876953125 + ], + [ + -143.0576934814453, + -37.09537887573242, + 1.9741973876953125 + ], + [ + -143.0576934814453, + -36.280147552490234, + 1.9741973876953125 + ], + [ + -142.43617248535156, + -36.280147552490234, + 1.9741973876953125 + ] + ], + "corners_2d": [ + [ + 748.3886704037674, + 401.7776762774074 + ], + [ + 769.6483746414799, + 403.8173759423421 + ], + [ + 770.672786399261, + 384.82561783494856 + ], + [ + 749.8537217961288, + 382.8701078464619 + ], + [ + 753.1237402118772, + 357.1028457411951 + ], + [ + 775.3254822241483, + 359.1270650911962 + ], + [ + 776.2701701161122, + 340.294811356259 + ], + [ + 754.5485454293346, + 338.35767825565534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 730, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.2977294921875, + "y": -43.24491500854492, + "z": 1.0930001735687256 + }, + "extent": { + "x": 0.34617680311203003, + "y": 0.48276373744010925, + "z": 0.876372218132019 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 666.8686282026545, + "ymin": 510.4567392637381, + "xmax": 714.3955720821117, + "ymax": 585.3211498975957 + }, + "corners_3d": [ + [ + -140.7814178466797, + -43.538734436035156, + 0.21662795543670654 + ], + [ + -141.74166870117188, + -43.6396598815918, + 0.21662795543670654 + ], + [ + -141.8140411376953, + -42.95109558105469, + 0.21662795543670654 + ], + [ + -140.85379028320312, + -42.85017013549805, + 0.21662795543670654 + ], + [ + -140.7814178466797, + -43.538734436035156, + 1.9693723917007446 + ], + [ + -141.74166870117188, + -43.6396598815918, + 1.9693723917007446 + ], + [ + -141.8140411376953, + -42.95109558105469, + 1.9693723917007446 + ], + [ + -140.85379028320312, + -42.85017013549805, + 1.9693723917007446 + ] + ], + "corners_2d": [ + [ + 666.8686282026545, + 577.378007928168 + ], + [ + 705.4562404193894, + 585.3211498975957 + ], + [ + 710.7475192924016, + 562.5703762486224 + ], + [ + 672.9210117526072, + 554.9538580558515 + ], + [ + 668.2742992716644, + 533.0641956355323 + ], + [ + 708.9071133291317, + 541.0840186284597 + ], + [ + 714.3955720821117, + 518.1300310402272 + ], + [ + 674.6058426797676, + 510.4567392637381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 763, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -44.85797882080078, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.29893553256988525, + "y": 0.40369871258735657, + "z": 0.8814694881439209 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.77553871386829, + "ymin": 507.7302962333838, + "xmax": 172.03151921192267, + "ymax": 579.8432280401967 + }, + "corners_3d": [ + [ + -127.46481323242188, + -45.06644821166992, + 0.06268292665481567 + ], + [ + -128.2545623779297, + -45.23431396484375, + 0.06268292665481567 + ], + [ + -128.37887573242188, + -44.64950942993164, + 0.06268292665481567 + ], + [ + -127.58911895751953, + -44.48164367675781, + 0.06268292665481567 + ], + [ + -127.46481323242188, + -45.06644821166992, + 1.8256218433380127 + ], + [ + -128.2545623779297, + -45.23431396484375, + 1.8256218433380127 + ], + [ + -128.37887573242188, + -44.64950942993164, + 1.8256218433380127 + ], + [ + -127.58911895751953, + -44.48164367675781, + 1.8256218433380127 + ] + ], + "corners_2d": [ + [ + 129.26514432055433, + 570.6035969539621 + ], + [ + 155.58424109405132, + 579.8432280401967 + ], + [ + 172.03151921192267, + 561.0800152360171 + ], + [ + 146.02562116173272, + 552.1556470257456 + ], + [ + 102.77553871386829, + 526.320245612028 + ], + [ + 130.23274877451536, + 535.6434236346778 + ], + [ + 147.98579261794265, + 516.7192332194734 + ], + [ + 120.86675364324765, + 507.7302962333838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4228, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 353.9345938211486, + "ymin": 109.37217360389636, + "xmax": 454.52955411824445, + "ymax": 215.2284471074406 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 361.42205157086596, + 210.8931941544288 + ], + [ + 413.57324134792265, + 215.2284471074406 + ], + [ + 454.52955411824445, + 143.92929953971932 + ], + [ + 407.28533276537826, + 140.4069273487865 + ], + [ + 353.9345938211486, + 178.27693094359097 + ], + [ + 407.4496666637398, + 182.52680629440775 + ], + [ + 450.02165497359533, + 112.80688870694263 + ], + [ + 401.66055614604045, + 109.37217360389636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 475.022939438257, + "ymin": 0.0, + "xmax": 683.7384321018939, + "ymax": 92.03739530298492 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 674.5636122270686, + 92.03739530298492 + ], + [ + 676.3516966244081, + 84.62129909721267 + ], + [ + 506.56721589864014, + 73.94273858884509 + ], + [ + 502.7184102872174, + 81.09139020063014 + ], + [ + 681.6934164901747, + -182.80572394345995 + ], + [ + 683.7384321018939, + -187.6268024510822 + ], + [ + 480.04126173217537, + -194.52568297123196 + ], + [ + 475.022939438257, + -189.91290257529943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 277.0608734011105, + "ymin": 0.0, + "xmax": 613.5949613470631, + "ymax": 360.38672744634744 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 609.8622868223972, + 360.38672744634744 + ], + [ + 613.5949613470631, + 344.9054261045623 + ], + [ + 372.52293731909634, + 322.91240473002335 + ], + [ + 364.6169677962073, + 337.59670616753664 + ], + [ + 599.9360214144021, + 9.935504035552015 + ], + [ + 605.1035208204183, + -2.246760090809971 + ], + [ + 289.42111190039793, + -19.309975666159062 + ], + [ + 277.0608734011105, + -7.948595806667356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1129.6160788845093, + "ymin": 0.0, + "xmax": 1219.4448235454495, + "ymax": 27.07140623251263 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1147.8070717635046, + 26.57754549383594 + ], + [ + 1156.9525491482232, + 27.07140623251263 + ], + [ + 1138.23964535517, + -2.4111907004194677 + ], + [ + 1129.6160788845093, + -2.851940291124265 + ], + [ + 1209.1300274152866, + -142.225435850665 + ], + [ + 1219.4448235454495, + -141.84738427613098 + ], + [ + 1194.7595767428315, + -164.26895615979754 + ], + [ + 1185.1036210355917, + -164.60188715404945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 283.92421492708183, + "ymin": 0.0, + "xmax": 318.0591769973525, + "ymax": 1.2149628738366687 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 310.4903393573501, + 1.2149628738366687 + ], + [ + 318.0591769973525, + -6.336312858456381 + ], + [ + 292.21973350162614, + -7.765678543809088 + ], + [ + 284.2833792091374, + -0.25788367155178094 + ], + [ + 310.1566658155879, + -0.2262186543115945 + ], + [ + 317.7380279400883, + -7.76354257825875 + ], + [ + 291.87380230708976, + -9.190241765453948 + ], + [ + 283.92421492708183, + -1.6963618009531274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.92357898987768, + "ymin": 0.0, + "xmax": 457.8477496836488, + "ymax": 11.572946708446466 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 240.56503903880161, + -4.697851357106117 + ], + [ + 236.9072265038413, + -1.590299193056353 + ], + [ + 455.4770067985854, + 11.572946708446466 + ], + [ + 457.8477496836488, + 8.301556996751685 + ], + [ + 191.3777964971527, + -180.68139231502846 + ], + [ + 186.92357898987768, + -178.41510726350145 + ], + [ + 431.9225336120926, + -168.7768398537396 + ], + [ + 434.76155081265455, + -171.17802691883958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.7341251973512, + "ymin": 0.0, + "xmax": 747.206074065668, + "ymax": 30.612056941119988 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 710.7341251973512, + 30.091237127340662 + ], + [ + 719.3313898614091, + 30.612056941119988 + ], + [ + 736.5766780786304, + -52.651036420981484 + ], + [ + 729.2985841820456, + -53.0227814621004 + ], + [ + 720.1294690069095, + -155.1110827585038 + ], + [ + 729.8802775607255, + -154.72492471477278 + ], + [ + 747.206074065668, + -215.21915852707457 + ], + [ + 739.1179917969816, + -215.4837617941514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 557.4686570857746, + "xmax": 462.0814914789005, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 450.64411901242295, + 1020.7455632700046 + ], + [ + 462.0814914789005, + 973.3089561448053 + ], + [ + 57.47578264074957, + 908.071229045668 + ], + [ + 34.17224914916778, + 951.3544877243387 + ], + [ + 303.88118949739146, + 707.8781402939558 + ], + [ + 331.61058130821795, + 642.5067200844873 + ], + [ + -338.06617840007664, + 557.4686570857746 + ], + [ + -398.7857560471725, + 613.2813492596614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 283.9334971444633, + "ymin": 0.0, + "xmax": 318.06746012015714, + "ymax": 1.2521334606494179 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 310.4989453803312, + 1.2521334606494179 + ], + [ + 318.06746012015714, + -6.29950154367242 + ], + [ + 292.2286558350161, + -7.728935896140058 + ], + [ + 284.292642710749, + -0.22078269816501006 + ], + [ + 310.1652892767136, + -0.18897274977473444 + ], + [ + 317.7463275964257, + -7.726657786225246 + ], + [ + 291.8827423988699, + -9.153425987781304 + ], + [ + 283.9334971444633, + -1.659185869596456 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00047/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00047/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab79e35a8ea12b6796efdcb6cf7800322bf26df3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00047/meta.json @@ -0,0 +1,1830 @@ +{ + "frame_id": 47, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 23.5, + "sim_timestamp": 614.1905371283647 + }, + "drone_pose": { + "x": -142.24537641048107, + "y": -56.88829949768987, + "z": 20.000936013471303, + "pitch": -42.091506926923884, + "yaw": 81.54202944109848, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10914725065231323, + -0.7340044379234314, + 0.6703165769577026, + 43.875 + ], + [ + 0.9891240000724792, + 0.1470838189125061, + 2.9802322387695312e-08, + -132.33096313476562 + ], + [ + -0.09859275817871094, + 0.6630262136459351, + 0.7420752048492432, + -66.58500671386719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.42100498781184, + "y": -56.3198528250955, + "z": 20.00072045655683 + }, + "t1_image_uv": [ + 1260.3511617459885, + -506.46784522905284 + ], + "t1_depth": 0.398217476059906 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -36.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.202195728975653, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 610, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -36.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4080908000469208, + "y": 0.5555053353309631, + "z": 0.9094001650810242 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.6090714255736, + "ymin": 325.64986501587447, + "xmax": 661.0231633532542, + "ymax": 393.74784589299645 + }, + "corners_3d": [ + [ + -138.61166381835938, + -36.595855712890625, + 0.18713515996932983 + ], + [ + -139.72268676757812, + -36.595855712890625, + 0.18713515996932983 + ], + [ + -139.72268676757812, + -35.77967071533203, + 0.18713515996932983 + ], + [ + -138.61166381835938, + -35.77967071533203, + 0.18713515996932983 + ], + [ + -138.61166381835938, + -36.595855712890625, + 2.0059354305267334 + ], + [ + -139.72268676757812, + -36.595855712890625, + 2.0059354305267334 + ], + [ + -139.72268676757812, + -35.77967071533203, + 2.0059354305267334 + ], + [ + -138.61166381835938, + -35.77967071533203, + 2.0059354305267334 + ] + ], + "corners_2d": [ + [ + 619.5217980552908, + 389.9242993139503 + ], + [ + 656.5143858059041, + 393.74784589299645 + ], + [ + 660.1408830387005, + 375.1691560264518 + ], + [ + 623.89291031, + 371.50136077296725 + ], + [ + 618.6090714255736, + 343.8897154373421 + ], + [ + 657.2537202382773, + 347.6794483052563 + ], + [ + 661.0231633532542, + 329.2785493906703 + ], + [ + 623.1903930512327, + 325.64986501587447 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 47, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 345961, + "2": 128148, + "3": 182481, + "4": 74582, + "6": 8402, + "10": 4, + "12": 3768, + "14": 4355, + "20": 223, + "24": 9247, + "25": 164429 + }, + "instance_pixel_counts": { + "3413": 13394, + "3662": 61778, + "11605": 4026, + "15960": 1503, + "17240": 5816, + "17496": 877, + "20565": 1843, + "21907": 12161, + "21909": 2170, + "22421": 1326, + "22931": 58675, + "22933": 5744, + "23443": 274947, + "23445": 7, + "23955": 45, + "25856": 206, + "26003": 133, + "36096": 610, + "36352": 590, + "36608": 545, + "36864": 654, + "37120": 654, + "37376": 715, + "41728": 4355, + "47201": 3825, + "47713": 476, + "48225": 111, + "48737": 14097, + "48980": 163218, + "49249": 1910, + "49761": 2635, + "51297": 73895, + "51526": 12804, + "51809": 10712, + "52321": 2561, + "52833": 219, + "53345": 14, + "54366": 149680, + "54878": 14749, + "56970": 607, + "57482": 11038, + "57994": 6048, + "59737": 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": 141, + "instance_id": 36096, + "pixel_count": 610, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -36.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3860839903354645, + "y": 0.4762609899044037, + "z": 0.8872247338294983 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.489044941724, + "ymin": 326.97274399093374, + "xmax": 658.2026958591217, + "ymax": 392.4252923787517 + }, + "corners_3d": [ + [ + -138.69091796875, + -36.573848724365234, + 0.2093105912208557 + ], + [ + -139.6434326171875, + -36.573848724365234, + 0.2093105912208557 + ], + [ + -139.6434326171875, + -35.80167770385742, + 0.2093105912208557 + ], + [ + -138.69091796875, + -35.80167770385742, + 0.2093105912208557 + ], + [ + -138.69091796875, + -36.573848724365234, + 1.983760118484497 + ], + [ + -139.6434326171875, + -36.573848724365234, + 1.983760118484497 + ], + [ + -139.6434326171875, + -35.80167770385742, + 1.983760118484497 + ], + [ + -138.69091796875, + -35.80167770385742, + 1.983760118484497 + ] + ], + "corners_2d": [ + [ + 622.2598249824368, + 389.15121521494933 + ], + [ + 653.9736512938922, + 392.4252923787517 + ], + [ + 657.4568357350449, + 374.8607649228075 + ], + [ + 626.3475804705142, + 371.7130683895868 + ], + [ + 621.489044941724, + 344.2422726631973 + ], + [ + 654.5830968215387, + 347.4879470653187 + ], + [ + 658.2026958591217, + 330.0878459904597 + ], + [ + 625.7664379725834, + 326.97274399093374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 590, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -33.190059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.46794435381889343, + "y": 0.46110963821411133, + "z": 0.9183530807495117 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 509.5884396735754, + "ymin": 256.99092277585964, + "xmax": 543.5478726723081, + "ymax": 321.0004075522685 + }, + "corners_3d": [ + [ + -134.6874542236328, + -33.743648529052734, + 0.025784790515899658 + ], + [ + -135.5895233154297, + -33.55190658569336, + 0.025784790515899658 + ], + [ + -135.3949432373047, + -32.636470794677734, + 0.025784790515899658 + ], + [ + -134.4928741455078, + -32.82821273803711, + 0.025784790515899658 + ], + [ + -134.6874542236328, + -33.743648529052734, + 1.8624908924102783 + ], + [ + -135.5895233154297, + -33.55190658569336, + 1.8624908924102783 + ], + [ + -135.3949432373047, + -32.636470794677734, + 1.8624908924102783 + ], + [ + -134.4928741455078, + -32.82821273803711, + 1.8624908924102783 + ] + ], + "corners_2d": [ + [ + 514.734099674881, + 321.0004075522685 + ], + [ + 543.1845322373966, + 319.879727828143 + ], + [ + 543.5478726723081, + 301.92994098612144 + ], + [ + 515.7162126444287, + 303.0024718325315 + ], + [ + 509.5884396735754, + 275.74203968270257 + ], + [ + 539.2131586408491, + 274.6391455974575 + ], + [ + 539.6807151622352, + 256.99092277585964 + ], + [ + 510.72630018340806, + 258.044552676853 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 545, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -29.24505043029785, + "z": 1.0920674800872803 + }, + "extent": { + "x": 0.4574023187160492, + "y": 0.6038305759429932, + "z": 0.9246320724487305 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 715.2809045678281, + "ymin": 202.2914841458324, + "xmax": 754.8074554765259, + "ymax": 262.96241947986493 + }, + "corners_3d": [ + [ + -140.87030029296875, + -29.763065338134766, + 0.1674354076385498 + ], + [ + -142.0713348388672, + -29.636829376220703, + 0.1674354076385498 + ], + [ + -141.9757080078125, + -28.727035522460938, + 0.1674354076385498 + ], + [ + -140.77467346191406, + -28.853271484375, + 0.1674354076385498 + ], + [ + -140.87030029296875, + -29.763065338134766, + 2.0166995525360107 + ], + [ + -142.0713348388672, + -29.636829376220703, + 2.0166995525360107 + ], + [ + -141.9757080078125, + -28.727035522460938, + 2.0166995525360107 + ], + [ + -140.77467346191406, + -28.853271484375, + 2.0166995525360107 + ] + ], + "corners_2d": [ + [ + 715.6825772784073, + 262.07506442619274 + ], + [ + 750.5358543427484, + 262.96241947986493 + ], + [ + 749.4383668903197, + 247.59748092897303 + ], + [ + 715.2809045678281, + 246.74516046380012 + ], + [ + 718.6037915111345, + 217.2742949181856 + ], + [ + 754.8074554765259, + 218.14226460639367 + ], + [ + 753.5799860927395, + 203.12390203028775 + ], + [ + 718.1265194689053, + 202.2914841458324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 654, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -36.18776321411133, + "z": 1.0933712720870972 + }, + "extent": { + "x": 0.36851561069488525, + "y": 0.5303515791893005, + "z": 0.8942046165466309 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 740.8337496250961, + "ymin": 338.9159419282682, + "xmax": 784.1953404133267, + "ymax": 404.9661515330152 + }, + "corners_3d": [ + [ + -142.21658325195312, + -36.556278228759766, + 0.1991666555404663 + ], + [ + -143.27728271484375, + -36.556278228759766, + 0.1991666555404663 + ], + [ + -143.27728271484375, + -35.81924819946289, + 0.1991666555404663 + ], + [ + -142.21658325195312, + -35.81924819946289, + 0.1991666555404663 + ], + [ + -142.21658325195312, + -36.556278228759766, + 1.987575888633728 + ], + [ + -143.27728271484375, + -36.556278228759766, + 1.987575888633728 + ], + [ + -143.27728271484375, + -35.81924819946289, + 1.987575888633728 + ], + [ + -142.21658325195312, + -35.81924819946289, + 1.987575888633728 + ] + ], + "corners_2d": [ + [ + 740.8337496250961, + 401.2215209772095 + ], + [ + 777.1123462443599, + 404.9661515330152 + ], + [ + 778.1566399188375, + 387.72810707298424 + ], + [ + 742.5566891401012, + 384.1233958429963 + ], + [ + 745.3105059810151, + 355.8674372762321 + ], + [ + 783.2259909475126, + 359.5837372816649 + ], + [ + 784.1953404133267, + 342.487384616848 + ], + [ + 747.0205059008014, + 338.9159419282682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 654, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.2977294921875, + "y": -42.74491500854492, + "z": 1.0929464101791382 + }, + "extent": { + "x": 0.3704443573951721, + "y": 0.5718531012535095, + "z": 0.9073598980903625 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 660.1985823128043, + "ymin": 508.7051426752264, + "xmax": 715.6275018708674, + "ymax": 588.5505584830876 + }, + "corners_3d": [ + [ + -140.69029235839844, + -43.05355453491211, + 0.18558651208877563 + ], + [ + -141.82772827148438, + -43.17310333251953, + 0.18558651208877563 + ], + [ + -141.90516662597656, + -42.436275482177734, + 0.18558651208877563 + ], + [ + -140.76773071289062, + -42.31672668457031, + 0.18558651208877563 + ], + [ + -140.69029235839844, + -43.05355453491211, + 2.0003063678741455 + ], + [ + -141.82772827148438, + -43.17310333251953, + 2.0003063678741455 + ], + [ + -141.90516662597656, + -42.436275482177734, + 2.0003063678741455 + ], + [ + -140.76773071289062, + -42.31672668457031, + 2.0003063678741455 + ] + ], + "corners_2d": [ + [ + 660.1985823128043, + 578.7153656718979 + ], + [ + 705.8260687247953, + 588.5505584830876 + ], + [ + 711.7827238177634, + 564.1710501818081 + ], + [ + 667.109239940998, + 554.7667721693109 + ], + [ + 661.2959303247432, + 532.8596053228931 + ], + [ + 709.4364328265582, + 542.796119343054 + ], + [ + 715.6275018708674, + 518.1833656202721 + ], + [ + 668.5478246744233, + 508.7051426752264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 715, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -44.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3244042992591858, + "y": 0.43263182044029236, + "z": 0.8813907504081726 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 99.94767340734188, + "ymin": 502.7643254673279, + "xmax": 172.41469273675608, + "ymax": 577.1439598849463 + }, + "corners_3d": [ + [ + -127.43122100830078, + -44.58534622192383, + 0.06274712085723877 + ], + [ + -128.27757263183594, + -44.76524353027344, + 0.06274712085723877 + ], + [ + -128.4124755859375, + -44.130611419677734, + 0.06274712085723877 + ], + [ + -127.56611633300781, + -43.950714111328125, + 0.06274712085723877 + ], + [ + -127.43122100830078, + -44.58534622192383, + 1.825528621673584 + ], + [ + -128.27757263183594, + -44.76524353027344, + 1.825528621673584 + ], + [ + -128.4124755859375, + -44.130611419677734, + 1.825528621673584 + ], + [ + -127.56611633300781, + -43.950714111328125, + 1.825528621673584 + ] + ], + "corners_2d": [ + [ + 126.52317817270227, + 567.0098006092176 + ], + [ + 154.3955697983041, + 577.1439598849463 + ], + [ + 172.41469273675608, + 556.9643696120311 + ], + [ + 144.89067808685502, + 547.2021700229632 + ], + [ + 99.94767340734188, + 522.7190937675368 + ], + [ + 129.0131219066459, + 532.94326885719 + ], + [ + 148.45226236161182, + 512.5942841604411 + ], + [ + 119.7623010785984, + 502.7643254673279 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4355, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 352.0289115443822, + "ymin": 113.62975685652833, + "xmax": 454.79269273095883, + "ymax": 221.11101765090825 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 359.63938193147015, + 216.38544724640923 + ], + [ + 412.0629826318477, + 221.11101765090825 + ], + [ + 454.79269273095883, + 148.63917116036112 + ], + [ + 407.30566765552675, + 144.80483712889833 + ], + [ + 352.0289115443822, + 183.6377962985436 + ], + [ + 405.83405141951766, + 188.2727828472023 + ], + [ + 450.24746389782393, + 117.3703464062175 + ], + [ + 401.6292483118583, + 113.62975685652833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 476.885134407407, + "ymin": 0.0, + "xmax": 687.6914227529106, + "ymax": 96.92084220755646 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 677.6187786395896, + 96.92084220755646 + ], + [ + 679.552640590756, + 89.37179868156164 + ], + [ + 508.53219232813456, + 77.69809781729504 + ], + [ + 504.5153051702047, + 84.95278091887326 + ], + [ + 685.478051890331, + -180.07402230838215 + ], + [ + 687.6914227529106, + -185.0026785527208 + ], + [ + 482.1157023332723, + -192.57392733732684 + ], + [ + 476.885134407407, + -187.87589596831708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 269.59184869412474, + "ymin": 0.0, + "xmax": 611.4624546282355, + "ymax": 371.033734198983 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 607.3984268399146, + 371.033734198983 + ], + [ + 611.4624546282355, + 355.16935326611326 + ], + [ + 368.28767311052206, + 330.9861548762179 + ], + [ + 359.9936790090755, + 345.9654899898695 + ], + [ + 596.459746219891, + 18.14880402435557 + ], + [ + 602.1169764024461, + 5.5514831974179515 + ], + [ + 282.5896702778241, + -13.362115003301255 + ], + [ + 269.59184869412474, + -1.6876325389691829 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1139.891692259108, + "ymin": 0.0, + "xmax": 1232.0855437608898, + "ymax": 32.85241338831645 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1158.0720631162158, + 32.30848997767157 + ], + [ + 1167.365845318806, + 32.85241338831645 + ], + [ + 1148.6489045221065, + 2.6802899017430946 + ], + [ + 1139.891692259108, + 2.1954216108695164 + ], + [ + 1221.5793158574738, + -138.13955773734074 + ], + [ + 1232.0855437608898, + -137.72182590704853 + ], + [ + 1207.1825666677862, + -160.7389826680751 + ], + [ + 1197.3566065952816, + -161.10631094224016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 276.6661286587021, + "ymin": 0.0, + "xmax": 311.4640077479653, + "ymax": 7.68421020904384 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 303.4903409815012, + 7.68421020904384 + ], + [ + 311.4640077479653, + -0.07797128284482824 + ], + [ + 285.3846197861382, + -1.6577338342993926 + ], + [ + 277.03823040958014, + 6.055791351295397 + ], + [ + 303.1442617181591, + 6.228882755381846 + ], + [ + 311.13122810221466, + -1.5191976825133224 + ], + [ + 285.02654403898146, + -3.096060955638677 + ], + [ + 276.6661286587021, + 4.60340222525997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 189.42716310428534, + "ymin": 0.0, + "xmax": 460.8831864453478, + "ymax": 14.06405347050395 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 243.15055106589296, + -3.308619648254023 + ], + [ + 239.4144681137754, + -0.17631377958912253 + ], + [ + 458.4337456298823, + 14.06405347050395 + ], + [ + 460.8831864453478, + 10.753890657938655 + ], + [ + 193.9733208399487, + -180.02697523967777 + ], + [ + 189.42716310428534, + -177.73948301945165 + ], + [ + 435.05857784544787, + -167.29525831257786 + ], + [ + 437.9885274866642, + -169.7295594708246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.2373814726142, + "ymin": 0.0, + "xmax": 754.09060042308, + "ymax": 34.53223523193941 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 715.2373814726142, + 33.96505756662464 + ], + [ + 723.9090640845696, + 34.53223523193941 + ], + [ + 742.677890407384, + -50.032417512485495 + ], + [ + 735.3421580415775, + -50.43639822962098 + ], + [ + 725.3430776878739, + -152.5756962792318 + ], + [ + 735.1929204022754, + -152.15405785454936 + ], + [ + 754.09060042308, + -213.73526974756987 + ], + [ + 745.9290919275562, + -214.0233772019851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 587.7750215989524, + "xmax": 445.20995084090566, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 432.5517673713857, + 1053.5670093932904 + ], + [ + 445.20995084090566, + 1004.1543919523829 + ], + [ + 35.835892931322405, + 931.4094290727013 + ], + [ + 11.085712909695985, + 976.1093951855657 + ], + [ + 265.21521844410717, + 755.7524464263299 + ], + [ + 296.8475154294713, + 685.3147621252058 + ], + [ + -386.68824184922687, + 587.7750215989524 + ], + [ + -452.48789263814797, + 646.8754534942327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 276.6757453761115, + "ymin": 0.0, + "xmax": 311.4725907133432, + "ymax": 7.721745036185553 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 303.4992668251622, + 7.721745036185553 + ], + [ + 311.4725907133432, + -0.040799549393000234 + ], + [ + 285.39385521182646, + -1.620636758192063 + ], + [ + 277.047827439765, + 6.093250520057211 + ], + [ + 303.15320593036733, + 6.266494825669895 + ], + [ + 311.1398284638318, + -1.4819506081577742 + ], + [ + 285.03579812493433, + -3.058888924539133 + ], + [ + 276.6757453761115, + 4.6409382372798405 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00048/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00048/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c2ca6e48b67c819d5e680faddb34382194e4916 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00048/meta.json @@ -0,0 +1,1829 @@ +{ + "frame_id": 48, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 24.0, + "sim_timestamp": 625.6363284138497 + }, + "drone_pose": { + "x": -142.42100498781184, + "y": -56.3198528250955, + "z": 20.00072045655683, + "pitch": -42.14716076667488, + "yaw": 81.03787640502534, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.11550003290176392, + -0.7323721647262573, + 0.6710370779037476, + 44.2755012512207 + ], + [ + 0.9877915382385254, + 0.15578138828277588, + -2.9802322387695312e-08, + -131.90867614746094 + ], + [ + -0.10453510284423828, + 0.6628447771072388, + 0.7414237856864929, + -67.04832458496094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.55171333779967, + "y": -55.74090374238763, + "z": 20.00055041848377 + }, + "t1_image_uv": [ + 1154.7139626436424, + -508.3246832625116 + ], + "t1_depth": 0.40902343551375714 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -35.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.171593781761445, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 617, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -35.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3693554699420929, + "y": 0.5401696562767029, + "z": 0.9065101146697998 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.2550190071585, + "ymin": 326.5020549261093, + "xmax": 660.4335410704177, + "ymax": 392.849272977095 + }, + "corners_3d": [ + [ + -138.6269989013672, + -36.0571174621582, + 0.1900252103805542 + ], + [ + -139.7073516845703, + -36.0571174621582, + 0.1900252103805542 + ], + [ + -139.7073516845703, + -35.31840896606445, + 0.1900252103805542 + ], + [ + -138.6269989013672, + -35.31840896606445, + 0.1900252103805542 + ], + [ + -138.6269989013672, + -36.0571174621582, + 2.0030455589294434 + ], + [ + -139.7073516845703, + -36.0571174621582, + 2.0030455589294434 + ], + [ + -139.7073516845703, + -35.31840896606445, + 2.0030455589294434 + ], + [ + -138.6269989013672, + -35.31840896606445, + 2.0030455589294434 + ] + ], + "corners_2d": [ + [ + 620.1383529781722, + 388.91124673790523 + ], + [ + 656.0647564883566, + 392.849272977095 + ], + [ + 659.5759614687067, + 376.02042312233516 + ], + [ + 624.302136886779, + 372.2277085391556 + ], + [ + 619.2550190071585, + 343.0232562372101 + ], + [ + 656.7825001895966, + 346.9269486158626 + ], + [ + 660.4335410704177, + 330.2554681203128 + ], + [ + 623.6175242633516, + 326.5020549261093 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 48, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 42, + "semantic_pixel_counts": { + "1": 347383, + "2": 127709, + "3": 186907, + "4": 75944, + "6": 7432, + "10": 8, + "12": 3928, + "14": 4482, + "20": 181, + "24": 9505, + "25": 158121 + }, + "instance_pixel_counts": { + "3413": 13948, + "3662": 62973, + "11605": 4201, + "17240": 6279, + "17496": 923, + "20565": 1810, + "21907": 13650, + "21909": 2425, + "22421": 1340, + "22931": 59945, + "22933": 5732, + "23443": 273099, + "23445": 8, + "23955": 103, + "25856": 230, + "26003": 586, + "36096": 617, + "36352": 608, + "36608": 554, + "36864": 637, + "37120": 720, + "37376": 792, + "41728": 4482, + "47201": 3937, + "47713": 479, + "48225": 21, + "48737": 14554, + "48980": 166948, + "49249": 1968, + "49761": 2687, + "51297": 73026, + "51526": 12971, + "51809": 10602, + "52321": 2494, + "52833": 219, + "53345": 16, + "54366": 148114, + "54878": 10007, + "56970": 649, + "57482": 11244, + "57994": 5813, + "59737": 181 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 617, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -35.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3953564465045929, + "y": 0.5612597465515137, + "z": 0.9094916582107544 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.3671441663595, + "ymin": 325.7809157756476, + "xmax": 661.2824209859875, + "ymax": 393.60288874973077 + }, + "corners_3d": [ + [ + -138.6059112548828, + -36.0831184387207, + 0.1870436668395996 + ], + [ + -139.7284393310547, + -36.0831184387207, + 0.1870436668395996 + ], + [ + -139.7284393310547, + -35.29240798950195, + 0.1870436668395996 + ], + [ + -138.6059112548828, + -35.29240798950195, + 0.1870436668395996 + ], + [ + -138.6059112548828, + -36.0831184387207, + 2.0060269832611084 + ], + [ + -139.7284393310547, + -36.0831184387207, + 2.0060269832611084 + ], + [ + -139.7284393310547, + -35.29240798950195, + 2.0060269832611084 + ], + [ + -138.6059112548828, + -35.29240798950195, + 2.0060269832611084 + ] + ], + "corners_2d": [ + [ + 619.2917866744102, + 389.5056138080176 + ], + [ + 656.6424162355632, + 393.60288874973077 + ], + [ + 660.3868517040758, + 375.58586923329955 + ], + [ + 623.7619176982266, + 371.65020224727965 + ], + [ + 618.3671441663595, + 343.46190052050133 + ], + [ + 657.3890580017169, + 347.5235775670879 + ], + [ + 661.2824209859875, + 329.67544142320594 + ], + [ + 623.0519116992975, + 325.7809157756476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 608, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -32.690059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45088380575180054, + "y": 0.47580814361572266, + "z": 0.9086562395095825 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 510.012782942904, + "ymin": 256.8294112961599, + "xmax": 545.0059990434632, + "ymax": 319.61700460697375 + }, + "corners_3d": [ + [ + -134.66952514648438, + -33.230018615722656, + 0.03548163175582886 + ], + [ + -135.60035705566406, + -33.03216552734375, + 0.03548163175582886 + ], + [ + -135.41287231445312, + -32.15010070800781, + 0.03548163175582886 + ], + [ + -134.48204040527344, + -32.34795379638672, + 0.03548163175582886 + ], + [ + -134.66952514648438, + -33.230018615722656, + 1.8527941703796387 + ], + [ + -135.60035705566406, + -33.03216552734375, + 1.8527941703796387 + ], + [ + -135.41287231445312, + -32.15010070800781, + 1.8527941703796387 + ], + [ + -134.48204040527344, + -32.34795379638672, + 1.8527941703796387 + ] + ], + "corners_2d": [ + [ + 515.0929685025611, + 319.61700460697375 + ], + [ + 544.444286938623, + 318.6254181629216 + ], + [ + 545.0059990434632, + 301.310820278686 + ], + [ + 516.2702153266983, + 302.26132056848144 + ], + [ + 510.012782942904, + 274.8341874301921 + ], + [ + 540.562710898398, + 273.85809834864256 + ], + [ + 541.2311905607024, + 256.8294112961599 + ], + [ + 511.3475255807747, + 257.76346592320226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 554, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -28.74505043029785, + "z": 1.0920480489730835 + }, + "extent": { + "x": 0.4270654320716858, + "y": 0.5303723216056824, + "z": 0.9383456110954285 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 719.2034574220219, + "ymin": 202.57806104481676, + "xmax": 754.406609383066, + "ymax": 263.0391935084805 + }, + "corners_3d": [ + [ + -140.94017028808594, + -29.225215911865234, + 0.15370243787765503 + ], + [ + -141.9951171875, + -29.114337921142578, + 0.15370243787765503 + ], + [ + -141.9058380126953, + -28.26488494873047, + 0.15370243787765503 + ], + [ + -140.85089111328125, + -28.375762939453125, + 0.15370243787765503 + ], + [ + -140.94017028808594, + -29.225215911865234, + 2.030393600463867 + ], + [ + -141.9951171875, + -29.114337921142578, + 2.030393600463867 + ], + [ + -141.9058380126953, + -28.26488494873047, + 2.030393600463867 + ], + [ + -140.85089111328125, + -28.375762939453125, + 2.030393600463867 + ] + ], + "corners_2d": [ + [ + 719.434948932424, + 262.098007681097 + ], + [ + 750.0789535189577, + 263.0391935084805 + ], + [ + 749.2759089350563, + 248.64913658369758 + ], + [ + 719.2034574220219, + 247.74269485495222 + ], + [ + 722.5539057896519, + 216.60645602484456 + ], + [ + 754.406609383066, + 217.52692449896855 + ], + [ + 753.4888171041023, + 203.46325380205178 + ], + [ + 722.253189451715, + 202.57806104481676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 637, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -35.68776321411133, + "z": 1.0933321714401245 + }, + "extent": { + "x": 0.3771386742591858, + "y": 0.5696398615837097, + "z": 0.879534900188446 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 739.4320361014383, + "ymin": 339.58518842694826, + "xmax": 785.7674751445074, + "ymax": 405.8681251059479 + }, + "corners_3d": [ + [ + -142.1772918701172, + -36.064903259277344, + 0.21379727125167847 + ], + [ + -143.3165740966797, + -36.064903259277344, + 0.21379727125167847 + ], + [ + -143.3165740966797, + -35.31062316894531, + 0.21379727125167847 + ], + [ + -142.1772918701172, + -35.31062316894531, + 0.21379727125167847 + ], + [ + -142.1772918701172, + -36.064903259277344, + 1.9728670120239258 + ], + [ + -143.3165740966797, + -36.064903259277344, + 1.9728670120239258 + ], + [ + -143.3165740966797, + -35.31062316894531, + 1.9728670120239258 + ], + [ + -142.1772918701172, + -35.31062316894531, + 1.9728670120239258 + ] + ], + "corners_2d": [ + [ + 739.4320361014383, + 401.59070425009605 + ], + [ + 778.4717242476945, + 405.8681251059479 + ], + [ + 779.7430111369396, + 388.1757532669761 + ], + [ + 741.449120200577, + 384.06182456773655 + ], + [ + 743.785564654358, + 356.97020897467706 + ], + [ + 784.5643022606118, + 361.21697483927943 + ], + [ + 785.7674751445074, + 343.66272366807544 + ], + [ + 745.8017771164185, + 339.58518842694826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 720, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.2977294921875, + "y": -42.24491500854492, + "z": 1.0928927659988403 + }, + "extent": { + "x": 0.39417973160743713, + "y": 0.5387647151947021, + "z": 0.9070616960525513 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 658.7796817765402, + "ymin": 508.82120057335146, + "xmax": 712.1310837736729, + "ymax": 589.9666641437964 + }, + "corners_3d": [ + [ + -140.72071838378906, + -42.58061981201172, + 0.18583106994628906 + ], + [ + -141.79234313964844, + -42.69325256347656, + 0.18583106994628906 + ], + [ + -141.87474060058594, + -41.909210205078125, + 0.18583106994628906 + ], + [ + -140.80311584472656, + -41.79657745361328, + 0.18583106994628906 + ], + [ + -140.72071838378906, + -42.58061981201172, + 1.9999544620513916 + ], + [ + -141.79234313964844, + -42.69325256347656, + 1.9999544620513916 + ], + [ + -141.87474060058594, + -41.909210205078125, + 1.9999544620513916 + ], + [ + -140.80311584472656, + -41.79657745361328, + 1.9999544620513916 + ] + ], + "corners_2d": [ + [ + 658.7796817765402, + 580.3447033533273 + ], + [ + 701.7466043604583, + 589.9666641437964 + ], + [ + 708.4591794065889, + 564.01895952054 + ], + [ + 666.4407960159384, + 554.8441611590672 + ], + [ + 659.8031191353786, + 534.5479984362701 + ], + [ + 705.1429737419894, + 544.2723978555841 + ], + [ + 712.1310837736729, + 518.0698484552227 + ], + [ + 667.8462129576722, + 508.82120057335146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 792, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -43.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3092968761920929, + "y": 0.3346215784549713, + "z": 0.8857100009918213 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.52074744183403, + "ymin": 501.01551131960866, + "xmax": 167.76820268802499, + "ymax": 572.4124818929781 + }, + "corners_3d": [ + [ + -127.53022766113281, + -44.090946197509766, + 0.05842787027359009 + ], + [ + -128.18484497070312, + -44.23008728027344, + 0.05842787027359009 + ], + [ + -128.31346130371094, + -43.6250114440918, + 0.05842787027359009 + ], + [ + -127.65884399414062, + -43.485870361328125, + 0.05842787027359009 + ], + [ + -127.53022766113281, + -44.090946197509766, + 1.829847812652588 + ], + [ + -128.18484497070312, + -44.23008728027344, + 1.829847812652588 + ], + [ + -128.31346130371094, + -43.6250114440918, + 1.829847812652588 + ], + [ + -127.65884399414062, + -43.485870361328125, + 1.829847812652588 + ] + ], + "corners_2d": [ + [ + 129.07719539929326, + 564.4343201658504 + ], + [ + 150.40242433296743, + 572.4124818929781 + ], + [ + 167.76820268802499, + 553.3619831797271 + ], + [ + 146.6900777094428, + 545.6614710602948 + ], + [ + 102.52074744183403, + 519.9280171300519 + ], + [ + 124.75533432340978, + 527.9759472936914 + ], + [ + 143.48904693237438, + 508.76915222595954 + ], + [ + 121.5204659639071, + 501.01551131960866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4482, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 349.3309023008716, + "ymin": 118.0379465675945, + "xmax": 454.267707274647, + "ymax": 227.23322917750767 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 357.0934127612261, + 222.1441627975564 + ], + [ + 409.83614877140553, + 227.23322917750767 + ], + [ + 454.267707274647, + 153.48593476715132 + ], + [ + 406.49979558766813, + 149.36266285485576 + ], + [ + 349.3309023008716, + 189.25777415888967 + ], + [ + 403.47563523195794, + 194.25220280219773 + ], + [ + 449.66202485944314, + 122.06237412621559 + ], + [ + 400.74652547127096, + 118.0379465675945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 477.7061164270004, + "ymin": 0.0, + "xmax": 690.7342132656604, + "ymax": 101.77732526113152 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 679.912619086786, + 101.77732526113152 + ], + [ + 681.981301286113, + 94.08822473953086 + ], + [ + 509.639547349824, + 81.49597047788302 + ], + [ + 505.46330134858374, + 88.86529799694665 + ], + [ + 688.362808490684, + -177.46062236490252 + ], + [ + 690.7342132656604, + -182.50364230846787 + ], + [ + 483.1429828687195, + -190.70480520121112 + ], + [ + 477.7061164270004, + -185.91391558714804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.1571382748041, + "ymin": 0.0, + "xmax": 608.9029107161482, + "ymax": 381.9846630459681 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 604.5253965933509, + 381.9846630459681 + ], + [ + 608.9029107161482, + 365.713847675746 + ], + [ + 363.4453758410025, + 339.4675389407336 + ], + [ + 354.7745717573672, + 354.76788167125426 + ], + [ + 592.3893582481109, + 26.636134432295478 + ], + [ + 598.5236007555458, + 13.591078763143173 + ], + [ + 274.79750860955977, + -7.113727608064039 + ], + [ + 261.1571382748041, + 4.905973311440221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1149.1914296700188, + "ymin": 0.0, + "xmax": 1243.7267313774223, + "ymax": 38.34336980554201 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1167.4044139910907, + 37.752923080665084 + ], + [ + 1176.8425963425548, + 38.34336980554201 + ], + [ + 1158.0786528819845, + 7.476178904020344 + ], + [ + 1149.1914296700188, + 6.9504340631111745 + ], + [ + 1233.0329417726039, + -134.33619172715493 + ], + [ + 1243.7267313774223, + -133.88123009788035 + ], + [ + 1218.559003366112, + -157.50276210401296 + ], + [ + 1208.5667049198314, + -157.90224011035195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 268.4567417850779, + "ymin": 3.3090020784790113, + "xmax": 303.955364188567, + "ymax": 14.480838247895974 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 295.5751466942876, + 14.480838247895974 + ], + [ + 303.955364188567, + 6.486784821015988 + ], + [ + 277.6026493244126, + 4.76204729597697 + ], + [ + 268.84352030915693, + 12.702270140552514 + ], + [ + 295.21499971152974, + 13.010432249077155 + ], + [ + 303.6093528643886, + 5.0306311879978125 + ], + [ + 277.2307537948727, + 3.3090020784790113 + ], + [ + 268.4567417850779, + 11.23501305128292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.53308036238514, + "ymin": 0.0, + "xmax": 462.92672679685944, + "ymax": 16.565576410250458 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 244.53725707369892, + -1.820765660692075 + ], + [ + 240.72402287787992, + 1.341246186802607 + ], + [ + 460.4022645246954, + 16.565576410250458 + ], + [ + 462.92672679685944, + 13.212662305749802 + ], + [ + 195.17220486112734, + -179.39158923199693 + ], + [ + 190.53308036238514, + -177.0786638345554 + ], + [ + 437.0647421911789, + -165.89184418216212 + ], + [ + 440.08301387230915, + -168.36278871857007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.8870507701258, + "ymin": 0.0, + "xmax": 759.8992197793301, + "ymax": 38.35393291139462 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 718.8870507701258, + 37.743999990514794 + ], + [ + 727.635503813367, + 38.35393291139462 + ], + [ + 747.7940101690838, + -47.574729173013395 + ], + [ + 740.399078593925, + -48.008222498722716 + ], + [ + 729.6072228906471, + -150.18912670850534 + ], + [ + 739.5596234396475, + -149.73444260803228 + ], + [ + 759.8992197793301, + -212.46081517233142 + ], + [ + 751.6620573319734, + -212.7706050899926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 621.528132471149, + "xmax": 428.3598189327903, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 414.48932643699845, + 1088.3312168835764 + ], + [ + 428.3598189327903, + 1036.7758768569847 + ], + [ + 13.687060269373092, + 956.6447402777302 + ], + [ + -12.533481559031543, + 1002.9130319335886 + ], + [ + 224.68602692142406, + 808.5925734018304 + ], + [ + 260.5398112233244, + 732.3460585956127 + ], + [ + -438.60691275134513, + 621.528132471149 + ], + [ + -509.98168046662, + 684.4225656927132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 268.46673797821876, + "ymin": 3.3465550842923903, + "xmax": 303.9642882688209, + "ymax": 14.518761301948302 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 295.58443519930245, + 14.518761301948302 + ], + [ + 303.9642882688209, + 6.524340909430066 + ], + [ + 277.61224102575704, + 4.799523346800811 + ], + [ + 268.8534957012287, + 12.740112119422292 + ], + [ + 295.2243076514419, + 13.048434651814432 + ], + [ + 303.6182953313753, + 5.0682646551153425 + ], + [ + 277.24036519224336, + 3.3465550842923903 + ], + [ + 268.46673797821876, + 11.272933939694553 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00049/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00049/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a435ce7de677f5e5fb1b56300bc48cdd398dd07b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00049/meta.json @@ -0,0 +1,1934 @@ +{ + "frame_id": 49, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 24.5, + "sim_timestamp": 639.3978149404284 + }, + "drone_pose": { + "x": -142.55171333779967, + "y": -55.74090374238763, + "z": 20.00055041848377, + "pitch": -42.22500882990823, + "yaw": 80.64890087373146, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.12032109498977661, + -0.7306708097457886, + 0.6720439195632935, + 44.438995361328125 + ], + [ + 0.9867112636566162, + 0.16248387098312378, + -2.9802322387695312e-08, + -131.60037231445312 + ], + [ + -0.10919633507728577, + 0.6631132364273071, + 0.7405112981796265, + -67.33928680419922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.63097627230368, + "y": -55.14332300064442, + "z": 20.000417232237023 + }, + "t1_image_uv": [ + 1033.959711185207, + -510.83450650844486 + ], + "t1_depth": 0.4271873099183713 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -35.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.129138261416152, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 593, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -35.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37253904342651367, + "y": 0.5370044112205505, + "z": 0.9022203683853149 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.2500486818126, + "ymin": 326.44503764550154, + "xmax": 660.4387599887681, + "ymax": 392.91800339540316 + }, + "corners_3d": [ + [ + -138.6301727294922, + -35.560302734375, + 0.19431495666503906 + ], + [ + -139.7041778564453, + -35.560302734375, + 0.19431495666503906 + ], + [ + -139.7041778564453, + -34.815223693847656, + 0.19431495666503906 + ], + [ + -138.6301727294922, + -34.815223693847656, + 0.19431495666503906 + ], + [ + -138.6301727294922, + -35.560302734375, + 1.998755693435669 + ], + [ + -139.7041778564453, + -35.560302734375, + 1.998755693435669 + ], + [ + -139.7041778564453, + -34.815223693847656, + 1.998755693435669 + ], + [ + -138.6301727294922, + -34.815223693847656, + 1.998755693435669 + ] + ], + "corners_2d": [ + [ + 620.132087780486, + 388.82235605729204 + ], + [ + 655.8653347589886, + 392.91800339540316 + ], + [ + 659.5824119195953, + 375.91117455715823 + ], + [ + 624.5017832443758, + 371.9678171896162 + ], + [ + 619.2500486818126, + 343.14054201661423 + ], + [ + 656.5730268194393, + 347.2017372144735 + ], + [ + 660.4387599887681, + 330.3487006422019 + ], + [ + 623.8271826322758, + 326.44503764550154 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 49, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 348161, + "2": 127778, + "3": 191307, + "4": 73050, + "6": 7719, + "10": 5, + "12": 3897, + "14": 4629, + "20": 132, + "24": 9570, + "25": 155352 + }, + "instance_pixel_counts": { + "3413": 14513, + "3662": 60012, + "11605": 4344, + "17240": 6491, + "17496": 971, + "20565": 1687, + "21907": 15466, + "21909": 2549, + "22421": 1381, + "22931": 61339, + "22933": 5632, + "23443": 269886, + "23445": 8, + "23955": 375, + "25856": 257, + "26003": 1095, + "36096": 593, + "36352": 624, + "36608": 561, + "36864": 653, + "37120": 648, + "37376": 818, + "41216": 8, + "41728": 4621, + "47201": 4051, + "47713": 515, + "48225": 86, + "48737": 15020, + "48980": 170763, + "49249": 2010, + "49761": 2683, + "51297": 72607, + "51526": 13038, + "51809": 10511, + "52321": 2405, + "52833": 221, + "53345": 14, + "54366": 146422, + "54878": 8930, + "56970": 734, + "57482": 11450, + "57994": 5471, + "59737": 132 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 593, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -35.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3834179639816284, + "y": 0.587695300579071, + "z": 0.8851853013038635 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.4380207493219, + "ymin": 326.47107559850855, + "xmax": 662.2208108096069, + "ymax": 392.9521457405262 + }, + "corners_3d": [ + [ + -138.57948303222656, + -35.57118225097656, + 0.21135002374649048 + ], + [ + -139.75486755371094, + -35.57118225097656, + 0.21135002374649048 + ], + [ + -139.75486755371094, + -34.804344177246094, + 0.21135002374649048 + ], + [ + -138.57948303222656, + -34.804344177246094, + 0.21135002374649048 + ], + [ + -138.57948303222656, + -35.57118225097656, + 1.9817206859588623 + ], + [ + -139.75486755371094, + -35.57118225097656, + 1.9817206859588623 + ], + [ + -139.75486755371094, + -34.804344177246094, + 1.9817206859588623 + ], + [ + -138.57948303222656, + -34.804344177246094, + 1.9817206859588623 + ] + ], + "corners_2d": [ + [ + 618.3794160583445, + 388.467635038112 + ], + [ + 657.5120646126913, + 392.9521457405262 + ], + [ + 661.3070736120824, + 375.4421877379065 + ], + [ + 622.9100964133169, + 371.1292691316415 + ], + [ + 617.4380207493219, + 343.64864804582896 + ], + [ + 658.2785353057183, + 348.0962633596735 + ], + [ + 662.2208108096069, + 330.74130500063376 + ], + [ + 622.1809262045501, + 326.47107559850855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 624, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -32.190059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4542578458786011, + "y": 0.4997473657131195, + "z": 0.922608494758606 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 509.7685866467911, + "ymin": 255.73018051127934, + "xmax": 546.5072109863765, + "ymax": 319.30916127696554 + }, + "corners_3d": [ + [ + -134.64682006835938, + -32.73829650878906, + 0.02152937650680542 + ], + [ + -135.6244659423828, + -32.530487060546875, + 0.02152937650680542 + ], + [ + -135.43557739257812, + -31.64182472229004, + 0.02152937650680542 + ], + [ + -134.4579315185547, + -31.849632263183594, + 0.02152937650680542 + ], + [ + -134.64682006835938, + -32.73829650878906, + 1.866746425628662 + ], + [ + -135.6244659423828, + -32.530487060546875, + 1.866746425628662 + ], + [ + -135.43557739257812, + -31.64182472229004, + 1.866746425628662 + ], + [ + -134.4579315185547, + -31.849632263183594, + 1.866746425628662 + ] + ], + "corners_2d": [ + [ + 514.9471795329384, + 319.30916127696554 + ], + [ + 545.7856797462778, + 318.3990855548238 + ], + [ + 546.5072109863765, + 300.91619450941005 + ], + [ + 516.3200554074135, + 301.7882627334358 + ], + [ + 509.7685866467911, + 273.8191124789303 + ], + [ + 541.8885994767372, + 272.92330009806057 + ], + [ + 542.7247670670541, + 255.73018051127934 + ], + [ + 511.31073727808484, + 256.5870849050239 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 561, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -28.24505043029785, + "z": 1.0920236110687256 + }, + "extent": { + "x": 0.4358789026737213, + "y": 0.4889281988143921, + "z": 0.9484013319015503 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 721.8430990976592, + "ymin": 202.11355387394332, + "xmax": 754.6651912727662, + "ymax": 263.49607042980756 + }, + "corners_3d": [ + [ + -140.98231506347656, + -28.72964859008789, + 0.1436222791671753 + ], + [ + -141.95481872558594, + -28.62743377685547, + 0.1436222791671753 + ], + [ + -141.8636932373047, + -27.760452270507812, + 0.1436222791671753 + ], + [ + -140.8911895751953, + -27.862667083740234, + 0.1436222791671753 + ], + [ + -140.98231506347656, + -28.72964859008789, + 2.0404248237609863 + ], + [ + -141.95481872558594, + -28.62743377685547, + 2.0404248237609863 + ], + [ + -141.8636932373047, + -27.760452270507812, + 2.0404248237609863 + ], + [ + -140.8911895751953, + -27.862667083740234, + 2.0404248237609863 + ] + ], + "corners_2d": [ + [ + 721.9580805972587, + 262.51041973524895 + ], + [ + 750.2662029952062, + 263.49607042980756 + ], + [ + 749.6124928614487, + 248.75611426237748 + ], + [ + 721.8430990976592, + 247.8075894262183 + ], + [ + 725.2234118256033, + 216.48180330001006 + ], + [ + 754.6651912727662, + 217.44580245926028 + ], + [ + 753.8989502150113, + 203.03983784599447 + ], + [ + 725.0394684317838, + 202.11355387394332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 653, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -35.18776321411133, + "z": 1.0932930707931519 + }, + "extent": { + "x": 0.3666113317012787, + "y": 0.4922216832637787, + "z": 0.8765571117401123 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 742.1136399739194, + "ymin": 340.6640666985451, + "xmax": 783.2761686467813, + "ymax": 405.9785851155378 + }, + "corners_3d": [ + [ + -142.2547149658203, + -35.55437469482422, + 0.21673595905303955 + ], + [ + -143.23915100097656, + -35.55437469482422, + 0.21673595905303955 + ], + [ + -143.23915100097656, + -34.82115173339844, + 0.21673595905303955 + ], + [ + -142.2547149658203, + -34.82115173339844, + 0.21673595905303955 + ], + [ + -142.2547149658203, + -35.55437469482422, + 1.9698501825332642 + ], + [ + -143.23915100097656, + -35.55437469482422, + 1.9698501825332642 + ], + [ + -143.23915100097656, + -34.82115173339844, + 1.9698501825332642 + ], + [ + -142.2547149658203, + -34.82115173339844, + 1.9698501825332642 + ] + ], + "corners_2d": [ + [ + 742.1136399739194, + 402.109675151959 + ], + [ + 775.8943178150064, + 405.9785851155378 + ], + [ + 777.3528870005645, + 388.73567240442486 + ], + [ + 744.1985917183497, + 385.0105642482728 + ], + [ + 746.5855501644199, + 357.6288891667084 + ], + [ + 781.8719192677547, + 361.47127441052834 + ], + [ + 783.2761686467813, + 344.3575511095952 + ], + [ + 748.6727113899673, + 340.6640666985451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 648, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.2977294921875, + "y": -41.74491500854492, + "z": 1.092848777770996 + }, + "extent": { + "x": 0.3946240544319153, + "y": 0.5358765125274658, + "z": 0.9015193581581116 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 656.9671977534218, + "ymin": 509.67124211986345, + "xmax": 710.2584303238964, + "ymax": 590.7880033393237 + }, + "corners_3d": [ + [ + -140.72354125976562, + -42.081363677978516, + 0.19132941961288452 + ], + [ + -141.78941345214844, + -42.193389892578125, + 0.19132941961288452 + ], + [ + -141.87191772460938, + -41.40846633911133, + 0.19132941961288452 + ], + [ + -140.80604553222656, + -41.29644012451172, + 0.19132941961288452 + ], + [ + -140.72354125976562, + -42.081363677978516, + 1.994368076324463 + ], + [ + -141.78941345214844, + -42.193389892578125, + 1.994368076324463 + ], + [ + -141.87191772460938, + -41.40846633911133, + 1.994368076324463 + ], + [ + -140.80604553222656, + -41.29644012451172, + 1.994368076324463 + ] + ], + "corners_2d": [ + [ + 656.9671977534218, + 580.9409132633684 + ], + [ + 699.6966044201264, + 590.7880033393237 + ], + [ + 706.6913920790001, + 564.7645502947648 + ], + [ + 664.9011617425379, + 555.3750498287673 + ], + [ + 657.8890852823253, + 535.4711843039447 + ], + [ + 702.9709785475977, + 545.4259486435151 + ], + [ + 710.2584303238964, + 519.139092867285 + ], + [ + 666.2207806679676, + 509.67124211986345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 818, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -43.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.31764647364616394, + "y": 0.5092260837554932, + "z": 0.9024495482444763 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 95.09489876399982, + "ymin": 496.0403306508381, + "xmax": 172.56422642009863, + "ymax": 572.9730093751381 + }, + "corners_3d": [ + [ + -127.35770416259766, + -43.562808990478516, + 0.04168832302093506 + ], + [ + -128.35389709472656, + -43.774559020996094, + 0.04168832302093506 + ], + [ + -128.48599243164062, + -43.15314865112305, + 0.04168832302093506 + ], + [ + -127.48979187011719, + -42.94139862060547, + 0.04168832302093506 + ], + [ + -127.35770416259766, + -43.562808990478516, + 1.8465874195098877 + ], + [ + -128.35389709472656, + -43.774559020996094, + 1.8465874195098877 + ], + [ + -128.48599243164062, + -43.15314865112305, + 1.8465874195098877 + ], + [ + -127.48979187011719, + -42.94139862060547, + 1.8465874195098877 + ] + ], + "corners_2d": [ + [ + 122.4754315609606, + 560.6403239941374 + ], + [ + 154.6775658106605, + 572.9730093751381 + ], + [ + 172.56422642009863, + 553.4261471108425 + ], + [ + 140.73606140902348, + 541.5316577595624 + ], + [ + 95.09489876399982, + 515.2905827407586 + ], + [ + 128.68949396418452, + 527.7339400450553 + ], + [ + 148.00891792980127, + 508.01868704506944 + ], + [ + 114.81698202934717, + 496.0403306508381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 8, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 736.5914915912126, + "ymin": 0.0, + "xmax": 843.4595973931213, + "ymax": 4.723736616852307 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 739.4568137406327, + -14.572070874120584 + ], + [ + 736.5914915912126, + -1.7253571033116941 + ], + [ + 838.9967500162044, + 4.723736616852307 + ], + [ + 839.2835515671928, + -8.446041586531067 + ], + [ + 741.5150419516077, + -44.21465907614714 + ], + [ + 738.6432251990367, + -31.878081482988193 + ], + [ + 843.2783627833393, + -25.680094655717767 + ], + [ + 843.4595973931213, + -38.333538939783466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4621, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 345.63714431556457, + "ymin": 122.58363908084331, + "xmax": 452.745735442207, + "ymax": 233.6327142395257 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 353.5914069038427, + 228.22218712514052 + ], + [ + 406.7295030716238, + 233.6327142395257 + ], + [ + 452.745735442207, + 158.45014778668968 + ], + [ + 404.63545562050933, + 154.07351548604987 + ], + [ + 345.63714431556457, + 195.18460232986357 + ], + [ + 400.2022860085791, + 200.49802801501787 + ], + [ + 448.0482343854511, + 126.85771763065875 + ], + [ + 398.7705983770114, + 122.58363908084331 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 477.1687297756812, + "ymin": 0.0, + "xmax": 692.6284779179344, + "ymax": 106.49428175872347 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 681.2558499488903, + 106.49428175872347 + ], + [ + 683.4416862075395, + 98.65418929912994 + ], + [ + 509.6395773630136, + 85.26360805248356 + ], + [ + 505.3178024481889, + 92.76109545165332 + ], + [ + 690.116634545405, + -175.14420766029093 + ], + [ + 692.6284779179344, + -180.31189132989107 + ], + [ + 482.801603170455, + -189.07342547887276 + ], + [ + 477.1687297756812, + -184.17778006510332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 251.56190062150569, + "ymin": 0.0, + "xmax": 605.9557058089766, + "ymax": 393.2899963582829 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 601.2965286745815, + 393.2899963582829 + ], + [ + 605.9557058089766, + 376.5785984323214 + ], + [ + 357.9112518453798, + 348.48444464983 + ], + [ + 348.8836871968734, + 364.14561477814794 + ], + [ + 587.7764914550601, + 35.40295144060616 + ], + [ + 594.3577968914883, + 21.86305281459005 + ], + [ + 265.84522471859606, + -0.5122019759037357 + ], + [ + 251.56190062150569, + 11.901726974493158 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1157.198430190323, + "ymin": 0.0, + "xmax": 1254.0404364020126, + "ymax": 43.26852800665927 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1175.5111170985042, + 42.637721946018644 + ], + [ + 1185.087019572251, + 43.26852800665927 + ], + [ + 1166.2095315412673, + 11.701816402749785 + ], + [ + 1157.198430190323, + 11.140750156527645 + ], + [ + 1243.1663846644071, + -131.09771907628198 + ], + [ + 1254.0404364020126, + -130.610012289653 + ], + [ + 1228.5367083281424, + -154.84475934222667 + ], + [ + 1218.3847804190173, + -155.2723732460156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 259.10622037364254, + "ymin": 10.083343051682391, + "xmax": 295.3631769444089, + "ymax": 21.66999878486439 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 286.57861571620043, + 21.66999878486439 + ], + [ + 295.3631769444089, + 13.412198126613305 + ], + [ + 268.68140007447755, + 11.552653888950942 + ], + [ + 259.51001372144174, + 19.751563891359638 + ], + [ + 286.2021922680753, + 20.182998574511885 + ], + [ + 295.0018037233671, + 11.939605387911683 + ], + [ + 268.2934307804661, + 10.083343051682391 + ], + [ + 259.10622037364254, + 18.26788653045844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 189.71356212391714, + "ymin": 0.0, + "xmax": 463.65158266361976, + "ymax": 18.98400012877488 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 244.28775477214845, + -0.2876953405361746 + ], + [ + 240.39893730383375, + 2.9117654753041506 + ], + [ + 461.057747462056, + 18.98400012877488 + ], + [ + 463.65158266361976, + 15.58204570457707 + ], + [ + 194.44731210950823, + -178.89811657179405 + ], + [ + 189.71356212391714, + -176.5531149648241 + ], + [ + 437.55804243696673, + -164.71695943454495 + ], + [ + 440.6604774944466, + -167.23013312722287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.4384727481187, + "ymin": 0.0, + "xmax": 764.2785522045499, + "ymax": 41.92514243875269 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 721.4384727481187, + 41.2781577118613 + ], + [ + 730.2675763309845, + 41.92514243875269 + ], + [ + 751.6057103707428, + -45.465748430618476 + ], + [ + 744.1490690037487, + -45.92453834764996 + ], + [ + 732.6450009775224, + -148.1418805925734 + ], + [ + 742.7056031233492, + -147.65811687607146 + ], + [ + 764.2785522045499, + -211.62023389077535 + ], + [ + 755.962238199568, + -211.9488352604426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 660.363908297636, + "xmax": 412.12031819453307, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 397.085224245221, + 1125.749074835596 + ], + [ + 412.12031819453307, + 1071.8216456190705 + ], + [ + -8.798372678716078, + 984.6584921711424 + ], + [ + -36.50290605179396, + 1032.7207818607396 + ], + [ + 182.9402147564286, + 868.2836313575287 + ], + [ + 223.33040139141923, + 785.1878021476259 + ], + [ + -494.5512387040178, + 660.363908297636 + ], + [ + -572.1566788639552, + 727.81238273966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 259.11665650513555, + "ymin": 10.121317120384845, + "xmax": 295.3724970473403, + "ymax": 21.70834905429558 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 286.5883238121074, + 21.70834905429558 + ], + [ + 295.3724970473403, + 13.450177465151853 + ], + [ + 268.6914061494407, + 11.590548729106729 + ], + [ + 259.5204277378497, + 19.789828613809163 + ], + [ + 286.2119210545851, + 20.221430578837158 + ], + [ + 295.0111433817003, + 11.977664414542971 + ], + [ + 268.30345777560666, + 10.121317120384845 + ], + [ + 259.11665650513555, + 18.306232511431006 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00050/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00050/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ada5d20a300bc5ebc003f03f7237dc5b6547c6c5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00050/meta.json @@ -0,0 +1,1936 @@ +{ + "frame_id": 50, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 25.0, + "sim_timestamp": 651.11890601716 + }, + "drone_pose": { + "x": -142.63097627230368, + "y": -55.14332300064442, + "z": 20.000417232237023, + "pitch": -42.338936871427585, + "yaw": 80.38912329070229, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.12340939044952393, + -0.7287988066673279, + 0.6735150218009949, + 44.31981658935547 + ], + [ + 0.9859643578529358, + 0.16695594787597656, + 0.0, + -131.42254638671875 + ], + [ + -0.11244738101959229, + 0.6640617847442627, + 0.7391735315322876, + -67.44082641601562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.65599320373136, + "y": -54.52747193800166, + "z": 20.000313696330664 + }, + "t1_image_uv": [ + 914.5234000169619, + -514.4244628203188 + ], + "t1_depth": 0.4458139160624517 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -34.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.06749975828616, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 648, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -34.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4056786894798279, + "y": 0.4070971608161926, + "z": 0.8751415610313416 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.2471299687529, + "ymin": 324.6095387064567, + "xmax": 659.8535221188033, + "ymax": 394.9625544796423 + }, + "corners_3d": [ + [ + -139.16616821289062, + -35.262481689453125, + 0.22139376401901245 + ], + [ + -139.7418975830078, + -34.68675994873047, + 0.22139376401901245 + ], + [ + -139.16818237304688, + -34.11304473876953, + 0.22139376401901245 + ], + [ + -138.5924530029297, + -34.68876647949219, + 0.22139376401901245 + ], + [ + -139.16616821289062, + -35.262481689453125, + 1.9716768264770508 + ], + [ + -139.7418975830078, + -34.68675994873047, + 1.9716768264770508 + ], + [ + -139.16818237304688, + -34.11304473876953, + 1.9716768264770508 + ], + [ + -138.5924530029297, + -34.68876647949219, + 1.9716768264770508 + ] + ], + "corners_2d": [ + [ + 636.7039322180221, + 394.9625544796423 + ], + [ + 659.0348147613756, + 383.8714550150986 + ], + [ + 643.2006351228234, + 368.76098974023535 + ], + [ + 621.0577059445055, + 379.47999345706626 + ], + [ + 636.560338865851, + 350.5861328354749 + ], + [ + 659.8535221188033, + 339.58231039402284 + ], + [ + 643.3358850958282, + 324.6095387064567 + ], + [ + 620.2471299687529, + 335.22863378763674 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 50, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 349414, + "2": 127773, + "3": 195617, + "4": 65773, + "6": 7991, + "10": 9, + "12": 3681, + "14": 4811, + "20": 57, + "24": 9539, + "25": 156935 + }, + "instance_pixel_counts": { + "3413": 15151, + "3662": 52780, + "11605": 4369, + "17240": 6682, + "17496": 1024, + "20565": 1515, + "21907": 17304, + "21909": 2532, + "22421": 1429, + "22931": 62995, + "22933": 5556, + "23443": 266818, + "23445": 6, + "23955": 749, + "25493": 16, + "25600": 6, + "25856": 279, + "26003": 1548, + "36096": 648, + "36352": 612, + "36608": 523, + "36864": 623, + "37120": 514, + "37376": 761, + "41216": 35, + "41728": 4776, + "47201": 4175, + "47713": 530, + "48225": 202, + "48737": 15490, + "48980": 174582, + "49249": 2071, + "49761": 2658, + "51297": 72134, + "51526": 12993, + "51809": 10412, + "52321": 2292, + "52833": 224, + "53345": 16, + "54366": 147557, + "54878": 9378, + "56970": 910, + "57482": 11657, + "57994": 5002, + "59737": 57 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 648, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -34.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3680468797683716, + "y": 0.4025317430496216, + "z": 0.8896771669387817 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.1156648917746, + "ymin": 324.96890319453934, + "xmax": 658.9519548703535, + "ymax": 394.5227498130074 + }, + "corners_3d": [ + [ + -139.14279174804688, + -35.232643127441406, + 0.20685815811157227 + ], + [ + -139.71205139160156, + -34.66337966918945, + 0.20685815811157227 + ], + [ + -139.19155883789062, + -34.14288330078125, + 0.20685815811157227 + ], + [ + -138.62229919433594, + -34.7121467590332, + 0.20685815811157227 + ], + [ + -139.14279174804688, + -35.232643127441406, + 1.9862124919891357 + ], + [ + -139.71205139160156, + -34.66337966918945, + 1.9862124919891357 + ], + [ + -139.19155883789062, + -34.14288330078125, + 1.9862124919891357 + ], + [ + -138.62229919433594, + -34.7121467590332, + 1.9862124919891357 + ] + ], + "corners_2d": [ + [ + 636.0944902521348, + 394.5227498130074 + ], + [ + 658.1582921430646, + 383.57301207014376 + ], + [ + 643.7990861782079, + 369.8617892133405 + ], + [ + 621.9037709831323, + 380.47783933651556 + ], + [ + 635.9216153508969, + 349.4145214715761 + ], + [ + 658.9519548703535, + 338.55315688135477 + ], + [ + 643.9624931236245, + 324.96890319453934 + ], + [ + 621.1156648917746, + 335.4850624466949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 612, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -31.6900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.42027831077575684, + "y": 0.44838622212409973, + "z": 0.8772951364517212 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 507.28508783479134, + "ymin": 253.64010605105437, + "xmax": 549.9186892260898, + "ymax": 320.374560761629 + }, + "corners_3d": [ + [ + -135.1494598388672, + -32.295005798339844, + 0.06684273481369019 + ], + [ + -135.63787841796875, + -31.542909622192383, + 0.06684273481369019 + ], + [ + -134.9329376220703, + -31.08510971069336, + 0.06684273481369019 + ], + [ + -134.44451904296875, + -31.83720588684082, + 0.06684273481369019 + ], + [ + -135.1494598388672, + -32.295005798339844, + 1.8214330673217773 + ], + [ + -135.63787841796875, + -31.542909622192383, + 1.8214330673217773 + ], + [ + -134.9329376220703, + -31.08510971069336, + 1.8214330673217773 + ], + [ + -134.44451904296875, + -31.83720588684082, + 1.8214330673217773 + ] + ], + "corners_2d": [ + [ + 529.7000563506491, + 320.374560761629 + ], + [ + 549.9186892260898, + 307.4363578056875 + ], + [ + 532.4949289708974, + 296.59825988342413 + ], + [ + 512.2764414719896, + 309.1949841330691 + ], + [ + 525.3288009565539, + 277.0498730118736 + ], + [ + 546.4061771302244, + 264.30457660670857 + ], + [ + 528.3604024897544, + 253.64010605105437 + ], + [ + 507.28508783479134, + 266.036063473363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 523, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -27.74505043029785, + "z": 1.091994285583496 + }, + "extent": { + "x": 0.4269189238548279, + "y": 0.4237634241580963, + "z": 0.9360743761062622 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 719.7254972553269, + "ymin": 199.8387976273906, + "xmax": 758.7919764167227, + "ymax": 265.3608877811884 + }, + "corners_3d": [ + [ + -141.48809814453125, + -28.34304428100586, + 0.1559199094772339 + ], + [ + -142.02146911621094, + -27.68439292907715, + 0.1559199094772339 + ], + [ + -141.35791015625, + -27.147056579589844, + 0.1559199094772339 + ], + [ + -140.8245391845703, + -27.805707931518555, + 0.1559199094772339 + ], + [ + -141.48809814453125, + -28.34304428100586, + 2.0280685424804688 + ], + [ + -142.02146911621094, + -27.68439292907715, + 2.0280685424804688 + ], + [ + -141.35791015625, + -27.147056579589844, + 2.0280685424804688 + ], + [ + -140.8245391845703, + -27.805707931518555, + 2.0280685424804688 + ] + ], + "corners_2d": [ + [ + 737.2717095664108, + 265.3608877811884 + ], + [ + 754.3144107528857, + 255.70211923590207 + ], + [ + 736.7445576167281, + 244.94948333929807 + ], + [ + 719.7254972553269, + 254.33888133044826 + ], + [ + 741.1313931024014, + 219.79996051599295 + ], + [ + 758.7919764167227, + 210.34908463253444 + ], + [ + 740.4790034160029, + 199.8387976273906 + ], + [ + 722.8425128431039, + 209.01593609674896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 623, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -34.68776321411133, + "z": 1.0932540893554688 + }, + "extent": { + "x": 0.3741552531719208, + "y": 0.30463987588882446, + "z": 0.874923050403595 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 743.9086842674142, + "ymin": 340.1645260301726, + "xmax": 782.3254761305377, + "ymax": 407.40994378341435 + }, + "corners_3d": [ + [ + -142.79608154296875, + -35.16774368286133, + 0.21833103895187378 + ], + [ + -143.22691345214844, + -34.73691940307617, + 0.21833103895187378 + ], + [ + -142.69778442382812, + -34.20778274536133, + 0.21833103895187378 + ], + [ + -142.26695251464844, + -34.638607025146484, + 0.21833103895187378 + ], + [ + -142.79608154296875, + -35.16774368286133, + 1.968177080154419 + ], + [ + -143.22691345214844, + -34.73691940307617, + 1.968177080154419 + ], + [ + -142.69778442382812, + -34.20778274536133, + 1.968177080154419 + ], + [ + -142.26695251464844, + -34.638607025146484, + 1.968177080154419 + ] + ], + "corners_2d": [ + [ + 760.5224398355488, + 407.40994378341435 + ], + [ + 776.3608773014048, + 398.85770376100584 + ], + [ + 759.648813847849, + 384.4397402019234 + ], + [ + 743.9086842674142, + 392.72294768602666 + ], + [ + 765.8457753649211, + 362.9682788837635 + ], + [ + 782.3254761305377, + 354.47215065213925 + ], + [ + 764.7962570247076, + 340.1645260301726 + ], + [ + 748.4219365567379, + 348.381929472096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 514, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.33926391601562, + "y": -41.37274169921875, + "z": 1.0927999019622803 + }, + "extent": { + "x": 0.39301756024360657, + "y": 0.4063452184200287, + "z": 0.8717256188392639 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 659.4486767635949, + "ymin": 515.2043049548369, + "xmax": 707.8830671713853, + "ymax": 596.5284283477527 + }, + "corners_3d": [ + [ + -141.27081298828125, + -41.933895111083984, + 0.22107428312301636 + ], + [ + -141.9023895263672, + -41.42245101928711, + 0.22107428312301636 + ], + [ + -141.40771484375, + -40.811588287353516, + 0.22107428312301636 + ], + [ + -140.77613830566406, + -41.32303237915039, + 0.22107428312301636 + ], + [ + -141.27081298828125, + -41.933895111083984, + 1.9645254611968994 + ], + [ + -141.9023895263672, + -41.42245101928711, + 1.9645254611968994 + ], + [ + -141.40771484375, + -40.811588287353516, + 1.9645254611968994 + ], + [ + -140.77613830566406, + -41.32303237915039, + 1.9645254611968994 + ] + ], + "corners_2d": [ + [ + 675.8940523735333, + 596.5284283477527 + ], + [ + 704.478264118548, + 582.5354360687544 + ], + [ + 687.6305688699439, + 559.3106304048625 + ], + [ + 659.4486767635949, + 572.7139181103316 + ], + [ + 677.8149184896774, + 552.8036340288502 + ], + [ + 707.8830671713853, + 538.651395139809 + ], + [ + 690.0897372768321, + 515.2043049548369 + ], + [ + 660.465999260347, + 528.7294826876276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 761, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -42.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.37715330719947815, + "y": 0.4852880835533142, + "z": 0.9032898545265198 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 98.00051480384604, + "ymin": 493.08710011611265, + "xmax": 167.67870224165432, + "ymax": 573.8309200789843 + }, + "corners_3d": [ + [ + -127.72026062011719, + -43.438594818115234, + 0.04085278511047363 + ], + [ + -128.5342559814453, + -42.90998077392578, + 0.04085278511047363 + ], + [ + -128.12342834472656, + -42.27736282348633, + 0.04085278511047363 + ], + [ + -127.30943298339844, + -42.80597686767578, + 0.04085278511047363 + ], + [ + -127.72026062011719, + -43.438594818115234, + 1.8474324941635132 + ], + [ + -128.5342559814453, + -42.90998077392578, + 1.8474324941635132 + ], + [ + -128.12342834472656, + -42.27736282348633, + 1.8474324941635132 + ], + [ + -127.30943298339844, + -42.80597686767578, + 1.8474324941635132 + ] + ], + "corners_2d": [ + [ + 126.1180015960316, + 573.8309200789843 + ], + [ + 167.67870224165432, + 560.9661747886514 + ], + [ + 165.81957237764277, + 538.5978738760956 + ], + [ + 125.11145047320485, + 550.9300874955354 + ], + [ + 98.44728260419458, + 528.6130420380886 + ], + [ + 142.56243166880176, + 515.6270072431003 + ], + [ + 141.15604412308062, + 493.08710011611265 + ], + [ + 98.00051480384604, + 505.5077623671641 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 35, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 738.4914826108369, + "ymin": 0.0, + "xmax": 846.5734875602088, + "ymax": 7.342410929155733 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 741.4912470391791, + -12.498443330913858 + ], + [ + 738.4914826108369, + 0.5827740609231569 + ], + [ + 841.9030851461584, + 7.342410929155733 + ], + [ + 842.2825135614812, + -6.0797755832441 + ], + [ + 743.6164215823549, + -42.359938719599654 + ], + [ + 740.608715424464, + -29.792023422280977 + ], + [ + 846.3014905483423, + -23.292255388275635 + ], + [ + 846.5734875602088, + -36.19485059382822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4776, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 340.8326168930349, + "ymin": 127.20437531918586, + "xmax": 450.13195923917175, + "ymax": 240.3086928652633 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 349.0279851097963, + 234.62487344430656 + ], + [ + 402.66344381141244, + 240.3086928652633 + ], + [ + 450.13195923917175, + 163.47085529434716 + ], + [ + 401.59686172752413, + 158.88152523084338 + ], + [ + 340.8326168930349, + 201.4188331495202 + ], + [ + 395.9266017543497, + 207.0049720521466 + ], + [ + 445.3049321358169, + 131.68907507447184 + ], + [ + 395.57797337878577, + 127.20437531918586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 475.11733116180073, + "ymin": 0.0, + "xmax": 693.3143513695381, + "ymax": 110.94164111197779 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 681.6036874255021, + 110.94164111197779 + ], + [ + 683.8856700236053, + 102.93474564093219 + ], + [ + 508.426118411115, + 88.88511280057838 + ], + [ + 503.97456607590004, + 96.52963896358756 + ], + [ + 690.6832512831098, + -173.34689509359316 + ], + [ + 693.3143513695381, + -178.65425873805532 + ], + [ + 480.9352849296088, + -187.89594421683262 + ], + [ + 475.11733116180073, + -182.8786418738489 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 240.62496715275148, + "ymin": 6.466760722021661, + "xmax": 602.6920671827747, + "ymax": 405.02166384970735 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 597.7902422813735, + 405.02166384970735 + ], + [ + 602.6920671827747, + 387.82240929118734 + ], + [ + 351.636849446003, + 358.13493363302234 + ], + [ + 342.27530500661004, + 374.2112517360321 + ], + [ + 582.7007588979423, + 44.47163536810916 + ], + [ + 589.6912423682458, + 30.370675081999877 + ], + [ + 255.55655464406516, + 6.466760722021661 + ], + [ + 240.62496715275148, + 19.34350259631475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.8698783605796, + "ymin": 0.0, + "xmax": 1263.0212172185024, + "ymax": 47.383024125523775 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1182.3660746197884, + 46.71939139806966 + ], + [ + 1192.072859627738, + 47.383024125523775 + ], + [ + 1172.9986333205188, + 15.103285256053823 + ], + [ + 1163.8698783605796, + 14.513643742539216 + ], + [ + 1251.9741364302226, + -128.70640858924327 + ], + [ + 1263.0212172185024, + -128.19149294124423 + ], + [ + 1237.0892032053616, + -153.05777630078444 + ], + [ + 1226.7842352574353, + -153.50861115862654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 248.44062007139945, + "ymin": 17.258194276887025, + "xmax": 285.53881932926913, + "ymax": 29.29489986282732 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 276.3499043874257, + 29.29489986282732 + ], + [ + 285.53881932926913, + 20.728731708222313 + ], + [ + 258.4505462741117, + 18.745974535860626 + ], + [ + 248.86447362986627, + 27.248316457210024 + ], + [ + 275.9543456968172, + 27.789142644070864 + ], + [ + 285.1593334300891, + 19.237538630432994 + ], + [ + 258.0435739029988, + 17.258194276887025 + ], + [ + 248.44062007139945, + 25.746012192667195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.65024307904713, + "ymin": 0.0, + "xmax": 462.904414163611, + "ymax": 21.16791738056179 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 242.15744304865922, + 1.1523395390490236 + ], + [ + 238.1940744891083, + 4.399566542839125 + ], + [ + 460.2474116269587, + 21.16791738056179 + ], + [ + 462.904414163611, + 17.70822309329907 + ], + [ + 191.48193306155827, + -178.7576366581352 + ], + [ + 186.65024307904713, + -176.37157958019543 + ], + [ + 436.344808324288, + -163.9890276147679 + ], + [ + 439.52722716553177, + -166.55226095032185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 722.8228012850315, + "ymin": 0.0, + "xmax": 767.1152869636236, + "ymax": 45.07109359653458 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 722.8228012850315, + 44.39369923590232 + ], + [ + 731.7386652147551, + 45.07109359653458 + ], + [ + 754.008303575682, + -43.928587844172114 + ], + [ + 746.4858223962605, + -44.407803143840965 + ], + [ + 734.3800932115589, + -146.6668061659883 + ], + [ + 744.55777475368, + -146.15857838339423 + ], + [ + 767.1152869636236, + -211.49210326505477 + ], + [ + 758.7140904878004, + -211.83620342794836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 706.2519256206908, + "xmax": 396.84789763930513, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 380.71575382834595, + 1166.6807801439645 + ], + [ + 396.84789763930513, + 1110.0771964668816 + ], + [ + -31.64360812662062, + 1016.3317891148946 + ], + [ + -60.85245519598345, + 1066.4913261543643 + ], + [ + 140.0052464501269, + 937.4616361862279 + ], + [ + 185.32385205325738, + 846.04652011503 + ], + [ + -555.8989763290135, + 706.2519256206908 + ], + [ + -640.655987407433, + 779.3449007868157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 248.45157490244964, + "ymin": 17.29664649970033, + "xmax": 285.5486063515765, + "ymax": 29.333732980494517 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 276.3601057512215, + 29.333732980494517 + ], + [ + 285.5486063515765, + 20.767189895860838 + ], + [ + 258.46104222107743, + 18.784344862210162 + ], + [ + 248.87540475740462, + 27.287060686647408 + ], + [ + 275.9645692653427, + 27.828060287581764 + ], + [ + 285.16914141928305, + 19.276079207631426 + ], + [ + 258.0540922521962, + 17.29664649970033 + ], + [ + 248.45157490244964, + 25.784840436704087 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00051/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00051/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9523dcc5874faa70d830bfb4757baa5facbbaff --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00051/meta.json @@ -0,0 +1,1830 @@ +{ + "frame_id": 51, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 25.5, + "sim_timestamp": 666.7026676570531 + }, + "drone_pose": { + "x": -142.65599320373136, + "y": -54.52747193800166, + "z": 20.000313696330664, + "pitch": -42.36576032442852, + "yaw": 78.90456233222177, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.1421886682510376, + -0.7250474691390991, + 0.673861026763916, + 46.341636657714844 + ], + [ + 0.9813079833984375, + 0.19244378805160522, + -2.9802322387695312e-08, + -129.49598693847656 + ], + [ + -0.12968036532402039, + 0.6612651348114014, + 0.738858163356781, + -69.33419036865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.63906666493372, + "y": -53.89801313918912, + "z": 20.00023385925957 + }, + "t1_image_uv": [ + 858.687432556871, + -515.3229292031006 + ], + "t1_depth": 0.4588480427367294 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.66718292236328, + "y": -34.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.052935605974305, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 572, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.66717529296875, + "y": -34.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.30046385526657104, + "y": 0.36693480610847473, + "z": 0.8653998374938965 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.5191724347185, + "ymin": 327.3599303483977, + "xmax": 656.5199780800762, + "ymax": 392.0686982502068 + }, + "corners_3d": [ + [ + -138.62017822265625, + -34.65968704223633, + 0.23113548755645752 + ], + [ + -139.13909912109375, + -34.14076232910156, + 0.23113548755645752 + ], + [ + -138.71417236328125, + -33.71583938598633, + 0.23113548755645752 + ], + [ + -138.19525146484375, + -34.234764099121094, + 0.23113548755645752 + ], + [ + -138.62017822265625, + -34.65968704223633, + 1.9619351625442505 + ], + [ + -139.13909912109375, + -34.14076232910156, + 1.9619351625442505 + ], + [ + -138.71417236328125, + -33.71583938598633, + 1.9619351625442505 + ], + [ + -138.19525146484375, + -34.234764099121094, + 1.9619351625442505 + ] + ], + "corners_2d": [ + [ + 635.3546190900279, + 392.0686982502068 + ], + [ + 655.8463597398513, + 382.47118492515875 + ], + [ + 644.5372997127752, + 371.0486607123016 + ], + [ + 624.1896461512086, + 380.40230079651917 + ], + [ + 635.1549458194386, + 348.20315302841726 + ], + [ + 656.5199780800762, + 338.6812256125112 + ], + [ + 644.7276210938657, + 327.3599303483977 + ], + [ + 623.5191724347185, + 336.6297685605632 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 51, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 358349, + "2": 129311, + "3": 188324, + "4": 52641, + "6": 8290, + "10": 21, + "12": 3682, + "14": 5321, + "24": 9976, + "25": 165685 + }, + "instance_pixel_counts": { + "3413": 14989, + "3662": 38077, + "11605": 4884, + "17240": 6868, + "17496": 1086, + "20565": 2926, + "21907": 19236, + "21909": 2867, + "22421": 1479, + "22931": 63909, + "22933": 5548, + "23443": 270887, + "23445": 19, + "23955": 1574, + "25493": 63, + "25600": 6, + "25856": 330, + "26003": 2743, + "36096": 572, + "36352": 594, + "36608": 580, + "36864": 605, + "37120": 579, + "37376": 752, + "41216": 432, + "41728": 4889, + "47201": 4335, + "47713": 554, + "48225": 285, + "48737": 15861, + "48980": 165525, + "49249": 2145, + "49761": 2594, + "51297": 71337, + "51526": 14564, + "51809": 10310, + "52321": 2643, + "52833": 234, + "53345": 18, + "54366": 155581, + "54878": 10104, + "56970": 975, + "57482": 11616, + "57994": 6404 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 572, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.66717529296875, + "y": -34.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.36991697549819946, + "y": 0.30867430567741394, + "z": 0.8752248287200928 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.8896596690927, + "ymin": 326.53874658586375, + "xmax": 656.227125126161, + "ymax": 392.90354437581175 + }, + "corners_3d": [ + [ + -138.71047973632812, + -34.667598724365234, + 0.22131049633026123 + ], + [ + -139.1470184326172, + -34.2310676574707, + 0.22131049633026123 + ], + [ + -138.62387084960938, + -33.70792770385742, + 0.22131049633026123 + ], + [ + -138.1873321533203, + -34.14445877075195, + 0.22131049633026123 + ], + [ + -138.71047973632812, + -34.667598724365234, + 1.9717601537704468 + ], + [ + -139.1470184326172, + -34.2310676574707, + 1.9717601537704468 + ], + [ + -138.62387084960938, + -33.70792770385742, + 1.9717601537704468 + ], + [ + -138.1873321533203, + -34.14445877075195, + 1.9717601537704468 + ] + ], + "corners_2d": [ + [ + 638.3081657001487, + 392.90354437581175 + ], + [ + 655.5565298056201, + 384.8055426830026 + ], + [ + 641.65002277811, + 370.7184909106068 + ], + [ + 624.5508134433694, + 378.56396639810407 + ], + [ + 638.2345513099107, + 348.53507943530917 + ], + [ + 656.227125126161, + 340.5005493626822 + ], + [ + 641.7199902492985, + 326.53874658586375 + ], + [ + 623.8896596690927, + 334.3121444361089 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 594, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.54119873046875, + "y": -31.1900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3820214867591858, + "y": 0.4314807057380676, + "z": 0.8554533123970032 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 511.8202252008206, + "ymin": 253.13212236353382, + "xmax": 551.7687896496963, + "ymax": 317.21041048154694 + }, + "corners_3d": [ + [ + -134.6265869140625, + -31.759992599487305, + 0.0886845588684082 + ], + [ + -135.09658813476562, + -31.036251068115234, + 0.0886845588684082 + ], + [ + -134.455810546875, + -30.6201229095459, + 0.0886845588684082 + ], + [ + -133.98580932617188, + -31.34386444091797, + 0.0886845588684082 + ], + [ + -134.6265869140625, + -31.759992599487305, + 1.7995911836624146 + ], + [ + -135.09658813476562, + -31.036251068115234, + 1.7995911836624146 + ], + [ + -134.455810546875, + -30.6201229095459, + 1.7995911836624146 + ], + [ + -133.98580932617188, + -31.34386444091797, + 1.7995911836624146 + ] + ], + "corners_2d": [ + [ + 531.9123145154373, + 317.21041048154694 + ], + [ + 551.7687896496963, + 305.11403502241905 + ], + [ + 536.3506282840692, + 295.013774674512 + ], + [ + 516.5176703834113, + 306.8120912824881 + ], + [ + 527.7465082340012, + 274.99313921664805 + ], + [ + 548.4195413259444, + 263.0740982793714 + ], + [ + 532.4663465894872, + 253.13212236353382 + ], + [ + 511.8202252008206, + 264.74645598778557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 580, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.92300415039062, + "y": -27.24505043029785, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.491523414850235, + "y": 0.4698144495487213, + "z": 0.9361836314201355 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 722.4764697822707, + "ymin": 199.76692890687247, + "xmax": 766.450471133589, + "ymax": 268.0857345029586 + }, + "corners_3d": [ + [ + -141.0093231201172, + -27.919490814208984, + 0.1603516936302185 + ], + [ + -141.60064697265625, + -27.189260482788086, + 0.1603516936302185 + ], + [ + -140.83668518066406, + -26.57061004638672, + 0.1603516936302185 + ], + [ + -140.245361328125, + -27.300840377807617, + 0.1603516936302185 + ], + [ + -141.0093231201172, + -27.919490814208984, + 2.0327188968658447 + ], + [ + -141.60064697265625, + -27.189260482788086, + 2.0327188968658447 + ], + [ + -140.83668518066406, + -26.57061004638672, + 2.0327188968658447 + ], + [ + -140.245361328125, + -27.300840377807617, + 2.0327188968658447 + ] + ], + "corners_2d": [ + [ + 742.2771754647382, + 268.0857345029586 + ], + [ + 761.6652279206306, + 257.6178510677783 + ], + [ + 741.8059966112721, + 244.90943589395073 + ], + [ + 722.4764697822707, + 255.03377665932896 + ], + [ + 746.356498005556, + 222.43694326022327 + ], + [ + 766.450471133589, + 212.19111038493568 + ], + [ + 745.7417917548244, + 199.76692890687247 + ], + [ + 725.7091041984712, + 209.66352989765466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 605, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.24693298339844, + "y": -34.18776321411133, + "z": 1.093214988708496 + }, + "extent": { + "x": 0.4816991984844208, + "y": 0.38288572430610657, + "z": 0.9080424904823303 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 739.2837309792245, + "ymin": 338.35274228968916, + "xmax": 786.8595307202409, + "ymax": 413.74083194472274 + }, + "corners_3d": [ + [ + -142.31680297851562, + -34.79911804199219, + 0.18517249822616577 + ], + [ + -142.85829162597656, + -34.257633209228516, + 0.18517249822616577 + ], + [ + -142.17706298828125, + -33.57640838623047, + 0.18517249822616577 + ], + [ + -141.6355743408203, + -34.11789321899414, + 0.18517249822616577 + ], + [ + -142.31680297851562, + -34.79911804199219, + 2.0012574195861816 + ], + [ + -142.85829162597656, + -34.257633209228516, + 2.0012574195861816 + ], + [ + -142.17706298828125, + -33.57640838623047, + 2.0012574195861816 + ], + [ + -141.6355743408203, + -34.11789321899414, + 2.0012574195861816 + ] + ], + "corners_2d": [ + [ + 760.02220875021, + 413.74083194472274 + ], + [ + 780.4454707032305, + 403.2737778235829 + ], + [ + 759.5140451426115, + 384.30134873130623 + ], + [ + 739.2837309792245, + 394.3382441168466 + ], + [ + 765.5688787985663, + 367.58000842500974 + ], + [ + 786.8595307202409, + 357.17860758700743 + ], + [ + 764.8544405355851, + 338.35274228968916 + ], + [ + 743.771870529986, + 348.3076803900722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 579, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.2977294921875, + "y": -42.28375244140625, + "z": 1.092897653579712 + }, + "extent": { + "x": 0.3046630918979645, + "y": 0.38151609897613525, + "z": 0.8660046458244324 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 663.2336860719952, + "ymin": 571.7746985647152, + "xmax": 708.1904316237485, + "ymax": 648.8609703911579 + }, + "corners_3d": [ + [ + -141.19296264648438, + -42.760616302490234, + 0.22689300775527954 + ], + [ + -141.78594970703125, + -42.280426025390625, + 0.22689300775527954 + ], + [ + -141.40249633789062, + -41.806888580322266, + 0.22689300775527954 + ], + [ + -140.80950927734375, + -42.287078857421875, + 0.22689300775527954 + ], + [ + -141.19296264648438, + -42.760616302490234, + 1.958902359008789 + ], + [ + -141.78594970703125, + -42.280426025390625, + 1.958902359008789 + ], + [ + -141.40249633789062, + -41.806888580322266, + 1.958902359008789 + ], + [ + -140.80950927734375, + -42.287078857421875, + 1.958902359008789 + ] + ], + "corners_2d": [ + [ + 676.0596839603114, + 648.8609703911579 + ], + [ + 704.6259580604699, + 635.1013750656019 + ], + [ + 691.4487600578954, + 614.9569727036558 + ], + [ + 663.2336860719952, + 628.2362275857352 + ], + [ + 678.0736835937186, + 606.2049252971648 + ], + [ + 708.1904316237485, + 592.2182726738898 + ], + [ + 694.2340707056085, + 571.7746985647152 + ], + [ + 664.5070857286271, + 585.2467351151638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 752, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.42184448242188, + "y": -42.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3512597680091858, + "y": 0.3139916956424713, + "z": 0.8806895017623901 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 104.99221813771021, + "ymin": 486.6055633602524, + "xmax": 158.01918716329095, + "ymax": 559.443809314999 + }, + "corners_3d": [ + [ + -127.34981536865234, + -42.82358169555664, + 0.06344836950302124 + ], + [ + -127.8764877319336, + -42.4815559387207, + 0.06344836950302124 + ], + [ + -127.4938735961914, + -41.89237594604492, + 0.06344836950302124 + ], + [ + -126.96720123291016, + -42.23440170288086, + 0.06344836950302124 + ], + [ + -127.34981536865234, + -42.82358169555664, + 1.8248274326324463 + ], + [ + -127.8764877319336, + -42.4815559387207, + 1.8248274326324463 + ], + [ + -127.4938735961914, + -41.89237594604492, + 1.8248274326324463 + ], + [ + -126.96720123291016, + -42.23440170288086, + 1.8248274326324463 + ] + ], + "corners_2d": [ + [ + 131.34471448730852, + 559.443809314999 + ], + [ + 158.01918716329095, + 551.7767703013503 + ], + [ + 157.23218722782724, + 531.0100311343643 + ], + [ + 131.07482687537077, + 538.3805904614015 + ], + [ + 104.99221813771021, + 515.2435239485025 + ], + [ + 133.235898130382, + 507.5137024151249 + ], + [ + 132.91574934123025, + 486.6055633602524 + ], + [ + 105.25118235954676, + 494.0215224420174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 432, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 761.7498881817859, + "ymin": 0.0, + "xmax": 872.1717738156017, + "ymax": 13.805022467643369 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 765.0637590052489, + -7.5111446272214835 + ], + [ + 761.7498881817859, + 5.802931926268911 + ], + [ + 866.637581353132, + 13.805022467643369 + ], + [ + 867.2823704146396, + 0.08448078574724605 + ], + [ + 767.7137168188508, + -37.6016036273997 + ], + [ + 764.39870664024, + -24.80359584533744 + ], + [ + 871.6457140631501, + -17.104830949732616 + ], + [ + 872.1717738156017, + -30.302135202809893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4889, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 355.8943224207852, + "ymin": 131.3329774922529, + "xmax": 467.02608379661274, + "ymax": 246.2036237449252 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 363.73786377920885, + 239.58387860069695 + ], + [ + 417.35536189769834, + 246.2036237449252 + ], + [ + 467.02608379661274, + 168.46657948948757 + ], + [ + 418.44977032484826, + 163.1242693798188 + ], + [ + 355.8943224207852, + 206.2800939985056 + ], + [ + 410.9771087811917, + 212.7891637413607 + ], + [ + 462.58944213235463, + 136.5556434013304 + ], + [ + 412.81269680885566, + 131.3329774922529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 497.6595439348895, + "ymin": 0.0, + "xmax": 718.2155410991318, + "ymax": 117.94133523259364 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 701.7223606464746, + 117.94133523259364 + ], + [ + 704.2100637057143, + 109.77938065926043 + ], + [ + 527.4556178622161, + 93.2567848903139 + ], + [ + 522.7891656340577, + 100.99045575909548 + ], + [ + 715.3998812803167, + -168.95105601650812 + ], + [ + 718.2155410991318, + -174.3906954781329 + ], + [ + 503.6930418138784, + -185.30812233417373 + ], + [ + 497.6595439348895, + -180.21366017598712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 253.73455085697447, + "ymin": 12.596028787185446, + "xmax": 615.427080462932, + "ymax": 418.71350093516565 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 610.0492411712604, + 418.71350093516565 + ], + [ + 615.427080462932, + 401.0692407658169 + ], + [ + 362.88393886245717, + 366.0000033951379 + ], + [ + 353.04380983770625, + 382.30796401767765 + ], + [ + 599.1101528888197, + 55.71180677428316 + ], + [ + 606.6819909221082, + 41.083594698493755 + ], + [ + 269.31024752518584, + 12.596028787185446 + ], + [ + 253.73455085697447, + 25.747570207283843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1196.3889952257564, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 58.894716283520665 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1215.0356248746973, + 58.096677211028805 + ], + [ + 1225.0525943716561, + 58.894716283520665 + ], + [ + 1205.7974958724071, + 25.401702466269967 + ], + [ + 1196.3889952257564, + 24.693952680933364 + ], + [ + 1290.658990544688, + -120.03463684143287 + ], + [ + 1302.114435622514, + -119.41193401516648 + ], + [ + 1275.4430079930473, + -145.35180493817938 + ], + [ + 1264.775771467299, + -145.89568210837473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.6209430906203, + "ymin": 23.53919869405229, + "xmax": 299.19833829411704, + "ymax": 36.144781934336436 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 289.5891992763183, + 36.144781934336436 + ], + [ + 299.19833829411704, + 27.385430592483203 + ], + [ + 272.039273034313, + 25.03912103382237 + ], + [ + 262.0360845072651, + 33.72232289454928 + ], + [ + 289.20262186360054, + 34.62626359803613 + ], + [ + 298.82833773331066, + 25.881538420537993 + ], + [ + 271.6415147590258, + 23.53919869405229 + ], + [ + 261.6209430906203, + 32.20781887946504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 210.80997211234165, + "ymin": 0.0, + "xmax": 483.5732665946871, + "ymax": 23.787334931584837 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 263.7249059899904, + 1.211916493966271 + ], + [ + 259.6936586851457, + 4.451269070428225 + ], + [ + 480.8214991380959, + 23.787334931584837 + ], + [ + 483.5732665946871, + 20.30340146459349 + ], + [ + 215.69913610347504, + -178.92980036240954 + ], + [ + 210.80997211234165, + -176.54844889032358 + ], + [ + 459.4983349046128, + -162.254186325383 + ], + [ + 462.7720815265934, + -164.83982953043176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 744.9452081766686, + "ymin": 0.0, + "xmax": 794.5151487420669, + "ymax": 51.153671598141216 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 744.9452081766686, + 50.35975692374092 + ], + [ + 753.968696335904, + 51.153671598141216 + ], + [ + 778.4014707068891, + -39.43291080477974 + ], + [ + 770.7899114954621, + -39.99342307597129 + ], + [ + 759.7940437905096, + -142.38494267019541 + ], + [ + 770.1201058085038, + -141.7872388260576 + ], + [ + 794.5151487420669, + -208.4884687525572 + ], + [ + 785.9973868593244, + -208.8919906447186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.63167290308866, + "ymin": 23.577965274686505, + "xmax": 299.20788054009523, + "ymax": 36.18394353751853 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 289.5991688571091, + 36.18394353751853 + ], + [ + 299.20788054009523, + 27.424215693235794 + ], + [ + 272.04953119598, + 25.07780393950975 + ], + [ + 262.04679078839433, + 33.76138116507292 + ], + [ + 289.2126134533344, + 34.66551165475295 + ], + [ + 298.8379007098415, + 25.92040778201641 + ], + [ + 271.65179511010996, + 23.577965274686505 + ], + [ + 261.63167290308866, + 32.24696299617534 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00052/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00052/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..161b7f52628f7505b9a39c17d1377cb489bd2c71 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00052/meta.json @@ -0,0 +1,1935 @@ +{ + "frame_id": 52, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 26.0, + "sim_timestamp": 677.626595746493 + }, + "drone_pose": { + "x": -142.63906666493372, + "y": -53.89801313918912, + "z": 20.00023385925957, + "pitch": -42.40428724725322, + "yaw": 77.52329702634903, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.15952670574188232, + -0.7209668159484863, + 0.6743576526641846, + 48.126129150390625 + ], + [ + 0.9763840436935425, + 0.2160423994064331, + 0.0, + -127.6262435913086 + ], + [ + -0.14568990468978882, + 0.6584320068359375, + 0.7384048700332642, + -71.03752136230469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.59428631999444, + "y": -53.25625281900246, + "z": 20.000172805084716 + }, + "t1_image_uv": [ + 833.9414552335041, + -516.5632662690664 + ], + "t1_depth": 0.46987264009017105 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -33.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.032155919273134, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 582, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -33.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3736621141433716, + "y": 0.4549829065799713, + "z": 0.8979803323745728 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.5786910019061, + "ymin": 324.12051365251716, + "xmax": 660.4983927813867, + "ymax": 395.3905292417835 + }, + "corners_3d": [ + [ + -138.10968017578125, + -34.273704528808594, + 0.19855499267578125 + ], + [ + -138.75311279296875, + -33.6302604675293, + 0.19855499267578125 + ], + [ + -138.22467041015625, + -33.10182189941406, + 0.19855499267578125 + ], + [ + -137.58123779296875, + -33.74526596069336, + 0.19855499267578125 + ], + [ + -138.10968017578125, + -34.273704528808594, + 1.9945156574249268 + ], + [ + -138.75311279296875, + -33.6302604675293, + 1.9945156574249268 + ], + [ + -138.22467041015625, + -33.10182189941406, + 1.9945156574249268 + ], + [ + -137.58123779296875, + -33.74526596069336, + 1.9945156574249268 + ] + ], + "corners_2d": [ + [ + 633.7846878571457, + 395.3905292417835 + ], + [ + 659.6299163124343, + 383.86341609692477 + ], + [ + 646.037984854187, + 369.43926781086316 + ], + [ + 620.440764283486, + 380.5978085644364 + ], + [ + 633.50602954436, + 349.84863076276247 + ], + [ + 660.4983927813867, + 338.4125367100652 + ], + [ + 646.3006557348369, + 324.12051365251716 + ], + [ + 619.5786910019061, + 335.1750687153901 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 52, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 367571, + "2": 131118, + "3": 172340, + "4": 46332, + "6": 8620, + "10": 9, + "12": 3695, + "14": 6076, + "24": 10317, + "25": 175522 + }, + "instance_pixel_counts": { + "3413": 13110, + "3662": 30282, + "11605": 5137, + "17240": 7073, + "17496": 1157, + "20565": 4705, + "21907": 21486, + "21909": 3057, + "22421": 1488, + "22931": 65006, + "22933": 5650, + "23443": 274502, + "23445": 49, + "23955": 2401, + "25493": 73, + "25600": 12, + "25856": 378, + "26003": 4122, + "36096": 582, + "36352": 580, + "36608": 587, + "36864": 603, + "37120": 642, + "37376": 701, + "41216": 1064, + "41728": 5012, + "47201": 4510, + "47713": 578, + "48225": 291, + "48737": 16468, + "48980": 149388, + "49249": 2222, + "49761": 2616, + "50579": 54, + "51297": 70612, + "51526": 16050, + "51809": 10213, + "52321": 2963, + "52833": 248, + "53345": 15, + "54366": 164616, + "54878": 10906, + "56970": 1014, + "57482": 11695, + "57994": 7673 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 582, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -33.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4926806390285492, + "y": 0.3957543969154358, + "z": 0.9086277484893799 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.1563228839547, + "ymin": 322.3150561029013, + "xmax": 661.0718953165258, + "ymax": 397.2866849722377 + }, + "corners_3d": [ + [ + -138.2357177734375, + -34.315982818603516, + 0.18790757656097412 + ], + [ + -138.79539489746094, + -33.75630187988281, + 0.18790757656097412 + ], + [ + -138.0986328125, + -33.05954360961914, + 0.18790757656097412 + ], + [ + -137.53895568847656, + -33.619224548339844, + 0.18790757656097412 + ], + [ + -138.2357177734375, + -34.315982818603516, + 2.0051631927490234 + ], + [ + -138.79539489746094, + -33.75630187988281, + 2.0051631927490234 + ], + [ + -138.0986328125, + -33.05954360961914, + 2.0051631927490234 + ], + [ + -137.53895568847656, + -33.619224548339844, + 2.0051631927490234 + ] + ], + "corners_2d": [ + [ + 637.6560958945091, + 397.2866849722377 + ], + [ + 660.1656678923224, + 387.20746395128043 + ], + [ + 642.2687106469873, + 368.15616704078127 + ], + [ + 620.0434189587287, + 377.81273954146707 + ], + [ + 637.5495350069916, + 351.19223775830903 + ], + [ + 661.0718953165258, + 341.19120831224416 + ], + [ + 642.3684213097822, + 322.3150561029013 + ], + [ + 619.1563228839547, + 331.8783860130906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 580, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -30.6900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.402900367975235, + "y": 0.4689318835735321, + "z": 0.9053249955177307 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 513.393631950539, + "ymin": 249.4610683779029, + "xmax": 556.0163856666366, + "ymax": 317.4643137538056 + }, + "corners_3d": [ + [ + -134.1237030029297, + -31.302772521972656, + 0.038812875747680664 + ], + [ + -134.63449096679688, + -30.51621437072754, + 0.038812875747680664 + ], + [ + -133.9586944580078, + -30.077342987060547, + 0.038812875747680664 + ], + [ + -133.44790649414062, + -30.863901138305664, + 0.038812875747680664 + ], + [ + -134.1237030029297, + -31.302772521972656, + 1.849462866783142 + ], + [ + -134.63449096679688, + -30.51621437072754, + 1.849462866783142 + ], + [ + -133.9586944580078, + -30.077342987060547, + 1.849462866783142 + ], + [ + -133.44790649414062, + -30.863901138305664, + 1.849462866783142 + ] + ], + "corners_2d": [ + [ + 534.0719403764307, + 317.4643137538056 + ], + [ + 556.0163856666366, + 304.6434074204797 + ], + [ + 540.1888792544859, + 293.7612826026311 + ], + [ + 518.2959163882747, + 306.2421387028427 + ], + [ + 529.7445601244331, + 272.7839228057235 + ], + [ + 552.6403312186557, + 260.1619343778931 + ], + [ + 536.2318405081201, + 249.4610683779029 + ], + [ + 513.393631950539, + 261.7349966446907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 587, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -26.74505043029785, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.5288427472114563, + "y": 0.48586180806159973, + "z": 0.9327095746994019 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 726.0544078358101, + "ymin": 200.4471199642517, + "xmax": 772.4968230102171, + "ymax": 270.06030858924976 + }, + "corners_3d": [ + [ + -140.52822875976562, + -27.455448150634766, + 0.16382575035095215 + ], + [ + -141.13975524902344, + -26.700275421142578, + 0.16382575035095215 + ], + [ + -140.31777954101562, + -26.034652709960938, + 0.16382575035095215 + ], + [ + -139.7062530517578, + -26.789825439453125, + 0.16382575035095215 + ], + [ + -140.52822875976562, + -27.455448150634766, + 2.029244899749756 + ], + [ + -141.13975524902344, + -26.700275421142578, + 2.029244899749756 + ], + [ + -140.31777954101562, + -26.034652709960938, + 2.029244899749756 + ], + [ + -139.7062530517578, + -26.789825439453125, + 2.029244899749756 + ] + ], + "corners_2d": [ + [ + 746.9524524103983, + 270.06030858924976 + ], + [ + 767.480200502361, + 259.4772975269852 + ], + [ + 746.4874771863391, + 245.46018387234056 + ], + [ + 726.0544078358101, + 255.66190950671665 + ], + [ + 751.2209375407531, + 224.51823821552625 + ], + [ + 772.4968230102171, + 214.1554475776521 + ], + [ + 750.5993943653014, + 200.4471199642517 + ], + [ + 729.4235381340883, + 210.4221800724207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 603, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -33.68776321411133, + "z": 1.093180775642395 + }, + "extent": { + "x": 0.47578123211860657, + "y": 0.45427000522613525, + "z": 0.8785731196403503 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 737.3364398226768, + "ymin": 340.3431382817651, + "xmax": 788.3337929103285, + "ymax": 415.97198427050876 + }, + "corners_3d": [ + [ + -141.76214599609375, + -34.34540939331055, + 0.21460765600204468 + ], + [ + -142.40457153320312, + -33.702972412109375, + 0.21460765600204468 + ], + [ + -141.73171997070312, + -33.03011703491211, + 0.21460765600204468 + ], + [ + -141.08929443359375, + -33.67255401611328, + 0.21460765600204468 + ], + [ + -141.76214599609375, + -34.34540939331055, + 1.9717538356781006 + ], + [ + -142.40457153320312, + -33.702972412109375, + 1.9717538356781006 + ], + [ + -141.73171997070312, + -33.03011703491211, + 1.9717538356781006 + ], + [ + -141.08929443359375, + -33.67255401611328, + 1.9717538356781006 + ] + ], + "corners_2d": [ + [ + 757.2354023726717, + 415.97198427050876 + ], + [ + 782.0428942435037, + 403.93121559899697 + ], + [ + 761.8803831779411, + 384.8146361567254 + ], + [ + 737.3364398226768, + 396.35743448744347 + ], + [ + 762.4985629570756, + 371.2933345441844 + ], + [ + 788.3337929103285, + 359.3216206197247 + ], + [ + 767.1613713953351, + 340.3431382817651 + ], + [ + 741.6103260768288, + 351.79837849595134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 642, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.2977294921875, + "y": -43.322593688964844, + "z": 1.0930050611495972 + }, + "extent": { + "x": 0.3657275438308716, + "y": 0.4657324254512787, + "z": 0.9007552266120911 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 657.818092731173, + "ymin": 632.1500002529601, + "xmax": 715.0461611281659, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.1659393310547, + -43.8999137878418, + 0.1922498345375061 + ], + [ + -141.88983154296875, + -43.313724517822266, + 0.1922498345375061 + ], + [ + -141.4295196533203, + -42.74527359008789, + 0.1922498345375061 + ], + [ + -140.70562744140625, + -43.33146286010742, + 0.1922498345375061 + ], + [ + -141.1659393310547, + -43.8999137878418, + 1.993760347366333 + ], + [ + -141.88983154296875, + -43.313724517822266, + 1.993760347366333 + ], + [ + -141.4295196533203, + -42.74527359008789, + 1.993760347366333 + ], + [ + -140.70562744140625, + -43.33146286010742, + 1.993760347366333 + ] + ], + "corners_2d": [ + [ + 673.306658933193, + 721.3043413230835 + ], + [ + 710.7269318183916, + 703.2897570422715 + ], + [ + 694.6211395738776, + 675.9827637170322 + ], + [ + 657.818092731173, + 693.1942659993258 + ], + [ + 675.3725628722929, + 678.5138307321962 + ], + [ + 715.0461611281659, + 660.0597781299509 + ], + [ + 697.8776914544495, + 632.1500002529601 + ], + [ + 658.8966782320626, + 649.7325504115257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 701, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -41.85797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.32933592796325684, + "y": 0.2673608362674713, + "z": 0.88313227891922 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 105.79653302717384, + "ymin": 478.50146450958573, + "xmax": 154.4570085117195, + "ymax": 548.4358310612898 + }, + "corners_3d": [ + [ + -126.87698364257812, + -42.2797966003418, + 0.061000704765319824 + ], + [ + -127.325439453125, + -41.98856735229492, + 0.061000704765319824 + ], + [ + -126.96670532226562, + -41.436161041259766, + 0.061000704765319824 + ], + [ + -126.51824951171875, + -41.72739028930664, + 0.061000704765319824 + ], + [ + -126.87698364257812, + -42.2797966003418, + 1.8272652626037598 + ], + [ + -127.325439453125, + -41.98856735229492, + 1.8272652626037598 + ], + [ + -126.96670532226562, + -41.436161041259766, + 1.8272652626037598 + ], + [ + -126.51824951171875, + -41.72739028930664, + 1.8272652626037598 + ] + ], + "corners_2d": [ + [ + 131.94135794052664, + 548.4358310612898 + ], + [ + 154.4570085117195, + 542.4115537935215 + ], + [ + 154.43614625302837, + 523.0607247006533 + ], + [ + 132.33404274909037, + 528.8662793849726 + ], + [ + 105.79653302717384, + 504.03899689559444 + ], + [ + 129.6193878535929, + 497.9704918916982 + ], + [ + 130.0740365138903, + 478.50146450958573 + ], + [ + 106.71361655713304, + 484.33866181406825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 1064, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 783.9751203632907, + "ymin": 0.0, + "xmax": 896.8260503651444, + "ymax": 20.44162265518264 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 787.5821161409611, + -2.3577725154789277 + ], + [ + 783.9751203632907, + 11.208454980501017 + ], + [ + 890.4523195411458, + 20.44162265518264 + ], + [ + 891.338056955385, + 6.403036353045536 + ], + [ + 790.7494633856918, + -32.69446218976117 + ], + [ + 787.1483465393691, + -19.64697482206458 + ], + [ + 896.0710190350521, + -10.758405950382723 + ], + [ + 896.8260503651444, + -24.27033571358976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 5012, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 369.8069796606048, + "ymin": 136.0021713283597, + "xmax": 482.83413407153057, + "ymax": 252.79860051419348 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 377.33515160979954, + 245.2613817235321 + ], + [ + 431.0203897086135, + 252.79860051419348 + ], + [ + 482.83413407153057, + 174.00421504479135 + ], + [ + 434.1416945957672, + 167.9254128078357 + ], + [ + 369.8069796606048, + 211.84538751187557 + ], + [ + 424.96991679677666, + 219.2607250459128 + ], + [ + 478.76179051230474, + 141.94770430535505 + ], + [ + 428.85582260136715, + 136.0021713283597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 766.9809621402478, + "ymin": 0.0, + "xmax": 775.8766946198199, + "ymax": 0.4975349465433965 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 774.0624492328324, + -2.7299785481521326 + ], + [ + 767.982309663336, + -3.2499937863321975 + ], + [ + 766.9809621402478, + -0.029027990463930564 + ], + [ + 773.0982595574822, + 0.4975349465433965 + ], + [ + 775.8766946198199, + -21.864141277258966 + ], + [ + 769.7124975940717, + -22.371566879015006 + ], + [ + 768.7085275814418, + -19.22835756452855 + ], + [ + 774.9109207979471, + -18.714455539670098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 518.883008256297, + "ymin": 0.0, + "xmax": 742.1723057589339, + "ymax": 125.31507069936129 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 720.9469554766204, + 125.31507069936129 + ], + [ + 723.6293035557134, + 116.98416988091512 + ], + [ + 545.3522041977253, + 98.02606876117204 + ], + [ + 540.4784801588276, + 105.86289299574386 + ], + [ + 739.1843135874856, + -164.38958007824965 + ], + [ + 742.1723057589339, + -169.97511604325166 + ], + [ + 525.1280537173769, + -182.5652028864098 + ], + [ + 518.883008256297, + -177.38093591230688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 265.5010310046704, + "ymin": 19.486514982997676, + "xmax": 627.5911109008498, + "ymax": 433.39297999976645 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 621.7533380957484, + 433.39297999976645 + ], + [ + 627.5911109008498, + 415.2618855981904 + ], + [ + 373.20974448352587, + 374.826763531761 + ], + [ + 362.89989620288634, + 391.40473721587364 + ], + [ + 614.9323696619537, + 67.87799684150184 + ], + [ + 623.0731675395315, + 52.66017941764176 + ], + [ + 281.73353528555685, + 19.486514982997676 + ], + [ + 265.5010310046704, + 32.96177891419586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1228.3272144333619, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 70.6513864909586 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1247.2129307744171, + 69.716006005915 + ], + [ + 1257.5530420211815, + 70.6513864909586 + ], + [ + 1238.0269437133616, + 35.88351621450647 + ], + [ + 1228.3272144333619, + 35.055512865446815 + ], + [ + 1329.1022751499054, + -111.19465696356616 + ], + [ + 1340.9876482078762, + -110.46043764376287 + ], + [ + 1313.4379754950141, + -137.5405069108279 + ], + [ + 1302.3899613471826, + -138.18018647921656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 273.47793791925255, + "ymin": 30.599591628352698, + "xmax": 311.6045072092154, + "ymax": 43.81168111887382 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 301.56876602364173, + 43.81168111887382 + ], + [ + 311.6045072092154, + 34.82676380058888 + ], + [ + 284.3142319122048, + 32.11332693474532 + ], + [ + 273.88632540421526, + 41.00934479248872 + ], + [ + 301.1893584754771, + 42.2787599267138 + ], + [ + 311.24225816865567, + 33.308529643356565 + ], + [ + 283.9238116312916, + 30.599591628352698 + ], + [ + 273.47793791925255, + 39.480969795268265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 232.95003242604793, + "ymin": 0.0, + "xmax": 502.9153286308807, + "ymax": 26.72065870386848 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 283.5647236249524, + 1.674554347313233 + ], + [ + 279.4646306048235, + 4.913457544961943 + ], + [ + 500.0715836375375, + 26.72065870386848 + ], + [ + 502.9153286308807, + 23.20620507404334 + ], + [ + 237.90120471176112, + -178.8990539590253 + ], + [ + 232.95003242604793, + -176.5160244420913 + ], + [ + 481.1619864583105, + -160.37140476117497 + ], + [ + 484.5259005829986, + -162.9851004000892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 766.0972426913744, + "ymin": 0.0, + "xmax": 820.7790717651048, + "ymax": 57.48896231542591 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 766.0972426913744, + 56.579677265573935 + ], + [ + 775.238669436201, + 57.48896231542591 + ], + [ + 801.6944162460007, + -34.81744822850982 + ], + [ + 793.985358170163, + -35.45805515370262 + ], + [ + 784.2084594981134, + -137.97961967220527 + ], + [ + 794.6980999490937, + -137.29247402238974 + ], + [ + 820.7790717651048, + -205.48685569494023 + ], + [ + 812.1331131442732, + -205.94935306491925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 273.4884933441814, + "ymin": 30.638715849957407, + "xmax": 311.6138493782542, + "ymax": 43.851213438700995 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 301.5785505191628, + 43.851213438700995 + ], + [ + 311.6138493782542, + 34.86591807996399 + ], + [ + 284.32430065540586, + 32.15236540897337 + ], + [ + 273.89685732038225, + 41.04876009764621 + ], + [ + 301.19916492132785, + 42.31838093250826 + ], + [ + 311.25162095923247, + 33.34777035035404 + ], + [ + 283.9339024903241, + 30.638715849957407 + ], + [ + 273.4884933441814, + 39.52047308109451 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00053/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00053/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..01bbec55d481a863ba53ebada0dc08d02f96803f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00053/meta.json @@ -0,0 +1,1832 @@ +{ + "frame_id": 53, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 26.5, + "sim_timestamp": 691.641056738561 + }, + "drone_pose": { + "x": -142.59428631999444, + "y": -53.25625281900246, + "z": 20.000172805084716, + "pitch": -42.45192658858501, + "yaw": 76.20589803431966, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.17592668533325195, + -0.7165637016296387, + 0.6749714612960815, + 49.74809646606445 + ], + [ + 0.9711588621139526, + 0.23843348026275635, + 0.0, + -125.78361511230469 + ], + [ + -0.16093584895133972, + 0.6555044651031494, + 0.7378438711166382, + -72.615234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.53719751399595, + "y": -52.604445537062404, + "z": 20.000126511259467 + }, + "t1_image_uv": [ + 841.1408730765056, + -518.0710204036498 + ], + "t1_depth": 0.47713609176419364 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -137.66718292236328, + "y": -33.18776321411133, + "z": 1.0965401870012284 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999994 + ], + "depth": 28.006569748400857, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 588, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -137.66717529296875, + "y": -33.18776321411133, + "z": 1.0965402126312256 + }, + "extent": { + "x": 0.4002343714237213, + "y": 0.46094846725463867, + "z": 0.9040019512176514 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.9768744899903, + "ymin": 323.453966520737, + "xmax": 661.1401366576675, + "ymax": 396.07562669952415 + }, + "corners_3d": [ + [ + -137.62423706054688, + -33.79671096801758, + 0.19253826141357422 + ], + [ + -138.276123046875, + -33.144832611083984, + 0.19253826141357422 + ], + [ + -137.71011352539062, + -32.57881546020508, + 0.19253826141357422 + ], + [ + -137.0582275390625, + -33.23069381713867, + 0.19253826141357422 + ], + [ + -137.62423706054688, + -33.79671096801758, + 2.000542163848877 + ], + [ + -138.276123046875, + -33.144832611083984, + 2.000542163848877 + ], + [ + -137.71011352539062, + -32.57881546020508, + 2.000542163848877 + ], + [ + -137.0582275390625, + -33.23069381713867, + 2.000542163848877 + ] + ], + "corners_2d": [ + [ + 633.6347001531481, + 396.07562669952415 + ], + [ + 660.2362108849765, + 384.7858141382714 + ], + [ + 646.1768697578264, + 369.0810260533578 + ], + [ + 619.8710119892696, + 379.97917631521165 + ], + [ + 633.3466545275186, + 350.21916216357914 + ], + [ + 661.1401366576675, + 339.0165961377492 + ], + [ + 646.4477734941325, + 323.453966520737 + ], + [ + 618.9768744899903, + 334.25090037433 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 53, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 377180, + "2": 132953, + "3": 154457, + "4": 46629, + "6": 8955, + "7": 27, + "10": 9, + "12": 3101, + "14": 6900, + "24": 10527, + "25": 180862 + }, + "instance_pixel_counts": { + "3413": 10626, + "3662": 29144, + "11605": 6105, + "17240": 7279, + "17496": 1230, + "20565": 5879, + "21907": 23515, + "21909": 3166, + "22421": 1522, + "22931": 66734, + "22933": 5632, + "23443": 277780, + "23445": 53, + "23955": 3333, + "25493": 78, + "25600": 18, + "25856": 455, + "26003": 5064, + "36096": 588, + "36352": 585, + "36608": 587, + "36864": 604, + "37376": 737, + "41216": 1759, + "41728": 5141, + "47201": 4690, + "47713": 624, + "48225": 316, + "48737": 17138, + "48980": 131847, + "49249": 2322, + "49761": 2640, + "50579": 754, + "51297": 70018, + "51526": 17485, + "51809": 9923, + "52321": 3263, + "52833": 259, + "53345": 18, + "54366": 169071, + "54878": 11791, + "56970": 1068, + "57482": 11827, + "57994": 8847, + "64403": 76 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 588, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -137.66717529296875, + "y": -33.18776321411133, + "z": 1.0965402126312256 + }, + "extent": { + "x": 0.45881345868110657, + "y": 0.4427856206893921, + "z": 0.8783144354820251 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.5070293759719, + "ymin": 323.22277138993167, + "xmax": 661.6818837164944, + "ymax": 396.4268545037214 + }, + "corners_3d": [ + [ + -137.6785125732422, + -33.82529067993164, + 0.21822577714920044 + ], + [ + -138.30470275878906, + -33.1990966796875, + 0.21822577714920044 + ], + [ + -137.6558380126953, + -32.550235748291016, + 0.21822577714920044 + ], + [ + -137.02964782714844, + -33.176429748535156, + 0.21822577714920044 + ], + [ + -137.6785125732422, + -33.82529067993164, + 1.9748547077178955 + ], + [ + -138.30470275878906, + -33.1990966796875, + 1.9748547077178955 + ], + [ + -137.6558380126953, + -32.550235748291016, + 1.9748547077178955 + ], + [ + -137.02964782714844, + -33.176429748535156, + 1.9748547077178955 + ] + ], + "corners_2d": [ + [ + 635.1896945941813, + 396.4268545037214 + ], + [ + 660.7791998316585, + 385.55430420373307 + ], + [ + 644.6579083623508, + 367.54339933437893 + ], + [ + 619.394353146868, + 377.9844054881671 + ], + [ + 634.9781021585267, + 351.86789054978243 + ], + [ + 661.6818837164944, + 341.07572141524395 + ], + [ + 644.856051711935, + 323.22277138993167 + ], + [ + 618.5070293759719, + 333.5684458840029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 585, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -133.54119873046875, + "y": -30.1900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.46266111731529236, + "y": 0.4617052972316742, + "z": 0.9095215201377869 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 515.3435104659633, + "ymin": 247.08837674391145, + "xmax": 559.7827792357837, + "ymax": 316.66629331380517 + }, + "corners_3d": [ + [ + -133.67774963378906, + -30.829259872436523, + 0.03461635112762451 + ], + [ + -134.18067932128906, + -30.05482292175293, + 0.03461635112762451 + ], + [ + -133.40464782714844, + -29.55085563659668, + 0.03461635112762451 + ], + [ + -132.90171813964844, + -30.325292587280273, + 0.03461635112762451 + ], + [ + -133.67774963378906, + -30.829259872436523, + 1.8536593914031982 + ], + [ + -134.18067932128906, + -30.05482292175293, + 1.8536593914031982 + ], + [ + -133.40464782714844, + -29.55085563659668, + 1.8536593914031982 + ], + [ + -132.90171813964844, + -30.325292587280273, + 1.8536593914031982 + ] + ], + "corners_2d": [ + [ + 537.8137457087579, + 316.66629331380517 + ], + [ + 559.7827792357837, + 304.33553020509873 + ], + [ + 542.0695654404931, + 291.57550221447616 + ], + [ + 520.1850059071053, + 303.5238775207485 + ], + [ + 533.6158403283217, + 271.7748607544126 + ], + [ + 556.5380230915164, + 259.6351797961092 + ], + [ + 538.1722133270624, + 247.08837674391145 + ], + [ + 515.3435104659633, + 258.8366212118003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 587, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -139.92300415039062, + "y": -26.24505043029785, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.46384763717651367, + "y": 0.43159544467926025, + "z": 0.9492074251174927 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 732.8686924952261, + "ymin": 202.59774221813956, + "xmax": 774.6840738164051, + "ymax": 270.2699372993852 + }, + "corners_3d": [ + [ + -140.01187133789062, + -26.872371673583984, + 0.14732789993286133 + ], + [ + -140.5550994873047, + -26.20154571533203, + 0.14732789993286133 + ], + [ + -139.83413696289062, + -25.61772918701172, + 0.14732789993286133 + ], + [ + -139.29090881347656, + -26.288555145263672, + 0.14732789993286133 + ], + [ + -140.01187133789062, + -26.872371673583984, + 2.0457427501678467 + ], + [ + -140.5550994873047, + -26.20154571533203, + 2.0457427501678467 + ], + [ + -139.83413696289062, + -25.61772918701172, + 2.0457427501678467 + ], + [ + -139.29090881347656, + -26.288555145263672, + 2.0457427501678467 + ] + ], + "corners_2d": [ + [ + 750.8527077735091, + 270.2699372993852 + ], + [ + 769.4772705145863, + 261.10858759711414 + ], + [ + 751.3974511681887, + 248.49787329331537 + ], + [ + 732.8686924952261, + 257.3634378235968 + ], + [ + 755.3650808280297, + 223.89956322947066 + ], + [ + 774.6840738164051, + 214.93025162809187 + ], + [ + 755.8018347947834, + 202.59774221813956 + ], + [ + 736.584651394722, + 211.26604835667578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 604, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.24693298339844, + "y": -33.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3745751976966858, + "y": 0.3972875773906708, + "z": 0.8704332709312439 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 740.7144121344123, + "ymin": 345.11791906558227, + "xmax": 784.1678754048856, + "ymax": 414.7792813036372 + }, + "corners_3d": [ + [ + -141.23086547851562, + -33.733551025390625, + 0.2261020541191101 + ], + [ + -141.792724609375, + -33.17170333862305, + 0.2261020541191101 + ], + [ + -141.26300048828125, + -32.64197540283203, + 0.2261020541191101 + ], + [ + -140.70114135742188, + -33.20382308959961, + 0.2261020541191101 + ], + [ + -141.23086547851562, + -33.733551025390625, + 1.9669685363769531 + ], + [ + -141.792724609375, + -33.17170333862305, + 1.9669685363769531 + ], + [ + -141.26300048828125, + -32.64197540283203, + 1.9669685363769531 + ], + [ + -140.70114135742188, + -33.20382308959961, + 1.9669685363769531 + ] + ], + "corners_2d": [ + [ + 755.9533999524873, + 414.7792813036372 + ], + [ + 778.0917102414545, + 404.61439750006247 + ], + [ + 762.6468303069958, + 389.22660782115014 + ], + [ + 740.7144121344123, + 399.05351623617065 + ], + [ + 761.1141597348177, + 370.51050653327655 + ], + [ + 784.1678754048856, + 360.40189377183634 + ], + [ + 767.9495282247191, + 345.11791906558227 + ], + [ + 745.1180689050627, + 354.8759420999109 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 737, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.42184448242188, + "y": -41.35797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.349609375, + "y": 0.5054638385772705, + "z": 0.8829954862594604 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 94.16560130310108, + "ymin": 466.8518187743417, + "xmax": 163.46954553875867, + "ymax": 542.2785025574547 + }, + "corners_3d": [ + [ + -126.18833923339844, + -41.926483154296875, + 0.061137497425079346 + ], + [ + -127.03617095947266, + -41.37588882446289, + 0.061137497425079346 + ], + [ + -126.65534973144531, + -40.78947448730469, + 0.061137497425079346 + ], + [ + -125.8075180053711, + -41.34006881713867, + 0.061137497425079346 + ], + [ + -126.18833923339844, + -41.926483154296875, + 1.8271284103393555 + ], + [ + -127.03617095947266, + -41.37588882446289, + 1.8271284103393555 + ], + [ + -126.65534973144531, + -40.78947448730469, + 1.8271284103393555 + ], + [ + -125.8075180053711, + -41.34006881713867, + 1.8271284103393555 + ] + ], + "corners_2d": [ + [ + 120.76210755317561, + 542.2785025574547 + ], + [ + 163.0102220361091, + 531.7468966111312 + ], + [ + 163.46954553875867, + 511.44444113395826 + ], + [ + 122.0509219314331, + 521.570727827169 + ], + [ + 94.16560130310108, + 497.8614785969154 + ], + [ + 138.83269521177817, + 487.25951453096155 + ], + [ + 139.80555803409305, + 466.8518187743417 + ], + [ + 96.06448096402949, + 477.0255982420679 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 1759, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 805.5831803053148, + "ymin": 0.0, + "xmax": 920.9779631012526, + "ymax": 27.334219431216184 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 809.474948748105, + 3.0137916150151227 + ], + [ + 805.5831803053148, + 16.85064832749032 + ], + [ + 913.7659832990737, + 27.334219431216184 + ], + [ + 914.8809112649762, + 12.957106885640655 + ], + [ + 813.1621206249821, + -27.584658695175335 + ], + [ + 809.2834557863143, + -14.269056164741983 + ], + [ + 920.0064155037726, + -4.170163927833528 + ], + [ + 920.9779631012526, + -18.017478132500173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 5141, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 382.833151179708, + "ymin": 141.13958314236007, + "xmax": 497.84753472476507, + "ymax": 260.00600360580626 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 390.07236733570426, + 251.54642506591748 + ], + [ + 443.8864419951142, + 260.00600360580626 + ], + [ + 497.84753472476507, + 180.02578811687684 + ], + [ + 448.9835116743105, + 173.20813495542353 + ], + [ + 382.833151179708, + 218.0082547750979 + ], + [ + 438.1417060307749, + 226.33625326791417 + ], + [ + 494.1226532100857, + 147.81138198454994 + ], + [ + 444.0283662645187, + 141.13958314236007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 788.4168960844182, + "ymin": 0.0, + "xmax": 797.7974422746476, + "ymax": 6.550113262786908 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 795.6596583462158, + 3.2510352033845606 + ], + [ + 789.490525860414, + 2.6613412754796855 + ], + [ + 788.4168960844182, + 5.952938299749633 + ], + [ + 794.6238359809792, + 6.550113262786908 + ], + [ + 797.7974422746476, + -16.060910379856693 + ], + [ + 791.5412311321779, + -16.636554676963215 + ], + [ + 790.4659174568786, + -13.4231522461223 + ], + [ + 796.7610151719477, + -12.840103949831303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 539.2188371553603, + "ymin": 0.0, + "xmax": 765.5788207225979, + "ymax": 133.09627874275353 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 739.5846686803824, + 133.09627874275353 + ], + [ + 742.4583098810806, + 124.5833221790931 + ], + [ + 562.4651307350064, + 103.16563229059068 + ], + [ + 557.3850905266977, + 111.1172215490337 + ], + [ + 762.4225923951399, + -159.60582350398852 + ], + [ + 765.5788207225979, + -165.3505951900163 + ], + [ + 545.6779944341502, + -179.6530920289522 + ], + [ + 539.2188371553603, + -174.36809321994883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 276.1053740592703, + "ymin": 27.07406435441203, + "xmax": 639.2240901626707, + "ymax": 449.0655529030013 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 632.925799039544, + 449.0655529030013 + ], + [ + 639.2240901626707, + 430.4073158400586 + ], + [ + 382.7358168614644, + 384.4889334894313 + ], + [ + 371.95197058346963, + 401.36846843652893 + ], + [ + 630.2147731359255, + 81.03067612578809 + ], + [ + 638.9346161317313, + 65.15935695881922 + ], + [ + 293.02264575132057, + 27.07406435441203 + ], + [ + 276.1053740592703, + 40.9160807173929 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1260.2021207182888, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 82.85160228841232 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1279.397750968249, + 81.77254418276777 + ], + [ + 1290.078823617278, + 82.85160228841232 + ], + [ + 1270.208866218854, + 46.731624490682634 + ], + [ + 1260.2021207182888, + 45.778258421557155 + ], + [ + 1367.906310479446, + -102.00725300074265 + ], + [ + 1380.250202075153, + -101.15489979063022 + ], + [ + 1351.6916897957342, + -129.45742918949566 + ], + [ + 1340.2383331946776, + -130.19812107318126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 284.19168049180985, + "ymin": 38.37320192488494, + "xmax": 322.93116184851004, + "ymax": 52.23508041052986 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 312.4518989298579, + 52.23508041052986 + ], + [ + 322.93116184851004, + 42.99573216637822 + ], + [ + 295.46515153326754, + 39.902076352549955 + ], + [ + 284.5949425076776, + 49.039009685216854 + ], + [ + 312.07814848086144, + 50.686454660234006 + ], + [ + 322.5752353916796, + 41.46184616110679 + ], + [ + 295.080527475564, + 38.37320192488494 + ], + [ + 284.19168049180985, + 47.4954441260997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 253.713878364167, + "ymin": 0.0, + "xmax": 521.3652247910279, + "ymax": 29.93308689610552 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 302.2228139437315, + 2.4406892279129124 + ], + [ + 298.05172149546695, + 5.684367850552064 + ], + [ + 518.429562778426, + 29.93308689610552 + ], + [ + 521.3652247910279, + 26.383198250798728 + ], + [ + 258.73189486560494, + -178.71699845308854 + ], + [ + 253.713878364167, + -176.3277285709779 + ], + [ + 501.837242220632, + -158.34402879537163 + ], + [ + 505.292642462392, + -160.99030757293815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 786.6525147921925, + "ymin": 0.0, + "xmax": 846.4246064273897, + "ymax": 64.12662796775334 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 786.6525147921925, + 63.10026148407263 + ], + [ + 795.9217606338897, + 64.12662796775334 + ], + [ + 824.3463215401276, + -30.02670679443736 + ], + [ + 816.5315519968765, + -30.74821163493249 + ], + [ + 808.0560161486892, + -133.3914988827886 + ], + [ + 818.7241366487066, + -132.6127058947639 + ], + [ + 846.4246064273897, + -202.42271864710983 + ], + [ + 837.6389148653252, + -202.94522900423567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 284.2021036354399, + "ymin": 38.41271815355225, + "xmax": 322.9403407791212, + "ymax": 52.275016915805736 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 312.4615373378305, + 52.275016915805736 + ], + [ + 322.9403407791212, + 43.03528930785359 + ], + [ + 295.47507060469326, + 39.94150450153114 + ], + [ + 284.6053420385121, + 49.07881595755458 + ], + [ + 312.0878088969692, + 50.72648235567391 + ], + [ + 322.5844349412236, + 41.5014921610869 + ], + [ + 295.0904687054911, + 38.41271815355225 + ], + [ + 284.2021036354399, + 47.53534078110846 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00054/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00054/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94a2bb0525993b3bc6b57317c0ac32be6806e4f5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00054/meta.json @@ -0,0 +1,1729 @@ +{ + "frame_id": 54, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 27.0, + "sim_timestamp": 705.0377664265689 + }, + "drone_pose": { + "x": -142.53719751399595, + "y": -52.604445537062404, + "z": 20.000126511259467, + "pitch": -42.639235526446484, + "yaw": 74.91050878273748, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.1915055513381958, + -0.7102689743041992, + 0.677379846572876, + 51.11228942871094 + ], + [ + 0.9655203819274902, + 0.26032745838165283, + 0.0, + -123.92819213867188 + ], + [ + -0.17634057998657227, + 0.654024064540863, + 0.735633373260498, + -74.25242614746094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.48545904334983, + "y": -51.94322091617239, + "z": 20.000091717681588 + }, + "t1_image_uv": [ + 884.5751415440266, + -523.8846103541335 + ], + "t1_depth": 0.47957915457291106 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -137.16718292236328, + "y": -32.68776321411133, + "z": 1.0056905788183212 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.04103935055388, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 347, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -137.16717529296875, + "y": -32.68776321411133, + "z": 1.005690574645996 + }, + "extent": { + "x": 0.3661181628704071, + "y": 0.4550183117389679, + "z": 0.8922997117042542 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.8604730057076, + "ymin": 324.6490022129569, + "xmax": 660.2369396949764, + "ymax": 394.84011161236845 + }, + "corners_3d": [ + [ + -137.10430908203125, + -33.268394470214844, + 0.11339086294174194 + ], + [ + -137.747802734375, + -32.624900817871094, + 0.11339086294174194 + ], + [ + -137.23004150390625, + -32.10713195800781, + 0.11339086294174194 + ], + [ + -136.5865478515625, + -32.75062561035156, + 0.11339086294174194 + ], + [ + -137.10430908203125, + -33.268394470214844, + 1.8979902267456055 + ], + [ + -137.747802734375, + -32.624900817871094, + 1.8979902267456055 + ], + [ + -137.23004150390625, + -32.10713195800781, + 1.8979902267456055 + ], + [ + -136.5865478515625, + -32.75062561035156, + 1.8979902267456055 + ] + ], + "corners_2d": [ + [ + 632.7992538533099, + 394.84011161236845 + ], + [ + 659.3809431447502, + 384.1076835914625 + ], + [ + 647.0017503160752, + 369.51026068591915 + ], + [ + 620.7084004361357, + 379.898442615298 + ], + [ + 632.4772922523306, + 349.7827557412916 + ], + [ + 660.2369396949764, + 339.12585469147734 + ], + [ + 647.3058090814701, + 324.6490022129569 + ], + [ + 619.8604730057076, + 334.9492720746009 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 54, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 46, + "semantic_pixel_counts": { + "1": 386686, + "2": 135216, + "3": 135181, + "4": 49094, + "6": 9338, + "7": 45, + "10": 9, + "12": 2912, + "14": 7499, + "24": 10841, + "25": 184779 + }, + "instance_pixel_counts": { + "3413": 7859, + "3662": 30392, + "11605": 7634, + "17240": 7553, + "17496": 1308, + "20565": 6064, + "21907": 24635, + "21909": 3284, + "22421": 1568, + "22931": 68791, + "22933": 5646, + "23443": 281790, + "23445": 54, + "23955": 4060, + "25493": 85, + "25600": 6, + "25856": 516, + "26003": 5669, + "36096": 347, + "36352": 624, + "36608": 578, + "36864": 614, + "37376": 749, + "41216": 2203, + "41728": 5296, + "47201": 4919, + "47713": 646, + "48225": 300, + "48531": 57, + "48737": 17956, + "48980": 113624, + "49249": 2423, + "49761": 2678, + "50579": 1684, + "51297": 69765, + "51526": 18702, + "51809": 9719, + "52321": 3548, + "52833": 273, + "53345": 20, + "54366": 171942, + "54878": 12837, + "56970": 992, + "57482": 12010, + "57994": 9967, + "64403": 204 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 347, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -137.16717529296875, + "y": -32.68776321411133, + "z": 1.005690574645996 + }, + "extent": { + "x": 0.4925927519798279, + "y": 0.4563342034816742, + "z": 0.8878414034843445 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 617.686786825741, + "ymin": 322.29973574190933, + "xmax": 662.5525769163021, + "ymax": 397.37911241197446 + }, + "corners_3d": [ + [ + -137.19281005859375, + -33.35875701904297, + 0.11784917116165161 + ], + [ + -137.83816528320312, + -32.713401794433594, + 0.11784917116165161 + ], + [ + -137.14154052734375, + -32.01676940917969, + 0.11784917116165161 + ], + [ + -136.49618530273438, + -32.66212463378906, + 0.11784917116165161 + ], + [ + -137.19281005859375, + -33.35875701904297, + 1.8935320377349854 + ], + [ + -137.83816528320312, + -32.713401794433594, + 1.8935320377349854 + ], + [ + -137.14154052734375, + -32.01676940917969, + 1.8935320377349854 + ], + [ + -136.49618530273438, + -32.66212463378906, + 1.8935320377349854 + ] + ], + "corners_2d": [ + [ + 634.8887670181867, + 397.37911241197446 + ], + [ + 661.6006273065965, + 386.5543859306465 + ], + [ + 644.9417431171636, + 366.91415906402216 + ], + [ + 618.6190336022178, + 377.2742861861493 + ], + [ + 634.6607152420194, + 352.5302639323535 + ], + [ + 662.5525769163021, + 341.7786219657735 + ], + [ + 645.1546280234505, + 322.29973574190933 + ], + [ + 617.686786825741, + 332.57014334546415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 624, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -133.04119873046875, + "y": -29.6900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.43925780057907104, + "y": 0.4778784215450287, + "z": 0.9220134019851685 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 518.2785393587583, + "ymin": 243.04343736590528, + "xmax": 562.4525648291269, + "ymax": 312.9434875612343 + }, + "corners_3d": [ + [ + -133.14932250976562, + -30.330078125, + 0.02212446928024292 + ], + [ + -133.66986083984375, + -29.528512954711914, + 0.02212446928024292 + ], + [ + -132.93307495117188, + -29.050037384033203, + 0.02212446928024292 + ], + [ + -132.41253662109375, + -29.85160255432129, + 0.02212446928024292 + ], + [ + -133.14932250976562, + -30.330078125, + 1.8661513328552246 + ], + [ + -133.66986083984375, + -29.528512954711914, + 1.8661513328552246 + ], + [ + -132.93307495117188, + -29.050037384033203, + 1.8661513328552246 + ], + [ + -132.41253662109375, + -29.85160255432129, + 1.8661513328552246 + ] + ], + "corners_2d": [ + [ + 539.364335573264, + 312.9434875612343 + ], + [ + 562.4525648291269, + 300.51334024890383 + ], + [ + 546.0656072249456, + 288.1609403909048 + ], + [ + 523.0851217984404, + 300.2187018021684 + ], + [ + 535.160476845651, + 267.42694994549606 + ], + [ + 559.2632627121045, + 255.18941022441993 + ], + [ + 542.262578643914, + 243.04343736590528 + ], + [ + 518.2785393587583, + 254.8995213752321 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 578, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -139.42300415039062, + "y": -25.74505043029785, + "z": 1.093874216079712 + }, + "extent": { + "x": 0.5123095512390137, + "y": 0.4688073694705963, + "z": 0.9413521885871887 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 735.5121523054283, + "ymin": 200.71611106856642, + "xmax": 781.1154148906058, + "ymax": 270.27327352578 + }, + "corners_3d": [ + [ + -139.52610778808594, + -26.43178939819336, + 0.1525220274925232 + ], + [ + -140.11618041992188, + -25.703125, + 0.1525220274925232 + ], + [ + -139.3199005126953, + -25.058311462402344, + 0.1525220274925232 + ], + [ + -138.72982788085938, + -25.786975860595703, + 0.1525220274925232 + ], + [ + -139.52610778808594, + -26.43178939819336, + 2.035226345062256 + ], + [ + -140.11618041992188, + -25.703125, + 2.035226345062256 + ], + [ + -139.3199005126953, + -25.058311462402344, + 2.035226345062256 + ], + [ + -138.72982788085938, + -25.786975860595703, + 2.035226345062256 + ] + ], + "corners_2d": [ + [ + 754.9914389690109, + 270.27327352578 + ], + [ + 775.66442746287, + 260.5410426776141 + ], + [ + 756.0441695778404, + 246.29786199474185 + ], + [ + 735.5121523054283, + 255.67780553789373 + ], + [ + 759.6714367811, + 224.19078433704854 + ], + [ + 781.1154148906058, + 214.65486474787613 + ], + [ + 760.618827648306, + 200.71611106856642 + ], + [ + 739.325084647781, + 209.8932863308292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 614, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -140.74693298339844, + "y": -32.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.44773924350738525, + "y": 0.43217039108276367, + "z": 0.8800413608551025 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 737.9442779667727, + "ymin": 342.60420480596645, + "xmax": 786.4772485628224, + "ymax": 416.6876957245163 + }, + "corners_3d": [ + [ + -140.7579345703125, + -33.30995178222656, + 0.21649396419525146 + ], + [ + -141.36912536621094, + -32.69877243041992, + 0.21649396419525146 + ], + [ + -140.73593139648438, + -32.065574645996094, + 0.21649396419525146 + ], + [ + -140.12474060058594, + -32.676753997802734, + 0.21649396419525146 + ], + [ + -140.7579345703125, + -33.30995178222656, + 1.9765766859054565 + ], + [ + -141.36912536621094, + -32.69877243041992, + 1.9765766859054565 + ], + [ + -140.73593139648438, + -32.065574645996094, + 1.9765766859054565 + ], + [ + -140.12474060058594, + -32.676753997802734, + 1.9765766859054565 + ] + ], + "corners_2d": [ + [ + 755.6003053534051, + 416.6876957245163 + ], + [ + 780.1870055173081, + 405.9452575289446 + ], + [ + 762.2330654487146, + 387.20502647015485 + ], + [ + 737.9442779667727, + 397.51645461156147 + ], + [ + 760.8499754136132, + 371.9170897014434 + ], + [ + 786.4772485628224, + 361.22685702605816 + ], + [ + 767.6023245583004, + 342.60420480596645 + ], + [ + 742.2974693917314, + 352.84677191327376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 749, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -125.92184448242188, + "y": -40.85797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.28199705481529236, + "y": 0.3997753858566284, + "z": 0.8666479587554932 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 98.91427108335483, + "ymin": 459.57265282632125, + "xmax": 158.60414004789277, + "ymax": 527.2310676117811 + }, + "corners_3d": [ + [ + -125.74015045166016, + -41.31221389770508, + 0.07748502492904663 + ], + [ + -126.41071319580078, + -40.876747131347656, + 0.07748502492904663 + ], + [ + -126.1035385131836, + -40.403743743896484, + 0.07748502492904663 + ], + [ + -125.43297576904297, + -40.839210510253906, + 0.07748502492904663 + ], + [ + -125.74015045166016, + -41.31221389770508, + 1.8107810020446777 + ], + [ + -126.41071319580078, + -40.876747131347656, + 1.8107810020446777 + ], + [ + -126.1035385131836, + -40.403743743896484, + 1.8107810020446777 + ], + [ + -125.43297576904297, + -40.839210510253906, + 1.8107810020446777 + ] + ], + "corners_2d": [ + [ + 124.60071704367658, + 527.2310676117811 + ], + [ + 157.65933420542586, + 519.5988031178356 + ], + [ + 158.60414004789277, + 503.3198615850136 + ], + [ + 126.07172311214424, + 510.7150257585838 + ], + [ + 98.91427108335483, + 483.60654576365687 + ], + [ + 133.80362732253906, + 475.9292020405861 + ], + [ + 135.1846299409283, + 459.57265282632125 + ], + [ + 100.88073384698339, + 466.999945359088 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 2203, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 827.1433194692747, + "ymin": 0.0, + "xmax": 945.3507541838296, + "ymax": 32.08676207766371 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 831.3363401809637, + 6.1311086682355835 + ], + [ + 827.1433194692747, + 20.279080766992195 + ], + [ + 937.2350795501895, + 32.08676207766371 + ], + [ + 938.5943832377484, + 17.326576675287583 + ], + [ + 835.5742304575336, + -24.79822487603076 + ], + [ + 831.4014813383858, + -11.172583926637344 + ], + [ + 944.148350890201, + 0.21151351082659176 + ], + [ + 945.3507541838296, + -14.01741478115565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 5296, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 395.13533718155884, + "ymin": 144.31089844184362, + "xmax": 512.2854529581512, + "ymax": 265.4541268231525 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 402.12419643383384, + 256.0391501080343 + ], + [ + 456.11669411595847, + 265.4541268231525 + ], + [ + 512.2854529581512, + 184.1491862701923 + ], + [ + 463.19271585077206, + 176.56437888242831 + ], + [ + 395.13533718155884, + 222.35408718308864 + ], + [ + 450.64700044148844, + 231.63043728321267 + ], + [ + 508.88818985992293, + 151.73896651257877 + ], + [ + 458.5412653924003, + 144.31089844184362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 809.7829674167804, + "ymin": 0.0, + "xmax": 819.6835140120169, + "ymax": 10.405646048572407 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 817.2032176431753, + 7.024611418414224 + ], + [ + 810.9331591213705, + 6.361027037993381 + ], + [ + 809.7829674167804, + 9.733589697344485 + ], + [ + 816.0915006369233, + 10.405646048572407 + ], + [ + 819.6835140120169, + -12.508540087372694 + ], + [ + 813.3226623881928, + -13.156649423491558 + ], + [ + 812.17169749399, + -9.862501004520595 + ], + [ + 818.5721510789921, + -9.20600040304555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 558.9768076480666, + "ymin": 0.0, + "xmax": 788.9975725221101, + "ymax": 138.96583265161917 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 757.9862618760903, + 138.96583265161917 + ], + [ + 761.0610548275278, + 130.24988815752857 + ], + [ + 579.0936488830507, + 106.2536523100635 + ], + [ + 573.7988866097522, + 114.33799418364157 + ], + [ + 785.6610404913395, + -157.42158560532175 + ], + [ + 788.9975725221101, + -163.352941266882 + ], + [ + 565.6678188709606, + -179.4959678077496 + ], + [ + 558.9768076480666, + -174.08772940545896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 285.42281435767086, + "ymin": 32.757641744756995, + "xmax": 654.2567343154145, + "ymax": 463.42744701582023 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 643.523361666542, + 463.42744701582023 + ], + [ + 650.3008273045822, + 444.2157422783842 + ], + [ + 391.57322407066977, + 392.57042050700176 + ], + [ + 380.3091730071643, + 409.7690094102369 + ], + [ + 644.9139116218363, + 92.78469803574473 + ], + [ + 654.2567343154145, + 76.17595465565762 + ], + [ + 303.07006004916366, + 32.757641744756995 + ], + [ + 285.42281435767086, + 47.021630948187806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 293.6480155233429, + "ymin": 44.27376363517209, + "xmax": 333.0798638907058, + "ymax": 58.853523644919676 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 322.1283076993192, + 58.853523644919676 + ], + [ + 333.0798638907058, + 49.32293254950213 + ], + [ + 305.3900891671004, + 45.82103603486138 + ], + [ + 294.04907608128576, + 55.23459559582898 + ], + [ + 321.7574942405445, + 57.28602376601964 + ], + [ + 332.7276873988202, + 47.77015822599401 + ], + [ + 305.00848790260585, + 44.27376363517209 + ], + [ + 293.6480155233429, + 53.67264450777179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 273.260987633806, + "ymin": 0.0, + "xmax": 539.2722940776758, + "ymax": 30.895316877880475 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 319.964980814681, + 0.8669408387692101 + ], + [ + 315.71834425236864, + 4.123750695816909 + ], + [ + 536.2402264065928, + 30.895316877880475 + ], + [ + 539.2722940776758, + 27.301060791749137 + ], + [ + 278.35562744297494, + -181.37397100347448 + ], + [ + 273.260987633806, + -178.9696682666147 + ], + [ + 521.8711822118645, + -159.05774732610655 + ], + [ + 525.4259198549296, + -161.74650154042035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 807.0948238521157, + "ymin": 0.0, + "xmax": 872.2956194602615, + "ymax": 68.68513498961238 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 807.0948238521157, + 67.53512354753349 + ], + [ + 816.5075081159835, + 68.68513498961238 + ], + [ + 847.0176426301254, + -27.58803836062401 + ], + [ + 839.0818798047424, + -28.39502944185614 + ], + [ + 831.9903892167483, + -131.37084830635365 + ], + [ + 842.8642380111027, + -130.4935672069659 + ], + [ + 872.2956194602615, + -202.21666975216033 + ], + [ + 863.3465207279139, + -202.80352050186582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 293.65838201430813, + "ymin": 44.313756326153964, + "xmax": 333.0889458823504, + "ymax": 58.89394582689971 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 322.13787011735377, + 58.89394582689971 + ], + [ + 333.0889458823504, + 49.362975777136626 + ], + [ + 305.39993004090377, + 45.86093766476017 + ], + [ + 294.0594185786167, + 55.27487498665755 + ], + [ + 321.76707898134737, + 57.32654031063879 + ], + [ + 332.7367902444343, + 47.81029340044796 + ], + [ + 305.0183512346555, + 44.313756326153964 + ], + [ + 293.65838201430813, + 53.71301734305001 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00055/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00055/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b81654f210fcf44dc758a2aa93e6f094d0e24d5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00055/meta.json @@ -0,0 +1,1730 @@ +{ + "frame_id": 55, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 27.5, + "sim_timestamp": 721.5206377690192 + }, + "drone_pose": { + "x": -142.48545904334983, + "y": -51.94322091617239, + "z": 20.000091717681588, + "pitch": -42.77798954320863, + "yaw": 73.58951458808211, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2073647379875183, + -0.7040898203849792, + 0.67915940284729, + 52.53592300415039 + ], + [ + 0.9592624306678772, + 0.28251683712005615, + 2.9802322387695312e-08, + -122.0060806274414 + ], + [ + -0.19187405705451965, + 0.6514919996261597, + 0.7339907884597778, + -75.8597412109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.4515618625244, + "y": -51.26162624871547, + "z": 20.000065807419666 + }, + "t1_image_uv": [ + 955.5227814323454, + -528.2153741663769 + ], + "t1_depth": 0.4869504775243728 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -136.66718292236328, + "y": -32.18776321411133, + "z": 0.9441329622273043 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.058154075554242, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 225, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -136.66717529296875, + "y": -32.18776321411133, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3481494188308716, + "y": 0.39255979657173157, + "z": 0.8862822651863098 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.1786601832563, + "ymin": 325.98321778469625, + "xmax": 657.9334708543037, + "ymax": 393.4405239290471 + }, + "corners_3d": [ + [ + -136.63577270507812, + -32.711524963378906, + 0.05785071849822998 + ], + [ + -137.19093322753906, + -32.1563606262207, + 0.05785071849822998 + ], + [ + -136.69857788085938, + -31.664003372192383, + 0.05785071849822998 + ], + [ + -136.14341735839844, + -32.21916580200195, + 0.05785071849822998 + ], + [ + -136.63577270507812, + -32.711524963378906, + 1.8304152488708496 + ], + [ + -137.19093322753906, + -32.1563606262207, + 1.8304152488708496 + ], + [ + -136.69857788085938, + -31.664003372192383, + 1.8304152488708496 + ], + [ + -136.14341735839844, + -32.21916580200195, + 1.8304152488708496 + ] + ], + "corners_2d": [ + [ + 633.9579035846598, + 393.4405239290471 + ], + [ + 657.1779031263465, + 384.54491765560084 + ], + [ + 645.8907570761371, + 370.43019473062185 + ], + [ + 622.9249850473763, + 379.05148798971766 + ], + [ + 633.6894378612242, + 348.8273882486298 + ], + [ + 657.9334708543037, + 339.9900111968998 + ], + [ + 646.1456814204353, + 325.98321778469625 + ], + [ + 622.1786601832563, + 334.53632351778833 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 55, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 396871, + "2": 137640, + "3": 114728, + "4": 51710, + "6": 9730, + "7": 77, + "10": 8, + "12": 2705, + "14": 8187, + "24": 11213, + "25": 188731 + }, + "instance_pixel_counts": { + "3413": 4666, + "3662": 31733, + "11605": 9849, + "17240": 7805, + "17496": 1390, + "20565": 5857, + "21907": 26326, + "21909": 3419, + "22421": 1608, + "22931": 71006, + "22933": 5686, + "23443": 284911, + "23445": 59, + "23955": 4762, + "25493": 92, + "25600": 3, + "25856": 609, + "26003": 6353, + "36096": 225, + "36352": 606, + "36608": 555, + "36864": 600, + "37376": 719, + "41216": 2723, + "41728": 5464, + "47201": 5144, + "47713": 690, + "48225": 312, + "48531": 429, + "48737": 18899, + "48980": 94356, + "49249": 2535, + "49761": 2714, + "50579": 3084, + "51297": 69041, + "51526": 19977, + "51809": 9920, + "52321": 3825, + "52833": 296, + "53345": 22, + "54366": 174715, + "54878": 14016, + "56970": 980, + "57482": 12197, + "57994": 11065, + "62355": 17, + "64403": 332 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 225, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -136.66717529296875, + "y": -32.18776321411133, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3368798792362213, + "y": 0.39561155438423157, + "z": 0.8619764447212219 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.2785635635869, + "ymin": 326.80888939559316, + "xmax": 657.8220491021649, + "ymax": 392.6527539983349 + }, + "corners_3d": [ + [ + -136.62564086914062, + -32.705711364746094, + 0.08215653896331787 + ], + [ + -137.18511962890625, + -32.14623260498047, + 0.08215653896331787 + ], + [ + -136.70870971679688, + -31.66981315612793, + 0.08215653896331787 + ], + [ + -136.14923095703125, + -32.22929382324219, + 0.08215653896331787 + ], + [ + -136.62564086914062, + -32.705711364746094, + 1.8061094284057617 + ], + [ + -137.18511962890625, + -32.14623260498047, + 1.8061094284057617 + ], + [ + -136.70870971679688, + -31.66981315612793, + 1.8061094284057617 + ], + [ + -136.14923095703125, + -32.22929382324219, + 1.8061094284057617 + ] + ], + "corners_2d": [ + [ + 633.681601553332, + 392.6527539983349 + ], + [ + 657.0915591730977, + 383.6931415814415 + ], + [ + 646.1627718260943, + 370.03743196244585 + ], + [ + 623.000976174574, + 378.7294994347102 + ], + [ + 633.4087868312139, + 349.2654210629557 + ], + [ + 657.8220491021649, + 340.36302367039536 + ], + [ + 646.422057549839, + 326.80888939559316 + ], + [ + 622.2785635635869, + 335.43429616260534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 606, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -132.54119873046875, + "y": -29.1900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39034178853034973, + "y": 0.42131713032722473, + "z": 0.8912217617034912 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 523.7698191997983, + "ymin": 242.13063685144596, + "xmax": 562.9566124458183, + "ymax": 307.6178305347932 + }, + "corners_3d": [ + [ + -132.63909912109375, + -29.755998611450195, + 0.052916109561920166 + ], + [ + -133.09803771972656, + -29.049306869506836, + 0.052916109561920166 + ], + [ + -132.44329833984375, + -28.624116897583008, + 0.052916109561920166 + ], + [ + -131.98435974121094, + -29.330808639526367, + 0.052916109561920166 + ], + [ + -132.63909912109375, + -29.755998611450195, + 1.8353595733642578 + ], + [ + -133.09803771972656, + -29.049306869506836, + 1.8353595733642578 + ], + [ + -132.44329833984375, + -28.624116897583008, + 1.8353595733642578 + ], + [ + -131.98435974121094, + -29.330808639526367, + 1.8353595733642578 + ] + ], + "corners_2d": [ + [ + 542.2810796841087, + 307.6178305347932 + ], + [ + 562.9566124458183, + 296.97759989870525 + ], + [ + 548.7874112366767, + 285.77249199487136 + ], + [ + 528.2159992178134, + 296.12393389163833 + ], + [ + 538.3379590861308, + 263.63907891845724 + ], + [ + 559.8889319485155, + 253.1572770853092 + ], + [ + 545.2067954490188, + 242.13063685144596 + ], + [ + 523.7698191997983, + 252.31678816801178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 555, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -138.92300415039062, + "y": -25.24505043029785, + "z": 1.0946115255355835 + }, + "extent": { + "x": 0.46088865399360657, + "y": 0.4335046410560608, + "z": 0.946283757686615 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 741.6564728494016, + "ymin": 201.3525838899703, + "xmax": 783.9543656428145, + "ymax": 269.1495138981496 + }, + "corners_3d": [ + [ + -139.00836181640625, + -25.871994018554688, + 0.1483277678489685 + ], + [ + -139.5540008544922, + -25.198200225830078, + 0.1483277678489685 + ], + [ + -138.837646484375, + -24.618106842041016, + 0.1483277678489685 + ], + [ + -138.29200744628906, + -25.291900634765625, + 0.1483277678489685 + ], + [ + -139.00836181640625, + -25.871994018554688, + 2.0408952236175537 + ], + [ + -139.5540008544922, + -25.198200225830078, + 2.0408952236175537 + ], + [ + -138.837646484375, + -24.618106842041016, + 2.0408952236175537 + ], + [ + -138.29200744628906, + -25.291900634765625, + 2.0408952236175537 + ] + ], + "corners_2d": [ + [ + 758.8240023776715, + 269.1495138981496 + ], + [ + 778.3339154101524, + 260.39879027511836 + ], + [ + 761.0270509128735, + 247.2773049270798 + ], + [ + 741.6564728494016, + 255.73771397606862 + ], + [ + 763.7075401554121, + 222.77533015204364 + ], + [ + 783.9543656428145, + 214.19863581774467 + ], + [ + 765.8592542173271, + 201.3525838899703 + ], + [ + 745.7613383758982, + 209.6334119048305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 600, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -140.24693298339844, + "y": -32.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.31685057282447815, + "y": 0.4159582555294037, + "z": 0.8719404935836792 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 740.5064597782118, + "ymin": 346.1489154245694, + "xmax": 782.7883872855498, + "ymax": 413.81938048145525 + }, + "corners_3d": [ + [ + -140.17684936523438, + -32.705936431884766, + 0.2245948314666748 + ], + [ + -140.76510620117188, + -32.11768341064453, + 0.2245948314666748 + ], + [ + -140.3170166015625, + -31.66958999633789, + 0.2245948314666748 + ], + [ + -139.728759765625, + -32.257843017578125, + 0.2245948314666748 + ], + [ + -140.17684936523438, + -32.705936431884766, + 1.9684758186340332 + ], + [ + -140.76510620117188, + -32.11768341064453, + 1.9684758186340332 + ], + [ + -140.3170166015625, + -31.66958999633789, + 1.9684758186340332 + ], + [ + -139.728759765625, + -32.257843017578125, + 1.9684758186340332 + ] + ], + "corners_2d": [ + [ + 752.6051577613919, + 413.81938048145525 + ], + [ + 776.6933747119999, + 403.89802461413353 + ], + [ + 764.3708151210076, + 390.3757093247049 + ], + [ + 740.5064597782118, + 400.00982565080596 + ], + [ + 757.681950194295, + 369.4700161654063 + ], + [ + 782.7883872855498, + 359.59414838256885 + ], + [ + 769.8324008814632, + 346.1489154245694 + ], + [ + 744.968413807782, + 355.7263323879926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 719, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -125.42184448242188, + "y": -40.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.2860742211341858, + "y": 0.40776121616363525, + "z": 0.8710733652114868 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 98.38285747555415, + "ymin": 449.18443485156547, + "xmax": 158.92917381641644, + "ymax": 516.640110792671 + }, + "corners_3d": [ + [ + -125.23567199707031, + -40.819984436035156, + 0.07306450605392456 + ], + [ + -125.91963195800781, + -40.375816345214844, + 0.07306450605392456 + ], + [ + -125.60801696777344, + -39.895973205566406, + 0.07306450605392456 + ], + [ + -124.92405700683594, + -40.34014129638672, + 0.07306450605392456 + ], + [ + -125.23567199707031, + -40.819984436035156, + 1.815211296081543 + ], + [ + -125.91963195800781, + -40.375816345214844, + 1.815211296081543 + ], + [ + -125.60801696777344, + -39.895973205566406, + 1.815211296081543 + ], + [ + -124.92405700683594, + -40.34014129638672, + 1.815211296081543 + ] + ], + "corners_2d": [ + [ + 124.07562512861966, + 516.640110792671 + ], + [ + 157.4640337892185, + 509.52902251157275 + ], + [ + 158.92917381641644, + 493.15915336695537 + ], + [ + 126.080845321595, + 500.0469341938246 + ], + [ + 98.38285747555415, + 472.7734991711777 + ], + [ + 133.6056103742418, + 465.6240998120197 + ], + [ + 135.53662244546746, + 449.18443485156547 + ], + [ + 100.91424813001481, + 456.0984595443409 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 2723, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 848.9168650389329, + "ymin": 0.0, + "xmax": 970.0858969874023, + "ymax": 38.320284569339776 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 853.4343078715267, + 10.628275333383044 + ], + [ + 848.9168650389329, + 25.093503627262066 + ], + [ + 961.0184051907131, + 38.320284569339776 + ], + [ + 962.6424513354887, + 23.164771236192564 + ], + [ + 858.2438302276091, + -20.623561184730022 + ], + [ + 853.7538794552314, + -6.681689215155927 + ], + [ + 968.6327502568826, + 6.081321168651414 + ], + [ + 970.0858969874023, + -8.541614454694468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 5464, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 407.0560157042266, + "ymin": 148.6996169342446, + "xmax": 526.4949925283527, + "ymax": 272.16346175041485 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 413.7925506822224, + 261.73923994142706 + ], + [ + 467.9536068942591, + 272.16346175041485 + ], + [ + 526.4949925283527, + 189.52317910976228 + ], + [ + 477.1758578008451, + 181.12903472983425 + ], + [ + 407.0560157042266, + 227.91575149957092 + ], + [ + 462.7603610258699, + 238.19486390909023 + ], + [ + 523.4320980592047, + 156.92619865762913 + ], + [ + 472.8348540728934, + 148.6996169342446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.3111579502686, + "ymin": 0.0, + "xmax": 841.7558902028039, + "ymax": 15.682294335082531 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 838.9199906324232, + 12.217291566051358 + ], + [ + 832.5441539323194, + 11.474569988054782 + ], + [ + 831.3111579502686, + 14.930026116159695 + ], + [ + 837.7261607774128, + 15.682294335082531 + ], + [ + 841.7558902028039, + -7.532038306608683 + ], + [ + 835.2853307948252, + -8.257809178490561 + ], + [ + 834.0524671785296, + -4.880973312624121 + ], + [ + 840.5633708547758, + -4.145739477696736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.7585678118312, + "ymin": 0.0, + "xmax": 812.5918190154921, + "ymax": 146.2652232881541 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 776.3626855427103, + 146.2652232881541 + ], + [ + 779.6549142092529, + 137.3406729230375 + ], + [ + 595.6455344981863, + 110.6013993638955 + ], + [ + 590.1204915091937, + 118.81889812774256 + ], + [ + 809.0577212395611, + -153.73859005735767 + ], + [ + 812.5918190154921, + -159.86268140342975 + ], + [ + 585.6992189559297, + -177.98167955700023 + ], + [ + 578.7585678118312, + -172.44966373715351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 293.91181936927137, + "ymin": 39.88868652494591, + "xmax": 668.8976631502986, + "ymax": 479.5648361314386 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 653.4098761508582, + 479.5648361314386 + ], + [ + 660.711563760587, + 459.77147260064584 + ], + [ + 399.7385947368409, + 401.9774191569043 + ], + [ + 387.9556337422623, + 419.5024352699578 + ], + [ + 658.8593588018201, + 106.53391792577796 + ], + [ + 668.8976631502986, + 89.1389569803182 + ], + [ + 312.3518072969117, + 39.88868652494591 + ], + [ + 293.91181936927137, + 54.58619873462152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 302.28833292651444, + "ymin": 51.62404418556082, + "xmax": 342.4439253759856, + "ymax": 66.96260867916658 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 330.9784447336535, + 66.96260867916658 + ], + [ + 342.4439253759856, + 57.1317615545687 + ], + [ + 314.53997568781597, + 53.18921095682009 + ], + [ + 302.68761835763274, + 62.88699345161115 + ], + [ + 330.61012303275476, + 65.37674002740818 + ], + [ + 342.095133549967, + 55.5605915067278 + ], + [ + 314.1610474179929, + 51.62404418556082 + ], + [ + 302.28833292651444, + 61.307171564447856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 292.95466132388196, + "ymin": 0.0, + "xmax": 557.2224773272575, + "ymax": 33.06172266620695 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 337.76788522710365, + 0.39891651775189985 + ], + [ + 333.44066373617216, + 3.6666652318012325 + ], + [ + 554.0875227538867, + 33.06172266620695 + ], + [ + 557.2224773272575, + 29.42408619624871 + ], + [ + 298.1307099785713, + -182.8289130770762 + ], + [ + 292.95466132388196, + -180.4116881873441 + ], + [ + 542.0264307242284, + -158.4899025696684 + ], + [ + 545.6872959899348, + -161.2201814628827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.6657689014758, + "ymin": 0.0, + "xmax": 898.5958825015755, + "ymax": 74.65745274320574 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 827.6657689014758, + 73.37522277243164 + ], + [ + 837.2286844077195, + 74.65745274320574 + ], + [ + 869.984759941847, + -23.778477587551038 + ], + [ + 861.9219918963342, + -24.67652192897873 + ], + [ + 856.191472942643, + -127.89606554600357 + ], + [ + 867.2816032859954, + -126.91275457487393 + ], + [ + 898.5958825015755, + -200.59242262148143 + ], + [ + 889.4748253296178, + -201.24815098570423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 302.29865377984356, + "ymin": 51.66450033511529, + "xmax": 342.45291985529167, + "ymax": 67.00350348714557 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 330.9879426483868, + 67.00350348714557 + ], + [ + 342.45291985529167, + 57.17227814764061 + ], + [ + 314.54974739066733, + 53.22957306706519 + ], + [ + 302.6979148205259, + 62.92773267265784 + ], + [ + 330.6196436016943, + 65.41773237673584 + ], + [ + 342.1041491277637, + 55.60120314020526 + ], + [ + 314.1708418878448, + 51.66450033511529 + ], + [ + 302.29865377984356, + 61.34800728925222 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00056/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00056/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc2c8f82ac19f6a4aba068110e71eb50697b5bf2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00056/meta.json @@ -0,0 +1,1731 @@ +{ + "frame_id": 56, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 28.0, + "sim_timestamp": 734.6136652750429 + }, + "drone_pose": { + "x": -142.4515618625244, + "y": -51.26162624871547, + "z": 20.000065807419666, + "pitch": -42.82857365961138, + "yaw": 72.20026790562407, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.22419089078903198, + -0.6982840299606323, + 0.6798071265220642, + 54.13533401489258 + ], + [ + 0.9521307945251465, + 0.30569082498550415, + 2.9802322387695312e-08, + -119.96232604980469 + ], + [ + -0.20781080424785614, + 0.6472653150558472, + 0.7333909273147583, + -77.45072174072266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.4332512681094, + "y": -50.58762913660789, + "z": 20.00004669945711 + }, + "t1_image_uv": [ + 1021.364946443669, + -529.8067616017961 + ], + "t1_depth": 0.47475953318733344 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -136.16718292236328, + "y": -31.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.0313739097533, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 576, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -136.16717529296875, + "y": -31.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.36119627952575684, + "y": 0.4492577910423279, + "z": 0.8906757235527039 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.2951892267445, + "ymin": 325.0957736405634, + "xmax": 659.8268159671055, + "ymax": 394.3622754728563 + }, + "corners_3d": [ + [ + -136.1049041748047, + -32.260841369628906, + 0.05346214771270752 + ], + [ + -136.74024963378906, + -31.6254940032959, + 0.05346214771270752 + ], + [ + -136.2294464111328, + -31.11468505859375, + 0.05346214771270752 + ], + [ + -135.59410095214844, + -31.750032424926758, + 0.05346214771270752 + ], + [ + -136.1049041748047, + -32.260841369628906, + 1.8348135948181152 + ], + [ + -136.74024963378906, + -31.6254940032959, + 1.8348135948181152 + ], + [ + -136.2294464111328, + -31.11468505859375, + 1.8348135948181152 + ], + [ + -135.59410095214844, + -31.750032424926758, + 1.8348135948181152 + ] + ], + "corners_2d": [ + [ + 632.0319371670533, + 394.3622754728563 + ], + [ + 658.9858976849364, + 384.6119918507055 + ], + [ + 647.7555198643611, + 369.76499361659097 + ], + [ + 621.1259864570884, + 379.19961062937494 + ], + [ + 631.6750864471712, + 349.5186169357125 + ], + [ + 659.8268159671055, + 339.8305184640224 + ], + [ + 648.0932054184547, + 325.0957736405634 + ], + [ + 620.2951892267445, + 334.4566046369175 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 56, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 407826, + "2": 139492, + "3": 93120, + "4": 54467, + "6": 10199, + "7": 120, + "10": 8, + "12": 3058, + "14": 8926, + "24": 11649, + "25": 192735 + }, + "instance_pixel_counts": { + "3413": 997, + "3662": 33059, + "11605": 12445, + "17240": 8090, + "17496": 1495, + "20565": 5811, + "21907": 29111, + "21909": 3587, + "22421": 1650, + "22931": 73293, + "22933": 5730, + "23443": 286654, + "23445": 61, + "23955": 5296, + "25493": 98, + "25600": 13, + "25856": 721, + "26003": 7128, + "36096": 576, + "36352": 608, + "36608": 542, + "36864": 611, + "37376": 721, + "41216": 3287, + "41728": 5639, + "46483": 16, + "47201": 5389, + "47713": 731, + "48225": 337, + "48531": 1304, + "48737": 19922, + "48980": 73867, + "49249": 2658, + "49761": 2745, + "50579": 5024, + "51297": 67882, + "51526": 21408, + "51809": 9802, + "52321": 4097, + "52833": 309, + "53345": 24, + "54366": 177386, + "54878": 15349, + "56970": 1082, + "57482": 12372, + "57994": 12142, + "62355": 159, + "64403": 364 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 576, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -136.16717529296875, + "y": -31.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5049169659614563, + "y": 0.45604002475738525, + "z": 0.8955599069595337 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 617.8629059113644, + "ymin": 322.02647917398406, + "xmax": 662.4233448870218, + "ymax": 397.63205399244754 + }, + "corners_3d": [ + [ + -136.2017364501953, + -32.36726379394531, + 0.048577964305877686 + ], + [ + -136.8466796875, + -31.72232437133789, + 0.048577964305877686 + ], + [ + -136.1326141357422, + -31.008264541625977, + 0.048577964305877686 + ], + [ + -135.4876708984375, + -31.653202056884766, + 0.048577964305877686 + ], + [ + -136.2017364501953, + -32.36726379394531, + 1.8396978378295898 + ], + [ + -136.8466796875, + -31.72232437133789, + 1.8396978378295898 + ], + [ + -136.1326141357422, + -31.008264541625977, + 1.8396978378295898 + ], + [ + -135.4876708984375, + -31.653202056884766, + 1.8396978378295898 + ] + ], + "corners_2d": [ + [ + 634.0398742618712, + 397.63205399244754 + ], + [ + 661.4641226463647, + 387.66883084496186 + ], + [ + 645.7622426044998, + 366.9157714687701 + ], + [ + 618.7982844516794, + 376.43100766704345 + ], + [ + 633.7704958401749, + 352.52400141244163 + ], + [ + 662.4233448870218, + 342.621736806932 + ], + [ + 646.0136760296333, + 322.02647917398406 + ], + [ + 617.8629059113644, + 331.4641978092677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 608, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -132.04119873046875, + "y": -28.6900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4226464629173279, + "y": 0.4776086211204529, + "z": 0.9223241806030273 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 524.9144727768235, + "ymin": 238.71016964569952, + "xmax": 567.9838952704297, + "ymax": 307.91903992959607 + }, + "corners_3d": [ + [ + -132.13552856445312, + -29.320804595947266, + 0.021813690662384033 + ], + [ + -132.65577697753906, + -28.519691467285156, + 0.021813690662384033 + ], + [ + -131.94686889648438, + -28.059310913085938, + 0.021813690662384033 + ], + [ + -131.42662048339844, + -28.860424041748047, + 0.021813690662384033 + ], + [ + -132.13552856445312, + -29.320804595947266, + 1.866461992263794 + ], + [ + -132.65577697753906, + -28.519691467285156, + 1.866461992263794 + ], + [ + -131.94686889648438, + -28.059310913085938, + 1.866461992263794 + ], + [ + -131.42662048339844, + -28.860424041748047, + 1.866461992263794 + ] + ], + "corners_2d": [ + [ + 544.1968234536939, + 307.91903992959607 + ], + [ + 567.9838952704297, + 296.20178014189867 + ], + [ + 553.1021610854377, + 283.8536881963195 + ], + [ + 529.467738927317, + 295.2208531209017 + ], + [ + 540.1870272365794, + 262.39177721410186 + ], + [ + 565.0135912702711, + 250.85425098466624 + ], + [ + 549.5738110668613, + 238.71016964569952 + ], + [ + 524.9144727768235, + 249.88898296776912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 542, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -138.42300415039062, + "y": -24.74505043029785, + "z": 1.0953439474105835 + }, + "extent": { + "x": 0.5201464891433716, + "y": 0.47373899817466736, + "z": 0.9385685324668884 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 744.2859569260143, + "ymin": 201.80972169018224, + "xmax": 790.8808845367602, + "ymax": 271.8406561555869 + }, + "corners_3d": [ + [ + -138.5290985107422, + -25.440553665161133, + 0.15677541494369507 + ], + [ + -139.1253662109375, + -24.7042236328125, + 0.15677541494369507 + ], + [ + -138.31690979003906, + -24.04954719543457, + 0.15677541494369507 + ], + [ + -137.72064208984375, + -24.785877227783203, + 0.15677541494369507 + ], + [ + -138.5290985107422, + -25.440553665161133, + 2.033912420272827 + ], + [ + -139.1253662109375, + -24.7042236328125, + 2.033912420272827 + ], + [ + -138.31690979003906, + -24.04954719543457, + 2.033912420272827 + ], + [ + -137.72064208984375, + -24.785877227783203, + 2.033912420272827 + ] + ], + "corners_2d": [ + [ + 763.2189593054629, + 271.8406561555869 + ], + [ + 785.007236095523, + 262.53500084345217 + ], + [ + 765.8735715164835, + 247.39768866590833 + ], + [ + 744.2859569260143, + 256.3491951318721 + ], + [ + 768.2710712469808, + 225.7624590508365 + ], + [ + 790.8808845367602, + 216.63638246533927 + ], + [ + 770.8709264767035, + 201.80972169018224 + ], + [ + 748.4758523972981, + 210.57475170707448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 611, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -139.74693298339844, + "y": -31.687763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4437304735183716, + "y": 0.4276477098464966, + "z": 0.8786917924880981 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 737.3209518023011, + "ymin": 345.277746554628, + "xmax": 785.2480656060052, + "ymax": 419.0198668217458 + }, + "corners_3d": [ + [ + -139.75830078125, + -32.30392074584961, + 0.21784353256225586 + ], + [ + -140.3630828857422, + -31.699134826660156, + 0.21784353256225586 + ], + [ + -139.73556518554688, + -31.071605682373047, + 0.21784353256225586 + ], + [ + -139.1307830810547, + -31.6763916015625, + 0.21784353256225586 + ], + [ + -139.75830078125, + -32.30392074584961, + 1.9752271175384521 + ], + [ + -140.3630828857422, + -31.699134826660156, + 1.9752271175384521 + ], + [ + -139.73556518554688, + -31.071605682373047, + 1.9752271175384521 + ], + [ + -139.1307830810547, + -31.6763916015625, + 1.9752271175384521 + ] + ], + "corners_2d": [ + [ + 753.6552794086333, + 419.0198668217458 + ], + [ + 778.9555595627841, + 409.1539219913888 + ], + [ + 762.26739933519, + 389.8477064425593 + ], + [ + 737.3209518023011, + 399.31008796189417 + ], + [ + 758.8586314887658, + 374.30702770185195 + ], + [ + 785.2480656060052, + 364.4802635367277 + ], + [ + 767.6853121951646, + 345.277746554628 + ], + [ + 741.6797938073964, + 354.6848374676643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 721, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -124.92184448242188, + "y": -39.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.33534666895866394, + "y": 0.32206907868385315, + "z": 0.8909465670585632 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 101.6093252559125, + "ymin": 439.0416404035454, + "xmax": 156.06421424923053, + "ymax": 508.16561716616656 + }, + "corners_3d": [ + [ + -124.83438110351562, + -40.31463623046875, + 0.053191304206848145 + ], + [ + -125.37459564208984, + -39.96381378173828, + 0.053191304206848145 + ], + [ + -125.00930786132812, + -39.40132141113281, + 0.053191304206848145 + ], + [ + -124.4690933227539, + -39.75214385986328, + 0.053191304206848145 + ], + [ + -124.83438110351562, + -40.31463623046875, + 1.8350844383239746 + ], + [ + -125.37459564208984, + -39.96381378173828, + 1.8350844383239746 + ], + [ + -125.00930786132812, + -39.40132141113281, + 1.8350844383239746 + ], + [ + -124.4690933227539, + -39.75214385986328, + 1.8350844383239746 + ] + ], + "corners_2d": [ + [ + 127.53691754432532, + 508.16561716616656 + ], + [ + 153.6552556622828, + 503.0792013545574 + ], + [ + 156.06421424923053, + 484.0397725332031 + ], + [ + 130.4412662668064, + 488.9399630644738 + ], + [ + 101.6093252559125, + 463.26320124616905 + ], + [ + 129.1757375976976, + 458.1518680079179 + ], + [ + 132.17708828989572, + 439.0416404035454 + ], + [ + 105.16179861658964, + 443.9566660832096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 3287, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 871.2577005302202, + "ymin": 0.0, + "xmax": 995.5741143129437, + "ymax": 46.970674327657946 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 876.1370741535029, + 17.401227396789523 + ], + [ + 871.2577005302202, + 32.186452567121535 + ], + [ + 985.4896854324281, + 46.970674327657946 + ], + [ + 987.4120368868546, + 31.408159828084194 + ], + [ + 881.5432445784386, + -14.153120675334833 + ], + [ + 876.6985662331831, + 0.10740664235521535 + ], + [ + 993.8370982284282, + 14.384627277032564 + ], + [ + 995.5741143129437, + -0.6437061839805551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 5639, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 418.690308939771, + "ymin": 155.0374912699871, + "xmax": 540.640078959763, + "ymax": 280.8538505642046 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 425.16558975684796, + 269.3378868200008 + ], + [ + 479.46095127938815, + 280.8538505642046 + ], + [ + 540.640078959763, + 196.89346451249222 + ], + [ + 491.1160369164545, + 187.6256562757977 + ], + [ + 418.690308939771, + 235.38936156623754 + ], + [ + 474.5503194016534, + 246.75343869024454 + ], + [ + 537.9241787277856, + 164.12617561519363 + ], + [ + 487.0997452269295, + 155.0374912699871 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 853.3120257378497, + "ymin": 0.0, + "xmax": 864.3314188133472, + "ymax": 23.279724463588366 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 861.1247451334265, + 19.72949936131488 + ], + [ + 854.637929639593, + 18.900074632313988 + ], + [ + 853.3120257378497, + 22.43955750755822 + ], + [ + 859.8387276612099, + 23.279724463588366 + ], + [ + 864.3314188133472, + -0.22389639739549239 + ], + [ + 857.7457683166737, + -1.0347815932929052 + ], + [ + 856.4208780405625, + 2.425833236151277 + ], + [ + 863.0476465131908, + 3.247374223912516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 598.8609563445033, + "ymin": 0.0, + "xmax": 836.6097418926477, + "ymax": 155.85651609121467 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 794.9308406739633, + 155.85651609121467 + ], + [ + 798.4667404022713, + 146.71846171462025 + ], + [ + 612.3700417139723, + 116.9917834591102 + ], + [ + 606.5898871837311, + 125.33953058161944 + ], + [ + 832.8496979816646, + -147.58390415929807 + ], + [ + 836.6097418926477, + -153.90442546254508 + ], + [ + 606.0782439691509, + -174.18417352796143 + ], + [ + 598.8609563445033, + -168.53226924143758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 301.44795387082763, + "ymin": 49.239876351963176, + "xmax": 682.5905828851205, + "ymax": 498.4066407540719 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 662.3837094345614, + 498.4066407540719 + ], + [ + 670.2821409840689, + 477.9942132150855 + ], + [ + 407.1172290417892, + 413.4195982185225 + ], + [ + 394.752430710355, + 431.27694254238224 + ], + [ + 671.743078559964, + 123.23150232427437 + ], + [ + 682.5905828851205, + 104.9971721416012 + ], + [ + 320.7734071388702, + 49.239876351963176 + ], + [ + 301.44795387082763, + 64.37376290951846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 309.990342926577, + "ymin": 61.19259274215847, + "xmax": 350.8989200792832, + "ymax": 77.33662077628333 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 338.85752418163, + 77.33662077628333 + ], + [ + 350.8989200792832, + 67.2015650615902 + ], + [ + 322.81191886352764, + 62.77450067873815 + ], + [ + 310.38813165636526, + 72.75855894196434 + ], + [ + 338.4913291242609, + 75.73350296634044 + ], + [ + 350.5532425708247, + 65.61311933689421 + ], + [ + 322.4354732586437, + 61.19259274215847 + ], + [ + 309.990342926577, + 71.16201772121241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.36931015209746, + "ymin": 0.0, + "xmax": 575.5710045370571, + "ymax": 37.216607899128746 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 356.10507414613437, + 1.7652305584095984 + ], + [ + 351.6900659129125, + 5.038664328519133 + ], + [ + 572.3230377553957, + 37.216607899128746 + ], + [ + 575.5710045370571, + 33.53884104669612 + ], + [ + 318.6325417979924, + -182.2222450627654 + ], + [ + 313.36931015209746, + -179.79718749612482 + ], + [ + 562.7097476679793, + -155.74711550654683 + ], + [ + 566.486800958252, + -158.51551569324909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 848.6690087671583, + "ymin": 0.0, + "xmax": 925.75046921328, + "ymax": 82.92866401274256 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 848.6690087671583, + 81.50167065656154 + ], + [ + 858.3897048647378, + 82.92866401274256 + ], + [ + 893.6503921066519, + -17.690656926778274 + ], + [ + 885.4540633937199, + -18.687881286816946 + ], + [ + 880.9829683203463, + -122.00701479534405 + ], + [ + 892.3001826540922, + -120.90721762916638 + ], + [ + 925.75046921328, + -196.5547986068558 + ], + [ + 916.448756587859, + -197.28571138255597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 310.0006253239506, + "ymin": 61.23348251096678, + "xmax": 350.90783403332296, + "ymax": 77.37795936674627 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 338.8669670232055, + 77.37795936674627 + ], + [ + 350.90783403332296, + 67.24252616504094 + ], + [ + 322.82162631991616, + 62.815293563834416 + ], + [ + 310.3983892805664, + 72.79972833324587 + ], + [ + 338.5007949447935, + 75.77494215339703 + ], + [ + 350.56217785406875, + 65.65417845159084 + ], + [ + 322.44520377038634, + 61.23348251096678 + ], + [ + 310.0006253239506, + 71.20328654062769 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00057/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00057/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a7f07195b7592d0dbae25f9d260880d1bc079ce --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00057/meta.json @@ -0,0 +1,1731 @@ +{ + "frame_id": 57, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 28.5, + "sim_timestamp": 751.2285393772181 + }, + "drone_pose": { + "x": -142.4332512681094, + "y": -50.58762913660789, + "z": 20.00004669945711, + "pitch": -42.84528560614698, + "yaw": 70.77282102394595, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2414509654045105, + -0.6922953128814697, + 0.6800210475921631, + 55.811771392822266 + ], + [ + 0.9442203044891357, + 0.32931452989578247, + 0.0, + -117.82913208007812 + ], + [ + -0.22394083440303802, + 0.6420896649360657, + 0.7331925630569458, + -79.04230499267578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.42371894833144, + "y": -49.99686048604022, + "z": 20.000032753681406 + }, + "t1_image_uv": [ + 1073.0836503249293, + -530.3357910157263 + ], + "t1_depth": 0.41129744641948157 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -135.66718292236328, + "y": -31.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.02252916740412, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 609, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -135.66717529296875, + "y": -31.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3218945264816284, + "y": 0.42488768696784973, + "z": 0.8708673715591431 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.7615673956097, + "ymin": 326.7793364483798, + "xmax": 658.3407214918043, + "ymax": 392.64649594320275 + }, + "corners_3d": [ + [ + -135.59434509277344, + -31.715818405151367, + 0.07327049970626831 + ], + [ + -136.1952362060547, + -31.11493682861328, + 0.07327049970626831 + ], + [ + -135.74000549316406, + -30.65970802307129, + 0.07327049970626831 + ], + [ + -135.1391143798828, + -31.260589599609375, + 0.07327049970626831 + ], + [ + -135.59434509277344, + -31.715818405151367, + 1.8150053024291992 + ], + [ + -136.1952362060547, + -31.11493682861328, + 1.8150053024291992 + ], + [ + -135.74000549316406, + -30.65970802307129, + 1.8150053024291992 + ], + [ + -135.1391143798828, + -31.260589599609375, + 1.8150053024291992 + ] + ], + "corners_2d": [ + [ + 631.7583609686466, + 392.64649594320275 + ], + [ + 657.5795149884591, + 383.88440525119296 + ], + [ + 648.0431159807468, + 370.4662870952547 + ], + [ + 622.5144612336467, + 378.97187676231033 + ], + [ + 631.3979219419555, + 348.8068913645241 + ], + [ + 658.3407214918043, + 340.0995752441838 + ], + [ + 648.3860597433339, + 326.7793364483798 + ], + [ + 621.7615673956097, + 335.2209174726918 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 57, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 417321, + "2": 141165, + "3": 76742, + "4": 56861, + "6": 10695, + "7": 127, + "10": 8, + "12": 3142, + "14": 9310, + "24": 12083, + "25": 194146 + }, + "instance_pixel_counts": { + "3662": 33990, + "11605": 15280, + "17240": 8369, + "17496": 1611, + "20565": 5819, + "21907": 32485, + "21909": 3792, + "22421": 1683, + "22931": 75721, + "22933": 5777, + "23443": 288127, + "23445": 64, + "23955": 5721, + "25493": 89, + "25600": 26, + "25856": 816, + "26003": 6758, + "36096": 609, + "36352": 612, + "36608": 592, + "36864": 626, + "37376": 703, + "41216": 3492, + "41728": 5818, + "46483": 361, + "47201": 5666, + "47713": 772, + "48225": 374, + "48531": 2535, + "48737": 21008, + "48980": 55643, + "49249": 2720, + "49761": 2781, + "50579": 5613, + "51297": 66562, + "51526": 22871, + "51809": 9633, + "52321": 4356, + "52833": 325, + "53345": 26, + "54366": 177318, + "54878": 16828, + "56970": 1223, + "57482": 12528, + "57994": 13191, + "60819": 42, + "62355": 275, + "64403": 361 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 609, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -135.66717529296875, + "y": -31.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5048485994338989, + "y": 0.4329186975955963, + "z": 0.9065712690353394 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.8055180961887, + "ymin": 322.0560353307517, + "xmax": 661.4982399495842, + "ymax": 397.55280020353416 + }, + "corners_3d": [ + [ + -135.71803283691406, + -31.85086441040039, + 0.03756660223007202 + ], + [ + -136.3302764892578, + -31.238624572753906, + 0.03756660223007202 + ], + [ + -135.61631774902344, + -30.524662017822266, + 0.03756660223007202 + ], + [ + -135.0040740966797, + -31.13690185546875, + 0.03756660223007202 + ], + [ + -135.71803283691406, + -31.85086441040039, + 1.8507091999053955 + ], + [ + -136.3302764892578, + -31.238624572753906, + 1.8507091999053955 + ], + [ + -135.61631774902344, + -30.524662017822266, + 1.8507091999053955 + ], + [ + -135.0040740966797, + -31.13690185546875, + 1.8507091999053955 + ] + ], + "corners_2d": [ + [ + 634.1940131826995, + 397.55280020353416 + ], + [ + 660.5663361123918, + 388.5479347186804 + ], + [ + 645.6174959842162, + 367.50347805373497 + ], + [ + 619.7118080113264, + 376.0986948441421 + ], + [ + 633.9282357088549, + 351.8903017114118 + ], + [ + 661.4982399495842, + 342.940604440135 + ], + [ + 645.8659494375846, + 322.0560353307517 + ], + [ + 618.8055180961887, + 330.5807159894976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 612, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -131.85548400878906, + "y": -28.423139572143555, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39625975489616394, + "y": 0.47022703289985657, + "z": 0.9057795405387878 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 535.2076897127585, + "ymin": 244.17723006278422, + "xmax": 576.6932608391331, + "ymax": 311.87130305555917 + }, + "corners_3d": [ + [ + -131.9317169189453, + -29.033323287963867, + 0.038358330726623535 + ], + [ + -132.4439239501953, + -28.244592666625977, + 0.038358330726623535 + ], + [ + -131.7792510986328, + -27.812955856323242, + 0.038358330726623535 + ], + [ + -131.2670440673828, + -28.601686477661133, + 0.038358330726623535 + ], + [ + -131.9317169189453, + -29.033323287963867, + 1.8499174118041992 + ], + [ + -132.4439239501953, + -28.244592666625977, + 1.8499174118041992 + ], + [ + -131.7792510986328, + -27.812955856323242, + 1.8499174118041992 + ], + [ + -131.2670440673828, + -28.601686477661133, + 1.8499174118041992 + ] + ], + "corners_2d": [ + [ + 552.8346003275221, + 311.87130305555917 + ], + [ + 576.6932608391331, + 300.56172333201084 + ], + [ + 563.0013503029131, + 288.60265777004565 + ], + [ + 539.3070368619346, + 299.5868894345799 + ], + [ + 549.231283929788, + 267.0933970379054 + ], + [ + 574.1128070438219, + 255.94860303121433 + ], + [ + 559.9097830940351, + 244.17723006278422 + ], + [ + 535.2076897127585, + 254.98855175581377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 592, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -137.92300415039062, + "y": -24.24505043029785, + "z": 1.095959186553955 + }, + "extent": { + "x": 0.5251073837280273, + "y": 0.4891992211341858, + "z": 0.9340982437133789 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 748.482035040832, + "ymin": 203.47523168131622, + "xmax": 796.1531657863508, + "ymax": 273.79703916932283 + }, + "corners_3d": [ + [ + -138.02322387695312, + -24.955690383911133, + 0.16186094284057617 + ], + [ + -138.63894653320312, + -24.195331573486328, + 0.16186094284057617 + ], + [ + -137.82278442382812, + -23.53441047668457, + 0.16186094284057617 + ], + [ + -137.20706176757812, + -24.294769287109375, + 0.16186094284057617 + ], + [ + -138.02322387695312, + -24.955690383911133, + 2.030057430267334 + ], + [ + -138.63894653320312, + -24.195331573486328, + 2.030057430267334 + ], + [ + -137.82278442382812, + -23.53441047668457, + 2.030057430267334 + ], + [ + -137.20706176757812, + -24.294769287109375, + 2.030057430267334 + ] + ], + "corners_2d": [ + [ + 767.1160702068172, + 273.79703916932283 + ], + [ + 790.0824059301538, + 264.5014696555568 + ], + [ + 771.2084970797285, + 248.89077168074138 + ], + [ + 748.482035040832, + 257.82276327456987 + ], + [ + 772.3204442926803, + 227.89025559790733 + ], + [ + 796.1531657863508, + 218.77079039204924 + ], + [ + 776.4074560050486, + 203.47523168131622 + ], + [ + 752.831732991558, + 212.2239363123352 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 626, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -139.24693298339844, + "y": -31.187763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.49796873331069946, + "y": 0.4601782262325287, + "z": 0.8882460594177246 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 734.7962680672337, + "ymin": 345.6550141809253, + "xmax": 786.5844892053501, + "ymax": 422.9395272094717 + }, + "corners_3d": [ + [ + -139.27365112304688, + -31.865276336669922, + 0.2082892656326294 + ], + [ + -139.9244384765625, + -31.21448516845703, + 0.2082892656326294 + ], + [ + -139.22021484375, + -30.510250091552734, + 0.2082892656326294 + ], + [ + -138.56942749023438, + -31.161041259765625, + 0.2082892656326294 + ], + [ + -139.27365112304688, + -31.865276336669922, + 1.9847813844680786 + ], + [ + -139.9244384765625, + -31.21448516845703, + 1.9847813844680786 + ], + [ + -139.22021484375, + -30.510250091552734, + 1.9847813844680786 + ], + [ + -138.56942749023438, + -31.161041259765625, + 1.9847813844680786 + ] + ], + "corners_2d": [ + [ + 752.3822635933399, + 422.9395272094717 + ], + [ + 780.139648694263, + 412.7595523267622 + ], + [ + 762.0882853051494, + 390.71566885749843 + ], + [ + 734.7962680672337, + 400.4228855540174 + ], + [ + 757.608957746557, + 377.72781556694895 + ], + [ + 786.5844892053501, + 367.58467068888984 + ], + [ + 767.5658480500172, + 345.6550141809253 + ], + [ + 739.0962138756702, + 355.30612439545627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 703, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -124.42184448242188, + "y": -39.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.2641894519329071, + "y": 0.36983275413513184, + "z": 0.8696088790893555 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 101.13411643767859, + "ymin": 432.0020598914995, + "xmax": 158.16483298952943, + "ymax": 495.9425563738518 + }, + "corners_3d": [ + [ + -124.25556182861328, + -39.78097152709961, + 0.07452899217605591 + ], + [ + -124.87590026855469, + -39.37812042236328, + 0.07452899217605591 + ], + [ + -124.58812713623047, + -38.93498611450195, + 0.07452899217605591 + ], + [ + -123.96778869628906, + -39.33783721923828, + 0.07452899217605591 + ], + [ + -124.25556182861328, + -39.78097152709961, + 1.813746690750122 + ], + [ + -124.87590026855469, + -39.37812042236328, + 1.813746690750122 + ], + [ + -124.58812713623047, + -38.93498611450195, + 1.813746690750122 + ], + [ + -123.96778869628906, + -39.33783721923828, + 1.813746690750122 + ] + ], + "corners_2d": [ + [ + 126.2054918750764, + 495.9425563738518 + ], + [ + 155.7953864546442, + 490.75614731412236 + ], + [ + 158.16483298952943, + 475.9361906010788 + ], + [ + 129.01839086836105, + 480.9727780331041 + ], + [ + 101.13411643767859, + 452.0686000042235 + ], + [ + 132.29308871765392, + 446.8629269645992 + ], + [ + 135.13319218596843, + 432.0020598914995 + ], + [ + 104.46543533610941, + 437.05020321288754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 3492, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 893.8225394922821, + "ymin": 0.0, + "xmax": 1021.4493645800287, + "ymax": 56.741744131672135 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 899.0968849611247, + 25.17557960699844 + ], + [ + 893.8225394922821, + 40.281237306483376 + ], + [ + 1010.2858409024345, + 56.741744131672135 + ], + [ + 1012.5388445425826, + 40.7642860253585 + ], + [ + 905.1209816792123, + -6.674811447485467 + ], + [ + 899.8883023163726, + 7.905122559801839 + ], + [ + 1019.3963281266188, + 23.813769087553396 + ], + [ + 1021.4493645800287, + 8.371664056972293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 5818, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 429.9601136249746, + "ymin": 162.04342228619103, + "xmax": 554.5444852447008, + "ymax": 290.1751904697829 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 436.17277762378103, + 277.5100526478835 + ], + [ + 490.5560294315122, + 290.1751904697829 + ], + [ + 554.5444852447008, + 204.96722643665518 + ], + [ + 504.84392255360893, + 194.77956912341713 + ], + [ + 429.9601136249746, + 243.4469684192282 + ], + [ + 485.9273491802397, + 255.9538397459109 + ], + [ + 552.1801503689459, + 172.04031648309046 + ], + [ + 501.1577203000937, + 162.04342228619103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.452411816255, + "ymin": 7.1994262491461996, + "xmax": 887.07202886303, + "ymax": 31.89054425980612 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 883.4819995825054, + 28.25474580295247 + ], + [ + 876.8800437220768, + 27.332196121114123 + ], + [ + 875.452411816255, + 30.955956970082184 + ], + [ + 882.0949586843736, + 31.89054425980612 + ], + [ + 887.07202886303, + 8.101784488695671 + ], + [ + 880.3668773716341, + 7.1994262491461996 + ], + [ + 878.9410839480413, + 10.744128146789137 + ], + [ + 885.6881136050381, + 11.658435710339631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.9611612870125, + "ymin": 0.0, + "xmax": 860.7160645719856, + "ymax": 166.42068682368458 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 813.4049035791079, + 166.42068682368458 + ], + [ + 817.2063493302923, + 157.0691443705688 + ], + [ + 629.0141355438336, + 124.16154274309358 + ], + [ + 622.961124433899, + 132.63369655351775 + ], + [ + 856.7050446256593, + -140.37805092044408 + ], + [ + 860.7160645719856, + -146.89727957856218 + ], + [ + 626.4757172795304, + -169.49588051137425 + ], + [ + 618.9611612870125, + -163.72814520808583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 308.11531437144436, + "ymin": 59.30192882288259, + "xmax": 695.1924901265946, + "ymax": 518.268998763716 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 670.3769189239986, + 518.268998763716 + ], + [ + 678.9287417606329, + 497.23154629358834 + ], + [ + 413.79035360701647, + 425.401529109091 + ], + [ + 400.8063364181333, + 443.5747306287227 + ], + [ + 683.4393987483927, + 141.23569799770274 + ], + [ + 695.1924901265946, + 122.13305299479467 + ], + [ + 328.38402984937545, + 59.30192882288259 + ], + [ + 308.11531437144436, + 74.85901375654606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 316.8318574193799, + "ymin": 71.46772651389688, + "xmax": 358.49110408857916, + "ymax": 88.4431964756617 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 345.83376867995577, + 88.4431964756617 + ], + [ + 358.49110408857916, + 78.01111699197168 + ], + [ + 330.2613326624416, + 73.06543410273667 + ], + [ + 317.22858616259543, + 83.32716543500044 + ], + [ + 345.4691816135156, + 86.82378269026935 + ], + [ + 358.1480933054746, + 76.40632523081479 + ], + [ + 329.88699638639235, + 71.46772651389688 + ], + [ + 316.8318574193799, + 81.71486809158495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 334.0402538541668, + "ymin": 0.0, + "xmax": 594.005445124627, + "ymax": 42.134434024243376 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 374.6151366320913, + 3.790161514616102 + ], + [ + 370.1084133259268, + 7.064896836006085 + ], + [ + 590.6373842745064, + 42.134434024243376 + ], + [ + 594.005445124627, + 38.41986406946182 + ], + [ + 339.3940322270613, + -180.8555700168447 + ], + [ + 334.0402538541668, + -178.42644905935651 + ], + [ + 583.5483174985591, + -152.16248670976984 + ], + [ + 587.449038371096, + -154.96622876647757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 869.7789008240345, + "ymin": 0.0, + "xmax": 953.3858882216414, + "ymax": 92.2084479157133 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 869.7789008240345, + 90.6261998111001 + ], + [ + 879.6629157975173, + 92.2084479157133 + ], + [ + 917.6563640385693, + -10.597030983760362 + ], + [ + 909.3203439930318, + -11.700342708334063 + ], + [ + 906.0136813223805, + -115.07588059386183 + ], + [ + 917.5678699735354, + -113.85038062201824 + ], + [ + 953.3858882216414, + -191.4809837563423 + ], + [ + 943.8941603780329, + -192.29269165764072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 316.84211263970707, + "ymin": 71.50902555156193, + "xmax": 358.4999490696301, + "ymax": 88.4849542802773 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 345.84316983216473, + 88.4849542802773 + ], + [ + 358.4999490696301, + 78.05249864356176 + ], + [ + 330.2709855103194, + 73.10663349829389 + ], + [ + 317.23881621968144, + 83.36874017377284 + ], + [ + 345.4786060832048, + 86.86564406588974 + ], + [ + 358.1569598540462, + 76.44780778704484 + ], + [ + 329.89667258000367, + 71.50902555156193 + ], + [ + 316.84211263970707, + 81.756545093245 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00058/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00058/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..837db17eb667a5d181bc20f7af8dd5b814c65c92 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00058/meta.json @@ -0,0 +1,1732 @@ +{ + "frame_id": 58, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 29.0, + "sim_timestamp": 765.7982462716755 + }, + "drone_pose": { + "x": -142.42371894833144, + "y": -49.99686048604022, + "z": 20.000032753681406, + "pitch": -42.731905422200846, + "yaw": 69.40331890010968, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2584008574485779, + -0.687585175037384, + 0.6785688400268555, + 57.60810470581055 + ], + [ + 0.9360799193382263, + 0.3517874479293823, + -2.9802322387695312e-08, + -115.73172760009766 + ], + [ + -0.23871196806430817, + 0.6351946592330933, + 0.7345368266105652, + -80.44673919677734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.40259371595, + "y": -49.422565790599904, + "z": 20.00002268822592 + }, + "t1_image_uv": [ + 1077.0375797708218, + -526.8199345359723 + ], + "t1_depth": 0.40034213326083373 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -135.16718292236328, + "y": -30.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.08248000661948, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 593, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -135.16717529296875, + "y": -30.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.38273924589157104, + "y": 0.587145984172821, + "z": 0.8838976621627808 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.0006391778043, + "ymin": 324.4690144817422, + "xmax": 663.8050050717518, + "ymax": 395.0660329643067 + }, + "corners_3d": [ + [ + -134.5800323486328, + -31.07050323486328, + 0.060240209102630615 + ], + [ + -135.7543182373047, + -31.07050323486328, + 0.060240209102630615 + ], + [ + -135.7543182373047, + -30.305023193359375, + 0.060240209102630615 + ], + [ + -134.5800323486328, + -30.305023193359375, + 0.060240209102630615 + ], + [ + -134.5800323486328, + -31.07050323486328, + 1.828035593032837 + ], + [ + -135.7543182373047, + -31.07050323486328, + 1.828035593032837 + ], + [ + -135.7543182373047, + -30.305023193359375, + 1.828035593032837 + ], + [ + -134.5800323486328, + -30.305023193359375, + 1.828035593032837 + ] + ], + "corners_2d": [ + [ + 617.0082733064318, + 385.2747921856429 + ], + [ + 654.0927072908637, + 395.0660329643067 + ], + [ + 662.8132682105937, + 378.2138813120975 + ], + [ + 626.3087059507817, + 368.775493195765 + ], + [ + 616.0006391778043, + 340.839423737833 + ], + [ + 654.7172572255072, + 350.5664545383559 + ], + [ + 663.8050050717518, + 333.8304955025186 + ], + [ + 625.7199926676118, + 324.4690144817422 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 58, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 426044, + "2": 142536, + "3": 65500, + "4": 57430, + "6": 11216, + "7": 125, + "10": 3, + "12": 3117, + "14": 9581, + "24": 12521, + "25": 193527 + }, + "instance_pixel_counts": { + "3662": 33031, + "11605": 18579, + "17240": 8632, + "17496": 1737, + "20565": 6029, + "21907": 36424, + "21909": 3924, + "22421": 1755, + "22931": 77724, + "22933": 5857, + "23443": 288506, + "23445": 68, + "23955": 6139, + "25493": 63, + "25600": 53, + "25856": 919, + "26003": 5824, + "36096": 593, + "36352": 620, + "36608": 587, + "36864": 638, + "37376": 679, + "41216": 3612, + "41728": 5969, + "46483": 1232, + "47201": 5915, + "47713": 800, + "48225": 433, + "48531": 4183, + "48737": 22520, + "48980": 40892, + "49249": 2389, + "49761": 2805, + "50579": 6012, + "51297": 64962, + "51526": 24399, + "51809": 9426, + "52321": 4602, + "52833": 343, + "53345": 29, + "54366": 175561, + "54878": 17966, + "56970": 1484, + "57482": 12624, + "57994": 14199, + "58506": 5, + "60819": 233, + "62355": 306, + "64403": 315 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 593, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -135.16717529296875, + "y": -30.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.388618141412735, + "y": 0.419135719537735, + "z": 0.8905626535415649 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.4089573628027, + "ymin": 325.49791529353155, + "xmax": 658.3767603025852, + "ymax": 393.94430358289435 + }, + "corners_3d": [ + [ + -134.748046875, + -31.07638168334961, + 0.053575217723846436 + ], + [ + -135.5863037109375, + -31.07638168334961, + 0.053575217723846436 + ], + [ + -135.5863037109375, + -30.299144744873047, + 0.053575217723846436 + ], + [ + -134.748046875, + -30.299144744873047, + 0.053575217723846436 + ], + [ + -134.748046875, + -31.07638168334961, + 1.834700584411621 + ], + [ + -135.5863037109375, + -31.07638168334961, + 1.834700584411621 + ], + [ + -135.5863037109375, + -30.299144744873047, + 1.834700584411621 + ], + [ + -134.748046875, + -30.299144744873047, + 1.834700584411621 + ] + ], + "corners_2d": [ + [ + 622.1965879149371, + 386.9528839403273 + ], + [ + 648.6677357979721, + 393.94430358289435 + ], + [ + 657.606785841537, + 376.8849379956353 + ], + [ + 631.5557824831167, + 370.14922749327883 + ], + [ + 621.4089573628027, + 342.17150849388935 + ], + [ + 649.0542648026577, + 349.1168078053078 + ], + [ + 658.3767603025852, + 332.17823407240917 + ], + [ + 631.1893743317348, + 325.49791529353155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 620, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -131.93727111816406, + "y": -28.308874130249023, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4283154606819153, + "y": 0.49530646204948425, + "z": 0.8653346300125122 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 551.4492791571453, + "ymin": 256.96702139237414, + "xmax": 590.0738997185119, + "ymax": 319.171154540118 + }, + "corners_3d": [ + [ + -131.54183959960938, + -28.830810546875, + 0.07880324125289917 + ], + [ + -132.51080322265625, + -28.624849319458008, + 0.07880324125289917 + ], + [ + -132.33270263671875, + -27.786937713623047, + 0.07880324125289917 + ], + [ + -131.36373901367188, + -27.99289894104004, + 0.07880324125289917 + ], + [ + -131.54183959960938, + -28.830810546875, + 1.8094725608825684 + ], + [ + -132.51080322265625, + -28.624849319458008, + 1.8094725608825684 + ], + [ + -132.33270263671875, + -27.786937713623047, + 1.8094725608825684 + ], + [ + -131.36373901367188, + -27.99289894104004, + 1.8094725608825684 + ] + ], + "corners_2d": [ + [ + 554.8165399437981, + 316.1916165176145 + ], + [ + 585.0700752478277, + 319.171154540118 + ], + [ + 590.0738997185119, + 302.4063273238612 + ], + [ + 560.400524885897, + 299.54350468899236 + ], + [ + 551.4492791571453, + 273.38159794901736 + ], + [ + 582.8907434162479, + 276.3220438501638 + ], + [ + 588.1338703839331, + 259.78786178436746 + ], + [ + 557.3185385683316, + 256.96702139237414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 587, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -137.42300415039062, + "y": -23.74505043029785, + "z": 1.0965206623077393 + }, + "extent": { + "x": 0.4631103277206421, + "y": 0.4152929484844208, + "z": 0.9361865520477295 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 759.0057758775913, + "ymin": 208.33270293007413, + "xmax": 793.1976416349976, + "ymax": 273.4605999223882 + }, + "corners_3d": [ + [ + -137.0583953857422, + -24.249032974243164, + 0.16033411026000977 + ], + [ + -137.88442993164062, + -24.162214279174805, + 0.16033411026000977 + ], + [ + -137.78761291503906, + -23.24106788635254, + 0.16033411026000977 + ], + [ + -136.96157836914062, + -23.3278865814209, + 0.16033411026000977 + ], + [ + -137.0583953857422, + -24.249032974243164, + 2.0327072143554688 + ], + [ + -137.88442993164062, + -24.162214279174805, + 2.0327072143554688 + ], + [ + -137.78761291503906, + -23.24106788635254, + 2.0327072143554688 + ], + [ + -136.96157836914062, + -23.3278865814209, + 2.0327072143554688 + ] + ], + "corners_2d": [ + [ + 759.0057758775913, + 269.6805784806219 + ], + [ + 783.3867946310784, + 273.4605999223882 + ], + [ + 787.3096271255031, + 257.52127219244045 + ], + [ + 763.3937805170348, + 253.8899782895891 + ], + [ + 763.839208970182, + 223.80581693357564 + ], + [ + 789.2392303407235, + 227.51353413860986 + ], + [ + 793.1976416349976, + 211.88878117771355 + ], + [ + 768.3021291401278, + 208.33270293007413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 638, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -138.74693298339844, + "y": -30.687763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4042089879512787, + "y": 0.2938525378704071, + "z": 0.8760313391685486 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 742.6111998913402, + "ymin": 351.8445468929804, + "xmax": 775.6808915837964, + "ymax": 420.247873540617 + }, + "corners_3d": [ + [ + -138.4530792236328, + -31.09197235107422, + 0.22050398588180542 + ], + [ + -139.04078674316406, + -31.09197235107422, + 0.22050398588180542 + ], + [ + -139.04078674316406, + -30.283554077148438, + 0.22050398588180542 + ], + [ + -138.4530792236328, + -30.283554077148438, + 0.22050398588180542 + ], + [ + -138.4530792236328, + -31.09197235107422, + 1.9725666046142578 + ], + [ + -139.04078674316406, + -31.09197235107422, + 1.9725666046142578 + ], + [ + -139.04078674316406, + -30.283554077148438, + 1.9725666046142578 + ], + [ + -138.4530792236328, + -30.283554077148438, + 1.9725666046142578 + ] + ], + "corners_2d": [ + [ + 742.6111998913402, + 415.0074766908903 + ], + [ + 762.5315366622402, + 420.247873540617 + ], + [ + 769.8888831081573, + 401.34508995799285 + ], + [ + 750.3240709628598, + 396.3112314705025 + ], + [ + 747.2572407438533, + 370.4459922051007 + ], + [ + 768.111806819948, + 375.6658185557882 + ], + [ + 775.6808915837964, + 356.8495937617734 + ], + [ + 755.215781712142, + 351.8445468929804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 679, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -123.92184448242188, + "y": -38.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3090771436691284, + "y": 0.3388440012931824, + "z": 0.8861885666847229 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 101.85822547452278, + "ymin": 419.44026912369634, + "xmax": 162.42701174501076, + "ymax": 489.3939728271131 + }, + "corners_3d": [ + [ + -123.5261459350586, + -39.08985137939453, + 0.05794930458068848 + ], + [ + -124.18902587890625, + -39.230751037597656, + 0.05794930458068848 + ], + [ + -124.31754302978516, + -38.62610626220703, + 0.05794930458068848 + ], + [ + -123.6546630859375, + -38.485206604003906, + 0.05794930458068848 + ], + [ + -123.5261459350586, + -39.08985137939453, + 1.8303264379501343 + ], + [ + -124.18902587890625, + -39.230751037597656, + 1.8303264379501343 + ], + [ + -124.31754302978516, + -38.62610626220703, + 1.8303264379501343 + ], + [ + -123.6546630859375, + -38.485206604003906, + 1.8303264379501343 + ] + ], + "corners_2d": [ + [ + 126.83291967383127, + 478.87770625288255 + ], + [ + 142.838523744994, + 489.3939728271131 + ], + [ + 162.42701174501076, + 474.4587275691118 + ], + [ + 146.45447908437342, + 464.24774082397585 + ], + [ + 101.85822547452278, + 434.0886344879041 + ], + [ + 118.37733951178859, + 444.6309464550136 + ], + [ + 139.2916720840667, + 429.66191234706105 + ], + [ + 122.80087383071725, + 419.44026912369634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 3612, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 915.2105524682971, + "ymin": 2.8727063817689213, + "xmax": 1045.9401596665143, + "ymax": 68.42711771343534 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 920.8658452506971, + 34.94646171963609 + ], + [ + 915.2105524682971, + 50.32022525853131 + ], + [ + 1033.757198667459, + 68.42711771343534 + ], + [ + 1036.3310496693944, + 52.08727782603836 + ], + [ + 927.469128204589, + 2.8727063817689213 + ], + [ + 921.862218298112, + 17.719124957768486 + ], + [ + 1043.5800704419928, + 35.22945569268825 + ], + [ + 1045.9401596665143, + 19.42678970074803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 5969, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 440.86208438945766, + "ymin": 170.47971518857298, + "xmax": 567.8473319472845, + "ymax": 300.5472608929703 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 446.79231770308365, + 286.77679516215136 + ], + [ + 501.17552466254784, + 300.5472608929703 + ], + [ + 567.8473319472845, + 214.38752160338728 + ], + [ + 518.0470189606929, + 203.31650882912894 + ], + [ + 440.86208438945766, + 252.63315986782843 + ], + [ + 496.84013729723904, + 266.23774870048777 + ], + [ + 565.8352405046105, + 181.34769670255812 + ], + [ + 514.6983560758923, + 170.47971518857298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.4095732399235, + "ymin": 17.391803013087895, + "xmax": 908.592547568636, + "ymax": 42.39666839857449 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 904.642773708551, + 38.68879541739767 + ], + [ + 897.9355326651423, + 37.67520516261823 + ], + [ + 896.4095732399235, + 41.36975579208695 + ], + [ + 903.158031348146, + 42.39666839857449 + ], + [ + 908.592547568636, + 18.38355935125304 + ], + [ + 901.7781991021579, + 17.391803013087895 + ], + [ + 900.25488071523, + 21.00702449542115 + ], + [ + 907.1117831279424, + 22.01201252218766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 638.2655130486686, + "ymin": 0.0, + "xmax": 883.4853707985039, + "ymax": 178.48755399246903 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 830.8595112759979, + 178.48755399246903 + ], + [ + 834.918453514671, + 168.9540573241884 + ], + [ + 644.9109864480365, + 132.95548215099794 + ], + [ + 638.5978434274177, + 141.5219658018077 + ], + [ + 879.2317949468262, + -130.89025999483022 + ], + [ + 883.4853707985039, + -137.57566161196542 + ], + [ + 646.0565592477034, + -162.41343941596733 + ], + [ + 638.2655130486686, + -156.56035718878002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 314.92701249397726, + "ymin": 70.4638099123149, + "xmax": 706.7356370789552, + "ymax": 538.527727693102 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 677.5702912236178, + 538.527727693102 + ], + [ + 686.7671364233311, + 516.9265104511387 + ], + [ + 420.1337808636038, + 437.96207719008714 + ], + [ + 406.55338408285905, + 456.3897045404897 + ], + [ + 694.0899075252181, + 160.09970156413738 + ], + [ + 706.7356370789552, + 140.2242405975578 + ], + [ + 336.0733166079228, + 70.4638099123149 + ], + [ + 314.92701249397726, + 86.35013039073351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 323.78255683861664, + "ymin": 82.79938392224892, + "xmax": 366.06059136388694, + "ymax": 100.52048874403118 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 352.8263926527625, + 100.52048874403118 + ], + [ + 366.06059136388694, + 89.85313740589618 + ], + [ + 337.775924829247, + 84.40847264328198 + ], + [ + 324.1757136426057, + 94.88669923182812 + ], + [ + 352.4656585010703, + 98.88917252033394 + ], + [ + 365.72233959216584, + 88.23642131220504 + ], + [ + 337.406046709987, + 82.79938392224892 + ], + [ + 323.78255683861664, + 93.26303712994729 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 354.3902363371338, + "ymin": 0.0, + "xmax": 611.7056150553855, + "ymax": 48.97843154087201 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 392.6761534043835, + 7.9213528059206055 + ], + [ + 388.0863501136167, + 11.186274723927454 + ], + [ + 608.2245753606635, + 48.97843154087201 + ], + [ + 611.7056150553855, + 45.24033488337409 + ], + [ + 359.82139089484724, + -176.89497076871953 + ], + [ + 354.3902363371338, + -174.4726064989727 + ], + [ + 603.6325894763809, + -146.14431622322445 + ], + [ + 607.6470386700454, + -148.97024781214407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.7658492742232, + "ymin": 0.0, + "xmax": 979.5534473603078, + "ymax": 103.25530844416437 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 889.7658492742232, + 101.52112950264211 + ], + [ + 899.7997470649709, + 103.25530844416437 + ], + [ + 940.4288107455908, + -1.381229978644626 + ], + [ + 931.9640350116783, + -2.587821112254005 + ], + [ + 929.6802906587177, + -105.85447123518026 + ], + [ + 941.4506301711369, + -104.50633559000539 + ], + [ + 979.5534473603078, + -183.7753980939217 + ], + [ + 969.8876623084936, + -184.66550000158247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 323.7927198817846, + "ymin": 82.84097776917287, + "xmax": 366.06931348198754, + "ymax": 100.56255273961239 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 352.8356942949225, + 100.56255273961239 + ], + [ + 366.06931348198754, + 89.89482584593748 + ], + [ + 337.785462567064, + 84.44996486881882 + ], + [ + 324.18585143023074, + 94.9285663479427 + ], + [ + 352.47498352611024, + 98.93134225824934 + ], + [ + 365.73108326281545, + 88.27821276531466 + ], + [ + 337.4156078073161, + 82.84097776917287 + ], + [ + 323.7927198817846, + 93.30500854660397 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00059/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00059/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9f45d69e1461b32fc858ae1d24676ffb5d621da --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00059/meta.json @@ -0,0 +1,1732 @@ +{ + "frame_id": 59, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 29.5, + "sim_timestamp": 782.7793456276413 + }, + "drone_pose": { + "x": -142.40259371595, + "y": -49.422565790599904, + "z": 20.00002268822592, + "pitch": -42.8386760925043, + "yaw": 69.38558415287879, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25816798210144043, + -0.686320424079895, + 0.6799365282058716, + 57.084754943847656 + ], + [ + 0.9359710216522217, + 0.3520771265029907, + -2.9802322387695312e-08, + -115.88412475585938 + ], + [ + -0.23939010500907898, + 0.6364008188247681, + 0.7332710027694702, + -80.207763671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.3534828076552, + "y": -48.823079642269704, + "z": 20.000015509149215 + }, + "t1_image_uv": [ + 1013.700332014258, + -530.1520409787634 + ], + "t1_depth": 0.4241233374481535 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -135.16718292236328, + "y": -30.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.025979852009044, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 605, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -135.16717529296875, + "y": -30.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3729833960533142, + "y": 0.5796045064926147, + "z": 0.8826016783714294 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.3221652784745, + "ymin": 324.7027600944321, + "xmax": 663.4944120307936, + "ymax": 394.8105882775835 + }, + "corners_3d": [ + [ + -134.5875701904297, + -30.560747146606445, + 0.061536192893981934 + ], + [ + -135.7467803955078, + -30.560747146606445, + 0.061536192893981934 + ], + [ + -135.7467803955078, + -29.81477928161621, + 0.061536192893981934 + ], + [ + -134.5875701904297, + -29.81477928161621, + 0.061536192893981934 + ], + [ + -134.5875701904297, + -30.560747146606445, + 1.8267395496368408 + ], + [ + -135.7467803955078, + -30.560747146606445, + 1.8267395496368408 + ], + [ + -135.7467803955078, + -29.81477928161621, + 1.8267395496368408 + ], + [ + -134.5875701904297, + -29.81477928161621, + 1.8267395496368408 + ] + ], + "corners_2d": [ + [ + 617.3186242537021, + 385.10429175042054 + ], + [ + 653.9870300727393, + 394.8105882775835 + ], + [ + 662.5129917173562, + 378.3286212354787 + ], + [ + 626.4033423983426, + 368.9633977445282 + ], + [ + 616.3221652784745, + 340.72331782761006 + ], + [ + 654.6083270721244, + 350.36920829405085 + ], + [ + 663.4944120307936, + 333.9951402663598 + ], + [ + 625.8169899393711, + 324.7027600944321 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 59, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 428027, + "2": 142188, + "3": 62976, + "4": 57377, + "6": 11663, + "7": 131, + "10": 13, + "12": 3188, + "14": 9888, + "24": 12555, + "25": 193594 + }, + "instance_pixel_counts": { + "3662": 33133, + "11605": 17683, + "17240": 8936, + "17496": 1813, + "20565": 6465, + "21907": 38389, + "21909": 4044, + "22421": 1804, + "22931": 80352, + "22933": 5664, + "23443": 284339, + "23445": 69, + "23955": 6455, + "25493": 68, + "25600": 70, + "25856": 975, + "26003": 5972, + "36096": 605, + "36352": 605, + "36608": 606, + "36864": 663, + "37376": 709, + "41216": 3700, + "41728": 6188, + "46483": 1572, + "47201": 6093, + "47713": 859, + "48225": 471, + "48531": 4623, + "48737": 23303, + "48980": 38828, + "49249": 2517, + "49761": 2885, + "50579": 6325, + "51297": 63729, + "51526": 24244, + "51809": 9251, + "52321": 4448, + "52833": 355, + "53345": 30, + "54366": 174795, + "54878": 18799, + "56970": 1646, + "57482": 13018, + "57994": 13561, + "58506": 22, + "60819": 270, + "62355": 318, + "64403": 318 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 605, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -135.16717529296875, + "y": -30.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3841210901737213, + "y": 0.4140612781047821, + "z": 0.8858585953712463 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.5935982259806, + "ymin": 325.696868144186, + "xmax": 658.1967068027118, + "ymax": 393.7402263064586 + }, + "corners_3d": [ + [ + -134.75311279296875, + -30.571884155273438, + 0.05827927589416504 + ], + [ + -135.58123779296875, + -30.571884155273438, + 0.05827927589416504 + ], + [ + -135.58123779296875, + -29.80364227294922, + 0.05827927589416504 + ], + [ + -134.75311279296875, + -29.80364227294922, + 0.05827927589416504 + ], + [ + -134.75311279296875, + -30.571884155273438, + 1.8299964666366577 + ], + [ + -135.58123779296875, + -30.571884155273438, + 1.8299964666366577 + ], + [ + -135.58123779296875, + -29.80364227294922, + 1.8299964666366577 + ], + [ + -134.75311279296875, + -29.80364227294922, + 1.8299964666366577 + ] + ], + "corners_2d": [ + [ + 622.3723877277564, + 386.80247847418065 + ], + [ + 648.5714800227101, + 393.7402263064586 + ], + [ + 657.4351739428137, + 376.81674158238695 + ], + [ + 631.6470884521781, + 370.12990588751137 + ], + [ + 621.5935982259806, + 342.2468354433118 + ], + [ + 648.9531614843894, + 349.14140169334183 + ], + [ + 658.1967068027118, + 332.3313388390934 + ], + [ + 631.2850566694996, + 325.696868144186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 605, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -132.24569702148438, + "y": -27.78394317626953, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.42841312289237976, + "y": 0.5064905285835266, + "z": 0.8653081059455872 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 560.4058687909077, + "ymin": 258.201015712131, + "xmax": 599.3833466142288, + "ymax": 320.6921037461908 + }, + "corners_3d": [ + [ + -131.83934020996094, + -28.308300018310547, + 0.07882976531982422 + ], + [ + -132.83018493652344, + -28.097688674926758, + 0.07882976531982422 + ], + [ + -132.6520538330078, + -27.259586334228516, + 0.07882976531982422 + ], + [ + -131.6612091064453, + -27.470197677612305, + 0.07882976531982422 + ], + [ + -131.83934020996094, + -28.308300018310547, + 1.8094459772109985 + ], + [ + -132.83018493652344, + -28.097688674926758, + 1.8094459772109985 + ], + [ + -132.6520538330078, + -27.259586334228516, + 1.8094459772109985 + ], + [ + -131.6612091064453, + -27.470197677612305, + 1.8094459772109985 + ] + ], + "corners_2d": [ + [ + 563.4503684253328, + 317.61489825218695 + ], + [ + 594.5403577827063, + 320.6921037461908 + ], + [ + 599.3833466142288, + 303.79100898791796 + ], + [ + 568.8915525665782, + 300.83462449597437 + ], + [ + 560.4058687909077, + 274.75354293583166 + ], + [ + 592.7255316238344, + 277.79181183512776 + ], + [ + 597.795328281593, + 261.1153853416635 + ], + [ + 566.1216143355053, + 258.201015712131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 606, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -137.42300415039062, + "y": -23.24505043029785, + "z": 1.0965206623077393 + }, + "extent": { + "x": 0.4653857350349426, + "y": 0.4217590093612671, + "z": 0.9330227375030518 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 759.093561298846, + "ymin": 207.84031319789526, + "xmax": 793.7712579748656, + "ymax": 273.07860642515845 + }, + "corners_3d": [ + [ + -137.0522003173828, + -23.751972198486328, + 0.1634979248046875 + ], + [ + -137.89109802246094, + -23.663801193237305, + 0.1634979248046875 + ], + [ + -137.79380798339844, + -22.738128662109375, + 0.1634979248046875 + ], + [ + -136.9549102783203, + -22.8262996673584, + 0.1634979248046875 + ], + [ + -137.0522003173828, + -23.751972198486328, + 2.029543399810791 + ], + [ + -137.89109802246094, + -23.663801193237305, + 2.029543399810791 + ], + [ + -137.79380798339844, + -22.738128662109375, + 2.029543399810791 + ], + [ + -136.9549102783203, + -22.8262996673584, + 2.029543399810791 + ] + ], + "corners_2d": [ + [ + 759.093561298846, + 269.21990848060534 + ], + [ + 783.9044945443804, + 273.07860642515845 + ], + [ + 787.8574971255423, + 256.9990558749036 + ], + [ + 763.5222806322099, + 253.2929424472206 + ], + [ + 763.9338253923036, + 223.45303932518055 + ], + [ + 789.7825225649822, + 227.23941071593873 + ], + [ + 793.7712579748656, + 211.47104892616503 + ], + [ + 768.4385355348916, + 207.84031319789526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 663, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -138.74693298339844, + "y": -30.187763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.40852537751197815, + "y": 0.31038573384284973, + "z": 0.8797203898429871 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 742.1881622969847, + "ymin": 351.6000600374034, + "xmax": 776.5957610634904, + "ymax": 420.7870775954324 + }, + "corners_3d": [ + [ + -138.43655395507812, + -30.596288681030273, + 0.21681493520736694 + ], + [ + -139.05731201171875, + -30.596288681030273, + 0.21681493520736694 + ], + [ + -139.05731201171875, + -29.779237747192383, + 0.21681493520736694 + ], + [ + -138.43655395507812, + -29.779237747192383, + 0.21681493520736694 + ], + [ + -138.43655395507812, + -30.596288681030273, + 1.9762556552886963 + ], + [ + -139.05731201171875, + -30.596288681030273, + 1.9762556552886963 + ], + [ + -139.05731201171875, + -29.779237747192383, + 1.9762556552886963 + ], + [ + -138.43655395507812, + -29.779237747192383, + 1.9762556552886963 + ] + ], + "corners_2d": [ + [ + 742.1881622969847, + 415.22420579082666 + ], + [ + 763.268767857004, + 420.7870775954324 + ], + [ + 770.7169605956834, + 401.60271222923103 + ], + [ + 750.0164940483531, + 396.26139305540556 + ], + [ + 746.8541749663646, + 370.4728387511116 + ], + [ + 768.9319828288095, + 376.0158584035971 + ], + [ + 776.5957610634904, + 356.9125239936166 + ], + [ + 754.9346910111294, + 351.6000600374034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 709, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -123.92184448242188, + "y": -38.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3230566382408142, + "y": 0.4932482838630676, + "z": 0.9021110534667969 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 96.28664056647835, + "ymin": 416.6080428731127, + "xmax": 165.83301561291455, + "ymax": 492.8622454306392 + }, + "corners_3d": [ + [ + -123.37220764160156, + -38.5714225769043, + 0.0420268177986145 + ], + [ + -124.33714294433594, + -38.776527404785156, + 0.0420268177986145 + ], + [ + -124.47148132324219, + -38.144535064697266, + 0.0420268177986145 + ], + [ + -123.50654602050781, + -37.939430236816406, + 0.0420268177986145 + ], + [ + -123.37220764160156, + -38.5714225769043, + 1.8462488651275635 + ], + [ + -124.33714294433594, + -38.776527404785156, + 1.8462488651275635 + ], + [ + -124.47148132324219, + -38.144535064697266, + 1.8462488651275635 + ], + [ + -123.50654602050781, + -37.939430236816406, + 1.8462488651275635 + ] + ], + "corners_2d": [ + [ + 122.00932571959663, + 477.4802227876844 + ], + [ + 145.33467629943164, + 492.8622454306392 + ], + [ + 165.83301561291455, + 477.12344799648633 + ], + [ + 142.55766314162815, + 462.2076207391242 + ], + [ + 96.28664056647835, + 431.90244141917333 + ], + [ + 120.3763959392337, + 447.32970518774334 + ], + [ + 142.29530381088296, + 431.5448948271288 + ], + [ + 118.24807843596557, + 416.6080428731127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 3700, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 914.2297774728477, + "ymin": 5.583995792694054, + "xmax": 1046.2481712375604, + "ymax": 72.01133635919751 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 919.9888902925597, + 37.870627222563314 + ], + [ + 914.2297774728477, + 53.53541227657473 + ], + [ + 1033.8933770997955, + 72.01133635919751 + ], + [ + 1036.5195367131605, + 55.353347009951335 + ], + [ + 926.6484472970052, + 5.583995792694054 + ], + [ + 920.9366235815189, + 20.719761673656535 + ], + [ + 1043.8394631830774, + 38.59728746980579 + ], + [ + 1046.2481712375604, + 22.47758929040515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 6188, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 432.79870213653896, + "ymin": 176.70503525289294, + "xmax": 562.2311149487914, + "ymax": 309.337935484879 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 439.05994981043443, + 295.20158197206763 + ], + [ + 494.007866729281, + 309.337935484879 + ], + [ + 562.2311149487914, + 221.05445248188306 + ], + [ + 511.94469876530343, + 209.71490116478213 + ], + [ + 432.79870213653896, + 260.9226650167743 + ], + [ + 489.3784004622017, + 274.9015695729199 + ], + [ + 560.0317024714265, + 187.84506736451794 + ], + [ + 508.379305005585, + 176.70503525289294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.0342699158412, + "ymin": 20.974629110140086, + "xmax": 907.3491004209241, + "ymax": 46.230756998314405 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 903.3672737693137, + 42.442832839866355 + ], + [ + 896.5914112280643, + 41.40646508895895 + ], + [ + 895.0342699158412, + 45.180645097324714 + ], + [ + 901.8521135024879, + 46.230756998314405 + ], + [ + 907.3491004209241, + 21.989059308229628 + ], + [ + 900.4636670364903, + 20.974629110140086 + ], + [ + 898.9088263461047, + 24.669185363031886 + ], + [ + 905.8376198643523, + 25.69727403759788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 632.912492428648, + "ymin": 0.0, + "xmax": 881.4199502777836, + "ymax": 184.43430320590826 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 828.476937281446, + 184.43430320590826 + ], + [ + 832.6244343627753, + 174.68470413052498 + ], + [ + 640.7297299525442, + 137.85998838708298 + ], + [ + 634.2879558866908, + 146.61115655702145 + ], + [ + 877.0524221738613, + -127.6385358528164 + ], + [ + 881.4199502777836, + -134.52164604338986 + ], + [ + 640.9026388190754, + -160.09001480391998 + ], + [ + 632.912492428648, + -154.07454084275332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 298.6010814578257, + "ymin": 81.03244890786476, + "xmax": 698.3073747881435, + "ymax": 554.4841412721723 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 671.0570668376046, + 554.4841412721723 + ], + [ + 680.5451429158519, + 532.1803431149484 + ], + [ + 410.45552758905905, + 450.68813937166175 + ], + [ + 396.48230474493687, + 469.67080187035674 + ], + [ + 685.0773087492311, + 174.90922757494195 + ], + [ + 698.3073747881435, + 154.05898913168664 + ], + [ + 320.62799454083654, + 81.03244890786476 + ], + [ + 298.6010814578257, + 97.61566473661094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 307.8309154779805, + "ymin": 93.62052177748075, + "xmax": 351.1701745346203, + "ymax": 112.07043707743563 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 337.38462712689505, + 112.07043707743563 + ], + [ + 351.1701745346203, + 100.93494862962206 + ], + [ + 322.41561635612385, + 95.24897918628318 + ], + [ + 308.2537374438196, + 106.18298330559116 + ], + [ + 336.9953605236889, + 110.4197622728235 + ], + [ + 350.80509078685293, + 99.29885467843502 + ], + [ + 322.01780776986993, + 93.62052177748075 + ], + [ + 307.8309154779805, + 104.53995575420788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 347.6230817503186, + "ymin": 0.0, + "xmax": 607.8564570568551, + "ymax": 52.12509690294996 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 387.1599065172838, + 10.28006891825089 + ], + [ + 382.49554441602777, + 13.602980160621087 + ], + [ + 604.3147136784875, + 52.12509690294996 + ], + [ + 607.8564570568551, + 48.31635669518391 + ], + [ + 353.1564917761947, + -175.98591319499656 + ], + [ + 347.6230817503186, + -173.51332198439718 + ], + [ + 599.0895613313198, + -144.54725101066407 + ], + [ + 603.1851567859393, + -147.43614545081016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 888.3539359681834, + "ymin": 0.0, + "xmax": 979.3743032599508, + "ymax": 107.52236592051773 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 888.3539359681834, + 105.75090740849367 + ], + [ + 898.4854750684947, + 107.52236592051773 + ], + [ + 939.8433197626431, + 0.8815413841837199 + ], + [ + 931.3064173699781, + -0.3475501350685022 + ], + [ + 928.610494636725, + -103.27710053027647 + ], + [ + 940.5199854072764, + -101.89453592914839 + ], + [ + 979.3743032599508, + -182.95730737731776 + ], + [ + 969.6113310275746, + -183.86658612655856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 307.8418456766049, + "ymin": 93.66261746942405, + "xmax": 351.17958825669757, + "ymax": 112.11299892372412 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 337.39466417676374, + 112.11299892372412 + ], + [ + 351.17958825669757, + 100.97713548083885 + ], + [ + 322.4258740113612, + 95.29096961898222 + ], + [ + 308.264639834252, + 106.22534848361806 + ], + [ + 337.0054234118766, + 110.46243368582486 + ], + [ + 350.814528321657, + 99.34114824450421 + ], + [ + 322.0280911384179, + 93.66261746942405 + ], + [ + 307.8418456766049, + 104.58242899101396 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00060/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00060/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ced7eabeee809fe9516aad129e9b5d449b818ae --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00060/meta.json @@ -0,0 +1,1732 @@ +{ + "frame_id": 60, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 30.0, + "sim_timestamp": 798.7092106824275 + }, + "drone_pose": { + "x": -142.3534828076552, + "y": -48.823079642269704, + "z": 20.000015509149215, + "pitch": -42.99257659596268, + "yaw": 69.41624877393781, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25715750455856323, + -0.6847463250160217, + 0.681903600692749, + 56.400611877441406 + ], + [ + 0.9361593127250671, + 0.3515760898590088, + 2.9802322387695312e-08, + -116.10050201416016 + ], + [ + -0.23974105715751648, + 0.6383703947067261, + 0.7314420342445374, + -79.92403411865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.2575993273789, + "y": -48.243755518590376, + "z": 20.00001045231507 + }, + "t1_image_uv": [ + 899.541015711573, + -534.9662196019159 + ], + "t1_depth": 0.42135064576943393 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -135.16718292236328, + "y": -29.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999998 + ], + "depth": 27.945119688357085, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 599, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -135.16717529296875, + "y": -29.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5025341510772705, + "y": 0.42235472798347473, + "z": 0.9087072014808655 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.3472227697922, + "ymin": 322.1445137712866, + "xmax": 660.9675659685039, + "ymax": 397.43171476641714 + }, + "corners_3d": [ + [ + -135.223876953125, + -30.341758728027344, + 0.0354306697845459 + ], + [ + -135.8211669921875, + -29.74445915222168, + 0.0354306697845459 + ], + [ + -135.1104736328125, + -29.033767700195312, + 0.0354306697845459 + ], + [ + -134.51318359375, + -29.631067276000977, + 0.0354306697845459 + ], + [ + -135.223876953125, + -30.341758728027344, + 1.8528450727462769 + ], + [ + -135.8211669921875, + -29.74445915222168, + 1.8528450727462769 + ], + [ + -135.1104736328125, + -29.033767700195312, + 1.8528450727462769 + ], + [ + -134.51318359375, + -29.631067276000977, + 1.8528450727462769 + ] + ], + "corners_2d": [ + [ + 633.9585019888888, + 397.43171476641714 + ], + [ + 660.0512339259907, + 389.0340388136575 + ], + [ + 645.8485437224832, + 367.7250558933133 + ], + [ + 620.2368104784653, + 375.73819632301183 + ], + [ + 633.6797833823483, + 351.65247658182693 + ], + [ + 660.9675659685039, + 343.30217832864565 + ], + [ + 646.1093808329202, + 322.1445137712866 + ], + [ + 619.3472227697922, + 330.0955232398856 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -2.2737367544323206e-13 + ] + }, + "trace_timestep_index": 60, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 430191, + "2": 141963, + "3": 60004, + "4": 57334, + "6": 12082, + "7": 132, + "10": 9, + "12": 3113, + "14": 10199, + "24": 12716, + "25": 193857 + }, + "instance_pixel_counts": { + "3662": 33285, + "11605": 16539, + "17240": 9226, + "17496": 1893, + "20565": 6902, + "21907": 40306, + "21909": 4177, + "22421": 1873, + "22931": 83230, + "22933": 5560, + "23443": 280342, + "23445": 74, + "23955": 6795, + "25493": 69, + "25600": 83, + "25856": 1012, + "26003": 6143, + "36096": 599, + "36352": 577, + "36608": 573, + "36864": 678, + "37376": 686, + "41216": 3783, + "41728": 6416, + "46483": 1841, + "47201": 6308, + "47713": 882, + "48225": 506, + "48531": 4975, + "48737": 24177, + "48980": 36563, + "49249": 2664, + "49761": 2978, + "50579": 6559, + "51297": 62501, + "51526": 24049, + "51809": 9074, + "52321": 4279, + "52833": 373, + "53345": 31, + "54366": 174160, + "54878": 19697, + "56970": 1782, + "57482": 13495, + "57994": 12872, + "58506": 41, + "60819": 305, + "62355": 337, + "64403": 321 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 599, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -135.16717529296875, + "y": -29.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.414374977350235, + "y": 0.41075560450553894, + "z": 0.8764104247093201 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.9632411703163, + "ymin": 324.913955563932, + "xmax": 659.2487599455823, + "ymax": 394.5935895081062 + }, + "corners_3d": [ + [ + -135.16973876953125, + -30.27121925354004, + 0.06772744655609131 + ], + [ + -135.75062561035156, + -29.690322875976562, + 0.06772744655609131 + ], + [ + -135.16461181640625, + -29.104307174682617, + 0.06772744655609131 + ], + [ + -134.58372497558594, + -29.685203552246094, + 0.06772744655609131 + ], + [ + -135.16973876953125, + -30.27121925354004, + 1.8205482959747314 + ], + [ + -135.75062561035156, + -29.690322875976562, + 1.8205482959747314 + ], + [ + -135.16461181640625, + -29.104307174682617, + 1.8205482959747314 + ], + [ + -134.58372497558594, + -29.685203552246094, + 1.8205482959747314 + ] + ], + "corners_2d": [ + [ + 633.0842458430582, + 394.5935895081062 + ], + [ + 658.4383901846412, + 386.4609073411985 + ], + [ + 646.7240393978445, + 368.8880895471089 + ], + [ + 621.7562065861586, + 376.71221620196 + ], + [ + 632.7774958585987, + 350.45356188895687 + ], + [ + 659.2487599455823, + 342.36659240048004 + ], + [ + 647.0136831718306, + 324.913955563932 + ], + [ + 620.9632411703163, + 332.68096127897337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 577, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -132.50433349609375, + "y": -27.122447967529297, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.43241697549819946, + "y": 0.44395750761032104, + "z": 0.9001753330230713 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 569.05127640859, + "ymin": 253.53422326119556, + "xmax": 609.6848685463026, + "ymax": 322.27673219691394 + }, + "corners_3d": [ + [ + -132.6251983642578, + -27.73029327392578, + 0.04396253824234009 + ], + [ + -133.10877990722656, + -26.985626220703125, + 0.04396253824234009 + ], + [ + -132.3834686279297, + -26.514602661132812, + 0.04396253824234009 + ], + [ + -131.89988708496094, + -27.25926971435547, + 0.04396253824234009 + ], + [ + -132.6251983642578, + -27.73029327392578, + 1.844313144683838 + ], + [ + -133.10877990722656, + -26.985626220703125, + 1.844313144683838 + ], + [ + -132.3834686279297, + -26.514602661132812, + 1.844313144683838 + ], + [ + -131.89988708496094, + -27.25926971435547, + 1.844313144683838 + ] + ], + "corners_2d": [ + [ + 586.8516406040783, + 322.27673219691394 + ], + [ + 609.6848685463026, + 311.5937148692203 + ], + [ + 594.502858097076, + 297.8899686948906 + ], + [ + 571.8553818737769, + 308.22781587486816 + ], + [ + 584.6266572667848, + 277.5887840517014 + ], + [ + 608.4322358817831, + 267.0442453628404 + ], + [ + 592.6545666888372, + 253.53422326119556 + ], + [ + 569.05127640859, + 263.7242545855129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 573, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -137.42300415039062, + "y": -22.74505043029785, + "z": 1.0965255498886108 + }, + "extent": { + "x": 0.40513181686401367, + "y": 0.4136926233768463, + "z": 0.9522536993026733 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 756.9231797453382, + "ymin": 206.51084712435926, + "xmax": 797.0522027247546, + "ymax": 272.94285909664893 + }, + "corners_3d": [ + [ + -137.47750854492188, + -23.321508407592773, + 0.1442718505859375 + ], + [ + -137.99819946289062, + -22.678508758544922, + 0.1442718505859375 + ], + [ + -137.36849975585938, + -22.16859245300293, + 0.1442718505859375 + ], + [ + -136.84780883789062, + -22.81159210205078, + 0.1442718505859375 + ], + [ + -137.47750854492188, + -23.321508407592773, + 2.048779249191284 + ], + [ + -137.99819946289062, + -22.678508758544922, + 2.048779249191284 + ], + [ + -137.36849975585938, + -22.16859245300293, + 2.048779249191284 + ], + [ + -136.84780883789062, + -22.81159210205078, + 2.048779249191284 + ] + ], + "corners_2d": [ + [ + 770.9850250971506, + 272.94285909664893 + ], + [ + 790.7884104859227, + 265.3407163389227 + ], + [ + 776.5508039951638, + 252.97295845196783 + ], + [ + 756.9231797453382, + 260.34087625694565 + ], + [ + 776.4800321711953, + 226.0915800951989 + ], + [ + 797.0522027247546, + 218.6328006807967 + ], + [ + 782.1319217943328, + 206.51084712435926 + ], + [ + 761.7486055045773, + 213.7304568687731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 678, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -138.74693298339844, + "y": -29.687763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3264404237270355, + "y": 0.37815672159194946, + "z": 0.8652837872505188 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 739.8436623584356, + "ymin": 352.9628025023149, + "xmax": 780.2067947319842, + "ymax": 419.65559434794864 + }, + "corners_3d": [ + [ + -138.71035766601562, + -30.185989379882812, + 0.2312515377998352 + ], + [ + -139.2451629638672, + -29.651193618774414, + 0.2312515377998352 + ], + [ + -138.78350830078125, + -29.189537048339844, + 0.2312515377998352 + ], + [ + -138.2487030029297, + -29.724332809448242, + 0.2312515377998352 + ], + [ + -138.71035766601562, + -30.185989379882812, + 1.9618191719055176 + ], + [ + -139.2451629638672, + -29.651193618774414, + 1.9618191719055176 + ], + [ + -138.78350830078125, + -29.189537048339844, + 1.9618191719055176 + ], + [ + -138.2487030029297, + -29.724332809448242, + 1.9618191719055176 + ] + ], + "corners_2d": [ + [ + 750.9734408563716, + 419.65559434794864 + ], + [ + 774.1699547524468, + 411.69075443914284 + ], + [ + 762.7693083149339, + 396.90587448626985 + ], + [ + 739.8436623584356, + 404.6228576622611 + ], + [ + 756.0104940166802, + 375.6236728124317 + ], + [ + 780.2067947319842, + 367.6843647034749 + ], + [ + 768.203099050249, + 352.9628025023149 + ], + [ + 744.3009883934656, + 360.6441565400946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 686, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -123.92184448242188, + "y": -37.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.298583984375, + "y": 0.425483375787735, + "z": 0.8954119682312012 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 97.89390506047653, + "ymin": 421.7911766716225, + "xmax": 160.66322927730852, + "ymax": 488.9802439148293 + }, + "corners_3d": [ + [ + -123.72762298583984, + -38.340126037597656, + 0.048730671405792236 + ], + [ + -124.4413070678711, + -37.87665557861328, + 0.048730671405792236 + ], + [ + -124.1160659790039, + -37.375831604003906, + 0.048730671405792236 + ], + [ + -123.40238189697266, + -37.83930206298828, + 0.048730671405792236 + ], + [ + -123.72762298583984, + -38.340126037597656, + 1.8395545482635498 + ], + [ + -124.4413070678711, + -37.87665557861328, + 1.8395545482635498 + ], + [ + -124.1160659790039, + -37.375831604003906, + 1.8395545482635498 + ], + [ + -123.40238189697266, + -37.83930206298828, + 1.8395545482635498 + ] + ], + "corners_2d": [ + [ + 123.78091590739336, + 488.9802439148293 + ], + [ + 157.5041352722547, + 483.64942983803064 + ], + [ + 160.66322927730852, + 467.022181527008 + ], + [ + 127.50957303180098, + 472.1799442773402 + ], + [ + 97.89390506047653, + 443.80947266307624 + ], + [ + 133.44050160768109, + 438.45968387067234 + ], + [ + 137.16650020039003, + 421.7911766716225 + ], + [ + 102.25198987449437, + 426.9588359654467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 3783, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 912.9944440284756, + "ymin": 7.692522547471583, + "xmax": 1046.381637919921, + "ymax": 75.04138267428925 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 918.8430315540317, + 40.21815295230158 + ], + [ + 912.9944440284756, + 56.20665075559651 + ], + [ + 1033.8618388133768, + 75.04138267428925 + ], + [ + 1036.5215053598617, + 58.03255582391114 + ], + [ + 925.5635866207871, + 7.692522547471583 + ], + [ + 919.7614615353441, + 23.150838515436305 + ], + [ + 1043.9439364743557, + 41.387616815740785 + ], + [ + 1046.381637919921, + 24.91751492700871 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 6416, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 424.20139007259985, + "ymin": 182.89133852938826, + "xmax": 556.2154365281717, + "ymax": 318.3746637954506 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 430.8314522897153, + 303.8636915993658 + ], + [ + 486.4295978365457, + 318.3746637954506 + ], + [ + 556.2154365281717, + 227.70213767450866 + ], + [ + 505.3725498284198, + 216.09009602455873 + ], + [ + 424.20139007259985, + 269.4443827017495 + ], + [ + 481.4749196792461, + 283.80890530531383 + ], + [ + 553.8077507390385, + 194.30904789168537 + ], + [ + 501.5643795443607, + 182.89133852938826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.4504098251548, + "ymin": 24.05839906318971, + "xmax": 905.9039764078184, + "ymax": 49.59215935097188 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 901.8862166648192, + 45.71497245522761 + ], + [ + 895.0352807311256, + 44.65598458656609 + ], + [ + 893.4504098251548, + 48.51899607794502 + ], + [ + 900.3441731017338, + 49.59215935097188 + ], + [ + 905.9039764078184, + 25.095424788784044 + ], + [ + 898.940691416612, + 24.05839906318971 + ], + [ + 897.3578157711304, + 27.84157657133386 + ], + [ + 904.3653550435972, + 28.89269865119917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.0396764829324, + "ymin": 0.0, + "xmax": 879.2345291450304, + "ymax": 190.15526064456688 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 825.9267187734629, + 190.15526064456688 + ], + [ + 830.155686905406, + 180.16560429779975 + ], + [ + 636.1605097183404, + 142.51646883172117 + ], + [ + 629.5918147315349, + 151.47540722965957 + ], + [ + 874.7604507641549, + -124.91655402961771 + ], + [ + 879.2345291450304, + -132.02374578078332 + ], + [ + 635.234298828875, + -158.35506370807263 + ], + [ + 627.0396764829324, + -152.15351122436698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.0861973577123, + "ymin": 92.26657215033691, + "xmax": 689.820870271012, + "ymax": 571.3180417005265 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 664.5672887576225, + 571.3180417005265 + ], + [ + 674.3398023776783, + 548.233438160702 + ], + [ + 400.34900408549595, + 464.13602290347376 + ], + [ + 385.9732409730695, + 483.74289708567983 + ], + [ + 675.9884720785407, + 190.8379873561403 + ], + [ + 689.820870271012, + 168.864857257974 + ], + [ + 304.0672784774144, + 92.26657215033691 + ], + [ + 281.0861973577123, + 109.65826815286167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.7350982585997, + "ymin": 105.1393126853302, + "xmax": 335.2645211180441, + "ymax": 124.41665480586772 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 320.8839337380245, + 124.41665480586772 + ], + [ + 335.2645211180441, + 112.73891697563272 + ], + [ + 305.9611511946538, + 106.78905650114021 + ], + [ + 291.1916510926976, + 118.25134174846869 + ], + [ + 320.4622975094617, + 122.7448281086285 + ], + [ + 334.86902522950277, + 111.08158045931577 + ], + [ + 305.53161184183193, + 105.1393126853302 + ], + [ + 290.7350982585997, + 116.58709719259733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 339.8421854918495, + "ymin": 0.0, + "xmax": 603.4975079957242, + "ymax": 54.8422024240769 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 380.84601165088105, + 12.196259980281013 + ], + [ + 376.1040026412825, + 15.586257793255186 + ], + [ + 599.8951627654761, + 54.8422024240769 + ], + [ + 603.4975079957242, + 50.953258870641776 + ], + [ + 345.4849711954272, + -175.76700544117114 + ], + [ + 339.8421854918495, + -173.2357155752038 + ], + [ + 593.9330404738365, + -143.60848061797168 + ], + [ + 598.111981162505, + -146.5696809065845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.7294719474008, + "ymin": 0.0, + "xmax": 978.9297484539675, + "ymax": 111.36041444368692 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 886.7294719474008, + 109.55220662922815 + ], + [ + 896.9674666090599, + 111.36041444368692 + ], + [ + 938.9578736082827, + 2.4903044345464878 + ], + [ + 930.342624183631, + 1.2393563644197911 + ], + [ + 927.3718311281452, + -101.32616613954315 + ], + [ + 939.4346496027028, + -99.90850816366464 + ], + [ + 978.9297484539675, + -182.9907703247643 + ], + [ + 969.0602046528518, + -183.91926536295205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.74690081469976, + "ymin": 105.1819600129894, + "xmax": 335.27471866694236, + "ymax": 124.45976050125233 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 320.89480503399176, + 124.45976050125233 + ], + [ + 335.27471866694236, + 112.781650087798 + ], + [ + 305.97222666281266, + 106.83159436171667 + ], + [ + 291.2034228133044, + 118.29425249279001 + ], + [ + 320.47319755159737, + 122.78804778523357 + ], + [ + 334.87924926457293, + 111.12442456252091 + ], + [ + 305.5427158116403, + 105.1819600129894 + ], + [ + 290.74690081469976, + 116.6301203396855 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00061/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00061/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..312bd90b1f74a76bc6aad71dd9326cefb249ade7 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00061/meta.json @@ -0,0 +1,1733 @@ +{ + "frame_id": 61, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 30.5, + "sim_timestamp": 815.1595691998955 + }, + "drone_pose": { + "x": -142.2575993273789, + "y": -48.243755518590376, + "z": 20.00001045231507, + "pitch": -42.89231749064692, + "yaw": 68.28153158649994, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.27110856771469116, + -0.6806269288063049, + 0.6806226372718811, + 57.79078674316406 + ], + [ + 0.9290133118629456, + 0.37004631757736206, + -2.9802322387695312e-08, + -114.30679321289062 + ], + [ + -0.2518618702888489, + 0.6323075294494629, + 0.7326341867446899, + -80.98684692382812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.11101479915098, + "y": -47.66219998791012, + "z": 20.000006937215435 + }, + "t1_image_uv": [ + 814.170335196104, + -531.8366306951445 + ], + "t1_depth": 0.4355650524130495 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -134.66718292236328, + "y": -29.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 27.997706062008064, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 606, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -134.66717529296875, + "y": -29.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.41807615756988525, + "y": 0.4442187547683716, + "z": 0.8917803764343262 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.0180098201084, + "ymin": 324.2863252452213, + "xmax": 660.2055691555275, + "ymax": 395.2145363914925 + }, + "corners_3d": [ + [ + -134.64869689941406, + -29.797496795654297, + 0.052357494831085205 + ], + [ + -135.27691650390625, + -29.16927719116211, + 0.052357494831085205 + ], + [ + -134.68565368652344, + -28.57802963256836, + 0.052357494831085205 + ], + [ + -134.05743408203125, + -29.206249237060547, + 0.052357494831085205 + ], + [ + -134.64869689941406, + -29.797496795654297, + 1.8359181880950928 + ], + [ + -135.27691650390625, + -29.16927719116211, + 1.8359181880950928 + ], + [ + -134.68565368652344, + -28.57802963256836, + 1.8359181880950928 + ], + [ + -134.05743408203125, + -29.206249237060547, + 1.8359181880950928 + ] + ], + "corners_2d": [ + [ + 631.7327943255763, + 395.2145363914925 + ], + [ + 659.3434777133401, + 386.83188260238643 + ], + [ + 648.0330973174488, + 369.014863262374 + ], + [ + 620.8615066160911, + 377.0740946022789 + ], + [ + 631.3608319649568, + 350.30542448496067 + ], + [ + 660.2055691555275, + 341.97335016810507 + ], + [ + 648.3838661963279, + 324.2863252452213 + ], + [ + 620.0180098201084, + 332.2829703594398 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 61, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 50, + "semantic_pixel_counts": { + "1": 438173, + "2": 143663, + "3": 51763, + "4": 57792, + "6": 12697, + "7": 138, + "10": 7, + "12": 3027, + "14": 10532, + "24": 13120, + "25": 190688 + }, + "instance_pixel_counts": { + "3662": 32253, + "11605": 19533, + "17240": 9547, + "17496": 2038, + "20565": 7241, + "21907": 43982, + "21909": 4339, + "22421": 1953, + "22931": 85081, + "22933": 5526, + "23138": 40, + "23443": 280360, + "23445": 74, + "23955": 7279, + "25493": 72, + "25600": 115, + "25856": 1135, + "26003": 5099, + "36096": 606, + "36352": 626, + "36608": 544, + "36864": 620, + "37376": 631, + "41216": 3925, + "41728": 6607, + "46483": 3491, + "47201": 6578, + "47713": 933, + "48225": 575, + "48531": 6655, + "48737": 25464, + "48980": 24989, + "49249": 3117, + "49761": 3013, + "50579": 6226, + "51297": 60628, + "51526": 25539, + "51809": 8819, + "52321": 4496, + "52833": 397, + "53345": 34, + "54366": 171994, + "54878": 18694, + "56970": 2001, + "57482": 13709, + "57994": 13752, + "58506": 107, + "60819": 449, + "62355": 393, + "64403": 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": 141, + "instance_id": 36096, + "pixel_count": 606, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -134.66717529296875, + "y": -29.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4132177531719208, + "y": 0.41029050946235657, + "z": 0.8762575387954712 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.1831710478309, + "ymin": 325.0959279574225, + "xmax": 659.0363630081512, + "ymax": 394.41002476633923 + }, + "corners_3d": [ + [ + -134.66925048828125, + -29.770071029663086, + 0.06788033246994019 + ], + [ + -135.24948120117188, + -29.18983268737793, + 0.06788033246994019 + ], + [ + -134.66510009765625, + -28.60545539855957, + 0.06788033246994019 + ], + [ + -134.08486938476562, + -29.185693740844727, + 0.06788033246994019 + ], + [ + -134.66925048828125, + -29.770071029663086, + 1.8203954696655273 + ], + [ + -135.24948120117188, + -29.18983268737793, + 1.8203954696655273 + ], + [ + -134.66510009765625, + -28.60545539855957, + 1.8203954696655273 + ], + [ + -134.08486938476562, + -29.185693740844727, + 1.8203954696655273 + ] + ], + "corners_2d": [ + [ + 632.7291529476729, + 394.41002476633923 + ], + [ + 658.2378141795309, + 386.6696040041651 + ], + [ + 647.0712967836402, + 369.04845605346446 + ], + [ + 621.9637657863074, + 376.4935320806038 + ], + [ + 632.4079951443498, + 350.28574938255986 + ], + [ + 659.0363630081512, + 342.5912884961868 + ], + [ + 647.3747211761577, + 325.0959279574225 + ], + [ + 621.1831710478309, + 332.4842737884131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 626, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -132.64439392089844, + "y": -26.446882247924805, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4292089641094208, + "y": 0.44270873069763184, + "z": 0.8995298743247986 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 592.6169719282523, + "ymin": 254.8029358031887, + "xmax": 632.0714628581127, + "ymax": 323.23836761816557 + }, + "corners_3d": [ + [ + -132.76324462890625, + -27.05193328857422, + 0.04460799694061279 + ], + [ + -133.24546813964844, + -26.30936050415039, + 0.04460799694061279 + ], + [ + -132.52554321289062, + -25.84183120727539, + 0.04460799694061279 + ], + [ + -132.04331970214844, + -26.58440399169922, + 0.04460799694061279 + ], + [ + -132.76324462890625, + -27.05193328857422, + 1.84366774559021 + ], + [ + -133.24546813964844, + -26.30936050415039, + 1.84366774559021 + ], + [ + -132.52554321289062, + -25.84183120727539, + 1.84366774559021 + ], + [ + -132.04331970214844, + -26.58440399169922, + 1.84366774559021 + ] + ], + "corners_2d": [ + [ + 609.2839584607011, + 323.23836761816557 + ], + [ + 632.0714628581127, + 312.8882236760056 + ], + [ + 617.0749249572311, + 299.1065772736329 + ], + [ + 594.4829613063661, + 309.1197545223773 + ], + [ + 608.0027197044424, + 278.6010266910647 + ], + [ + 631.7449127753705, + 268.38714809973993 + ], + [ + 616.146745541911, + 254.8029358031887 + ], + [ + 592.6169719282523, + 264.67085243417125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 544, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -136.92300415039062, + "y": -22.24505043029785, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4097265601158142, + "y": 0.4112878441810608, + "z": 0.9526404142379761 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 759.8942128619716, + "ymin": 212.41522392125228, + "xmax": 799.9746034442572, + "ymax": 278.58167966399833 + }, + "corners_3d": [ + [ + -136.9825897216797, + -22.82253074645996, + -0.008497774600982666 + ], + [ + -137.50025939941406, + -22.183269500732422, + -0.008497774600982666 + ], + [ + -136.86341857910156, + -21.667570114135742, + -0.008497774600982666 + ], + [ + -136.3457489013672, + -22.30683135986328, + -0.008497774600982666 + ], + [ + -136.9825897216797, + -22.82253074645996, + 1.8967831134796143 + ], + [ + -137.50025939941406, + -22.183269500732422, + 1.8967831134796143 + ], + [ + -136.86341857910156, + -21.667570114135742, + 1.8967831134796143 + ], + [ + -136.3457489013672, + -22.30683135986328, + 1.8967831134796143 + ] + ], + "corners_2d": [ + [ + 773.7285844265134, + 278.58167966399833 + ], + [ + 793.6199253493795, + 271.26437112296253 + ], + [ + 779.5944602412202, + 258.58538314325745 + ], + [ + 759.8942128619716, + 265.67245449563336 + ], + [ + 779.3129391018878, + 232.0297597087324 + ], + [ + 799.9746034442572, + 224.84746266271938 + ], + [ + 785.274084586777, + 212.41522392125228 + ], + [ + 764.817834464671, + 219.36237089297884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 620, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -138.24693298339844, + "y": -29.187763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3165625035762787, + "y": 0.3748742640018463, + "z": 0.8647059202194214 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 739.2853998617662, + "ymin": 354.8743129543743, + "xmax": 778.895970404338, + "ymax": 420.80591768959533 + }, + "corners_3d": [ + [ + -138.20570373535156, + -29.67668342590332, + 0.23182940483093262 + ], + [ + -138.73585510253906, + -29.146530151367188, + 0.23182940483093262 + ], + [ + -138.2881622314453, + -28.698843002319336, + 0.23182940483093262 + ], + [ + -137.7580108642578, + -29.22899627685547, + 0.23182940483093262 + ], + [ + -138.20570373535156, + -29.67668342590332, + 1.9612412452697754 + ], + [ + -138.73585510253906, + -29.146530151367188, + 1.9612412452697754 + ], + [ + -138.2881622314453, + -28.698843002319336, + 1.9612412452697754 + ], + [ + -137.7580108642578, + -29.22899627685547, + 1.9612412452697754 + ] + ], + "corners_2d": [ + [ + 749.6766114860155, + 420.80591768959533 + ], + [ + 772.9307769064242, + 413.2595011658582 + ], + [ + 762.264640546533, + 398.7916610441608 + ], + [ + 739.2853998617662, + 406.1079082867732 + ], + [ + 754.6393638806644, + 376.7988196369426 + ], + [ + 778.895970404338, + 369.27800627527915 + ], + [ + 767.6634994236846, + 354.8743129543743 + ], + [ + 743.7055614592133, + 362.1556493027096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 631, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -123.42184448242188, + "y": -37.35797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.271240234375, + "y": 0.3773730397224426, + "z": 0.8716611862182617 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 102.89879043727478, + "ymin": 415.8984099309345, + "xmax": 160.3821853787099, + "ymax": 479.0702784425705 + }, + "corners_3d": [ + [ + -123.25308227539062, + -37.790992736816406, + 0.07248145341873169 + ], + [ + -123.88606262207031, + -37.37992858886719, + 0.07248145341873169 + ], + [ + -123.59060668945312, + -36.924964904785156, + 0.07248145341873169 + ], + [ + -122.95762634277344, + -37.336029052734375, + 0.07248145341873169 + ], + [ + -123.25308227539062, + -37.790992736816406, + 1.8158037662506104 + ], + [ + -123.88606262207031, + -37.37992858886719, + 1.8158037662506104 + ], + [ + -123.59060668945312, + -36.924964904785156, + 1.8158037662506104 + ], + [ + -122.95762634277344, + -37.336029052734375, + 1.8158037662506104 + ] + ], + "corners_2d": [ + [ + 127.57158845652498, + 479.0702784425705 + ], + [ + 157.10296524784007, + 474.85422955258844 + ], + [ + 160.3821853787099, + 459.95084296957907 + ], + [ + 131.30332921466254, + 464.0427318976414 + ], + [ + 102.89879043727478, + 435.04831073920786 + ], + [ + 133.95368348766425, + 430.8225470572421 + ], + [ + 137.7465470689666, + 415.8984099309345 + ], + [ + 107.19156424333903, + 419.9938876534933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 3925, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 932.0881928953884, + "ymin": 17.2183259310479, + "xmax": 1068.548345556068, + "ymax": 86.6693027962699 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 938.2477694915617, + 49.96924727253389 + ], + [ + 932.0881928953884, + 66.25990010474095 + ], + [ + 1055.1090532426801, + 86.6693027962699 + ], + [ + 1058.0110586145088, + 69.2640776110282 + ], + [ + 945.5188355805433, + 17.2183259310479 + ], + [ + 939.4134759148153, + 32.97752032115312 + ], + [ + 1065.8840404935852, + 52.75150500774038 + ], + [ + 1068.548345556068, + 35.886042499412895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 6607, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 433.2292682365663, + "ymin": 192.1478173306739, + "xmax": 567.6481651641266, + "ymax": 329.91929955178284 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 439.63584442752983, + 314.32600992592006 + ], + [ + 495.3745543984181, + 329.91929955178284 + ], + [ + 567.6481651641266, + 237.92309400575766 + ], + [ + 516.5931488296189, + 225.45732811840574 + ], + [ + 433.2292682365663, + 279.824234922104 + ], + [ + 490.66221040823973, + 295.2690867143902 + ], + [ + 565.5496826225085, + 204.4109377940051 + ], + [ + 513.0734901342973, + 192.1478173306739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.2888137475443, + "ymin": 34.381312495141515, + "xmax": 925.2824366004158, + "ymax": 60.23885694980868 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 920.9178210587361, + 56.27908437615059 + ], + [ + 913.9547562569724, + 55.1321740867088 + ], + [ + 912.2888137475443, + 59.076465956101345 + ], + [ + 919.295482863585, + 60.23885694980868 + ], + [ + 925.2824366004158, + 35.50486684868616 + ], + [ + 918.2027575636853, + 34.381312495141515 + ], + [ + 916.5397969954681, + 38.24556749943008 + ], + [ + 923.6645658458533, + 39.38452511188922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 643.1790888258876, + "ymin": 0.0, + "xmax": 900.1066134687694, + "ymax": 202.63152494966982 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 841.6290091621045, + 202.63152494966982 + ], + [ + 846.0783279002253, + 192.42906382979726 + ], + [ + 649.9807996535815, + 151.79985330236815 + ], + [ + 643.1790888258876, + 160.88260190582258 + ], + [ + 895.4341416169968, + -115.11714696941516 + ], + [ + 900.1066134687694, + -122.42348270174136 + ], + [ + 652.4149155699191, + -150.99185934374634 + ], + [ + 643.9672589299097, + -144.67744197977152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 285.6017438680729, + "ymin": 105.31926590822124, + "xmax": 700.6093127168955, + "ymax": 593.6921215114223 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 671.0865077421494, + 593.6921215114223 + ], + [ + 681.4583581402799, + 569.9090646759046 + ], + [ + 405.28017929402534, + 478.56385049933846 + ], + [ + 390.327566202668, + 498.5310071624166 + ], + [ + 685.904102379759, + 212.52459411330025 + ], + [ + 700.6093127168955, + 189.5300834675414 + ], + [ + 309.5125931013027, + 105.31926590822124 + ], + [ + 285.6017438680729, + 123.19204270535172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 295.4362570339947, + "ymin": 118.40091011271903, + "xmax": 340.7273530606365, + "ymax": 138.56655329442984 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 325.7406302394237, + 138.56655329442984 + ], + [ + 340.7273530606365, + 126.55106822629483 + ], + [ + 311.262473493555, + 120.06372333767138 + ], + [ + 295.89375866917334, + 131.8414745972877 + ], + [ + 325.31857169660367, + 136.88133175492365 + ], + [ + 340.3326351837874, + 124.88024238025932 + ], + [ + 310.83317141743345, + 118.40091011271903 + ], + [ + 295.4362570339947, + 130.16423915431474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 356.81248105450726, + "ymin": 0.0, + "xmax": 618.7196511184155, + "ymax": 62.017160864321625 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 395.9292532604983, + 16.828841577465255 + ], + [ + 391.1087540202907, + 20.22171294583103 + ], + [ + 615.0161848970016, + 62.017160864321625 + ], + [ + 618.7196511184155, + 58.09294114618268 + ], + [ + 362.5322031310925, + -171.52682832128585 + ], + [ + 356.81248105450726, + -168.99167223244274 + ], + [ + 611.2738345126992, + -137.40612992695662 + ], + [ + 615.5562412750893, + -140.40003087282878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 904.647283113629, + "ymin": 0.0, + "xmax": 1002.4011946187024, + "ymax": 122.5468832616296 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 904.647283113629, + 120.59256048423217 + ], + [ + 915.044642257085, + 122.5468832616296 + ], + [ + 959.1964385586502, + 11.606326004031303 + ], + [ + 950.4478279043158, + 10.257792496953243 + ], + [ + 948.8522078026748, + -92.00220491102078 + ], + [ + 961.1469531655544, + -90.46385140036534 + ], + [ + 1002.4011946187024, + -175.4207225421776 + ], + [ + 992.3500736396833, + -176.4245406665516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 295.44808435550846, + "ymin": 118.44389613312185, + "xmax": 340.73753032922457, + "ymax": 138.6100033882316 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 325.75151218155736, + 138.6100033882316 + ], + [ + 340.73753032922457, + 126.59414821936423 + ], + [ + 311.273542616678, + 120.10659730763658 + ], + [ + 295.9055546041345, + 131.88471938305148 + ], + [ + 325.32948288732297, + 136.92489863429307 + ], + [ + 340.3428393157093, + 124.92343608480522 + ], + [ + 310.8442694695335, + 118.44389613312185 + ], + [ + 295.44808435550846, + 130.20759900554347 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00062/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00062/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae784cc656194bee5eb988a3e4ad85103215a901 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00062/meta.json @@ -0,0 +1,1734 @@ +{ + "frame_id": 62, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 31.0, + "sim_timestamp": 829.7498252501246 + }, + "drone_pose": { + "x": -142.11101479915098, + "y": -47.66219998791012, + "z": 20.000006937215435, + "pitch": -42.811457027799285, + "yaw": 67.28290424848713, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2833002805709839, + -0.6766839623451233, + 0.6795880198478699, + 58.920570373535156 + ], + [ + 0.9224229454994202, + 0.3861812949180603, + 2.9802322387695312e-08, + -112.68019104003906 + ], + [ + -0.2624441981315613, + 0.6268675327301025, + 0.7335940003395081, + -81.84597778320312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.91653201508015, + "y": -47.06227246739707, + "z": 20.000004528205114 + }, + "t1_image_uv": [ + 748.8665203014865, + -529.319548428273 + ], + "t1_depth": 0.4610599539038417 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -134.16718292236328, + "y": -28.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999983 + ], + "depth": 28.040325651241908, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 607, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -134.16717529296875, + "y": -28.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.34782713651657104, + "y": 0.3961499035358429, + "z": 0.8642445206642151 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.6487038255743, + "ymin": 327.0270570990678, + "xmax": 657.5107014198262, + "ymax": 392.4107887674869 + }, + "corners_3d": [ + [ + -134.1330108642578, + -29.213834762573242, + 0.07989335060119629 + ], + [ + -134.69325256347656, + -28.653593063354492, + 0.07989335060119629 + ], + [ + -134.2013397216797, + -28.161691665649414, + 0.07989335060119629 + ], + [ + -133.64109802246094, + -28.721933364868164, + 0.07989335060119629 + ], + [ + -134.1330108642578, + -29.213834762573242, + 1.8083823919296265 + ], + [ + -134.69325256347656, + -28.653593063354492, + 1.8083823919296265 + ], + [ + -134.2013397216797, + -28.161691665649414, + 1.8083823919296265 + ], + [ + -133.64109802246094, + -28.721933364868164, + 1.8083823919296265 + ] + ], + "corners_2d": [ + [ + 632.0338720154311, + 392.4107887674869 + ], + [ + 656.7890217555969, + 385.28345007967545 + ], + [ + 647.7752346123436, + 370.3770398353898 + ], + [ + 623.3575507104807, + 377.2730716228786 + ], + [ + 631.6886622340331, + 348.90798439074285 + ], + [ + 657.5107014198262, + 341.82512086516647 + ], + [ + 648.1037773974064, + 327.0270570990678 + ], + [ + 622.6487038255743, + 333.8703890892511 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 62, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 445817, + "2": 145262, + "3": 45515, + "4": 58471, + "6": 13330, + "7": 144, + "10": 12, + "12": 3043, + "14": 10883, + "24": 13538, + "25": 185585 + }, + "instance_pixel_counts": { + "3662": 31523, + "11605": 22434, + "17240": 9883, + "17496": 2188, + "20565": 7659, + "21907": 47519, + "21909": 4515, + "22421": 2015, + "22931": 87691, + "22933": 5536, + "23138": 366, + "23443": 279773, + "23445": 84, + "23955": 7791, + "25493": 44, + "25600": 147, + "25856": 1256, + "26003": 4041, + "36096": 607, + "36352": 609, + "36608": 561, + "36864": 649, + "37009": 30, + "37376": 617, + "41216": 4067, + "41728": 6816, + "46483": 5519, + "47201": 6868, + "47713": 972, + "48225": 643, + "48531": 8349, + "48737": 26730, + "48980": 15422, + "49249": 3433, + "49761": 3078, + "50579": 5134, + "51297": 58610, + "51526": 26948, + "51809": 8429, + "52321": 4697, + "52833": 426, + "53345": 40, + "54366": 169442, + "54878": 16143, + "56970": 2159, + "57482": 14016, + "57994": 14547, + "58506": 218, + "60819": 622, + "62355": 440, + "64403": 282 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 607, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -134.16717529296875, + "y": -28.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4362548589706421, + "y": 0.3312146067619324, + "z": 0.8889807462692261 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.6098423735066, + "ymin": 325.0895614364906, + "xmax": 656.6352245881134, + "ymax": 394.37688004000665 + }, + "corners_3d": [ + [ + -134.241455078125, + -29.230445861816406, + 0.0551571249961853 + ], + [ + -134.70985412597656, + -28.76203727722168, + 0.0551571249961853 + ], + [ + -134.0928955078125, + -28.14508056640625, + 0.0551571249961853 + ], + [ + -133.62449645996094, + -28.613489151000977, + 0.0551571249961853 + ], + [ + -134.241455078125, + -29.230445861816406, + 1.8331186771392822 + ], + [ + -134.70985412597656, + -28.76203727722168, + 1.8331186771392822 + ], + [ + -134.0928955078125, + -28.14508056640625, + 1.8331186771392822 + ], + [ + -133.62449645996094, + -28.613489151000977, + 1.8331186771392822 + ] + ], + "corners_2d": [ + [ + 635.2073879886428, + 394.37688004000665 + ], + [ + 655.9284840333662, + 388.39216825404714 + ], + [ + 644.6639590102113, + 369.670665851023 + ], + [ + 624.2963232201213, + 375.41292751288887 + ], + [ + 634.9932930070989, + 349.61954089448335 + ], + [ + 656.6352245881134, + 343.67214096906457 + ], + [ + 644.8664921653138, + 325.0895614364906 + ], + [ + 623.6098423735066, + 330.7856382735891 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 609, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -132.61984252929688, + "y": -25.265750885009766, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.38841307163238525, + "y": 0.4338439702987671, + "z": 0.8725607395172119 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 618.3285938946008, + "ymin": 247.88541189022985, + "xmax": 655.0145129877759, + "ymax": 312.6716253659783 + }, + "corners_3d": [ + [ + -132.7093048095703, + -25.841148376464844, + 0.0715819001197815 + ], + [ + -133.181884765625, + -25.11344337463379, + 0.0715819001197815 + ], + [ + -132.53038024902344, + -24.690353393554688, + 0.0715819001197815 + ], + [ + -132.05780029296875, + -25.418058395385742, + 0.0715819001197815 + ], + [ + -132.7093048095703, + -25.841148376464844, + 1.8167033195495605 + ], + [ + -133.181884765625, + -25.11344337463379, + 1.8167033195495605 + ], + [ + -132.53038024902344, + -24.690353393554688, + 1.8167033195495605 + ], + [ + -132.05780029296875, + -25.418058395385742, + 1.8167033195495605 + ] + ], + "corners_2d": [ + [ + 632.3915946868907, + 312.6716253659783 + ], + [ + 654.446175072939, + 303.03604627664953 + ], + [ + 641.0233503484205, + 290.7118456319862 + ], + [ + 619.1459819054738, + 300.0625999891436 + ], + [ + 632.0886636120407, + 269.5270173090962 + ], + [ + 655.0145129877759, + 260.02551626090553 + ], + [ + 641.0629915510996, + 247.88541189022985 + ], + [ + 618.3285938946008, + 257.09519233142385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 561, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -136.42300415039062, + "y": -21.74505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5162743926048279, + "y": 0.48533323407173157, + "z": 0.9349180459976196 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 759.3439938992387, + "ymin": 212.50689808570294, + "xmax": 806.6701498682762, + "ymax": 282.29333177980624 + }, + "corners_3d": [ + [ + -136.518798828125, + -22.447126388549805, + 0.009219825267791748 + ], + [ + -137.12965393066406, + -21.692777633666992, + 0.009219825267791748 + ], + [ + -136.32720947265625, + -21.0429744720459, + 0.009219825267791748 + ], + [ + -135.7163543701172, + -21.79732322692871, + 0.009219825267791748 + ], + [ + -136.518798828125, + -22.447126388549805, + 1.8790559768676758 + ], + [ + -137.12965393066406, + -21.692777633666992, + 1.8790559768676758 + ], + [ + -136.32720947265625, + -21.0429744720459, + 1.8790559768676758 + ], + [ + -135.7163543701172, + -21.79732322692871, + 1.8790559768676758 + ] + ], + "corners_2d": [ + [ + 776.3855051658138, + 282.29333177980624 + ], + [ + 800.1674776786563, + 273.8855245095703 + ], + [ + 782.8216712546198, + 257.76553496463805 + ], + [ + 759.3439938992387, + 265.837553491478 + ], + [ + 781.9829883469603, + 236.5730966862477 + ], + [ + 806.6701498682762, + 228.3167974609153 + ], + [ + 788.4991201058169, + 212.50689808570294 + ], + [ + 764.1387663020865, + 220.42042106612254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 649, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -137.74693298339844, + "y": -28.687763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.5025537014007568, + "y": 0.4219091832637787, + "z": 0.9085103273391724 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 734.0881907441233, + "ymin": 350.5471076780442, + "xmax": 782.9246080791505, + "ymax": 428.02248314608175 + }, + "corners_3d": [ + [ + -137.803955078125, + -29.34145736694336, + 0.18802499771118164 + ], + [ + -138.40061950683594, + -28.744787216186523, + 0.18802499771118164 + ], + [ + -137.68991088867188, + -28.034069061279297, + 0.18802499771118164 + ], + [ + -137.09324645996094, + -28.630739212036133, + 0.18802499771118164 + ], + [ + -137.803955078125, + -29.34145736694336, + 2.0050456523895264 + ], + [ + -138.40061950683594, + -28.744787216186523, + 2.0050456523895264 + ], + [ + -137.68991088867188, + -28.034069061279297, + 2.0050456523895264 + ], + [ + -137.09324645996094, + -28.630739212036133, + 2.0050456523895264 + ] + ], + "corners_2d": [ + [ + 749.9682992620225, + 428.02248314608175 + ], + [ + 776.4637306166626, + 419.79621733362364 + ], + [ + 760.0711031804083, + 396.6677466439055 + ], + [ + 734.0881907441233, + 404.49632423323675 + ], + [ + 755.2220314999697, + 381.7635334001094 + ], + [ + 782.9246080791505, + 373.56410605970217 + ], + [ + 765.6109520918172, + 350.5471076780442 + ], + [ + 738.4676467567734, + 358.3320123995043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 617, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -122.92184448242188, + "y": -36.85797882080078, + "z": 0.9441280961036682 + }, + "extent": { + "x": 0.3229687511920929, + "y": 0.28507566452026367, + "z": 0.8853468894958496 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 108.24742303380208, + "ymin": 408.07701395202355, + "xmax": 159.2597004491456, + "ymax": 473.2437723012324 + }, + "corners_3d": [ + [ + -122.85865783691406, + -37.28410720825195, + 0.058781206607818604 + ], + [ + -123.33683013916016, + -36.97357940673828, + 0.058781206607818604 + ], + [ + -122.98503112792969, + -36.43185043334961, + 0.058781206607818604 + ], + [ + -122.5068588256836, + -36.74237823486328, + 0.058781206607818604 + ], + [ + -122.85865783691406, + -37.28410720825195, + 1.829474925994873 + ], + [ + -123.33683013916016, + -36.97357940673828, + 1.829474925994873 + ], + [ + -122.98503112792969, + -36.43185043334961, + 1.829474925994873 + ], + [ + -122.5068588256836, + -36.74237823486328, + 1.829474925994873 + ] + ], + "corners_2d": [ + [ + 132.83106438500022, + 473.2437723012324 + ], + [ + 154.91342217828065, + 470.37614551197686 + ], + [ + 159.2597004491456, + 452.83334689477033 + ], + [ + 137.57818408278735, + 455.6010750675864 + ], + [ + 108.24742303380208, + 428.50160711662704 + ], + [ + 131.47066794493986, + 425.629556227128 + ], + [ + 136.4540168255076, + 408.07701395202355 + ], + [ + 113.67359749636512, + 410.84430285568675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 4067, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 950.0111181313798, + "ymin": 26.56362472375423, + "xmax": 1089.5680725262105, + "ymax": 98.10540011858268 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 956.4362426508144, + 59.55043764437647 + ], + [ + 950.0111181313798, + 76.16830375290374 + ], + [ + 1075.2675028669137, + 98.10540011858268 + ], + [ + 1078.3601125072475, + 80.27931668738177 + ], + [ + 964.2449615567791, + 26.56362472375423 + ], + [ + 957.8826499361888, + 42.648926697287095 + ], + [ + 1086.7303924097275, + 63.917352412158095 + ], + [ + 1089.5680725262105, + 46.63165077914152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 6816, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 441.28625514685507, + "ymin": 201.82402170621148, + "xmax": 578.1211269993189, + "ymax": 342.1298645703797 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 447.5046641028609, + 325.4760052911609 + ], + [ + 503.4970755552553, + 342.1298645703797 + ], + [ + 578.1211269993189, + 248.55433003199045 + ], + [ + 526.7629266097154, + 235.25774079855512 + ], + [ + 441.28625514685507, + 290.8842110487318 + ], + [ + 498.99871455759234, + 307.39073606360967 + ], + [ + 576.3073324719501, + 214.91188482286552 + ], + [ + 523.5020898664371, + 201.82402170621148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 930.0794011025025, + "ymin": 44.62047349961318, + "xmax": 943.6035456615318, + "ymax": 70.81470959349053 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 938.8967208845254, + 66.76497311841774 + ], + [ + 931.814944564228, + 65.53233562505119 + ], + [ + 930.0794011025025, + 69.56528412866527 + ], + [ + 937.205668983494, + 70.81470959349053 + ], + [ + 943.6035456615318, + 45.82850681828353 + ], + [ + 936.4005984806977, + 44.62047349961318 + ], + [ + 934.6691755732398, + 48.573214375943394 + ], + [ + 941.918164771784, + 49.79796206484508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.6924497084606, + "ymin": 0.0, + "xmax": 920.121216702116, + "ymax": 215.23823888291926 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 856.5121313829666, + 215.23823888291926 + ], + [ + 861.1565859420583, + 204.8020647880344 + ], + [ + 662.7094105599277, + 161.27360388596824 + ], + [ + 655.6924497084606, + 170.50111192305044 + ], + [ + 915.281830977333, + -105.34451132566471 + ], + [ + 920.121216702116, + -112.871691897647 + ], + [ + 668.3165350992746, + -143.6612365738019 + ], + [ + 659.6318005389317, + -137.21453379842973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 289.05285136669954, + "ymin": 119.41536027648814, + "xmax": 711.540478566353, + "ymax": 617.2730736922874 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 677.5928737635284, + 617.2730736922874 + ], + [ + 688.5243515685601, + 592.7098437077541 + ], + [ + 409.6021716656246, + 494.11700013386917 + ], + [ + 394.09154401637767, + 514.5139275677299 + ], + [ + 696.0055125234952, + 235.71787510677117 + ], + [ + 711.540478566353, + 211.55478887345603 + ], + [ + 313.910493391973, + 119.41536027648814 + ], + [ + 289.05285136669954, + 137.8672575359952 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 299.09947467312656, + "ymin": 132.73322301300396, + "xmax": 345.2546898021192, + "ymax": 153.8705680728881 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 329.65450037546015, + 153.8705680728881 + ], + [ + 345.2546898021192, + 141.4517571913853 + ], + [ + 315.53807009542146, + 134.41070387779686 + ], + [ + 299.5603390349457, + 146.56780387910356 + ], + [ + 329.22982997759476, + 152.17046694112256 + ], + [ + 344.8587076425414, + 139.7659168332888 + ], + [ + 315.10674619616566, + 132.73322301300396 + ], + [ + 299.09947467312656, + 144.87601391619276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 371.72149187654014, + "ymin": 0.0, + "xmax": 632.5624804068876, + "ymax": 69.26438269743568 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 409.2380119104283, + 21.64176204439417 + ], + [ + 404.34087939127966, + 25.047048377814292 + ], + [ + 628.7651076547857, + 69.26438269743568 + ], + [ + 632.5624804068876, + 65.29615925242535 + ], + [ + 377.5196460262072, + -167.30441011932965 + ], + [ + 371.72149187654014, + -164.7572062426965 + ], + [ + 627.0672179159217, + -131.28432149506062 + ], + [ + 631.4470431053612, + -134.31879419189153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 921.5401280792441, + "ymin": 0.0, + "xmax": 1024.4745795601689, + "ymax": 133.67842426880992 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 921.5401280792441, + 131.58196623824455 + ], + [ + 932.1060837152934, + 133.67842426880992 + ], + [ + 978.1112143696905, + 20.49269963441799 + ], + [ + 969.223604586598, + 19.05016456511811 + ], + [ + 969.2687974401009, + -82.8202570669443 + ], + [ + 981.8097781451099, + -81.16289941748619 + ], + [ + 1024.4745795601689, + -168.16294928967636 + ], + [ + 1014.2336227365179, + -169.24006456239647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 299.11138920823225, + "ymin": 132.77658920108098, + "xmax": 345.26489941178176, + "ymax": 153.91440066902905 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 329.6654493747255, + 153.91440066902905 + ], + [ + 345.26489941178176, + 141.4952232203297 + ], + [ + 315.54919108217666, + 134.45395499954475 + ], + [ + 299.57222137780246, + 146.6114228482544 + ], + [ + 329.2408089616024, + 152.21441957646235 + ], + [ + 344.86894470281067, + 139.80949972946934 + ], + [ + 315.1178967694627, + 132.77658920108098 + ], + [ + 299.11138920823225, + 144.91975106007806 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00063/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00063/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93ebfee0a8af31e14a13382c8390996413ca6c94 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00063/meta.json @@ -0,0 +1,1736 @@ +{ + "frame_id": 63, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 31.5, + "sim_timestamp": 847.418260458624 + }, + "drone_pose": { + "x": -141.91653201508015, + "y": -47.06227246739707, + "z": 20.000004528205114, + "pitch": -42.772182052627585, + "yaw": 66.39164274679226, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2939782738685608, + -0.67262202501297, + 0.6790849566459656, + 59.793800354003906 + ], + [ + 0.9163042902946472, + 0.40048277378082275, + 0.0, + -111.19110107421875 + ], + [ + -0.27196186780929565, + 0.6222484707832336, + 0.7340596914291382, + -82.56150817871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.67519126446757, + "y": -46.4579836366328, + "z": 20.000002902395504 + }, + "t1_image_uv": [ + 681.9578586520145, + -528.0999148949131 + ], + "t1_depth": 0.47740800497205993 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -133.66718292236328, + "y": -28.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.061092549158733, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 604, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -133.66717529296875, + "y": -28.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.35569822788238525, + "y": 0.45000365376472473, + "z": 0.8851052522659302 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.9011308777214, + "ymin": 325.97678131530125, + "xmax": 659.2697266032295, + "ymax": 393.45208114303114 + }, + "corners_3d": [ + [ + -133.60049438476562, + -28.75748062133789, + 0.0590326189994812 + ], + [ + -134.2368927001953, + -28.121078491210938, + 0.0590326189994812 + ], + [ + -133.73385620117188, + -27.618045806884766, + 0.0590326189994812 + ], + [ + -133.0974578857422, + -28.25444793701172, + 0.0590326189994812 + ], + [ + -133.60049438476562, + -28.75748062133789, + 1.8292431831359863 + ], + [ + -134.2368927001953, + -28.121078491210938, + 1.8292431831359863 + ], + [ + -133.73385620117188, + -27.618045806884766, + 1.8292431831359863 + ], + [ + -133.0974578857422, + -28.25444793701172, + 1.8292431831359863 + ] + ], + "corners_2d": [ + [ + 630.1868416952883, + 393.45208114303114 + ], + [ + 658.4580596554679, + 385.671003512094 + ], + [ + 649.566839657047, + 370.3636549073303 + ], + [ + 621.6987465618141, + 377.8851496232796 + ], + [ + 629.7514844601246, + 348.8982795897156 + ], + [ + 659.2697266032295, + 341.167768318267 + ], + [ + 649.9801760913572, + 325.97678131530125 + ], + [ + 620.9011308777214, + 333.43830434633134 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 63, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 453126, + "2": 147064, + "3": 40993, + "4": 59171, + "6": 14050, + "7": 147, + "10": 4, + "12": 2928, + "14": 11181, + "24": 14089, + "25": 178847 + }, + "instance_pixel_counts": { + "3662": 30888, + "11605": 25190, + "17240": 10270, + "17496": 2353, + "20066": 275, + "20565": 8121, + "21907": 50890, + "21909": 4728, + "22155": 7, + "22421": 2063, + "22931": 91274, + "22933": 5716, + "23138": 418, + "23443": 278439, + "23445": 85, + "23955": 8356, + "25493": 29, + "25600": 182, + "25856": 1392, + "26003": 2909, + "36096": 604, + "36352": 458, + "36608": 562, + "36864": 638, + "37009": 285, + "37376": 666, + "41216": 4225, + "41728": 6956, + "46483": 7843, + "47201": 7204, + "47713": 1018, + "48225": 710, + "48531": 9727, + "48737": 28140, + "48980": 7682, + "49249": 3611, + "49761": 3205, + "50579": 3688, + "51297": 56871, + "51526": 28283, + "51809": 7676, + "52321": 4888, + "52833": 465, + "53345": 44, + "54366": 166774, + "54878": 12073, + "56970": 2250, + "57482": 14369, + "57994": 15277, + "58506": 351, + "60819": 760, + "62355": 515, + "64403": 193 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 604, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -133.66717529296875, + "y": -28.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.47997069358825684, + "y": 0.3798828125, + "z": 0.907489001750946 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.6550103744353, + "ymin": 323.3651231843503, + "xmax": 658.6496011835837, + "ymax": 396.15098826709254 + }, + "corners_3d": [ + [ + -133.73794555664062, + -28.7957706451416, + 0.03664886951446533 + ], + [ + -134.27517700195312, + -28.258535385131836, + 0.03664886951446533 + ], + [ + -133.59640502929688, + -27.579755783081055, + 0.03664886951446533 + ], + [ + -133.05917358398438, + -28.11699104309082, + 0.03664886951446533 + ], + [ + -133.73794555664062, + -28.7957706451416, + 1.8516268730163574 + ], + [ + -134.27517700195312, + -28.258535385131836, + 1.8516268730163574 + ], + [ + -133.59640502929688, + -27.579755783081055, + 1.8516268730163574 + ], + [ + -133.05917358398438, + -28.11699104309082, + 1.8516268730163574 + ] + ], + "corners_2d": [ + [ + 633.928328997184, + 396.15098826709254 + ], + [ + 657.8416831846494, + 389.542653625704 + ], + [ + 645.8919144751696, + 368.85788832742674 + ], + [ + 622.4372855322259, + 375.1706377891133 + ], + [ + 633.6513175899752, + 350.4560061192892 + ], + [ + 658.6496011835837, + 343.88993793734284 + ], + [ + 646.1524358352622, + 323.3651231843503 + ], + [ + 621.6550103744353, + 329.62461831988423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 458, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -131.8754119873047, + "y": -23.48800277709961, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39594724774360657, + "y": 0.4609631299972534, + "z": 0.8976803421974182 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 628.8471000572094, + "ymin": 224.14396977957531, + "xmax": 666.040813987214, + "ymax": 289.1648731495667 + }, + "corners_3d": [ + [ + -131.9564208984375, + -24.090248107910156, + 0.046457529067993164 + ], + [ + -132.4585418701172, + -23.317054748535156, + 0.046457529067993164 + ], + [ + -131.79440307617188, + -22.885757446289062, + 0.046457529067993164 + ], + [ + -131.2922821044922, + -23.658950805664062, + 0.046457529067993164 + ], + [ + -131.9564208984375, + -24.090248107910156, + 1.8418182134628296 + ], + [ + -132.4585418701172, + -23.317054748535156, + 1.8418182134628296 + ], + [ + -131.79440307617188, + -22.885757446289062, + 1.8418182134628296 + ], + [ + -131.2922821044922, + -23.658950805664062, + 1.8418182134628296 + ] + ], + "corners_2d": [ + [ + 642.2070055562162, + 289.1648731495667 + ], + [ + 665.0579375677946, + 279.7414944524827 + ], + [ + 651.9262614950148, + 267.78322111610396 + ], + [ + 629.2665856597413, + 276.92810332816475 + ], + [ + 642.2946233719777, + 245.15555157008853 + ], + [ + 666.040813987214, + 235.8898944938026 + ], + [ + 652.3868669320746, + 224.14396977957531 + ], + [ + 628.8471000572094, + 233.12523521078393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 562, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -135.92300415039062, + "y": -21.24505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5269775390625, + "y": 0.49122679233551025, + "z": 0.9326199889183044 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 761.7235594019538, + "ymin": 213.87106698846472, + "xmax": 809.7230031823972, + "ymax": 283.93222735589853 + }, + "corners_3d": [ + [ + -136.02340698242188, + -21.95844268798828, + 0.011517882347106934 + ], + [ + -136.6416778564453, + -21.19493293762207, + 0.011517882347106934 + ], + [ + -135.82260131835938, + -20.531658172607422, + 0.011517882347106934 + ], + [ + -135.20433044433594, + -21.295167922973633, + 0.011517882347106934 + ], + [ + -136.02340698242188, + -21.95844268798828, + 1.8767578601837158 + ], + [ + -136.6416778564453, + -21.19493293762207, + 1.8767578601837158 + ], + [ + -135.82260131835938, + -20.531658172607422, + 1.8767578601837158 + ], + [ + -135.20433044433594, + -21.295167922973633, + 1.8767578601837158 + ] + ], + "corners_2d": [ + [ + 778.7811253418764, + 283.93222735589853 + ], + [ + 803.1129939719175, + 275.64806907240785 + ], + [ + 785.7225652215249, + 259.0232748673494 + ], + [ + 761.7235594019538, + 266.9665853049725 + ], + [ + 784.4654469463455, + 238.3128794581254 + ], + [ + 809.7230031823972, + 230.1772678998748 + ], + [ + 791.5008547874335, + 213.87106698846472 + ], + [ + 766.6008842308551, + 221.6587451271541 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 638, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -137.24693298339844, + "y": -28.187763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4824169874191284, + "y": 0.45667845010757446, + "z": 0.8786949515342712 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 732.8133255576136, + "ymin": 352.77224336419965, + "xmax": 782.7553947901158, + "ymax": 428.31277025384213 + }, + "corners_3d": [ + [ + -137.26513671875, + -28.851804733276367, + 0.21784037351608276 + ], + [ + -137.91098022460938, + -28.205963134765625, + 0.21784037351608276 + ], + [ + -137.22872924804688, + -27.52372169494629, + 0.21784037351608276 + ], + [ + -136.5828857421875, + -28.16956329345703, + 0.21784037351608276 + ], + [ + -137.26513671875, + -28.851804733276367, + 1.9752302169799805 + ], + [ + -137.91098022460938, + -28.205963134765625, + 1.9752302169799805 + ], + [ + -137.22872924804688, + -27.52372169494629, + 1.9752302169799805 + ], + [ + -136.5828857421875, + -28.16956329345703, + 1.9752302169799805 + ] + ], + "corners_2d": [ + [ + 747.5657839318383, + 428.31277025384213 + ], + [ + 776.5135944758279, + 419.74380509125524 + ], + [ + 761.2072880837486, + 397.38325175505196 + ], + [ + 732.8133255576136, + 405.5509453430964 + ], + [ + 752.5305208809584, + 383.5696258636975 + ], + [ + 782.7553947901158, + 375.02806536473014 + ], + [ + 766.6126694857672, + 352.77224336419965 + ], + [ + 736.990617832728, + 360.8961195162191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 666, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -122.42184448242188, + "y": -36.35797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.33973631262779236, + "y": 0.40879881381988525, + "z": 0.8945245146751404 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 104.65303849129566, + "ymin": 401.1677886186601, + "xmax": 165.68997491728948, + "ymax": 468.3469793547992 + }, + "corners_3d": [ + [ + -122.26403045654297, + -36.86555480957031, + 0.049608469009399414 + ], + [ + -122.94972229003906, + -36.420257568359375, + 0.049608469009399414 + ], + [ + -122.57965850830078, + -35.85040283203125, + 0.049608469009399414 + ], + [ + -121.89396667480469, + -36.29570007324219, + 0.049608469009399414 + ], + [ + -122.26403045654297, + -36.86555480957031, + 1.8386574983596802 + ], + [ + -122.94972229003906, + -36.420257568359375, + 1.8386574983596802 + ], + [ + -122.57965850830078, + -35.85040283203125, + 1.8386574983596802 + ], + [ + -121.89396667480469, + -36.29570007324219, + 1.8386574983596802 + ] + ], + "corners_2d": [ + [ + 129.49274240931425, + 468.3469793547992 + ], + [ + 160.8591618873827, + 464.6337485685214 + ], + [ + 165.68997491728948, + 446.38790027750724 + ], + [ + 134.91990115434754, + 449.96564614576585 + ], + [ + 104.65303849129566, + 423.12676396895074 + ], + [ + 137.63673829002926, + 419.410243041758 + ], + [ + 143.14427783468324, + 401.1677886186601 + ], + [ + 110.81923956791252, + 404.7423092260494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 4225, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 967.2051069997318, + "ymin": 35.50752445517418, + "xmax": 1109.9777109949728, + "ymax": 109.20042349120601 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 973.8618854223292, + 68.75443546725182 + ], + [ + 967.2051069997318, + 85.73882277486337 + ], + [ + 1094.8400284485556, + 109.20042349120601 + ], + [ + 1098.0813062621542, + 90.9122524728188 + ], + [ + 982.2141792383726, + 35.50752445517418 + ], + [ + 975.6298006436787, + 51.95877326442718 + ], + [ + 1107.0105743137474, + 74.72250731581198 + ], + [ + 1109.9777109949728, + 56.97446771400456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 6956, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 448.4633008168971, + "ymin": 211.7678734961656, + "xmax": 587.8161951053401, + "ymax": 354.9511899604649 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 454.53028735422794, + 337.22475518389905 + ], + [ + 510.8978302935177, + 354.9511899604649 + ], + [ + 587.8161951053401, + 259.4756168709695 + ], + [ + 536.0538177944278, + 245.34449250563398 + ], + [ + 448.4633008168971, + 302.5345341128999 + ], + [ + 506.58530753689854, + 320.1187279278436 + ], + [ + 586.2671125558307, + 225.6868174302459 + ], + [ + 533.0251402196225, + 211.7678734961656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.2528239053646, + "ymin": 54.59295801624717, + "xmax": 961.3162615502696, + "ymax": 81.1519995708046 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 956.2600393469966, + 77.00099817345261 + ], + [ + 949.0494559526292, + 75.68223409397632 + ], + [ + 947.2528239053646, + 79.81510006906763 + ], + [ + 954.5089206027203, + 81.1519995708046 + ], + [ + 961.3162615502696, + 55.886007208522415 + ], + [ + 953.9794585693085, + 54.59295801624717 + ], + [ + 952.1882545432171, + 58.64553759341908 + ], + [ + 959.57219547576, + 59.95665552333145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.386412523962, + "ymin": 0.0, + "xmax": 939.778436202604, + "ymax": 227.89811043303962 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 870.9004305894858, + 227.89811043303962 + ], + [ + 875.7223276947738, + 217.19811607643823 + ], + [ + 674.6088402010582, + 170.7630755533088 + ], + [ + 667.386412523962, + 180.1628999824771 + ], + [ + 934.7963106117858, + -95.81949893910092 + ], + [ + 939.778436202604, + -103.60040250639133 + ], + [ + 683.2808106365225, + -136.6756690504679 + ], + [ + 674.3644674257378, + -130.06946370685523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 291.2479042175056, + "ymin": 134.62389396072732, + "xmax": 722.7572541111466, + "ymax": 642.3707360923001 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 684.1204859202218, + 642.3707360923001 + ], + [ + 695.5898401604197, + 616.9197521819634 + ], + [ + 413.2898702988947, + 510.8637379498391 + ], + [ + 397.222307781719, + 531.7753030659691 + ], + [ + 706.4040258411596, + 260.87531152261363 + ], + [ + 722.7572541111466, + 235.33543103121116 + ], + [ + 317.1099317548075, + 134.62389396072732 + ], + [ + 291.2479042175056, + 153.78532151848776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 301.5465273513493, + "ymin": 148.2163801477902, + "xmax": 348.70836737019647, + "ymax": 170.45446811493042 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 332.46149083091547, + 170.45446811493042 + ], + [ + 348.70836737019647, + 157.54462445723178 + ], + [ + 318.63642538944714, + 149.91070353241295 + ], + [ + 302.0140141049419, + 162.53202883030485 + ], + [ + 332.0312312597149, + 168.73747674638247 + ], + [ + 348.30837964118194, + 155.84168065227797 + ], + [ + 318.20006414265123, + 148.2163801477902 + ], + [ + 301.5465273513493, + 160.82357904417677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 384.8694029863399, + "ymin": 0.0, + "xmax": 646.1432431643317, + "ymax": 76.31952148015824 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 421.0545041179179, + 26.283343129628065 + ], + [ + 416.0795163667726, + 29.711961695377738 + ], + [ + 641.4466603687519, + 76.31952148015824 + ], + [ + 645.3343702450773, + 72.29608650104058 + ], + [ + 390.7513379021183, + -163.52986921131514 + ], + [ + 384.8694029863399, + -160.9608900165964 + ], + [ + 641.6677181775966, + -125.59724374829307 + ], + [ + 646.1432431643317, + -128.68287119067747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 937.8077867854516, + "ymin": 0.0, + "xmax": 1045.750436656713, + "ymax": 144.61276286661027 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 937.8077867854516, + 142.37399570363016 + ], + [ + 948.5562549227254, + 144.61276286661027 + ], + [ + 996.1863639184605, + 28.910018868604197 + ], + [ + 987.1501380326209, + 27.374253399353222 + ], + [ + 989.1449836760767, + -74.02643427234335 + ], + [ + 1001.9546529604977, + -72.24785032826338 + ], + [ + 1045.750436656713, + -161.56216025535218 + ], + [ + 1035.3051378117232, + -162.71295426953793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 301.5586134383194, + "ymin": 148.26018296231413, + "xmax": 348.7186799419267, + "ymax": 170.4987347905415 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 332.472583583748, + 170.4987347905415 + ], + [ + 348.7186799419267, + 157.58853012949936 + ], + [ + 318.64767592766, + 149.95438763617716 + ], + [ + 302.02606682789985, + 162.576076007688 + ], + [ + 332.0423550721726, + 168.78186736835502 + ], + [ + 348.31872055331417, + 155.8857069835272 + ], + [ + 318.2113452539977, + 148.26018296231413 + ], + [ + 301.5586134383194, + 160.86774815173007 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00064/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00064/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a47c1acf9762442c71d77ca9646f84b17d74bb12 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00064/meta.json @@ -0,0 +1,1841 @@ +{ + "frame_id": 64, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 32.0, + "sim_timestamp": 861.5158795861062 + }, + "drone_pose": { + "x": -141.67519126446757, + "y": -46.4579836366328, + "z": 20.000002902395504, + "pitch": -42.75843688151387, + "yaw": 65.61656177768587, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3031172752380371, + -0.6687321662902832, + 0.6789089441299438, + 60.4339599609375 + ], + [ + 0.9108030796051025, + 0.41284114122390747, + -2.9802322387695312e-08, + -109.8584213256836 + ], + [ + -0.28028154373168945, + 0.6183522939682007, + 0.7342225313186646, + -83.12079620361328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.3924848969971, + "y": -45.90157843277749, + "z": 20.000001823462526 + }, + "t1_image_uv": [ + 581.7372333779869, + -527.6739802767631 + ], + "t1_depth": 0.45777995595469734 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -133.16718292236328, + "y": -27.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.068369631019046, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 577, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -133.16717529296875, + "y": -27.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4184814393520355, + "y": 0.40278196334838867, + "z": 0.8768411874771118 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.7991989811674, + "ymin": 325.3411269204739, + "xmax": 658.4450150796115, + "ymax": 394.15958005389354 + }, + "corners_3d": [ + [ + -133.17828369140625, + -28.268484115600586, + 0.06729668378829956 + ], + [ + -133.74789428710938, + -27.698863983154297, + 0.06729668378829956 + ], + [ + -133.15606689453125, + -27.10704231262207, + 0.06729668378829956 + ], + [ + -132.58645629882812, + -27.67666244506836, + 0.06729668378829956 + ], + [ + -133.17828369140625, + -28.268484115600586, + 1.820979118347168 + ], + [ + -133.74789428710938, + -27.698863983154297, + 1.820979118347168 + ], + [ + -133.15606689453125, + -27.10704231262207, + 1.820979118347168 + ], + [ + -132.58645629882812, + -27.67666244506836, + 1.820979118347168 + ] + ], + "corners_2d": [ + [ + 632.2025377593544, + 394.15958005389354 + ], + [ + 657.6739373810626, + 387.41855691046385 + ], + [ + 647.5867580671497, + 369.3038607520137 + ], + [ + 622.5503902396009, + 375.77969841951 + ], + [ + 631.8597342973057, + 350.01780647076407 + ], + [ + 658.4450150796115, + 343.3195601660576 + ], + [ + 647.9109206519122, + 325.3411269204739 + ], + [ + 621.7991989811674, + 331.7646874622397 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 64, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 459736, + "2": 149374, + "3": 38265, + "4": 59980, + "6": 14828, + "7": 153, + "10": 8, + "12": 3013, + "14": 11224, + "24": 14640, + "25": 170379 + }, + "instance_pixel_counts": { + "3662": 30399, + "11605": 27804, + "17240": 10688, + "17496": 2529, + "20066": 721, + "20565": 8652, + "21907": 54249, + "21909": 4967, + "22155": 345, + "22421": 2157, + "22931": 95126, + "22933": 5773, + "23138": 251, + "23443": 276500, + "23445": 95, + "23955": 8968, + "25493": 31, + "25600": 218, + "25856": 1546, + "26003": 1694, + "36096": 577, + "36352": 526, + "36608": 585, + "36864": 690, + "37009": 394, + "37376": 635, + "41216": 4387, + "41728": 6837, + "46483": 10373, + "47201": 7555, + "47713": 1068, + "48225": 752, + "48531": 10613, + "48737": 29661, + "48980": 1809, + "49249": 3831, + "49761": 3430, + "50579": 2213, + "51297": 54446, + "51526": 29581, + "51809": 7784, + "52321": 5064, + "52833": 509, + "53345": 49, + "53857": 24, + "54366": 163857, + "54878": 6522, + "56970": 2300, + "57482": 14736, + "57994": 15965, + "58506": 489, + "60819": 907, + "62355": 588, + "64403": 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": 141, + "instance_id": 36096, + "pixel_count": 577, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -133.16717529296875, + "y": -27.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.33943358063697815, + "y": 0.36259520053863525, + "z": 0.8803128004074097 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 624.0440348482565, + "ymin": 327.23596606687823, + "xmax": 656.1183794411072, + "ymax": 392.1380629793777 + }, + "corners_3d": [ + [ + -133.1508026123047, + -28.184171676635742, + 0.06382507085800171 + ], + [ + -133.66358947753906, + -27.671384811401367, + 0.06382507085800171 + ], + [ + -133.1835479736328, + -27.191354751586914, + 0.06382507085800171 + ], + [ + -132.67076110839844, + -27.70414161682129, + 0.06382507085800171 + ], + [ + -133.1508026123047, + -28.184171676635742, + 1.8244507312774658 + ], + [ + -133.66358947753906, + -27.671384811401367, + 1.8244507312774658 + ], + [ + -133.1835479736328, + -27.191354751586914, + 1.8244507312774658 + ], + [ + -132.67076110839844, + -27.70414161682129, + 1.8244507312774658 + ] + ], + "corners_2d": [ + [ + 632.5522200630063, + 392.1380629793777 + ], + [ + 655.4429945888303, + 386.0928352004985 + ], + [ + 647.2793183391941, + 371.38956453155197 + ], + [ + 624.706137795144, + 377.24118971961326 + ], + [ + 632.2242486389162, + 347.8343078640997 + ], + [ + 656.1183794411072, + 341.8286059994905 + ], + [ + 647.5923296469533, + 327.23596606687823 + ], + [ + 624.0440348482565, + 333.0411029577818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 526, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -130.13694763183594, + "y": -22.10777473449707, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.38829100131988525, + "y": 0.4410974085330963, + "z": 0.8597298264503479 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 609.0796926775458, + "ymin": 203.2589867657492, + "xmax": 643.7278727931003, + "ymax": 264.10827543476904 + }, + "corners_3d": [ + [ + -130.22235107421875, + -22.68918800354004, + 0.08440804481506348 + ], + [ + -130.7028350830078, + -21.949317932128906, + 0.08440804481506348 + ], + [ + -130.05154418945312, + -21.5263614654541, + 0.08440804481506348 + ], + [ + -129.57106018066406, + -22.266231536865234, + 0.08440804481506348 + ], + [ + -130.22235107421875, + -22.68918800354004, + 1.8038676977157593 + ], + [ + -130.7028350830078, + -21.949317932128906, + 1.8038676977157593 + ], + [ + -130.05154418945312, + -21.5263614654541, + 1.8038676977157593 + ], + [ + -129.57106018066406, + -22.266231536865234, + 1.8038676977157593 + ] + ], + "corners_2d": [ + [ + 621.9443728084883, + 264.10827543476904 + ], + [ + 643.5969398137963, + 255.7909931068599 + ], + [ + 631.627587823718, + 244.63126692316723 + ], + [ + 610.1614296853279, + 252.71207193548747 + ], + [ + 621.2798919442515, + 222.3710110716224 + ], + [ + 643.7278727931003, + 214.2053565458134 + ], + [ + 631.3273186271914, + 203.2589867657492 + ], + [ + 609.0796926775458, + 211.1841657915528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 585, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -135.42300415039062, + "y": -20.74505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4336181581020355, + "y": 0.44981443881988525, + "z": 0.9335588812828064 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 766.577119419399, + "ymin": 216.83573616989995, + "xmax": 809.45245280261, + "ymax": 283.2881206572354 + }, + "corners_3d": [ + [ + -135.47691345214844, + -21.36750602722168, + 0.01057898998260498 + ], + [ + -136.04306030273438, + -20.668363571166992, + 0.01057898998260498 + ], + [ + -135.3690948486328, + -20.122594833374023, + 0.01057898998260498 + ], + [ + -134.80294799804688, + -20.82173728942871, + 0.01057898998260498 + ], + [ + -135.47691345214844, + -21.36750602722168, + 1.8776967525482178 + ], + [ + -136.04306030273438, + -20.668363571166992, + 1.8776967525482178 + ], + [ + -135.3690948486328, + -20.122594833374023, + 1.8776967525482178 + ], + [ + -134.80294799804688, + -20.82173728942871, + 1.8776967525482178 + ] + ], + "corners_2d": [ + [ + 780.3862275761023, + 283.2881206572354 + ], + [ + 802.8482579671704, + 275.90941479034154 + ], + [ + 788.7762520540826, + 262.0865075630418 + ], + [ + 766.577119419399, + 269.21242132392626 + ], + [ + 786.1339078988943, + 237.6408679174866 + ], + [ + 809.45245280261, + 230.3950966496159 + ], + [ + 794.7018474578247, + 216.83573616989995 + ], + [ + 771.6658644139652, + 223.82342601083855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 690, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -136.74693298339844, + "y": -27.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.40641599893569946, + "y": 0.30516600608825684, + "z": 0.8827970027923584 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 737.8459905392309, + "ymin": 360.8604518311525, + "xmax": 775.2605481180842, + "ymax": 429.9150576966682 + }, + "corners_3d": [ + [ + -136.8185272216797, + -28.190927505493164, + 0.06134086847305298 + ], + [ + -137.25009155273438, + -27.759357452392578, + 0.06134086847305298 + ], + [ + -136.6753387451172, + -27.184598922729492, + 0.06134086847305298 + ], + [ + -136.2437744140625, + -27.616168975830078, + 0.06134086847305298 + ], + [ + -136.8185272216797, + -28.190927505493164, + 1.826934814453125 + ], + [ + -137.25009155273438, + -27.759357452392578, + 1.826934814453125 + ], + [ + -136.6753387451172, + -27.184598922729492, + 1.826934814453125 + ], + [ + -136.2437744140625, + -27.616168975830078, + 1.826934814453125 + ] + ], + "corners_2d": [ + [ + 749.9457444572593, + 429.9150576966682 + ], + [ + 769.339417657883, + 424.39693171695865 + ], + [ + 756.9202872154735, + 405.3636006396227 + ], + [ + 737.8459905392309, + 410.6626874042629 + ], + [ + 755.0095528352861, + 385.3177207703992 + ], + [ + 775.2605481180842, + 379.81573344812597 + ], + [ + 762.1610703009721, + 360.8604518311525 + ], + [ + 742.2578275604072, + 366.1343259032832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 635, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -121.92184448242188, + "y": -35.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.34972167015075684, + "y": 0.5056066513061523, + "z": 0.8829517960548401 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 102.23435367998354, + "ymin": 396.0417658356345, + "xmax": 170.46045998253476, + "ymax": 463.4578372002894 + }, + "corners_3d": [ + [ + -121.68827819824219, + -36.42665481567383, + 0.06119084358215332 + ], + [ + -122.5363540649414, + -35.87590789794922, + 0.06119084358215332 + ], + [ + -122.15541076660156, + -35.289302825927734, + 0.06119084358215332 + ], + [ + -121.30733489990234, + -35.840049743652344, + 0.06119084358215332 + ], + [ + -121.68827819824219, + -36.42665481567383, + 1.8270944356918335 + ], + [ + -122.5363540649414, + -35.87590789794922, + 1.8270944356918335 + ], + [ + -122.15541076660156, + -35.289302825927734, + 1.8270944356918335 + ], + [ + -121.30733489990234, + -35.840049743652344, + 1.8270944356918335 + ] + ], + "corners_2d": [ + [ + 126.74538017382224, + 463.4578372002894 + ], + [ + 165.24318943863068, + 459.2840129804514 + ], + [ + 170.46045998253476, + 440.66999857253484 + ], + [ + 132.713374781744, + 444.68755093158427 + ], + [ + 102.23435367998354, + 418.8174840204774 + ], + [ + 142.67068429822035, + 414.6421390932795 + ], + [ + 148.57667281291214, + 396.0417658356345 + ], + [ + 108.96762883010683, + 400.05355301841774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 4387, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 983.5681922471414, + "ymin": 44.209444872377105, + "xmax": 1129.6083025374628, + "ymax": 120.06614080610925 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 990.4130006014432, + 77.72810143285591 + ], + [ + 983.5681922471414, + 95.11016378399643 + ], + [ + 1113.6779017417975, + 120.06614080610925 + ], + [ + 1117.0163659286936, + 101.2841276011232 + ], + [ + 999.3077268083404, + 44.209444872377105 + ], + [ + 992.5461080393351, + 61.05820733242655 + ], + [ + 1126.5652590062382, + 85.29152679221409 + ], + [ + 1129.6083025374628, + 67.04866401427023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 6837, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 454.9124219145478, + "ymin": 222.09965074145273, + "xmax": 596.8220089468965, + "ymax": 368.4604547289422 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 460.8562700093704, + 349.6609968990963 + ], + [ + 517.7159845266017, + 368.4604547289422 + ], + [ + 596.8220089468965, + 270.78859104259845 + ], + [ + 544.5616142905151, + 255.82964323230115 + ], + [ + 454.9124219145478, + 314.87078616191786 + ], + [ + 513.5688096794323, + 333.5370527586874 + ], + [ + 595.5220659601448, + 236.84559036949128 + ], + [ + 541.7437079911367, + 222.09965074145273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.7336666136364, + "ymin": 64.44490804486475, + "xmax": 978.3364111714595, + "ymax": 91.38528351981915 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 972.9272571450223, + 87.123725762873 + ], + [ + 965.5802308024988, + 85.71987550020418 + ], + [ + 963.7336666136364, + 89.96192645665298 + ], + [ + 971.1273642279971, + 91.38528351981915 + ], + [ + 978.3364111714595, + 65.82208499454026 + ], + [ + 970.85774120979, + 64.44490804486475 + ], + [ + 969.0181279483668, + 68.60667170768193 + ], + [ + 976.545176516614, + 70.00329865816497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.3017138401988, + "ymin": 0.0, + "xmax": 959.0384310118218, + "ymax": 240.69230049412727 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 884.7893735722888, + 240.69230049412727 + ], + [ + 889.76480250807, + 229.70252339563075 + ], + [ + 685.714307591621, + 180.39623927783185 + ], + [ + 678.3017138401988, + 189.99263340622295 + ], + [ + 953.9465176850547, + -86.32758177164595 + ], + [ + 959.0384310118218, + -94.39088937738228 + ], + [ + 697.3577589825115, + -129.78276159789596 + ], + [ + 688.223638458691, + -122.99323736425532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 292.5600306096526, + "ymin": 151.10911376384456, + "xmax": 734.6061172535939, + "ymax": 668.967847647101 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 690.8951270653235, + 668.967847647101 + ], + [ + 702.8672877604583, + 642.52361959659 + ], + [ + 416.554808907523, + 528.8519511907066 + ], + [ + 399.9404768686245, + 550.3609780943642 + ], + [ + 717.4736326394905, + 288.1394388107544 + ], + [ + 734.6061172535939, + 261.0092650177594 + ], + [ + 319.4667381354758, + 151.10911376384456 + ], + [ + 292.5600306096526, + 171.10925962546767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2970657086687788400, + "instance_id": 28861, + "pixel_count": null, + "type_id": "BP_StreetLight_simple25_60_SM_2", + "bbox_3d": { + "center_world": { + "x": -149.7042694091797, + "y": 11.851532936096191, + "z": 4.030004978179932 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1237.4389010174216, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 5.3298322168495815 + }, + "corners_3d": [ + [ + -149.9238739013672, + 13.7682523727417, + 0.15328621864318848 + ], + [ + -149.4846649169922, + 13.768251419067383, + 0.15328621864318848 + ], + [ + -149.4846649169922, + 9.934813499450684, + 0.15328621864318848 + ], + [ + -149.9238739013672, + 9.934814453125, + 0.15328621864318848 + ], + [ + -149.9238739013672, + 13.7682523727417, + 7.906723976135254 + ], + [ + -149.4846649169922, + 13.768251419067383, + 7.906723976135254 + ], + [ + -149.4846649169922, + 9.934813499450684, + 7.906723976135254 + ], + [ + -149.9238739013672, + 9.934814453125, + 7.906723976135254 + ] + ], + "corners_2d": [ + [ + 1246.4843377435704, + -21.331874508766987 + ], + [ + 1237.4389010174216, + -22.64381556755518 + ], + [ + 1237.690104342645, + 3.8762909801375827 + ], + [ + 1247.2125172613528, + 5.3298322168495815 + ], + [ + 1315.9080630200024, + -183.82619495475 + ], + [ + 1305.629784267641, + -184.81880121620566 + ], + [ + 1309.9249249520922, + -164.6388559334988 + ], + [ + 1320.8231862215223, + -163.52577575317343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 303.14345117403826, + "ymin": 165.00974488617064, + "xmax": 351.4411504853425, + "ymax": 188.47356210660712 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 334.52586097673105, + 188.47356210660712 + ], + [ + 351.4411504853425, + 174.9856428159328 + ], + [ + 320.91171811888233, + 166.72231948091854 + ], + [ + 303.62012184213427, + 179.89189499807236 + ], + [ + 334.0877280054071, + 186.7384633853612 + ], + [ + 351.03508443413824, + 173.26428829873612 + ], + [ + 320.4679783272196, + 165.00974488617064 + ], + [ + 303.14345117403826, + 178.16545676857302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 396.350300917253, + "ymin": 0.0, + "xmax": 659.6600389411465, + "ymax": 83.35587989569365 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 431.43566335183544, + 30.963132893158615 + ], + [ + 426.3838165247818, + 34.424727481978834 + ], + [ + 653.071361644068, + 83.35587989569365 + ], + [ + 657.0433097437026, + 79.26757985559016 + ], + [ + 402.31820797873104, + -159.91756917426198 + ], + [ + 396.350300917253, + -157.3183695096385 + ], + [ + 655.0938712362223, + -120.09010174665843 + ], + [ + 659.6600389411465, + -123.23588542512516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.3836140669424, + "ymin": 0.0, + "xmax": 1066.0436295898626, + "ymax": 155.46097009721456 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 953.3836140669424, + 153.082071271643 + ], + [ + 964.3251876582153, + 155.46097009721456 + ], + [ + 1013.2844369456081, + 37.0241767021634 + ], + [ + 1004.0933397217973, + 35.397660905808436 + ], + [ + 1008.3771262625783, + -65.4177228425666 + ], + [ + 1021.4726879642903, + -63.51773439306771 + ], + [ + 1066.0436295898626, + -155.3635660248956 + ], + [ + 1055.384381416046, + -156.5870146931602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 303.1557751022149, + "ymin": 165.05402095655052, + "xmax": 351.451619404357, + "ymax": 188.51829400336362 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 334.5371563103042, + 188.51829400336362 + ], + [ + 351.451619404357, + 175.03002160845278 + ], + [ + 320.9231585108787, + 166.76647266495786 + ], + [ + 303.63241091754287, + 179.93640440679118 + ], + [ + 334.09905576277447, + 186.7833236871625 + ], + [ + 351.0455828375119, + 173.30879207839695 + ], + [ + 320.4794505599073, + 165.05402095655052 + ], + [ + 303.1557751022149, + 178.21009240941646 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00065/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00065/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..63921417702ce3adf99a2763f15f38bde7bc4e12 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00065/meta.json @@ -0,0 +1,1842 @@ +{ + "frame_id": 65, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 32.5, + "sim_timestamp": 875.2387767431792 + }, + "drone_pose": { + "x": -141.3924848969971, + "y": -45.90157843277749, + "z": 20.000001823462526, + "pitch": -42.70372491039374, + "yaw": 65.00274973364358, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.31053781509399414, + -0.6660337448120117, + 0.6782074570655823, + 60.915565490722656 + ], + [ + 0.9063280820846558, + 0.42257487773895264, + -2.9802322387695312e-08, + -108.75112915039062 + ], + [ + -0.28659337759017944, + 0.6146783828735352, + 0.7348705530166626, + -83.43427276611328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.07326881620568, + "y": -45.35041015337427, + "z": 20.000001120633375 + }, + "t1_image_uv": [ + 523.8577789567206, + -525.9760965799494 + ], + "t1_depth": 0.46622579873626857 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -132.66718292236328, + "y": -27.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.097397149043594, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 595, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -132.66717529296875, + "y": -27.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4238574206829071, + "y": 0.45299437642097473, + "z": 0.9008419513702393 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.1977815489612, + "ymin": 324.3018182031571, + "xmax": 660.0610746390229, + "ymax": 395.18240976088066 + }, + "corners_3d": [ + [ + -132.64657592773438, + -27.807790756225586, + 0.04329591989517212 + ], + [ + -133.28720092773438, + -27.167160034179688, + 0.04329591989517212 + ], + [ + -132.68777465820312, + -26.56773567199707, + 0.04329591989517212 + ], + [ + -132.04714965820312, + -27.20836639404297, + 0.04329591989517212 + ], + [ + -132.64657592773438, + -27.807790756225586, + 1.8449797630310059 + ], + [ + -133.28720092773438, + -27.167160034179688, + 1.8449797630310059 + ], + [ + -132.68777465820312, + -26.56773567199707, + 1.8449797630310059 + ], + [ + -132.04714965820312, + -27.20836639404297, + 1.8449797630310059 + ] + ], + "corners_2d": [ + [ + 630.4791443405805, + 395.18240976088066 + ], + [ + 659.2018621350976, + 387.82903902846044 + ], + [ + 649.2545001202809, + 369.45613490764293 + ], + [ + 621.0354070587742, + 376.5156439392881 + ], + [ + 630.0495382865881, + 349.83308616199986 + ], + [ + 660.0610746390229, + 342.52888905531603 + ], + [ + 649.6599141845956, + 324.3018182031571 + ], + [ + 620.1977815489612, + 331.30141536791314 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 65, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 466102, + "2": 151212, + "3": 39716, + "4": 60923, + "6": 15680, + "7": 162, + "10": 6, + "12": 2925, + "14": 11600, + "24": 15069, + "25": 158205 + }, + "instance_pixel_counts": { + "3662": 29952, + "11605": 30370, + "17240": 11148, + "17496": 2734, + "20066": 1152, + "20565": 9346, + "21907": 57618, + "21909": 5244, + "22155": 1165, + "22421": 2239, + "22931": 98552, + "22933": 5702, + "23138": 101, + "23443": 274554, + "23445": 104, + "23955": 9555, + "23957": 3, + "24467": 60, + "25493": 13, + "25600": 257, + "25856": 1703, + "26003": 558, + "36096": 595, + "36352": 532, + "36608": 563, + "36864": 630, + "37009": 242, + "37376": 605, + "41216": 4544, + "41728": 7056, + "46483": 13232, + "47201": 7905, + "47713": 1101, + "48225": 770, + "48531": 11140, + "48737": 31197, + "49249": 4041, + "49761": 3657, + "50579": 833, + "51297": 51754, + "51526": 30971, + "51809": 7529, + "52321": 5234, + "52833": 558, + "53345": 58, + "53857": 102, + "54366": 158002, + "54878": 203, + "56970": 2362, + "57482": 15128, + "57994": 16602, + "58506": 554, + "60819": 1091, + "62355": 620, + "64403": 53 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 595, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -132.66717529296875, + "y": -27.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.49607908725738525, + "y": 0.4086633324623108, + "z": 0.9102634191513062 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.8236426153425, + "ymin": 322.8764374401058, + "xmax": 659.5135467347355, + "ymax": 396.67151864478996 + }, + "corners_3d": [ + [ + -132.72898864746094, + -27.827512741088867, + 0.033874452114105225 + ], + [ + -133.3069305419922, + -27.249574661254883, + 0.033874452114105225 + ], + [ + -132.60536193847656, + -26.54801368713379, + 0.033874452114105225 + ], + [ + -132.0274200439453, + -27.125951766967773, + 0.033874452114105225 + ], + [ + -132.72898864746094, + -27.827512741088867, + 1.8544013500213623 + ], + [ + -133.3069305419922, + -27.249574661254883, + 1.8544013500213623 + ], + [ + -132.60536193847656, + -26.54801368713379, + 1.8544013500213623 + ], + [ + -132.0274200439453, + -27.125951766967773, + 1.8544013500213623 + ] + ], + "corners_2d": [ + [ + 632.7217309091484, + 396.67151864478996 + ], + [ + 658.6674237309276, + 390.0143740120112 + ], + [ + 647.0555272760682, + 368.49276259055245 + ], + [ + 621.6413698182048, + 374.83967382198307 + ], + [ + 632.3893276956546, + 350.83944032470134 + ], + [ + 659.5135467347355, + 344.2262314261992 + ], + [ + 647.3674813239904, + 322.8764374401058 + ], + [ + 620.8236426153425, + 329.1679539607615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 532, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -128.584228515625, + "y": -21.777523040771484, + "z": 0.944118320941925 + }, + "extent": { + "x": 0.40577635169029236, + "y": 0.4752282500267029, + "z": 0.9135168194770813 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 579.8146843124193, + "ymin": 196.87669573347628, + "xmax": 617.1969154103195, + "ymax": 260.95471774757976 + }, + "corners_3d": [ + [ + -128.66571044921875, + -22.397085189819336, + 0.03060150146484375 + ], + [ + -129.18336486816406, + -21.599964141845703, + 0.03060150146484375 + ], + [ + -128.50274658203125, + -21.157960891723633, + 0.03060150146484375 + ], + [ + -127.9850845336914, + -21.955081939697266, + 0.03060150146484375 + ], + [ + -128.66571044921875, + -22.397085189819336, + 1.8576351404190063 + ], + [ + -129.18336486816406, + -21.599964141845703, + 1.8576351404190063 + ], + [ + -128.50274658203125, + -21.157960891723633, + 1.8576351404190063 + ], + [ + -127.9850845336914, + -21.955081939697266, + 1.8576351404190063 + ] + ], + "corners_2d": [ + [ + 593.6011170890644, + 260.95471774757976 + ], + [ + 617.1969154103195, + 252.26481626633205 + ], + [ + 605.401659835208, + 240.69745201325117 + ], + [ + 582.0305129685914, + 249.1294956673038 + ], + [ + 591.7994554088409, + 216.71774778936842 + ], + [ + 616.3216280569565, + 208.20153645218772 + ], + [ + 604.0941015667185, + 196.87669573347628 + ], + [ + 579.8146843124193, + 205.13067517319294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 563, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -134.92300415039062, + "y": -20.24505043029785, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.5145947337150574, + "y": 0.4739251732826233, + "z": 0.940209686756134 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 766.460611866392, + "ymin": 216.44664287924653, + "xmax": 813.2488395774894, + "ymax": 286.1181778828259 + }, + "corners_3d": [ + [ + -135.02467346191406, + -20.937204360961914, + 0.003923296928405762 + ], + [ + -135.6211700439453, + -20.200586318969727, + 0.003923296928405762 + ], + [ + -134.8213348388672, + -19.55289649963379, + 0.003923296928405762 + ], + [ + -134.22483825683594, + -20.289514541625977, + 0.003923296928405762 + ], + [ + -135.02467346191406, + -20.937204360961914, + 1.8843426704406738 + ], + [ + -135.6211700439453, + -20.200586318969727, + 1.8843426704406738 + ], + [ + -134.8213348388672, + -19.55289649963379, + 1.8843426704406738 + ], + [ + -134.22483825683594, + -20.289514541625977, + 1.8843426704406738 + ] + ], + "corners_2d": [ + [ + 782.5996849447808, + 286.1181778828259 + ], + [ + 806.4444964684882, + 278.4808127758114 + ], + [ + 789.9651553943385, + 261.98545327974443 + ], + [ + 766.460611866392, + 269.3113963738402 + ], + [ + 788.4868684209646, + 240.12339596351848 + ], + [ + 813.2488395774894, + 232.62405263180426 + ], + [ + 795.9650758546375, + 216.44664287924653 + ], + [ + 771.5690848756785, + 223.62803138416098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 630, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -136.24693298339844, + "y": -27.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4368945360183716, + "y": 0.4245275855064392, + "z": 0.8797611594200134 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 733.1773093673381, + "ymin": 360.08973454946033, + "xmax": 779.0037389132626, + "ymax": 432.3995611804036 + }, + "corners_3d": [ + [ + -136.25567626953125, + -27.7968807220459, + 0.06437671184539795 + ], + [ + -136.85604858398438, + -27.196508407592773, + 0.06437671184539795 + ], + [ + -136.23818969726562, + -26.578645706176758, + 0.06437671184539795 + ], + [ + -135.6378173828125, + -27.179018020629883, + 0.06437671184539795 + ], + [ + -136.25567626953125, + -27.7968807220459, + 1.8238990306854248 + ], + [ + -136.85604858398438, + -27.196508407592773, + 1.8238990306854248 + ], + [ + -136.23818969726562, + -26.578645706176758, + 1.8238990306854248 + ], + [ + -135.6378173828125, + -27.179018020629883, + 1.8238990306854248 + ] + ], + "corners_2d": [ + [ + 745.8054070264542, + 432.3995611804036 + ], + [ + 772.9470886050941, + 424.93093423973596 + ], + [ + 759.8301987358196, + 404.4326016521235 + ], + [ + 733.1773093673381, + 411.58149288171796 + ], + [ + 750.665165248985, + 387.94713595397724 + ], + [ + 779.0037389132626, + 380.5004608810824 + ], + [ + 765.1663653570691, + 360.08973454946033 + ], + [ + 737.3599068861579, + 367.20352302157744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 605, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -121.42184448242188, + "y": -35.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.30750975012779236, + "y": 0.4152477979660034, + "z": 0.8782393932342529 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 107.99085952678047, + "ymin": 393.76524553724175, + "xmax": 168.13115455151404, + "ymax": 457.5452400296827 + }, + "corners_3d": [ + [ + -121.24107360839844, + -35.842037200927734, + 0.06589847803115845 + ], + [ + -121.93758392333984, + -35.38971710205078, + 0.06589847803115845 + ], + [ + -121.60261535644531, + -34.87392044067383, + 0.06589847803115845 + ], + [ + -120.9061050415039, + -35.32624053955078, + 0.06589847803115845 + ], + [ + -121.24107360839844, + -35.842037200927734, + 1.8223772048950195 + ], + [ + -121.93758392333984, + -35.38971710205078, + 1.8223772048950195 + ], + [ + -121.60261535644531, + -34.87392044067383, + 1.8223772048950195 + ], + [ + -120.9061050415039, + -35.32624053955078, + 1.8223772048950195 + ] + ], + "corners_2d": [ + [ + 131.92688708372998, + 457.5452400296827 + ], + [ + 163.27518339847825, + 454.39912408322056 + ], + [ + 168.13115455151404, + 438.1540273819577 + ], + [ + 137.31927084468958, + 441.1965815130863 + ], + [ + 107.99085952678047, + 413.1351709693917 + ], + [ + 140.8912336242338, + 409.99006365958445 + ], + [ + 146.3592789521814, + 393.76524553724175 + ], + [ + 114.04916384114142, + 396.8020814446178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 4544, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 998.349855601209, + "ymin": 53.25557077131708, + "xmax": 1147.413738605849, + "ymax": 131.075189754413 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1005.3042541527525, + 87.01222708791249 + ], + [ + 998.349855601209, + 104.78167664393521 + ], + [ + 1130.8299955193902, + 131.075189754413 + ], + [ + 1134.1826122570126, + 111.81602640843249 + ], + [ + 1014.6946786530632, + 53.25557077131708 + ], + [ + 1007.8356092097176, + 70.49094380380905 + ], + [ + 1144.3791373420677, + 96.041393767442 + ], + [ + 1147.413738605849, + 77.32097420618578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 7056, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 460.93444288730313, + "ymin": 233.17674297185664, + "xmax": 605.1695350109317, + "ymax": 382.7607173055404 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 466.7600679858915, + 362.96269226132756 + ], + [ + 524.1998190102631, + 382.7607173055404 + ], + [ + 605.1695350109317, + 282.7659901202491 + ], + [ + 552.3539320478006, + 267.0476474712548 + ], + [ + 460.93444288730313, + 328.0827858262411 + ], + [ + 520.216038614348, + 347.7583547411048 + ], + [ + 604.1071631930977, + 248.68269164260744 + ], + [ + 549.7341298783493, + 233.17674297185664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 978.8308816151549, + "ymin": 74.66224870648722, + "xmax": 993.9249433264673, + "ymax": 101.95308784018448 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 988.1868136071623, + 97.58272176392569 + ], + [ + 980.706931697882, + 96.10205691955952 + ], + [ + 978.8308816151549, + 100.45162010495312 + ], + [ + 986.3586913198903, + 101.95308784018448 + ], + [ + 993.9249433264673, + 76.11544328944683 + ], + [ + 986.3082408685286, + 74.66224870648722 + ], + [ + 984.4409414298984, + 78.93143965237897 + ], + [ + 992.1073633383677, + 80.40539083535248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.2679273199662, + "ymin": 0.0, + "xmax": 977.1376185868278, + "ymax": 253.79783737344474 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 897.7888169899513, + 253.79783737344474 + ], + [ + 902.870973458798, + 242.51694907139074 + ], + [ + 695.8330916195596, + 190.60082018050147 + ], + [ + 688.2679273199662, + 200.39930096080587 + ], + [ + 971.9964956548313, + -76.20993670762846 + ], + [ + 977.1376185868278, + -84.55494452519594 + ], + [ + 710.2660385003398, + -122.08421458405388 + ], + [ + 700.9607473589011, + -115.10906361581823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 294.23017460531304, + "ymin": 168.86784089153477, + "xmax": 747.6724798636901, + "ymax": 696.3631824544916 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 698.4085668565091, + 696.3631824544916 + ], + [ + 710.794879457818, + 668.8692220095071 + ], + [ + 419.96925954977155, + 547.9025719299286 + ], + [ + 402.86226983004053, + 570.0597258712726 + ], + [ + 729.9117518377602, + 316.7390564188085 + ], + [ + 747.6724798636901, + 287.91006007257306 + ], + [ + 322.1176533643559, + 168.86784089153477 + ], + [ + 294.23017460531304, + 189.7720094458693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2970657086687788400, + "instance_id": 28861, + "pixel_count": null, + "type_id": "BP_StreetLight_simple25_60_SM_2", + "bbox_3d": { + "center_world": { + "x": -149.7042694091797, + "y": 11.851532936096191, + "z": 4.030004978179932 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.4440380301394, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 14.166086824959166 + }, + "corners_3d": [ + [ + -149.9238739013672, + 13.7682523727417, + 0.15328621864318848 + ], + [ + -149.4846649169922, + 13.768251419067383, + 0.15328621864318848 + ], + [ + -149.4846649169922, + 9.934813499450684, + 0.15328621864318848 + ], + [ + -149.9238739013672, + 9.934814453125, + 0.15328621864318848 + ], + [ + -149.9238739013672, + 13.7682523727417, + 7.906723976135254 + ], + [ + -149.4846649169922, + 13.768251419067383, + 7.906723976135254 + ], + [ + -149.4846649169922, + 9.934813499450684, + 7.906723976135254 + ], + [ + -149.9238739013672, + 9.934814453125, + 7.906723976135254 + ] + ], + "corners_2d": [ + [ + 1265.6664813476914, + -13.114108573120348 + ], + [ + 1256.4440380301394, + -14.494075665603305 + ], + [ + 1256.834322218585, + 12.63562825880058 + ], + [ + 1266.5484335699223, + 14.166086824959166 + ], + [ + 1338.302787581895, + -177.19254312013152 + ], + [ + 1327.7948207779723, + -178.2396481497252 + ], + [ + 1332.4816236879915, + -157.53320971686196 + ], + [ + 1343.6322506345814, + -156.35747925192163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.0916449927638, + "ymin": 183.08108375876475, + "xmax": 354.55577661082475, + "ymax": 207.80383410001457 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 337.017663853094, + 207.80383410001457 + ], + [ + 354.55577661082475, + 193.69398003906093 + ], + [ + 323.4956069277705, + 184.81095936159608 + ], + [ + 305.57685847162185, + 198.57131299555186 + ], + [ + 336.57245798489294, + 206.05170359956026 + ], + [ + 354.14441837511396, + 191.9552557822208 + ], + [ + 323.0451253502391, + 183.08108375876475 + ], + [ + 305.0916449927638, + 196.8278645355336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 406.1227513544173, + "ymin": 0.0, + "xmax": 671.64657964621, + "ymax": 91.04558877923483 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 440.26739933266197, + 36.55492695116749 + ], + [ + 435.1488168213815, + 40.0535297151111 + ], + [ + 663.3541285769257, + 91.04558877923483 + ], + [ + 667.3939880104831, + 86.89054927307672 + ], + [ + 412.16613964951785, + -155.30319890334408 + ], + [ + 406.1227513544173, + -152.6711783545453 + ], + [ + 667.0080048483667, + -113.77949743720933 + ], + [ + 671.64657964621, + -116.98614581164713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.6455326138761, + "ymin": 0.0, + "xmax": 1084.1807978656318, + "ymax": 166.5776256690467 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 967.6455326138761, + 164.07230250055474 + ], + [ + 978.7758686145266, + 166.5776256690467 + ], + [ + 1028.526755560128, + 45.470850556733126 + ], + [ + 1019.1883640925129, + 43.76404718596905 + ], + [ + 1026.0559901152578, + -56.29741841610007 + ], + [ + 1039.4290969407282, + -54.286877759948084 + ], + [ + 1084.1807978656318, + -148.58658586289158 + ], + [ + 1073.3193483232617, + -149.87469081244126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.1041902011973, + "ymin": 183.12580854164472, + "xmax": 354.56638160113823, + "ymax": 207.8490034605199 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 337.02914111711897, + 207.8490034605199 + ], + [ + 354.56638160113823, + 193.73880509007697 + ], + [ + 323.50722074638736, + 184.85555710428528 + ], + [ + 305.58936735620165, + 198.6162593882374 + ], + [ + 336.5839690027166, + 206.09700579986938 + ], + [ + 354.1550539529249, + 192.00021012011914 + ], + [ + 323.0567722517351, + 183.12580854164472 + ], + [ + 305.1041902011973, + 196.8729414455476 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00066/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00066/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e23acff1939f96abe3123ce9ae475cdd93c9cfcc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00066/meta.json @@ -0,0 +1,1839 @@ +{ + "frame_id": 66, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 33.0, + "sim_timestamp": 888.9522354600485 + }, + "drone_pose": { + "x": -141.07326881620568, + "y": -45.35041015337427, + "z": 20.000001120633375, + "pitch": -42.661091279323145, + "yaw": 64.48884644156924, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3167163133621216, + -0.663676917552948, + 0.6776604652404785, + 61.22501754760742 + ], + [ + 0.9025014042854309, + 0.4306868314743042, + -2.9802322387695312e-08, + -107.7870101928711 + ], + [ + -0.2918594181537628, + 0.6115895509719849, + 0.735374927520752, + -83.61690521240234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.7228973444305, + "y": -44.77961466142946, + "z": 20.0000006721291 + }, + "t1_image_uv": [ + 502.0607255913692, + -524.6550233494887 + ], + "t1_depth": 0.48979247577398327 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -132.16718292236328, + "y": -26.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999998, + 360.00000000000006 + ], + "depth": 28.120076136209143, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 563, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -132.16717529296875, + "y": -26.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.42063474655151367, + "y": 0.4460498094558716, + "z": 0.8937738537788391 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.560726271176, + "ymin": 324.68807046810946, + "xmax": 659.6979151357708, + "ymax": 394.80153223753507 + }, + "corners_3d": [ + [ + -132.14920043945312, + -27.300601959228516, + 0.050364017486572266 + ], + [ + -132.78001403808594, + -26.66979217529297, + 0.050364017486572266 + ], + [ + -132.18515014648438, + -26.07492446899414, + 0.050364017486572266 + ], + [ + -131.55433654785156, + -26.705734252929688, + 0.050364017486572266 + ], + [ + -132.14920043945312, + -27.300601959228516, + 1.8379117250442505 + ], + [ + -132.78001403808594, + -26.66979217529297, + 1.8379117250442505 + ], + [ + -132.18515014648438, + -26.07492446899414, + 1.8379117250442505 + ], + [ + -131.55433654785156, + -26.705734252929688, + 1.8379117250442505 + ] + ], + "corners_2d": [ + [ + 630.5042682798494, + 394.80153223753507 + ], + [ + 658.8619627803129, + 387.75136268012517 + ], + [ + 649.2337926598987, + 369.4823069816173 + ], + [ + 621.3753047406416, + 376.25192586318667 + ], + [ + 630.080025242163, + 349.81338497716763 + ], + [ + 659.6979151357708, + 342.8110016664671 + ], + [ + 649.6344798506143, + 324.68807046810946 + ], + [ + 620.560726271176, + 331.39979374580855 + ] + ], + "center_offset_px": [ + -2.2737367544323206e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 66, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 472278, + "2": 152758, + "3": 42902, + "4": 61925, + "6": 16555, + "7": 161, + "9": 40, + "10": 6, + "12": 2987, + "14": 11981, + "24": 15452, + "25": 144555 + }, + "instance_pixel_counts": { + "3662": 29511, + "11605": 32791, + "12117": 1, + "16994": 68, + "17240": 11614, + "17496": 2937, + "20066": 1428, + "20565": 10110, + "21907": 60927, + "21909": 5513, + "22155": 2167, + "22421": 2251, + "22931": 102358, + "22933": 5631, + "23443": 272132, + "23445": 166, + "23955": 9459, + "23957": 30, + "24467": 246, + "25600": 298, + "25856": 1867, + "36096": 563, + "36352": 566, + "36608": 569, + "36864": 649, + "37376": 640, + "41216": 4715, + "41728": 7266, + "46483": 16061, + "47201": 8264, + "47713": 1143, + "48225": 793, + "48531": 11095, + "48737": 32818, + "49249": 4291, + "49761": 3801, + "51297": 48892, + "51526": 32414, + "51809": 7113, + "52321": 5400, + "52833": 615, + "53345": 65, + "53857": 123, + "54366": 144555, + "56970": 2423, + "57482": 15559, + "57994": 17225, + "58506": 570, + "60819": 1252, + "61254": 40, + "62355": 609 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 563, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -132.16717529296875, + "y": -26.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5009667873382568, + "y": 0.45704954862594604, + "z": 0.8926969766616821 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.3126627158558, + "ymin": 322.9434186865091, + "xmax": 661.0435086679706, + "ymax": 396.67486190433345 + }, + "corners_3d": [ + [ + -132.19822692871094, + -27.365182876586914, + 0.05144089460372925 + ], + [ + -132.84458923339844, + -26.71881675720215, + 0.05144089460372925 + ], + [ + -132.13612365722656, + -26.010343551635742, + 0.05144089460372925 + ], + [ + -131.48976135253906, + -26.656709671020508, + 0.05144089460372925 + ], + [ + -132.19822692871094, + -27.365182876586914, + 1.8368349075317383 + ], + [ + -132.84458923339844, + -26.71881675720215, + 1.8368349075317383 + ], + [ + -132.13612365722656, + -26.010343551635742, + 1.8368349075317383 + ], + [ + -131.48976135253906, + -26.656709671020508, + 1.8368349075317383 + ] + ], + "corners_2d": [ + [ + 631.0425079179961, + 396.67486190433345 + ], + [ + 660.1498453123615, + 389.4223824569517 + ], + [ + 648.6750209006057, + 367.66762154142884 + ], + [ + 620.176932889799, + 374.5776910238343 + ], + [ + 630.641942274777, + 351.7289312195125 + ], + [ + 661.0435086679706, + 344.5242921095302 + ], + [ + 649.0502128801938, + 322.9434186865091 + ], + [ + 619.3126627158558, + 329.7933217295781 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 566, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -127.66114807128906, + "y": -21.86426544189453, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.46439939737319946, + "y": 0.4709716737270355, + "z": 0.9197226762771606 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 561.5729500056898, + "ymin": 201.65943983842047, + "xmax": 601.1772140589245, + "ymax": 267.9754241696873 + }, + "corners_3d": [ + [ + -127.79411315917969, + -22.51218605041504, + 0.024415194988250732 + ], + [ + -128.30712890625, + -21.722206115722656, + 0.024415194988250732 + ], + [ + -127.52818298339844, + -21.216344833374023, + 0.024415194988250732 + ], + [ + -127.0151596069336, + -22.006324768066406, + 0.024415194988250732 + ], + [ + -127.79411315917969, + -22.51218605041504, + 1.8638606071472168 + ], + [ + -128.30712890625, + -21.722206115722656, + 1.8638606071472168 + ], + [ + -127.52818298339844, + -21.216344833374023, + 1.8638606071472168 + ], + [ + -127.0151596069336, + -22.006324768066406, + 1.8638606071472168 + ] + ], + "corners_2d": [ + [ + 577.3122181479396, + 267.9754241696873 + ], + [ + 601.1772140589245, + 259.3533320004481 + ], + [ + 588.08428094871, + 245.86097000742262 + ], + [ + 564.4927503798565, + 254.1872210115973 + ], + [ + 574.843530971563, + 223.32619810863926 + ], + [ + 599.6656247850143, + 214.8729954552535 + ], + [ + 586.0990270847954, + 201.65943983842047 + ], + [ + 561.5729500056898, + 209.81154555667965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 569, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -134.42300415039062, + "y": -19.74505043029785, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4856347441673279, + "y": 0.44547238945961, + "z": 0.9479181170463562 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 769.070897851485, + "ymin": 217.91173466376625, + "xmax": 813.5078564939121, + "ymax": 286.53197685475584 + }, + "corners_3d": [ + [ + -134.5200653076172, + -20.396867752075195, + -0.0037851333618164062 + ], + [ + -135.0807647705078, + -19.7044734954834, + -0.0037851333618164062 + ], + [ + -134.32594299316406, + -19.093233108520508, + -0.0037851333618164062 + ], + [ + -133.76524353027344, + -19.785627365112305, + -0.0037851333618164062 + ], + [ + -134.5200653076172, + -20.396867752075195, + 1.892051100730896 + ], + [ + -135.0807647705078, + -19.7044734954834, + 1.892051100730896 + ], + [ + -134.32594299316406, + -19.093233108520508, + 1.892051100730896 + ], + [ + -133.76524353027344, + -19.785627365112305, + 1.892051100730896 + ] + ], + "corners_2d": [ + [ + 784.1201633514445, + 286.53197685475584 + ], + [ + 806.6436223346404, + 279.4892043468067 + ], + [ + 791.2840061390489, + 263.83485589669 + ], + [ + 769.070897851485, + 270.60493894801874 + ], + [ + 790.1107846815461, + 240.17543472969325 + ], + [ + 813.5078564939121, + 233.26161042825822 + ], + [ + 797.3893550547697, + 217.91173466376625 + ], + [ + 774.326340555447, + 224.54712184916312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 649, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -135.74693298339844, + "y": -26.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3687744140625, + "y": 0.39642333984375, + "z": 0.8691831827163696 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 734.6367141117023, + "ymin": 362.88522112684365, + "xmax": 776.3766138170828, + "ymax": 430.8535428961883 + }, + "corners_3d": [ + [ + -135.72738647460938, + -27.228839874267578, + 0.07495468854904175 + ], + [ + -136.2880096435547, + -26.668212890625, + 0.07495468854904175 + ], + [ + -135.7664794921875, + -26.146686553955078, + 0.07495468854904175 + ], + [ + -135.2058563232422, + -26.707313537597656, + 0.07495468854904175 + ], + [ + -135.72738647460938, + -27.228839874267578, + 1.8133211135864258 + ], + [ + -136.2880096435547, + -26.668212890625, + 1.8133211135864258 + ], + [ + -135.7664794921875, + -26.146686553955078, + 1.8133211135864258 + ], + [ + -135.2058563232422, + -26.707313537597656, + 1.8133211135864258 + ] + ], + "corners_2d": [ + [ + 745.0917933689851, + 430.8535428961883 + ], + [ + 770.5169250300262, + 424.07442349107595 + ], + [ + 759.6691880578271, + 406.7053330788358 + ], + [ + 734.6367141117023, + 413.2376497442908 + ], + [ + 749.845233917966, + 386.9381346339896 + ], + [ + 776.3766138170828, + 380.18021766948766 + ], + [ + 764.9391638591759, + 362.88522112684365 + ], + [ + 738.8348402319133, + 369.38633803204294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 640, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -120.92184448242188, + "y": -34.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.37684568762779236, + "y": 0.49125486612319946, + "z": 0.9018275737762451 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 105.32017188227019, + "ymin": 387.9089712454872, + "xmax": 172.93320833848594, + "ymax": 456.71125537595395 + }, + "corners_3d": [ + [ + -120.715087890625, + -35.441585540771484, + 0.04231029748916626 + ], + [ + -121.53909301757812, + -34.906471252441406, + 0.04231029748916626 + ], + [ + -121.12860107421875, + -34.27437210083008, + 0.04231029748916626 + ], + [ + -120.30459594726562, + -34.809486389160156, + 0.04231029748916626 + ], + [ + -120.715087890625, + -35.441585540771484, + 1.8459653854370117 + ], + [ + -121.53909301757812, + -34.906471252441406, + 1.8459653854370117 + ], + [ + -121.12860107421875, + -34.27437210083008, + 1.8459653854370117 + ], + [ + -120.30459594726562, + -34.809486389160156, + 1.8459653854370117 + ] + ], + "corners_2d": [ + [ + 129.93622370305025, + 456.71125537595395 + ], + [ + 166.83928995187716, + 453.242668782642 + ], + [ + 172.93320833848594, + 433.48063556958823 + ], + [ + 136.79967210597977, + 436.8102090123941 + ], + [ + 105.32017188227019, + 411.10248072974593 + ], + [ + 144.08879710530346, + 407.63607016958935 + ], + [ + 150.95091844230654, + 387.9089712454872 + ], + [ + 113.03058673919679, + 391.2299755982306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 4715, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1012.4425340270672, + "ymin": 62.161497730435826, + "xmax": 1164.5275696866797, + "ymax": 141.92073226674103 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1019.4593533595936, + 96.15833007656698 + ], + [ + 1012.4425340270672, + 114.33797301869075 + ], + [ + 1147.3464475617866, + 141.92073226674103 + ], + [ + 1150.6583418486227, + 122.16200198191825 + ], + [ + 1029.3401694703734, + 62.161497730435826 + ], + [ + 1022.4322499011316, + 79.80650801504936 + ], + [ + 1161.558440658781, + 106.62959009347472 + ], + [ + 1164.5275696866797, + 87.40873713017601 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 7266, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 466.5416533190913, + "ymin": 244.6663660661759, + "xmax": 613.0931890188427, + "ymax": 397.7323822519323 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 472.26449369291566, + 376.9380866683191 + ], + [ + 530.389804244246, + 397.7323822519323 + ], + [ + 613.0931890188427, + 295.1489469992336 + ], + [ + 559.6413590010291, + 278.68149798894166 + ], + [ + 466.5416533190913, + 341.9729452495647 + ], + [ + 526.5608318957169, + 362.6590363317383 + ], + [ + 612.2610301445006, + 260.9242774725982 + ], + [ + 557.2075057210195, + 244.6663660661759 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 993.3891581649475, + "ymin": 84.84140026095923, + "xmax": 1008.9688900550052, + "ymax": 112.48991545153203 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1002.9002975513223, + 108.00354651640188 + ], + [ + 995.2823418761991, + 106.44809268359961 + ], + [ + 993.3891581649475, + 110.91235058076106 + ], + [ + 1001.0564357823499, + 112.48991545153203 + ], + [ + 1008.9688900550052, + 86.36872159162834 + ], + [ + 1001.2086926182221, + 84.84140026095923 + ], + [ + 999.3263278563651, + 89.22525302581965 + ], + [ + 1007.1377309398858, + 90.7746520187693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.6965945360495, + "ymin": 0.0, + "xmax": 995.0193502403836, + "ymax": 267.05917801918145 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 910.4779984167533, + 267.05917801918145 + ], + [ + 915.6400022655363, + 255.46546862523746 + ], + [ + 705.396557374436, + 200.99728051931783 + ], + [ + 697.6965945360495, + 211.01816126168478 + ], + [ + 989.8681545725551, + -65.99609529124075 + ], + [ + 995.0193502403836, + -74.64685169542224 + ], + [ + 722.5693692278377, + -114.31721805436297 + ], + [ + 713.112562024311, + -107.13661005091762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 295.5493970133936, + "ymin": 187.98093599369517, + "xmax": 761.9231449135355, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 706.4917326875848, + 725.2063539027057 + ], + [ + 719.2484800923138, + 696.5550730135515 + ], + [ + 423.28003349136713, + 568.1491876934283 + ], + [ + 405.6942875874774, + 591.0356179486391 + ], + [ + 743.6059240614984, + 347.5689690309364 + ], + [ + 761.9231449135355, + 316.8076029694196 + ], + [ + 324.4449542141244, + 187.98093599369517 + ], + [ + 295.5493970133936, + 209.92149847256266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2970657086687788400, + "instance_id": 28861, + "pixel_count": null, + "type_id": "BP_StreetLight_simple25_60_SM_2", + "bbox_3d": { + "center_world": { + "x": -149.7042694091797, + "y": 11.851532936096191, + "z": 4.030004978179932 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1274.3496906004414, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 22.666620864018853 + }, + "corners_3d": [ + [ + -149.9238739013672, + 13.7682523727417, + 0.15328621864318848 + ], + [ + -149.4846649169922, + 13.768251419067383, + 0.15328621864318848 + ], + [ + -149.4846649169922, + 9.934813499450684, + 0.15328621864318848 + ], + [ + -149.9238739013672, + 9.934814453125, + 0.15328621864318848 + ], + [ + -149.9238739013672, + 13.7682523727417, + 7.906723976135254 + ], + [ + -149.4846649169922, + 13.768251419067383, + 7.906723976135254 + ], + [ + -149.4846649169922, + 9.934813499450684, + 7.906723976135254 + ], + [ + -149.9238739013672, + 9.934814453125, + 7.906723976135254 + ] + ], + "corners_2d": [ + [ + 1283.7473333630292, + -5.248903243876157 + ], + [ + 1274.3496906004414, + -6.6933292647458416 + ], + [ + 1274.9588151240491, + 21.063001035784737 + ], + [ + 1284.8633237367894, + 22.666620864018853 + ], + [ + 1359.5382887932853, + -170.90177604355074 + ], + [ + 1348.8021564177643, + -172.00099811975429 + ], + [ + 1353.9732832770412, + -150.75142923394895 + ], + [ + 1365.375562419392, + -149.51551470072548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 306.71380277215405, + "ymin": 202.53609568951322, + "xmax": 357.46218620382245, + "ymax": 228.6456676231201 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 339.2883408254911, + 228.6456676231201 + ], + [ + 357.46218620382245, + 213.8243246354584 + ], + [ + 325.7712194529678, + 204.2838437764872 + ], + [ + 307.20915380411026, + 218.72096123698722 + ], + [ + 338.8347540047307, + 226.87616697427393 + ], + [ + 357.04440985039616, + 212.0677750191617 + ], + [ + 325.31259447864664, + 202.53609568951322 + ], + [ + 306.71380277215405, + 216.96003566951592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.62400982687075, + "ymin": 0.0, + "xmax": 682.7290848112968, + "ymax": 98.80600131198827 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 447.99460284406894, + 42.28632662053906 + ], + [ + 442.81171001783656, + 45.829610266673 + ], + [ + 672.8278007387029, + 98.80600131198827 + ], + [ + 676.9283282166268, + 94.57653015326912 + ], + [ + 420.7424553695127, + -150.66967431881972 + ], + [ + 414.62400982687075, + -147.99821002031894 + ], + [ + 678.0252374724522, + -107.48330168447251 + ], + [ + 682.7290848112968, + -110.7578844836305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.3726624222536, + "ymin": 0.0, + "xmax": 1101.429950397474, + "ymax": 177.66413641710747 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 981.3726624222536, + 175.03606043095547 + ], + [ + 992.6991521716246, + 177.66413641710747 + ], + [ + 1042.9201960395926, + 53.72656834111291 + ], + [ + 1033.4314472137016, + 51.943021523289644 + ], + [ + 1043.225933600664, + -47.23401105287161 + ], + [ + 1056.888385131309, + -45.11443583669018 + ], + [ + 1101.429950397474, + -142.02718458618665 + ], + [ + 1090.3616307279121, + -143.37782390500865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 306.72661055547303, + "ymin": 202.58128414579463, + "xmax": 357.47295624180265, + "ymax": 228.69128295987048 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 339.30003368109305, + 228.69128295987048 + ], + [ + 357.47295624180265, + 213.8696074905707 + ], + [ + 325.7830427769567, + 204.32890061604076 + ], + [ + 307.22192354497497, + 218.7663564450883 + ], + [ + 338.8464821607384, + 226.92192002245662 + ], + [ + 357.055211761687, + 212.1131918862909 + ], + [ + 325.32445234006053, + 202.58128414579463 + ], + [ + 306.72661055547303, + 217.00556611490532 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00067/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00067/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..add545b5730116709008a7881add8f5406ed3f6d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00067/meta.json @@ -0,0 +1,1840 @@ +{ + "frame_id": 67, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 33.5, + "sim_timestamp": 905.0571322606411 + }, + "drone_pose": { + "x": -140.7228973444305, + "y": -44.77961466142946, + "z": 20.0000006721291, + "pitch": -42.6594165004149, + "yaw": 64.03022442810251, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3220270872116089, + -0.6611384153366089, + 0.6776389479637146, + 61.36932373046875 + ], + [ + 0.8990252017974854, + 0.43789684772491455, + 0.0, + -106.90458679199219 + ], + [ + -0.2967360019683838, + 0.6092144846916199, + 0.7353947758674622, + -83.7458267211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.34317842946075, + "y": -44.24695809976865, + "z": 20.000000392356473 + }, + "t1_image_uv": [ + 421.2091834956219, + -524.6035597955871 + ], + "t1_depth": 0.4744396885420281 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -131.66718292236328, + "y": -26.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.120967480121116, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 404, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -131.66717529296875, + "y": -26.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3373779356479645, + "y": 0.381110817193985, + "z": 0.8843792676925659 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.6804144860994, + "ymin": 327.22609383528936, + "xmax": 656.489769814304, + "ymax": 392.1427051185262 + }, + "corners_3d": [ + [ + -131.63624572753906, + -26.695812225341797, + 0.05975860357284546 + ], + [ + -132.1752166748047, + -26.15683937072754, + 0.05975860357284546 + ], + [ + -131.69810485839844, + -25.67971420288086, + 0.05975860357284546 + ], + [ + -131.1591339111328, + -26.218687057495117, + 0.05975860357284546 + ], + [ + -131.63624572753906, + -26.695812225341797, + 1.828517198562622 + ], + [ + -132.1752166748047, + -26.15683937072754, + 1.828517198562622 + ], + [ + -131.69810485839844, + -25.67971420288086, + 1.828517198562622 + ], + [ + -131.1591339111328, + -26.218687057495117, + 1.828517198562622 + ] + ], + "corners_2d": [ + [ + 631.5379238524029, + 392.1427051185262 + ], + [ + 655.7981565124117, + 386.27940787182524 + ], + [ + 648.2717149490081, + 371.5688630252289 + ], + [ + 624.3581001361563, + 377.2437180036605 + ], + [ + 631.1649805432849, + 347.6438109193204 + ], + [ + 656.489769814304, + 341.8208934946675 + ], + [ + 648.6277350716268, + 327.22609383528936 + ], + [ + 623.6804144860994, + 332.85385410197 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 67, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 478294, + "2": 155105, + "3": 45932, + "4": 62890, + "6": 16449, + "7": 168, + "9": 237, + "10": 6, + "12": 2747, + "14": 12470, + "24": 16175, + "25": 131127 + }, + "instance_pixel_counts": { + "3662": 29037, + "11605": 35048, + "16994": 275, + "17240": 11095, + "17496": 3145, + "19083": 50, + "20066": 1347, + "20565": 10884, + "21907": 64194, + "21909": 5813, + "22155": 2742, + "22421": 2357, + "22931": 107017, + "22933": 5755, + "23443": 268846, + "23445": 278, + "23955": 8664, + "23957": 57, + "24467": 520, + "25600": 343, + "25856": 2034, + "36096": 404, + "36352": 557, + "36608": 582, + "36864": 601, + "37120": 2, + "37376": 601, + "41216": 4884, + "41728": 7586, + "46483": 18877, + "47201": 8656, + "47713": 1204, + "48225": 818, + "48531": 10176, + "48737": 34615, + "49249": 4581, + "49761": 3914, + "51297": 46846, + "51526": 33853, + "51809": 6631, + "52321": 5567, + "52833": 680, + "53345": 75, + "53857": 129, + "54366": 131127, + "56970": 2494, + "57482": 16071, + "57994": 17821, + "58506": 589, + "60819": 1352, + "61254": 237, + "62355": 563 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 404, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -131.66717529296875, + "y": -26.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4437646269798279, + "y": 0.4276989698410034, + "z": 0.8786908388137817 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.9941437393077, + "ymin": 324.7784394811401, + "xmax": 659.291923522877, + "ymax": 394.7625683189227 + }, + "corners_3d": [ + [ + -131.6785430908203, + -26.80398178100586, + 0.06544703245162964 + ], + [ + -132.28338623046875, + -26.19912338256836, + 0.06544703245162964 + ], + [ + -131.6558074951172, + -25.571544647216797, + 0.06544703245162964 + ], + [ + -131.05096435546875, + -26.176403045654297, + 0.06544703245162964 + ], + [ + -131.6785430908203, + -26.80398178100586, + 1.822828769683838 + ], + [ + -132.28338623046875, + -26.19912338256836, + 1.822828769683838 + ], + [ + -131.6558074951172, + -25.571544647216797, + 1.822828769683838 + ], + [ + -131.05096435546875, + -26.176403045654297, + 1.822828769683838 + ] + ], + "corners_2d": [ + [ + 631.1945207244626, + 394.7625683189227 + ], + [ + 658.4861076650599, + 388.1481597738114 + ], + [ + 648.5564894400776, + 368.8131185543324 + ], + [ + 621.7767049124983, + 375.1492935180596 + ], + [ + 630.8077831437075, + 350.53242411134596 + ], + [ + 659.291923522877, + 343.96177719514225 + ], + [ + 648.9212320643697, + 324.7784394811401 + ], + [ + 620.9941437393077, + 331.06100042942694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 557, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -127.12689971923828, + "y": -22.013185501098633, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4563525319099426, + "y": 0.45781004428863525, + "z": 0.9058644771575928 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 553.1342958221743, + "ymin": 211.43688881840748, + "xmax": 592.4645060922057, + "ymax": 277.29916200767946 + }, + "corners_3d": [ + [ + -127.26028442382812, + -22.64568519592285, + 0.038273394107818604 + ], + [ + -127.75897216796875, + -21.87778091430664, + 0.038273394107818604 + ], + [ + -126.99351501464844, + -21.380685806274414, + 0.038273394107818604 + ], + [ + -126.49482727050781, + -22.148590087890625, + 0.038273394107818604 + ], + [ + -127.26028442382812, + -22.64568519592285, + 1.8500022888183594 + ], + [ + -127.75897216796875, + -21.87778091430664, + 1.8500022888183594 + ], + [ + -126.99351501464844, + -21.380685806274414, + 1.8500022888183594 + ], + [ + -126.49482727050781, + -22.148590087890625, + 1.8500022888183594 + ] + ], + "corners_2d": [ + [ + 568.7779853233101, + 277.29916200767946 + ], + [ + 592.4645060922057, + 268.82423892633926 + ], + [ + 579.766879670358, + 255.1687938566572 + ], + [ + 556.3590290935068, + 263.35300436154546 + ], + [ + 565.9815495761536, + 233.14631010175938 + ], + [ + 590.618580657001, + 224.82703414951894 + ], + [ + 577.4696639661167, + 211.43688881840748 + ], + [ + 553.1342958221743, + 219.45994703941184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 582, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -133.92300415039062, + "y": -19.24505043029785, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4113183617591858, + "y": 0.4172448515892029, + "z": 0.947547972202301 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 772.2971188715196, + "ymin": 220.0144518389594, + "xmax": 812.942255739252, + "ymax": 285.7802664755899 + }, + "corners_3d": [ + [ + -133.98007202148438, + -19.828161239624023, + -0.0034149885177612305 + ], + [ + -134.50523376464844, + -19.179641723632812, + -0.0034149885177612305 + ], + [ + -133.86593627929688, + -18.66193962097168, + -0.0034149885177612305 + ], + [ + -133.3407745361328, + -19.31045913696289, + -0.0034149885177612305 + ], + [ + -133.98007202148438, + -19.828161239624023, + 1.8916809558868408 + ], + [ + -134.50523376464844, + -19.179641723632812, + 1.8916809558868408 + ], + [ + -133.86593627929688, + -18.66193962097168, + 1.8916809558868408 + ], + [ + -133.3407745361328, + -19.31045913696289, + 1.8916809558868408 + ] + ], + "corners_2d": [ + [ + 784.9167563212955, + 285.7802664755899 + ], + [ + 806.1050040422732, + 279.30255294696417 + ], + [ + 793.2329467204828, + 265.9616999147253 + ], + [ + 772.2971188715196, + 272.2253641923347 + ], + [ + 790.9319131643907, + 239.4559867416121 + ], + [ + 812.942255739252, + 233.0971656269288 + ], + [ + 799.431450163768, + 220.0144518389594 + ], + [ + 777.6928668089829, + 226.1546921055177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 601, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -135.24693298339844, + "y": -26.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3394775390625, + "y": 0.34925901889801025, + "z": 0.8783395290374756 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 736.2027655030599, + "ymin": 364.3757704117857, + "xmax": 773.9698099696698, + "ymax": 430.57409093269143 + }, + "corners_3d": [ + [ + -135.24002075195312, + -26.674774169921875, + 0.06580311059951782 + ], + [ + -135.73394775390625, + -26.18084716796875, + 0.06580311059951782 + ], + [ + -135.25384521484375, + -25.70075225830078, + 0.06580311059951782 + ], + [ + -134.75991821289062, + -26.194679260253906, + 0.06580311059951782 + ], + [ + -135.24002075195312, + -26.674774169921875, + 1.8224821090698242 + ], + [ + -135.73394775390625, + -26.18084716796875, + 1.8224821090698242 + ], + [ + -135.25384521484375, + -25.70075225830078, + 1.8224821090698242 + ], + [ + -134.75991821289062, + -26.194679260253906, + 1.8224821090698242 + ] + ], + "corners_2d": [ + [ + 745.6708745238765, + 430.57409093269143 + ], + [ + 768.1518484086114, + 424.73745461724116 + ], + [ + 758.360049539385, + 408.666676094629 + ], + [ + 736.2027655030599, + 414.30678889775004 + ], + [ + 750.499065236955, + 386.19697395401613 + ], + [ + 773.9698099696698, + 380.37883832682485 + ], + [ + 763.6384538004688, + 364.3757704117857 + ], + [ + 740.5201312217715, + 369.989319773085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 2, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -135.28268432617188, + "y": -37.31512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.43870604038238525, + "y": 0.4489123523235321, + "z": 0.8796489238739014 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 532.3216473256501, + "ymin": 698.9345343624932, + "xmax": 587.7599935934333, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -135.20989990234375, + -37.93857192993164, + 0.06448894739151001 + ], + [ + -135.9076385498047, + -37.37355422973633, + 0.06448894739151001 + ], + [ + -135.35546875, + -36.69167709350586, + 0.06448894739151001 + ], + [ + -134.65773010253906, + -37.25669479370117, + 0.06448894739151001 + ], + [ + -135.20989990234375, + -37.93857192993164, + 1.823786735534668 + ], + [ + -135.9076385498047, + -37.37355422973633, + 1.823786735534668 + ], + [ + -135.35546875, + -36.69167709350586, + 1.823786735534668 + ], + [ + -134.65773010253906, + -37.25669479370117, + 1.823786735534668 + ] + ], + "corners_2d": [ + [ + 544.9730885955906, + 789.2675848559226 + ], + [ + 587.7599935934333, + 779.4666787451756 + ], + [ + 580.1295927106311, + 739.6422795885385 + ], + [ + 538.6032715240249, + 748.8516020060881 + ], + [ + 538.8872776035587, + 750.0377645337695 + ], + [ + 584.4409278763037, + 739.9253883100721 + ], + [ + 576.4490355154936, + 698.9345343624932 + ], + [ + 532.3216473256501, + 708.3994796741142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 601, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -120.42184448242188, + "y": -34.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.28354978561401367, + "y": 0.40232053399086, + "z": 0.8669670820236206 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 111.18479784863678, + "ymin": 388.76296271130474, + "xmax": 169.28083734646395, + "ymax": 450.0155494627742 + }, + "corners_3d": [ + [ + -120.23886108398438, + -34.814903259277344, + 0.07717078924179077 + ], + [ + -120.91368865966797, + -34.37666320800781, + 0.07717078924179077 + ], + [ + -120.60482788085938, + -33.90105438232422, + 0.07717078924179077 + ], + [ + -119.93000030517578, + -34.33929443359375, + 0.07717078924179077 + ], + [ + -120.23886108398438, + -34.814903259277344, + 1.8111050128936768 + ], + [ + -120.91368865966797, + -34.37666320800781, + 1.8111050128936768 + ], + [ + -120.60482788085938, + -33.90105438232422, + 1.8111050128936768 + ], + [ + -119.93000030517578, + -34.33929443359375, + 1.8111050128936768 + ] + ], + "corners_2d": [ + [ + 134.4693799403659, + 450.0155494627742 + ], + [ + 164.4895157464918, + 447.3775333623985 + ], + [ + 169.28083734646395, + 432.57116747403734 + ], + [ + 139.7320308973437, + 435.1293192606967 + ], + [ + 111.18479784863678, + 406.17565545036575 + ], + [ + 142.6496565499425, + 403.54058920579837 + ], + [ + 148.00526364687107, + 388.76296271130474 + ], + [ + 117.05774011603, + 391.314672237026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 4884, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1026.4667381694226, + "ymin": 70.74694977446586, + "xmax": 1181.7365572254098, + "ymax": 152.5456910362757 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1033.5218280903964, + 105.00588526852573 + ], + [ + 1026.4667381694226, + 123.63938441585614 + ], + [ + 1163.9530219585051, + 152.5456910362757 + ], + [ + 1167.1903479438924, + 132.23937147624528 + ], + [ + 1043.9177830224926, + 70.74694977446586 + ], + [ + 1036.986693924426, + 88.84616616572936 + ], + [ + 1178.869565519906, + 116.97975391041459 + ], + [ + 1181.7365572254098, + 97.20911998330752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 7586, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 471.7568782485237, + "ymin": 256.44390906398746, + "xmax": 620.7630563997769, + "ymax": 413.3809546872558 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 477.39720203785885, + 391.5391953911422 + ], + [ + 536.3173916567098, + 413.3809546872558 + ], + [ + 620.7630563997769, + 307.8614166251418 + ], + [ + 566.5842474080575, + 290.61233841129047 + ], + [ + 471.7568782485237, + 356.49477670765197 + ], + [ + 532.6320839968673, + 378.24769208393764 + ], + [ + 620.1586331512884, + 273.4892704478155 + ], + [ + 564.3267961953255, + 256.44390906398746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1007.9945903026749, + "ymin": 94.85731843158624, + "xmax": 1024.084766293171, + "ymax": 122.89359735574214 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1017.6655103526464, + 118.2782618154699 + ], + [ + 1009.8984999542736, + 116.64529110706314 + ], + [ + 1007.9945903026749, + 121.23712608384338 + ], + [ + 1015.8124778544316, + 122.89359735574214 + ], + [ + 1024.084766293171, + 96.46161795276731 + ], + [ + 1016.169497661748, + 94.85731843158624 + ], + [ + 1014.278747339923, + 99.36888434859168 + ], + [ + 1022.2468811256437, + 100.99666803446519 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.8823798522408, + "ymin": 0.0, + "xmax": 1013.3530459077248, + "ymax": 280.498424077667 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 923.249808302865, + 280.498424077667 + ], + [ + 928.4794921184066, + 268.5571345596728 + ], + [ + 714.7135491604877, + 211.4419247076299 + ], + [ + 706.8823798522408, + 221.71422378446002 + ], + [ + 1008.2157196055002, + -55.862810808714016 + ], + [ + 1013.3530459077248, + -64.86064721464612 + ], + [ + 734.6889492618496, + -106.8177866364282 + ], + [ + 725.0815035544417, + -99.40057905468973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 296.02469026826486, + "ymin": 208.68271097568356, + "xmax": 777.3190933206828, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 714.9771091247723, + 756.0615149453452 + ], + [ + 728.0947625425234, + 726.1090928137128 + ], + [ + 426.3035416351096, + 589.7550140353717 + ], + [ + 408.2237510585336, + 613.4706315554095 + ], + [ + 758.4568724841658, + 381.5805430150207 + ], + [ + 777.3190933206828, + 348.54406307290503 + ], + [ + 326.0238461128653, + 208.68271097568356 + ], + [ + 296.02469026826486, + 231.84286956026475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 307.5392804084478, + "ymin": 223.62453750290013, + "xmax": 359.7480439093995, + "ymax": 251.32396533679105 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 340.8816241149441, + 251.32396533679105 + ], + [ + 359.7480439093995, + 235.66666755577154 + ], + [ + 327.3129472665524, + 225.39123068342025 + ], + [ + 308.0479265974049, + 240.62391647118972 + ], + [ + 340.41686982709615, + 249.53638287595243 + ], + [ + 359.32140330897886, + 233.89137543404615 + ], + [ + 326.8433724884988, + 223.62453750290013 + ], + [ + 307.5392804084478, + 238.8446269823891 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 422.22962076697934, + "ymin": 0.0, + "xmax": 693.3781834953382, + "ymax": 106.36260936194407 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 454.97672099900603, + 47.74889097924921 + ], + [ + 449.7268587686811, + 51.34622242648169 + ], + [ + 681.884637585615, + 106.36260936194407 + ], + [ + 686.0449526149466, + 102.04777399026409 + ], + [ + 428.429133417872, + -146.53675290575063 + ], + [ + 422.22962076697934, + -143.81714010706878 + ], + [ + 688.608591126081, + -101.6040185927053 + ], + [ + 693.3781834953382, + -104.95737776915007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 995.1026125307792, + "ymin": 0.0, + "xmax": 1118.685504929399, + "ymax": 188.6553566100352 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 995.1026125307792, + 185.90059980851052 + ], + [ + 1006.6402254694578, + 188.6553566100352 + ], + [ + 1057.1688439912064, + 61.58432839083065 + ], + [ + 1047.5196937580604, + 59.72240769951895 + ], + [ + 1060.620984500276, + -38.44348868303814 + ], + [ + 1074.5982447915899, + -36.20917574741253 + ], + [ + 1118.685504929399, + -136.05010690711674 + ], + [ + 1107.394547745828, + -137.46560875574977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 307.55243251146703, + "ymin": 223.6702176649303, + "xmax": 359.75904197048493, + "ymax": 251.37004465699118 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 340.89360429606205, + 251.37004465699118 + ], + [ + 359.75904197048493, + 235.71243153411746 + ], + [ + 327.3250523523939, + 225.43677395704842 + ], + [ + 308.06103848804855, + 240.66978302776084 + ], + [ + 340.4288872647296, + 249.58260549573131 + ], + [ + 359.3324348806144, + 233.9372788529792 + ], + [ + 326.85551395832687, + 223.6702176649303 + ], + [ + 307.55243251146703, + 238.89063420541737 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00068/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00068/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46f1634cc6cacca5d530ecc8d626fa0c5b15793c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00068/meta.json @@ -0,0 +1,2048 @@ +{ + "frame_id": 68, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 34.0, + "sim_timestamp": 920.2128897660878 + }, + "drone_pose": { + "x": -140.34317842946075, + "y": -44.24695809976865, + "z": 20.000000392356473, + "pitch": -42.62674338909874, + "yaw": 63.691390894411725, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.32610249519348145, + -0.6595687866210938, + 0.6772195100784302, + 61.405784606933594 + ], + [ + 0.896419882774353, + 0.44320589303970337, + 2.9802322387695312e-08, + -106.1958999633789 + ], + [ + -0.30014768242836, + 0.6070729494094849, + 0.7357810735702515, + -83.70043182373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.9348672564703, + "y": -43.72982271373044, + "z": 20.00000022216279 + }, + "t1_image_uv": [ + 363.0335250606324, + -523.5921190012302 + ], + "t1_depth": 0.4742377516129379 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -131.16718292236328, + "y": -25.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 28.138378057022628, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 528, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -131.16717529296875, + "y": -25.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.302734375, + "y": 0.4057873487472534, + "z": 0.8690577745437622 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.294529823824, + "ymin": 328.2357644080784, + "xmax": 656.8454292044796, + "ymax": 391.13402832524616 + }, + "corners_3d": [ + [ + -131.09429931640625, + -26.188764572143555, + 0.0750848650932312 + ], + [ + -131.66818237304688, + -25.614892959594727, + 0.0750848650932312 + ], + [ + -131.24005126953125, + -25.1867618560791, + 0.0750848650932312 + ], + [ + -130.66616821289062, + -25.76063346862793, + 0.0750848650932312 + ], + [ + -131.09429931640625, + -26.188764572143555, + 1.8132004737854004 + ], + [ + -131.66818237304688, + -25.614892959594727, + 1.8132004737854004 + ], + [ + -131.24005126953125, + -25.1867618560791, + 1.8132004737854004 + ], + [ + -130.66616821289062, + -25.76063346862793, + 1.8132004737854004 + ] + ], + "corners_2d": [ + [ + 630.2926299963738, + 391.13402832524616 + ], + [ + 656.1524057495188, + 385.0160599793509 + ], + [ + 649.501841267963, + 371.8096492767128 + ], + [ + 623.9762997090852, + 377.75048225498756 + ], + [ + 629.873207003227, + 347.4140513735954 + ], + [ + 656.8454292044796, + 341.33854836609765 + ], + [ + 649.9033445026487, + 328.2357644080784 + ], + [ + 623.294529823824, + 334.12795991694867 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 68, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 483984, + "2": 156722, + "3": 48994, + "4": 63948, + "6": 16717, + "7": 178, + "9": 553, + "10": 5, + "12": 2857, + "14": 12953, + "24": 16636, + "25": 118053 + }, + "instance_pixel_counts": { + "3662": 28652, + "11605": 37210, + "16994": 389, + "17240": 10941, + "17496": 3366, + "19083": 287, + "20066": 1258, + "20565": 11784, + "21907": 67366, + "21909": 6117, + "22155": 3090, + "22421": 2532, + "22931": 112464, + "22933": 5656, + "23443": 263882, + "23445": 269, + "23955": 7972, + "23957": 85, + "24467": 1029, + "25600": 391, + "25856": 2197, + "36096": 528, + "36352": 572, + "36608": 597, + "36864": 520, + "37120": 9, + "37376": 631, + "41216": 5070, + "41728": 7883, + "46483": 21975, + "47201": 9057, + "47713": 1244, + "48225": 844, + "48531": 9296, + "48737": 36427, + "49249": 4896, + "49761": 4035, + "51297": 44224, + "51526": 35296, + "51809": 6068, + "52321": 5734, + "52833": 753, + "53345": 87, + "53857": 137, + "54366": 118053, + "56970": 2564, + "57482": 16602, + "57994": 18419, + "58506": 607, + "60819": 1449, + "61254": 553, + "62355": 528 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 528, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -131.16717529296875, + "y": -25.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.43925291299819946, + "y": 0.33522215485572815, + "z": 0.8851221799850464 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 624.1538535319938, + "ymin": 325.42199729073366, + "xmax": 656.1091945062753, + "ymax": 394.0553148215912 + }, + "corners_3d": [ + [ + -131.24073791503906, + -26.23539924621582, + 0.05902045965194702 + ], + [ + -131.71481323242188, + -25.761323928833008, + 0.05902045965194702 + ], + [ + -131.09361267089844, + -25.140127182006836, + 0.05902045965194702 + ], + [ + -130.61953735351562, + -25.61420249938965, + 0.05902045965194702 + ], + [ + -131.24073791503906, + -26.23539924621582, + 1.8292648792266846 + ], + [ + -131.71481323242188, + -25.761323928833008, + 1.8292648792266846 + ], + [ + -131.09361267089844, + -25.140127182006836, + 1.8292648792266846 + ], + [ + -130.61953735351562, + -25.61420249938965, + 1.8292648792266846 + ] + ], + "corners_2d": [ + [ + 634.0143716918517, + 394.0553148215912 + ], + [ + 655.4318203121591, + 388.96707640264526 + ], + [ + 645.8268407171796, + 369.7809466723233 + ], + [ + 624.8097181472594, + 374.6569070973429 + ], + [ + 633.7501050491823, + 349.5095664982388 + ], + [ + 656.1091945062753, + 344.4558240679056 + ], + [ + 646.0769995489246, + 325.42199729073366 + ], + [ + 624.1538535319938, + 330.2559241399521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 572, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -126.79549407958984, + "y": -22.14607048034668, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.38525390625, + "y": 0.42992308735847473, + "z": 0.8678520917892456 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 550.8479740709752, + "ymin": 224.59263255395896, + "xmax": 587.1842396470845, + "ymax": 286.66807526208584 + }, + "corners_3d": [ + [ + -126.88444519042969, + -22.716459274291992, + 0.07628577947616577 + ], + [ + -127.35274505615234, + -21.995330810546875, + 0.07628577947616577 + ], + [ + -126.70654296875, + -21.575681686401367, + 0.07628577947616577 + ], + [ + -126.23824310302734, + -22.296810150146484, + 0.07628577947616577 + ], + [ + -126.88444519042969, + -22.716459274291992, + 1.8119900226593018 + ], + [ + -127.35274505615234, + -21.995330810546875, + 1.8119900226593018 + ], + [ + -126.70654296875, + -21.575681686401367, + 1.8119900226593018 + ], + [ + -126.23824310302734, + -22.296810150146484, + 1.8119900226593018 + ] + ], + "corners_2d": [ + [ + 564.5276227350272, + 286.66807526208584 + ], + [ + 587.1842396470845, + 278.59382657411726 + ], + [ + 576.4890000524975, + 266.7043926896768 + ], + [ + 554.0654731913294, + 274.5399046541998 + ], + [ + 561.6572671537855, + 244.21132890161897 + ], + [ + 585.1963274711198, + 236.27218240331482 + ], + [ + 574.1352766626693, + 224.59263255395896 + ], + [ + 550.8479740709752, + 232.28836051315142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 597, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -133.42300415039062, + "y": -18.74505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5295459032058716, + "y": 0.49129027128219604, + "z": 0.9378581643104553 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 769.6268347811992, + "ymin": 218.56941794521532, + "xmax": 817.7601107937954, + "ymax": 288.76614594993936 + }, + "corners_3d": [ + [ + -133.52536010742188, + -19.460107803344727, + 0.006279706954956055 + ], + [ + -134.1437225341797, + -18.69649887084961, + 0.006279706954956055 + ], + [ + -133.32064819335938, + -18.029993057250977, + 0.006279706954956055 + ], + [ + -132.70228576660156, + -18.793601989746094, + 0.006279706954956055 + ], + [ + -133.52536010742188, + -19.460107803344727, + 1.8819960355758667 + ], + [ + -134.1437225341797, + -18.69649887084961, + 1.8819960355758667 + ], + [ + -133.32064819335938, + -18.029993057250977, + 1.8819960355758667 + ], + [ + -132.70228576660156, + -18.793601989746094, + 1.8819960355758667 + ] + ], + "corners_2d": [ + [ + 785.7111736702901, + 288.76614594993936 + ], + [ + 810.7938903022762, + 281.1973726831816 + ], + [ + 794.3200418991808, + 263.99430016411776 + ], + [ + 769.6268347811992, + 271.24149690461485 + ], + [ + 791.7125335277126, + 242.87394711705474 + ], + [ + 817.7601107937954, + 235.4414830101266 + ], + [ + 800.4744269544774, + 218.56941794521532 + ], + [ + 774.845923239379, + 225.67358549923733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 520, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -134.74693298339844, + "y": -25.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5057079792022705, + "y": 0.43925657868385315, + "z": 0.9046427607536316 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 730.7414731247612, + "ymin": 359.6096398925669, + "xmax": 779.2457620358557, + "ymax": 436.43225254811495 + }, + "corners_3d": [ + [ + -134.79391479492188, + -26.355953216552734, + 0.039495110511779785 + ], + [ + -135.41513061523438, + -25.734750747680664, + 0.039495110511779785 + ], + [ + -134.699951171875, + -25.019573211669922, + 0.039495110511779785 + ], + [ + -134.0787353515625, + -25.640775680541992, + 0.039495110511779785 + ], + [ + -134.79391479492188, + -26.355953216552734, + 1.848780632019043 + ], + [ + -135.41513061523438, + -25.734750747680664, + 1.848780632019043 + ], + [ + -134.699951171875, + -25.019573211669922, + 1.848780632019043 + ], + [ + -134.0787353515625, + -25.640775680541992, + 1.848780632019043 + ] + ], + "corners_2d": [ + [ + 744.5698660808462, + 436.43225254811495 + ], + [ + 773.0040577836949, + 429.1570841213558 + ], + [ + 758.5629749219828, + 405.20452889565024 + ], + [ + 730.7414731247612, + 412.11716649260325 + ], + [ + 749.5164361558054, + 390.7090660515302 + ], + [ + 779.2457620358557, + 383.4552392414806 + ], + [ + 763.9807048563509, + 359.6096398925669 + ], + [ + 734.9201819622706, + 366.4856391794952 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 9, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -134.78268432617188, + "y": -36.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3272412121295929, + "y": 0.43425413966178894, + "z": 0.8774421215057373 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 530.6344315060351, + "ymin": 703.3526653847523, + "xmax": 582.7737124253247, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -134.65113830566406, + -37.34272384643555, + 0.06669574975967407 + ], + [ + -135.3260955810547, + -36.7961540222168, + 0.06669574975967407 + ], + [ + -134.9142303466797, + -36.28752517700195, + 0.06669574975967407 + ], + [ + -134.23927307128906, + -36.8340950012207, + 0.06669574975967407 + ], + [ + -134.65113830566406, + -37.34272384643555, + 1.821579933166504 + ], + [ + -135.3260955810547, + -36.7961540222168, + 1.821579933166504 + ], + [ + -134.9142303466797, + -36.28752517700195, + 1.821579933166504 + ], + [ + -134.23927307128906, + -36.8340950012207, + 1.821579933166504 + ] + ], + "corners_2d": [ + [ + 541.5149133686895, + 782.7212027586925 + ], + [ + 582.7737124253247, + 773.5738945269952 + ], + [ + 577.3572948138991, + 743.8756403586144 + ], + [ + 537.012296923548, + 752.6074835850898 + ], + [ + 535.2628367732157, + 743.3434433069715 + ], + [ + 579.1678879272987, + 733.9128761599565 + ], + [ + 573.5061059225889, + 703.3526653847523 + ], + [ + 530.6344315060351, + 712.3287983117732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 631, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -119.92184448242188, + "y": -33.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.29414549469947815, + "y": 0.4127539098262787, + "z": 0.8740161657333374 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 111.57402893306664, + "ymin": 386.1825044197084, + "xmax": 170.68866100636484, + "ymax": 448.19081039874453 + }, + "corners_3d": [ + [ + -119.73588562011719, + -34.329471588134766, + 0.07012170553207397 + ], + [ + -120.42821502685547, + -33.87986755371094, + 0.07012170553207397 + ], + [ + -120.10780334472656, + -33.3864860534668, + 0.07012170553207397 + ], + [ + -119.41547393798828, + -33.836090087890625, + 0.07012170553207397 + ], + [ + -119.73588562011719, + -34.329471588134766, + 1.8181540966033936 + ], + [ + -120.42821502685547, + -33.87986755371094, + 1.8181540966033936 + ], + [ + -120.10780334472656, + -33.3864860534668, + 1.8181540966033936 + ], + [ + -119.41547393798828, + -33.836090087890625, + 1.8181540966033936 + ] + ], + "corners_2d": [ + [ + 134.95191651860097, + 448.19081039874453 + ], + [ + 165.62145804454474, + 445.6272661792441 + ], + [ + 170.68866100636484, + 430.3415084147943 + ], + [ + 140.51726460846822, + 432.82472635653846 + ], + [ + 111.57402893306664, + 403.9935056885796 + ], + [ + 143.72381493081366, + 401.43359999697697 + ], + [ + 149.38209796475672, + 386.1825044197084 + ], + [ + 117.77921447276208, + 388.65858161501944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5070, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1039.4291888635375, + "ymin": 79.54782499216532, + "xmax": 1197.683702018504, + "ymax": 163.22041378221047 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1046.4523429418969, + 114.04182958737192 + ], + [ + 1039.4291888635375, + 133.12444552168702 + ], + [ + 1179.4158769613, + 163.22041378221047 + ], + [ + 1182.502687313764, + 142.37644734408093 + ], + [ + 1057.3293520802729, + 79.54782499216532 + ], + [ + 1050.4469701363644, + 98.09602812037303 + ], + [ + 1194.9966012685404, + 127.40965480050517 + ], + [ + 1197.683702018504, + 107.09963247496535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 7883, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 476.89346374696805, + "ymin": 268.8451105223039, + "xmax": 628.1604803867408, + "ymax": 429.75645698383295 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 482.4468031574311, + 406.9162197812807 + ], + [ + 542.2501386377373, + 429.75645698383295 + ], + [ + 628.1604803867408, + 321.1356011073428 + ], + [ + 573.197349397128, + 303.15450177542147 + ], + [ + 476.89346374696805, + 371.80634770253477 + ], + [ + 538.7170827964703, + 394.5791642133561 + ], + [ + 627.7828658596314, + 286.62970448547975 + ], + [ + 571.1134859978273, + 268.8451105223039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1069.2441473407973, + "ymin": 0.0, + "xmax": 1085.7784829090801, + "ymax": 4.763692048490782 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1078.4637505863232, + 1.0803277306790733 + ], + [ + 1070.745075901422, + -0.23564262958313975 + ], + [ + 1069.2441473407973, + 3.4292033001432856 + ], + [ + 1077.0132089332396, + 4.763692048490782 + ], + [ + 1085.7784829090801, + -22.307635764852193 + ], + [ + 1077.9127168072273, + -23.58586682196062 + ], + [ + 1076.4376679055483, + -20.025855198557338 + ], + [ + 1084.3557841102208, + -18.729333919839917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 451.9632433749656, + "ymin": 0.0, + "xmax": 464.44754000580633, + "ymax": 0.8248699459002182 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 459.68497241242835, + 0.8248699459002182 + ], + [ + 464.44754000580633, + -2.201026189365507 + ], + [ + 459.3035478429059, + -3.2897872387962366 + ], + [ + 454.52119249725905, + -0.276551676178201 + ], + [ + 457.1929311244395, + -18.55407386828074 + ], + [ + 462.03551138698356, + -21.508191642182396 + ], + [ + 456.82609801720514, + -22.571010552956125 + ], + [ + 451.9632433749656, + -19.629422809980156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1021.7324986033007, + "ymin": 105.12340118108796, + "xmax": 1038.2965823556463, + "ymax": 133.52368724044516 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1031.5421785171397, + 128.77944678751606 + ], + [ + 1023.6284104498433, + 127.0758591078017 + ], + [ + 1021.7324986033007, + 131.79526431143486 + ], + [ + 1029.6988179118894, + 133.52368724044516 + ], + [ + 1038.2965823556463, + 106.79790937052951 + ], + [ + 1030.2287165915272, + 105.12340118108796 + ], + [ + 1028.3486478290781, + 109.76261818644477 + ], + [ + 1036.4711607179788, + 111.46196292086523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.5466742236194, + "ymin": 0.0, + "xmax": 1031.123942952124, + "ymax": 294.18248249240327 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 935.5835520775247, + 294.18248249240327 + ], + [ + 940.8381255491329, + 281.88764379426834 + ], + [ + 723.4762789576343, + 222.33178361976266 + ], + [ + 715.5466742236194, + 232.86383068565 + ], + [ + 1026.0609188779117, + -45.22819408446941 + ], + [ + 1031.123942952124, + -54.578575844310365 + ], + [ + 746.1727348828387, + -98.6853560504336 + ], + [ + 736.4574370343552, + -91.02529052724168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.1851516643765, + "ymin": 230.83069800700707, + "xmax": 794.7015043314065, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 724.5487773158402, + 787.9691864773388 + ], + [ + 737.9431525008494, + 756.6285489828203 + ], + [ + 429.74503970418954, + 612.4636174636885 + ], + [ + 411.21481737517007, + 637.0753327076307 + ], + [ + 775.4668635094963, + 417.56835795562694 + ], + [ + 794.7015043314065, + 382.04586545666206 + ], + [ + 328.2459428296254, + 230.83069800700707 + ], + [ + 297.1851516643765, + 255.32070327896338 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 309.048067073941, + "ymin": 246.1715750510413, + "xmax": 362.7789937453213, + "ymax": 275.54825011443467 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 343.2526577358612, + 275.54825011443467 + ], + [ + 362.7789937453213, + 258.98022818946635 + ], + [ + 329.50895234546005, + 247.95593028563468 + ], + [ + 309.569190811303, + 264.05564280556416 + ], + [ + 342.7778167731426, + 273.74413210745917 + ], + [ + 362.3446090651615, + 257.1876114369654 + ], + [ + 329.0293002517216, + 246.1715750510413 + ], + [ + 309.048067073941, + 262.259386069555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 428.6894784990024, + "ymin": 0.0, + "xmax": 703.0338557650567, + "ymax": 114.40180019988492 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 460.9172645144615, + 53.891184582458436 + ], + [ + 455.60887982282543, + 57.54644472126927 + ], + [ + 690.0729072188105, + 114.40180019988492 + ], + [ + 694.2790294472179, + 109.99904285727118 + ], + [ + 434.9611164771005, + -141.649987538564 + ], + [ + 428.6894784990024, + -138.879490278515 + ], + [ + 698.214562836695, + -95.12152308279082 + ], + [ + 703.0338557650567, + -98.55529298887916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1008.0111648398383, + "ymin": 0.0, + "xmax": 1134.4059726233736, + "ymax": 199.81964163943863 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1008.0111648398383, + 196.94960148451045 + ], + [ + 1019.7573194446667, + 199.81964163943863 + ], + [ + 1070.1115119038432, + 69.64084716821685 + ], + [ + 1060.308266573723, + 67.70942499049715 + ], + [ + 1077.0426968037775, + -29.284069871546762 + ], + [ + 1091.329411433027, + -26.94407915218875 + ], + [ + 1134.4059726233736, + -129.6761817019659 + ], + [ + 1122.9022872538108, + -131.14967102490505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 309.06154239724157, + "ymin": 246.21771382173296, + "xmax": 362.79019092421845, + "ymax": 275.5947534686758 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 343.264897344031, + 275.5947534686758 + ], + [ + 362.79019092421845, + 259.0264366571877 + ], + [ + 329.5213166671212, + 248.00192683681462 + ], + [ + 309.58262373183214, + 264.10194461884714 + ], + [ + 342.7900955823174, + 273.7907844025975 + ], + [ + 362.3558413611313, + 257.2339648256649 + ], + [ + 329.04170280337485, + 246.21771382173296 + ], + [ + 309.06154239724157, + 262.30583404057063 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00069/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00069/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7447a673301acbef390bb7865c21fa9d92aa52f2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00069/meta.json @@ -0,0 +1,2152 @@ +{ + "frame_id": 69, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 34.5, + "sim_timestamp": 931.9847586618271 + }, + "drone_pose": { + "x": -139.9348672564703, + "y": -43.72982271373044, + "z": 20.00000022216279, + "pitch": -42.5916575763971, + "yaw": 63.44321940509383, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.32914167642593384, + -0.6585209369659424, + 0.6767687797546387, + 61.32002258300781 + ], + [ + 0.8944917917251587, + 0.44708454608917236, + -2.9802322387695312e-08, + -105.6196517944336 + ], + [ + -0.3025728464126587, + 0.6053640842437744, + 0.7361956834793091, + -83.53687286376953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.5001346532013, + "y": -43.22280852082151, + "z": 20.000000121492207 + }, + "t1_image_uv": [ + 313.56501303189424, + -522.5070408430363 + ], + "t1_depth": 0.4769681199307178 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -130.66718292236328, + "y": -25.187763214111328, + "z": 0.9441329622273043 + }, + "image_uv": [ + 640.0, + 359.9999999999998 + ], + "depth": 28.157130898448255, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 614, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -130.66717529296875, + "y": -25.187763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4725292921066284, + "y": 0.4537316858768463, + "z": 0.877419650554657 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.9648206762453, + "ymin": 324.1198188463785, + "xmax": 660.3634980977474, + "ymax": 395.4792741513589 + }, + "corners_3d": [ + [ + -130.6804656982422, + -25.842727661132812, + 0.06671333312988281 + ], + [ + -131.3221435546875, + -25.2010555267334, + 0.06671333312988281 + ], + [ + -130.6538848876953, + -24.532798767089844, + 0.06671333312988281 + ], + [ + -130.01220703125, + -25.174470901489258, + 0.06671333312988281 + ], + [ + -130.6804656982422, + -25.842727661132812, + 1.8215526342391968 + ], + [ + -131.3221435546875, + -25.2010555267334, + 1.8215526342391968 + ], + [ + -130.6538848876953, + -24.532798767089844, + 1.8215526342391968 + ], + [ + -130.01220703125, + -25.174470901489258, + 1.8215526342391968 + ] + ], + "corners_2d": [ + [ + 630.4749110891877, + 395.4792741513589 + ], + [ + 659.5157245826198, + 388.6779778386748 + ], + [ + 649.240269194608, + 368.07285663906987 + ], + [ + 620.7860101058044, + 374.56893174033263 + ], + [ + 630.0579124085934, + 351.31424995265036 + ], + [ + 660.3634980977474, + 344.55893157809817 + ], + [ + 649.6322092873311, + 324.1198188463785 + ], + [ + 619.9648206762453, + 330.5592258385162 + ] + ], + "center_offset_px": [ + 0.0, + -2.2737367544323206e-13 + ] + }, + "trace_timestep_index": 69, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 489809, + "2": 157805, + "3": 51996, + "4": 65123, + "6": 17134, + "7": 224, + "9": 1010, + "10": 12, + "12": 2983, + "14": 13445, + "24": 16850, + "25": 105209 + }, + "instance_pixel_counts": { + "3662": 28399, + "11605": 39237, + "16994": 481, + "17240": 10942, + "17496": 3586, + "19083": 597, + "20066": 1172, + "20565": 12759, + "21907": 70503, + "21909": 6419, + "22155": 3141, + "22421": 2602, + "22931": 119011, + "22933": 5436, + "23443": 257558, + "23445": 255, + "23955": 7257, + "23957": 113, + "24467": 1752, + "25600": 472, + "25856": 2358, + "36096": 614, + "36352": 586, + "36608": 560, + "36864": 621, + "37120": 14, + "37376": 588, + "41216": 5222, + "41728": 8223, + "46483": 25287, + "47201": 9438, + "47713": 1301, + "48225": 871, + "48531": 8441, + "48737": 38317, + "49249": 5248, + "49761": 4163, + "51297": 41081, + "51526": 36724, + "51809": 5554, + "52321": 5906, + "52833": 835, + "53345": 100, + "53857": 140, + "54366": 105209, + "56970": 2645, + "57482": 17178, + "57994": 19011, + "58506": 626, + "60819": 1539, + "61254": 1010, + "62355": 486 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 614, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -130.66717529296875, + "y": -25.187763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.37498044967651367, + "y": 0.4141577184200287, + "z": 0.8878839612007141 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.2861756532974, + "ymin": 326.1915958769956, + "xmax": 657.927299820422, + "ymax": 393.23074763994305 + }, + "corners_3d": [ + [ + -130.63946533203125, + -25.74576759338379, + 0.056249022483825684 + ], + [ + -131.2251739501953, + -25.16006088256836, + 0.056249022483825684 + ], + [ + -130.69488525390625, + -24.629758834838867, + 0.056249022483825684 + ], + [ + -130.1091766357422, + -25.215465545654297, + 0.056249022483825684 + ], + [ + -130.63946533203125, + -25.74576759338379, + 1.832016944885254 + ], + [ + -131.2251739501953, + -25.16006088256836, + 1.832016944885254 + ], + [ + -130.69488525390625, + -24.629758834838867, + 1.832016944885254 + ], + [ + -130.1091766357422, + -25.215465545654297, + 1.832016944885254 + ] + ], + "corners_2d": [ + [ + 630.7288587388907, + 393.23074763994305 + ], + [ + 657.173792207173, + 387.05211249250596 + ], + [ + 649.0424901131786, + 370.69064665614377 + ], + [ + 623.0221943751664, + 376.6482662980485 + ], + [ + 630.3191980562236, + 348.55510319009926 + ], + [ + 657.927299820422, + 342.420037190741 + ], + [ + 649.4317893003306, + 326.1915958769956 + ], + [ + 622.2861756532974, + 332.09781385116634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 586, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -126.54119873046875, + "y": -22.1900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4683935344219208, + "y": 0.4484521448612213, + "z": 0.8905788064002991 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 547.9391372331456, + "ymin": 233.05080026711724, + "xmax": 588.1438621296867, + "ymax": 299.88771118343107 + }, + "corners_3d": [ + [ + -126.68978118896484, + -22.821266174316406, + 0.053559064865112305 + ], + [ + -127.17826843261719, + -22.069059371948242, + 0.053559064865112305 + ], + [ + -126.39261627197266, + -21.558849334716797, + 0.053559064865112305 + ], + [ + -125.90412902832031, + -22.31105613708496, + 0.053559064865112305 + ], + [ + -126.68978118896484, + -22.821266174316406, + 1.8347166776657104 + ], + [ + -127.17826843261719, + -22.069059371948242, + 1.8347166776657104 + ], + [ + -126.39261627197266, + -21.558849334716797, + 1.8347166776657104 + ], + [ + -125.90412902832031, + -22.31105613708496, + 1.8347166776657104 + ] + ], + "corners_2d": [ + [ + 564.124563720903, + 299.88771118343107 + ], + [ + 588.1438621296867, + 291.2792656679823 + ], + [ + 575.0947332383585, + 276.41719341507553 + ], + [ + 551.3831606723077, + 284.71247785414585 + ], + [ + 561.1180918968964, + 256.1268255984267 + ], + [ + 586.1114767495344, + 247.65701270668131 + ], + [ + 572.5991600650594, + 233.05080026711724 + ], + [ + 547.9391372331456, + 241.2006987163907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 560, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -132.92300415039062, + "y": -18.24505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.42502927780151367, + "y": 0.46619993448257446, + "z": 0.9370915293693542 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 772.4836158870111, + "ymin": 220.9620341971747, + "xmax": 816.010398363835, + "ymax": 287.2999482816836 + }, + "corners_3d": [ + [ + -132.95993041992188, + -18.874835968017578, + 0.007046341896057129 + ], + [ + -133.5467071533203, + -18.150224685668945, + 0.007046341896057129 + ], + [ + -132.88607788085938, + -17.615264892578125, + 0.007046341896057129 + ], + [ + -132.29930114746094, + -18.339876174926758, + 0.007046341896057129 + ], + [ + -132.95993041992188, + -18.874835968017578, + 1.8812294006347656 + ], + [ + -133.5467071533203, + -18.150224685668945, + 1.8812294006347656 + ], + [ + -132.88607788085938, + -17.615264892578125, + 1.8812294006347656 + ], + [ + -132.29930114746094, + -18.339876174926758, + 1.8812294006347656 + ] + ], + "corners_2d": [ + [ + 785.3172340217819, + 287.2999482816836 + ], + [ + 809.1365097942756, + 280.21769402074153 + ], + [ + 796.0025635094893, + 266.3791640281218 + ], + [ + 772.4836158870111, + 273.21829469356965 + ], + [ + 791.2773247577499, + 241.48703721920833 + ], + [ + 816.010398363835, + 234.5338975030239 + ], + [ + 802.2290120641966, + 220.9620341971747 + ], + [ + 777.8190524856366, + 227.6669996470711 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 621, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -134.24693298339844, + "y": -25.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3519043028354645, + "y": 0.3508654832839966, + "z": 0.8847624063491821 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 735.4363542333509, + "ymin": 364.6989331238986, + "xmax": 773.5205208211096, + "ymax": 431.71017477396543 + }, + "corners_3d": [ + [ + -134.24766540527344, + -25.684696197509766, + 0.05937546491622925 + ], + [ + -134.74386596679688, + -25.18849754333496, + 0.05937546491622925 + ], + [ + -134.24620056152344, + -24.69083023071289, + 0.05937546491622925 + ], + [ + -133.75, + -25.187028884887695, + 0.05937546491622925 + ], + [ + -134.24766540527344, + -25.684696197509766, + 1.8289003372192383 + ], + [ + -134.74386596679688, + -25.18849754333496, + 1.8289003372192383 + ], + [ + -134.24620056152344, + -24.69083023071289, + 1.8289003372192383 + ], + [ + -133.75, + -25.187028884887695, + 1.8289003372192383 + ] + ], + "corners_2d": [ + [ + 745.0018486708826, + 431.71017477396543 + ], + [ + 767.6876996629552, + 426.02123679352496 + ], + [ + 757.7786360471513, + 409.31366681890563 + ], + [ + 735.4363542333509, + 414.80337773284384 + ], + [ + 749.8284620136571, + 387.0033242321647 + ], + [ + 773.5205208211096, + 381.3332262324138 + ], + [ + 763.0597907830361, + 364.6989331238986 + ], + [ + 739.7420371117321, + 370.1616158227498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 14, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -134.28268432617188, + "y": -36.31512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.43971678614616394, + "y": 0.4473364055156708, + "z": 0.8787615299224854 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 526.9091148221723, + "ymin": 697.2909059641742, + "xmax": 581.9240710890082, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -134.21176147460938, + -36.9383659362793, + 0.06537634134292603 + ], + [ + -134.9070587158203, + -36.37533187866211, + 0.06537634134292603 + ], + [ + -134.35360717773438, + -35.6918830871582, + 0.06537634134292603 + ], + [ + -133.65830993652344, + -36.25491714477539, + 0.06537634134292603 + ], + [ + -134.21176147460938, + -36.9383659362793, + 1.822899341583252 + ], + [ + -134.9070587158203, + -36.37533187866211, + 1.822899341583252 + ], + [ + -134.35360717773438, + -35.6918830871582, + 1.822899341583252 + ], + [ + -133.65830993652344, + -36.25491714477539, + 1.822899341583252 + ] + ], + "corners_2d": [ + [ + 539.250105813663, + 787.24046716477 + ], + [ + 581.9240710890082, + 777.9415220998134 + ], + [ + 574.8827505131317, + 738.0710233685007 + ], + [ + 533.4773990882567, + 746.8066008696595 + ], + [ + 532.8272630716772, + 747.9028680704739 + ], + [ + 578.2496584151645, + 738.3125463608515 + ], + [ + 570.8968838403543, + 697.2909059641742 + ], + [ + 526.9091148221723, + 706.2651033645517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 588, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -119.42184448242188, + "y": -33.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.33433592319488525, + "y": 0.3139575123786926, + "z": 0.889776349067688 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 115.63376418087466, + "ymin": 383.4867547713285, + "xmax": 168.36258643316023, + "ymax": 447.6269934294655 + }, + "corners_3d": [ + [ + -119.34062957763672, + -33.80937194824219, + 0.05436152219772339 + ], + [ + -119.86724090576172, + -33.467384338378906, + 0.05436152219772339 + ], + [ + -119.50305938720703, + -32.906585693359375, + 0.05436152219772339 + ], + [ + -118.97644805908203, + -33.248573303222656, + 0.05436152219772339 + ], + [ + -119.34062957763672, + -33.80937194824219, + 1.8339142799377441 + ], + [ + -119.86724090576172, + -33.467384338378906, + 1.8339142799377441 + ], + [ + -119.50305938720703, + -32.906585693359375, + 1.8339142799377441 + ], + [ + -118.97644805908203, + -33.248573303222656, + 1.8339142799377441 + ] + ], + "corners_2d": [ + [ + 139.1892370682748, + 447.6269934294655 + ], + [ + 162.45541100592465, + 445.7534359152163 + ], + [ + 168.36258643316023, + 428.4362840431841 + ], + [ + 145.52453954985486, + 430.2433618977396 + ], + [ + 115.63376418087466, + 402.6303141666116 + ], + [ + 140.03966902304694, + 400.7597908320712 + ], + [ + 146.63830442742994, + 383.4867547713285 + ], + [ + 122.70302576304448, + 385.2878747925992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5222, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1051.8001910771995, + "ymin": 88.31357504535595, + "xmax": 1212.9675963467098, + "ymax": 173.78757039537044 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1058.7355745226778, + 123.03432531379178 + ], + [ + 1051.8001910771995, + 142.57999950893662 + ], + [ + 1194.2901060640627, + 173.78757039537044 + ], + [ + 1197.1629520805309, + 152.39410118172097 + ], + [ + 1070.0828261750962, + 88.31357504535595 + ], + [ + 1063.3068239861268, + 107.32475186783884 + ], + [ + 1210.5262602978905, + 137.74372728626838 + ], + [ + 1212.9675963467098, + 116.8822558471305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 8223, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 481.98171153109433, + "ymin": 281.7301821261275, + "xmax": 635.4269523423154, + "ymax": 446.8485947133157 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 487.44808632586137, + 423.02020807578737 + ], + [ + 548.238015337634, + 446.8485947133157 + ], + [ + 635.4269523423154, + 334.8694291539871 + ], + [ + 579.6054520496571, + 316.1753128605232 + ], + [ + 481.98171153109433, + 387.8582216612235 + ], + [ + 544.8640082646601, + 411.64405236135303 + ], + [ + 635.2788586436479, + 300.23704841695735 + ], + [ + 577.693627695019, + 281.7301821261275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1083.359837498158, + "ymin": 0.0, + "xmax": 1100.3512211758584, + "ymax": 13.341438313349727 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1092.6917335366916, + 9.557101937716425 + ], + [ + 1084.8278838049546, + 8.190492759689732 + ], + [ + 1083.359837498158, + 11.955345162306003 + ], + [ + 1091.2758119980724, + 13.341438313349727 + ], + [ + 1100.3512211758584, + -14.041728019258528 + ], + [ + 1092.3346581872877, + -15.369763092486949 + ], + [ + 1090.8958182610183, + -11.710898904768726 + ], + [ + 1098.9665760699036, + -10.36360640129891 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 457.27650014283483, + "ymin": 0.0, + "xmax": 469.8100065894263, + "ymax": 7.004528914396815 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 464.99839120707907, + 7.004528914396815 + ], + [ + 469.8100065894263, + 3.9228777196256033 + ], + [ + 464.6175980346512, + 2.8020427362185956 + ], + [ + 459.7859564544517, + 5.87054722304174 + ], + [ + 462.5562144506747, + -12.494925579136407 + ], + [ + 467.44899067476877, + -15.504270794936133 + ], + [ + 462.1898007198112, + -16.598685979165225 + ], + [ + 457.27650014283483, + -13.602357057883921 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.058683433895, + "ymin": 115.43828871310143, + "xmax": 1052.0833578367217, + "ymax": 144.19907776880447 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1044.9945870616762, + 139.3208371616583 + ], + [ + 1036.9314841369765, + 137.55028043172075 + ], + [ + 1035.058683433895, + 142.40235923408986 + ], + [ + 1043.1761576554281, + 144.19907776880447 + ], + [ + 1052.0833578367217, + 117.17948414633085 + ], + [ + 1043.8602122986613, + 115.43828871310143 + ], + [ + 1042.006304713224, + 120.2102939736528 + ], + [ + 1050.286032774763, + 121.97767214148934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.9163357895301, + "ymin": 0.0, + "xmax": 1048.8793268378572, + "ymax": 308.0504803015968 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 947.8048516896101, + 308.0504803015968 + ], + [ + 953.0504181692977, + 295.3840655406897 + ], + [ + 731.9209461086908, + 233.48802036216642 + ], + [ + 723.9163357895301, + 244.2971812597139 + ], + [ + 1043.9429855378876, + -34.345430932448096 + ], + [ + 1048.8793268378572, + -44.06906435448843 + ], + [ + 757.3408649070216, + -90.28885382618967 + ], + [ + 747.5478912317644, + -82.36873739461731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 298.7196563835312, + "ymin": 254.63806848977794, + "xmax": 814.3005178235629, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 735.2128741875174, + 821.394114837585 + ], + [ + 748.8183292434892, + 788.5411641758892 + ], + [ + 433.51865448227227, + 636.4406006602966 + ], + [ + 414.5624143508876, + 662.0384800601481 + ], + [ + 794.842782305667, + 456.3335789651836 + ], + [ + 814.3005178235629, + 418.00561987528033 + ], + [ + 330.84962588148585, + 254.63806848977794 + ], + [ + 298.7196563835312, + 280.6233419935364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 310.94712073646764, + "ymin": 270.40597521592105, + "xmax": 366.31901954081775, + "ymax": 301.6170073156465 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 346.1343949408534, + 301.6170073156465 + ], + [ + 366.31901954081775, + 284.0259584231922 + ], + [ + 332.09876532466217, + 272.20725740597356 + ], + [ + 311.4810794549971, + 289.28107862576854 + ], + [ + 345.6494899284759, + 299.79748441912506 + ], + [ + 365.87707599728327, + 282.2169299628331 + ], + [ + 331.6088599341384, + 270.40597521592105 + ], + [ + 310.94712073646764, + 287.46878535742934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 434.2120451571342, + "ymin": 0.0, + "xmax": 712.0248918895254, + "ymax": 122.629409960099 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 466.03155031104944, + 60.32050942234292 + ], + [ + 460.6691726465291, + 64.03992694130392 + ], + [ + 697.6686947779995, + 122.629409960099 + ], + [ + 701.9110444005922, + 118.13267317702375 + ], + [ + 440.5521381678945, + -136.51827603256362 + ], + [ + 434.2120451571342, + -133.69160917549277 + ], + [ + 707.1665246112165, + -88.45675194268676 + ], + [ + 712.0248918895254, + -91.97641030648242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1020.5163348886507, + "ymin": 0.0, + "xmax": 1149.2611860197, + "ymax": 211.0101226402286 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1020.5163348886507, + 208.0310122508206 + ], + [ + 1032.4749136822181, + 211.0101226402286 + ], + [ + 1082.2719316717778, + 77.62197651237784 + ], + [ + 1072.3151654688975, + 75.62636610318555 + ], + [ + 1093.0637738696037, + -20.04344066940922 + ], + [ + 1107.6659220900347, + -17.601853379615704 + ], + [ + 1149.2611860197, + -123.32450857066306 + ], + [ + 1137.5457069499935, + -124.85219871222313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 310.9609285972301, + "ymin": 270.4525537707455, + "xmax": 366.33041100662746, + "ymax": 301.6639053512508 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 346.1468933230274, + 301.6639053512508 + ], + [ + 366.33041100662746, + 284.07258765028774 + ], + [ + 332.1113933538499, + 272.2536880934315 + ], + [ + 311.4948425406373, + 289.32779150186127 + ], + [ + 345.66202959073826, + 299.8445373511812 + ], + [ + 365.8885042821985, + 282.2637099033189 + ], + [ + 331.62152817968996, + 270.4525537707455 + ], + [ + 310.9609285972301, + 287.5156502034214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.953678485799, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 0.749481899698651 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1123.953678485799, + -57.52948293029118 + ], + [ + 1130.298927014027, + -14.937623007535649 + ], + [ + 1272.1846972313404, + 0.749481899698651 + ], + [ + 1253.4179308468988, + -44.39868642171729 + ], + [ + 1204.3346930439875, + -300.3277598515316 + ], + [ + 1220.5665919476442, + -276.2292854535317 + ], + [ + 1392.858408332487, + -267.16482170121867 + ], + [ + 1358.6728225760417, + -292.97690797106463 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00070/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00070/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..388be4bb25d0420c3ef64a9d53a0492a8ceaaa92 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00070/meta.json @@ -0,0 +1,2256 @@ +{ + "frame_id": 70, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 35.0, + "sim_timestamp": 943.2439945449587 + }, + "drone_pose": { + "x": -139.5001346532013, + "y": -43.22280852082151, + "z": 20.000000121492207, + "pitch": -42.56002845797834, + "yaw": 63.27337320760542, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33126020431518555, + -0.6578759551048279, + 0.6763623356819153, + 61.118858337402344 + ], + [ + 0.8931625485420227, + 0.449734091758728, + 0.0, + -105.15750885009766 + ], + [ + -0.3041832447052002, + 0.6041014790534973, + 0.7365691065788269, + -83.27594757080078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.0420313732768, + "y": -42.726080696329404, + "z": 20.000000063811648 + }, + "t1_image_uv": [ + 267.33350562151264, + -521.5298566727495 + ], + "t1_depth": 0.4785367201778591 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -130.16718292236328, + "y": -24.687763214111328, + "z": 0.9441183137892222 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.17407538857481, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 601, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -130.16717529296875, + "y": -24.687763214111328, + "z": 0.944118320941925 + }, + "extent": { + "x": 0.3576757609844208, + "y": 0.3904199004173279, + "z": 0.8908650875091553 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.283780621439, + "ymin": 326.68239105666106, + "xmax": 656.9108820483283, + "ymax": 392.70301351172634 + }, + "corners_3d": [ + [ + -130.14402770996094, + -25.216747283935547, + 0.053253233432769775 + ], + [ + -130.69615173339844, + -24.664609909057617, + 0.053253233432769775 + ], + [ + -130.19032287597656, + -24.15877914428711, + 0.053253233432769775 + ], + [ + -129.63819885253906, + -24.71091651916504, + 0.053253233432769775 + ], + [ + -130.14402770996094, + -25.216747283935547, + 1.8349833488464355 + ], + [ + -130.69615173339844, + -24.664609909057617, + 1.8349833488464355 + ], + [ + -130.19032287597656, + -24.15877914428711, + 1.8349833488464355 + ], + [ + -129.63819885253906, + -24.71091651916504, + 1.8349833488464355 + ] + ], + "corners_2d": [ + [ + 631.2703016664004, + 392.70301351172634 + ], + [ + 656.1987359611078, + 386.94154477313634 + ], + [ + 648.5251722139393, + 371.33071353547655 + ], + [ + 623.9799445629224, + 376.8952712970992 + ], + [ + 630.8839757208317, + 347.8844675385076 + ], + [ + 656.9108820483283, + 342.1645692403083 + ], + [ + 648.8932465611956, + 326.68239105666106 + ], + [ + 623.283780621439, + 332.198408121179 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 70, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 495534, + "2": 158603, + "3": 54925, + "4": 66265, + "6": 17759, + "7": 314, + "9": 1547, + "10": 6, + "12": 3033, + "14": 13908, + "24": 17023, + "25": 92683 + }, + "instance_pixel_counts": { + "3662": 28149, + "11605": 41147, + "16994": 602, + "17240": 10956, + "17496": 3996, + "19083": 909, + "20066": 1088, + "20565": 13778, + "21907": 73607, + "21909": 6746, + "22155": 2980, + "22421": 2877, + "22931": 126674, + "22933": 4967, + "23443": 249879, + "23445": 226, + "23955": 6521, + "23957": 159, + "24467": 2668, + "25600": 561, + "25856": 2560, + "36096": 601, + "36352": 568, + "36608": 565, + "36864": 641, + "37120": 24, + "37376": 634, + "41216": 5345, + "41728": 8563, + "46483": 28584, + "47201": 9837, + "47713": 1362, + "48225": 895, + "48531": 7601, + "48737": 40317, + "49249": 5627, + "49761": 4302, + "51297": 37579, + "51526": 38116, + "51809": 5023, + "52321": 6078, + "52833": 927, + "53345": 113, + "53857": 171, + "54366": 92683, + "56970": 2727, + "57482": 17809, + "57994": 19613, + "58506": 644, + "60819": 1599, + "61254": 1547, + "62355": 449 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 601, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -130.16717529296875, + "y": -24.687763214111328, + "z": 0.944118320941925 + }, + "extent": { + "x": 0.3077099621295929, + "y": 0.3707592785358429, + "z": 0.8653655648231506 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 624.4647786192055, + "ymin": 328.55057530731114, + "xmax": 655.6813811353136, + "ymax": 390.82056841557676 + }, + "corners_3d": [ + [ + -130.12258911132812, + -25.167512893676758, + 0.07875275611877441 + ], + [ + -130.6469268798828, + -24.64318084716797, + 0.07875275611877441 + ], + [ + -130.21176147460938, + -24.2080135345459, + 0.07875275611877441 + ], + [ + -129.6874237060547, + -24.732345581054688, + 0.07875275611877441 + ], + [ + -130.12258911132812, + -25.167512893676758, + 1.8094838857650757 + ], + [ + -130.6469268798828, + -24.64318084716797, + 1.8094838857650757 + ], + [ + -130.21176147460938, + -24.2080135345459, + 1.8094838857650757 + ], + [ + -129.6874237060547, + -24.732345581054688, + 1.8094838857650757 + ] + ], + "corners_2d": [ + [ + 631.378130690502, + 390.82056841557676 + ], + [ + 655.0402081754997, + 385.3632131520985 + ], + [ + 648.4429031998079, + 371.9303403326202 + ], + [ + 625.0942766112128, + 377.2267524883419 + ], + [ + 631.0082686102776, + 347.2946456005678 + ], + [ + 655.6813811353136, + 341.8760957319984 + ], + [ + 648.7972741745625, + 328.55057530731114 + ], + [ + 624.4647786192055, + 333.80265099228285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 568, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -126.04119873046875, + "y": -21.6900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39420896768569946, + "y": 0.41664305329322815, + "z": 0.8764434456825256 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 550.3778889163991, + "ymin": 234.84613115934246, + "xmax": 586.6627662418152, + "ymax": 297.9761960896838 + }, + "corners_3d": [ + [ + -126.14488983154297, + -22.25418472290039, + 0.06769442558288574 + ], + [ + -126.5987319946289, + -21.555334091186523, + 0.06769442558288574 + ], + [ + -125.93750762939453, + -21.125930786132812, + 0.06769442558288574 + ], + [ + -125.4836654663086, + -21.82478141784668, + 0.06769442558288574 + ], + [ + -126.14488983154297, + -22.25418472290039, + 1.820581316947937 + ], + [ + -126.5987319946289, + -21.555334091186523, + 1.820581316947937 + ], + [ + -125.93750762939453, + -21.125930786132812, + 1.820581316947937 + ], + [ + -125.4836654663086, + -21.82478141784668, + 1.820581316947937 + ] + ], + "corners_2d": [ + [ + 564.3484748566113, + 297.9761960896838 + ], + [ + 586.6627662418152, + 290.0545561615171 + ], + [ + 575.7491613415908, + 277.5347198729552 + ], + [ + 553.6775415272457, + 285.21268392472024 + ], + [ + 561.4091875858228, + 254.94734139865812 + ], + [ + 584.6112578834664, + 247.15294196026127 + ], + [ + 573.3174491315281, + 234.84613115934246 + ], + [ + 550.3778889163991, + 242.3917228898691 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 565, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -132.42300415039062, + "y": -17.74505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5187548995018005, + "y": 0.4593939185142517, + "z": 0.9465590715408325 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 771.6826218973416, + "ymin": 219.72331904575174, + "xmax": 817.829417052124, + "ymax": 289.42985737281765 + }, + "corners_3d": [ + [ + -132.53704833984375, + -18.428529739379883, + -0.0024212002754211426 + ], + [ + -133.11526489257812, + -17.714496612548828, + -0.0024212002754211426 + ], + [ + -132.3089599609375, + -17.06157112121582, + -0.0024212002754211426 + ], + [ + -131.73074340820312, + -17.775604248046875, + -0.0024212002754211426 + ], + [ + -132.53704833984375, + -18.428529739379883, + 1.8906970024108887 + ], + [ + -133.11526489257812, + -17.714496612548828, + 1.8906970024108887 + ], + [ + -132.3089599609375, + -17.06157112121582, + 1.8906970024108887 + ], + [ + -131.73074340820312, + -17.775604248046875, + 1.8906970024108887 + ] + ], + "corners_2d": [ + [ + 787.2732719237044, + 289.42985737281765 + ], + [ + 810.8071473349007, + 282.471910359614 + ], + [ + 794.8524703071456, + 265.56162424703575 + ], + [ + 771.6826218973416, + 272.2287476728048 + ], + [ + 793.3825827891651, + 243.13398362504367 + ], + [ + 817.829417052124, + 236.3035234937249 + ], + [ + 801.0795215975627, + 219.72331904575174 + ], + [ + 777.0246228444, + 226.25688088415868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 641, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -133.74693298339844, + "y": -24.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.33241209387779236, + "y": 0.4331335425376892, + "z": 0.8737286925315857 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 732.903495583371, + "ymin": 365.02724722261837, + "xmax": 775.70641407909, + "ymax": 431.79898346032326 + }, + "corners_3d": [ + [ + -133.6757049560547, + -25.22908592224121, + 0.07040917873382568 + ], + [ + -134.2882537841797, + -24.61654281616211, + 0.07040917873382568 + ], + [ + -133.8181610107422, + -24.146440505981445, + 0.07040917873382568 + ], + [ + -133.2056121826172, + -24.758983612060547, + 0.07040917873382568 + ], + [ + -133.6757049560547, + -25.22908592224121, + 1.817866563796997 + ], + [ + -134.2882537841797, + -24.61654281616211, + 1.817866563796997 + ], + [ + -133.8181610107422, + -24.146440505981445, + 1.817866563796997 + ], + [ + -133.2056121826172, + -24.758983612060547, + 1.817866563796997 + ] + ], + "corners_2d": [ + [ + 741.8333834214221, + 431.79898346032326 + ], + [ + 769.8626080431691, + 424.8499922231566 + ], + [ + 760.5297778021527, + 409.0838841764827 + ], + [ + 732.903495583371, + 415.8024503254396 + ], + [ + 746.4510504758022, + 387.64824069327284 + ], + [ + 775.70641407909, + 380.7228503831056 + ], + [ + 765.8592542792484, + 365.02724722261837 + ], + [ + 737.0423965362075, + 371.7128922271046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 24, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -133.78268432617188, + "y": -35.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.34507322311401367, + "y": 0.34855955839157104, + "z": 0.8855912685394287 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 530.8353694249647, + "ymin": 701.7209000237499, + "xmax": 574.8624740086062, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -133.7289581298828, + -36.302650451660156, + 0.058546602725982666 + ], + [ + -134.27072143554688, + -35.86394119262695, + 0.058546602725982666 + ], + [ + -133.83641052246094, + -35.327598571777344, + 0.058546602725982666 + ], + [ + -133.29464721679688, + -35.76630783081055, + 0.058546602725982666 + ], + [ + -133.7289581298828, + -36.302650451660156, + 1.8297290802001953 + ], + [ + -134.27072143554688, + -35.86394119262695, + 1.8297290802001953 + ], + [ + -133.83641052246094, + -35.327598571777344, + 1.8297290802001953 + ], + [ + -133.29464721679688, + -35.76630783081055, + 1.8297290802001953 + ] + ], + "corners_2d": [ + [ + 541.7305981244346, + 781.1201630345554 + ], + [ + 574.8624740086062, + 774.0325217985549 + ], + [ + 569.5858709180329, + 742.7293106827183 + ], + [ + 537.230630577066, + 749.4776963305937 + ], + [ + 535.4533995507975, + 741.239244313084 + ], + [ + 570.7257316062218, + 733.93225264066 + ], + [ + 565.2287569972503, + 701.7209000237499 + ], + [ + 530.8353694249647, + 708.6567155598345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 634, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -118.92184448242188, + "y": -32.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3276953101158142, + "y": 0.4680529534816742, + "z": 0.8859026432037354 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 110.43913186246687, + "ymin": 382.2589227744306, + "xmax": 174.42041664298677, + "ymax": 446.6249370293962 + }, + "corners_3d": [ + [ + -118.70777893066406, + -33.387725830078125, + 0.05823999643325806 + ], + [ + -119.49285888671875, + -32.87788772583008, + 0.05823999643325806 + ], + [ + -119.13591003417969, + -32.32823181152344, + 0.05823999643325806 + ], + [ + -118.350830078125, + -32.838069915771484, + 0.05823999643325806 + ], + [ + -118.70777893066406, + -33.387725830078125, + 1.830045223236084 + ], + [ + -119.49285888671875, + -32.87788772583008, + 1.830045223236084 + ], + [ + -119.13591003417969, + -32.32823181152344, + 1.830045223236084 + ], + [ + -118.350830078125, + -32.838069915771484, + 1.830045223236084 + ] + ], + "corners_2d": [ + [ + 134.07844749771942, + 446.6249370293962 + ], + [ + 168.67556916915692, + 443.91535449239393 + ], + [ + 174.42041664298677, + 427.00839851230563 + ], + [ + 140.44667320134232, + 429.6237826128244 + ], + [ + 110.43913186246687, + 401.8233517935008 + ], + [ + 146.71731974960778, + 399.118762241994 + ], + [ + 153.12703048903393, + 382.2589227744306 + ], + [ + 117.53360482771132, + 384.86522085150784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5345, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1063.7594659633883, + "ymin": 97.00136014433593, + "xmax": 1227.7985349857472, + "ymax": 184.2267958052817 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1070.5548875489244, + 131.94439263449948 + ], + [ + 1063.7594659633883, + 151.9712751963119 + ], + [ + 1208.7740529098082, + 184.2267958052817 + ], + [ + 1211.3726285127045, + 162.26698730768436 + ], + [ + 1082.3686037509603, + 97.00136014433593 + ], + [ + 1075.7531504976923, + 116.49386381441352 + ], + [ + 1225.6659612211643, + 147.95777913168428 + ], + [ + 1227.7985349857472, + 126.52762959083466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 8563, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 487.10788224209637, + "ymin": 295.0804403149438, + "xmax": 642.7572904281009, + "ymax": 464.676000549667 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 492.48514183040174, + 439.8579910912373 + ], + [ + 554.3689310934217, + 464.676000549667 + ], + [ + 642.6694751714258, + 349.0531311786738 + ], + [ + 585.9121231311466, + 329.6561649421158 + ], + [ + 487.10788224209637, + 404.6597332365402 + ], + [ + 551.1638839905532, + 429.4640011133531 + ], + [ + 642.7572904281009, + 314.3016541146326 + ], + [ + 584.1737614620852, + 295.0804403149438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1097.0742553141936, + "ymin": 0.0, + "xmax": 1114.5125938659507, + "ymax": 21.875886759500645 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1106.5076583859716, + 17.986269406480574 + ], + [ + 1098.4963351107992, + 16.57142614272493 + ], + [ + 1097.0742553141936, + 20.440596601171876 + ], + [ + 1105.1395697828889, + 21.875886759500645 + ], + [ + 1114.5125938659507, + -5.821695645104683 + ], + [ + 1106.3428170934435, + -7.197248664232859 + ], + [ + 1104.9536145371815, + -3.4352315364908463 + ], + [ + 1113.1795664299495, + -2.03945503010209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.86190522981514, + "ymin": 0.0, + "xmax": 474.45756359336394, + "ymax": 13.370721841048862 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 469.60011706844904, + 13.370721841048862 + ], + [ + 474.45756359336394, + 10.227690744417487 + ], + [ + 469.21077285134, + 9.076151830170147 + ], + [ + 464.33296296127315, + 12.205544935070918 + ], + [ + 467.197844388421, + -6.254679771314272 + ], + [ + 472.1376758291141, + -9.32482362697317 + ], + [ + 466.82261281556623, + -10.449530922514441 + ], + [ + 461.86190522981514, + -7.3928954235542506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1048.1529221919016, + "ymin": 125.77136259453079, + "xmax": 1065.6314549081458, + "ymax": 154.89357052213126 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1058.2043726035008, + 149.874983990866 + ], + [ + 1049.988266262046, + 148.0402617767008 + ], + [ + 1048.1529221919016, + 153.0313556452235 + ], + [ + 1056.425375191678, + 154.89357052213126 + ], + [ + 1065.6314549081458, + 127.5765646957451 + ], + [ + 1057.2491856427116, + 125.77136259453079 + ], + [ + 1055.436180870209, + 130.6825613412653 + ], + [ + 1063.8771321202003, + 132.5152989629891 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 732.1171410332605, + "ymin": 0.0, + "xmax": 1066.8480703220346, + "ymax": 322.10456613295406 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 960.0614919669084, + 322.10456613295406 + ], + [ + 965.2659044303964, + 309.04537358928087 + ], + [ + 740.1754129485959, + 244.88075805137402 + ], + [ + 732.1171410332605, + 255.9866696328155 + ], + [ + 1062.090925917629, + -23.246683168451398 + ], + [ + 1066.8480703220346, + -33.36884070282849 + ], + [ + 768.3637191384043, + -81.69262344699797 + ], + [ + 758.5212118258997, + -73.49212237252902 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 300.6859799754263, + "ymin": 280.2862105505751, + "xmax": 836.4614643977532, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 747.0789088970816, + 856.5319544828767 + ], + [ + 760.8308013581468, + 822.0249639726408 + ], + [ + 437.6857715282889, + 661.7720279429523 + ], + [ + 418.32392583976264, + 688.4565266207725 + ], + [ + 816.94651133899, + 498.36674120848454 + ], + [ + 836.4614643977532, + 456.8432110516462 + ], + [ + 333.90498445385344, + 280.2862105505751 + ], + [ + 300.6859799754263, + 307.9633535049963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.2983264986188, + "ymin": 296.5142970765787, + "xmax": 370.45062216401857, + "ymax": 329.75238038199905 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 349.60227166763786, + 329.75238038199905 + ], + [ + 370.45062216401857, + 311.0047059235849 + ], + [ + 335.1520263873041, + 298.3315163434659 + ], + [ + 313.8455601564641, + 316.5065350401014 + ], + [ + 349.1073175629046, + 327.9189519586386 + ], + [ + 370.0013366143756, + 309.1804734731655 + ], + [ + 334.6516525835648, + 296.5142970765787 + ], + [ + 313.2983264986188, + 314.6794580379844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 438.94157194167394, + "ymin": 0.0, + "xmax": 720.5145001246125, + "ymax": 130.98652967264522 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 470.4531721241801, + 66.95041171744492 + ], + [ + 465.04043339995656, + 70.74062968558923 + ], + [ + 704.8110804327275, + 130.98652967264522 + ], + [ + 709.0811395383048, + 126.38900348314908 + ], + [ + 445.3475512956603, + -131.24845885575684 + ], + [ + 438.94157194167394, + -128.35980981709474 + ], + [ + 715.626535716439, + -81.69249285465452 + ], + [ + 720.5145001246125, + -85.30442487225054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.2918956900567, + "ymin": 0.0, + "xmax": 1206.4875010571786, + "ymax": 3.4371613061930475 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1140.7136334016582, + 3.4371613061930475 + ], + [ + 1141.6793983945947, + 0.4572453938262129 + ], + [ + 913.3892785996882, + -38.821696222025196 + ], + [ + 911.2918956900567, + -36.27447159973195 + ], + [ + 1205.8142500275712, + -178.8471278452771 + ], + [ + 1206.4875010571786, + -181.0436133479957 + ], + [ + 945.7343479928767, + -209.69610523010897 + ], + [ + 943.5783515982309, + -207.85474067816676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1032.7854045079898, + "ymin": 0.0, + "xmax": 1163.4870730782618, + "ymax": 222.2074973912532 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1032.7854045079898, + 219.1241732741623 + ], + [ + 1044.9617198281894, + 222.2074973912532 + ], + [ + 1093.843582038242, + 85.47950142367705 + ], + [ + 1083.7326469121854, + 83.42407724257339 + ], + [ + 1108.9014318760105, + -10.7692801098014 + ], + [ + 1123.8276527239761, + -8.228904619980142 + ], + [ + 1163.4870730782618, + -117.07421656035427 + ], + [ + 1151.5587756034126, + -118.65310405174517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.31247836389707, + "ymin": 296.56129003892954, + "xmax": 370.4622022596313, + "ymax": 329.79963420313095 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 349.61502835474687, + 329.79963420313095 + ], + [ + 370.4622022596313, + 311.05172454284036 + ], + [ + 335.1649235911041, + 298.3783554206903 + ], + [ + 313.8596646529994, + 316.5536264440685 + ], + [ + 349.12011777112724, + 327.96636699238803 + ], + [ + 370.01295534479084, + 309.22764896116627 + ], + [ + 334.6645921598443, + 296.56129003892954 + ], + [ + 313.31247836389707, + 314.7267075943967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1134.3339809741105, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 7.232069905227263 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1134.3339809741105, + -52.347179238873366 + ], + [ + 1141.3281934489669, + -8.942358808915174 + ], + [ + 1285.1567732699818, + 7.232069905227263 + ], + [ + 1265.4311685954935, + -38.83211784859378 + ], + [ + 1217.2971524304892, + -297.00747068872033 + ], + [ + 1234.6985042187118, + -272.3680485035869 + ], + [ + 1409.838821769669, + -262.9864443947613 + ], + [ + 1373.9443079340522, + -289.4178609167527 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00071/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00071/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1518dbb926f2e74225b387c588c7c8bfa6cd2a18 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00071/meta.json @@ -0,0 +1,2466 @@ +{ + "frame_id": 71, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 35.5, + "sim_timestamp": 957.7415766415652 + }, + "drone_pose": { + "x": -139.0420313732768, + "y": -42.726080696329404, + "z": 20.000000063811648, + "pitch": -42.53006551866428, + "yaw": 63.174223779647484, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3325577974319458, + -0.6576172113418579, + 0.6759769916534424, + 60.8173828125 + ], + [ + 0.8923828601837158, + 0.45127904415130615, + -2.9802322387695312e-08, + -104.7973403930664 + ], + [ + -0.305054247379303, + 0.6032302379608154, + 0.7369227409362793, + -82.927490234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.56487436043224, + "y": -42.24048752911819, + "z": 20.000000031959978 + }, + "t1_image_uv": [ + 224.94762804219795, + -520.6050210911659 + ], + "t1_depth": 0.4780167352360165 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -129.66718292236328, + "y": -24.187763214111328, + "z": 0.9441183137892222 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.190133519015937, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 618, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -129.66717529296875, + "y": -24.187763214111328, + "z": 0.944118320941925 + }, + "extent": { + "x": 0.3918847441673279, + "y": 0.3998339772224426, + "z": 0.8730629682540894 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.6494446133062, + "ymin": 326.3808866696684, + "xmax": 657.5810346541673, + "ymax": 393.08916018738415 + }, + "corners_3d": [ + [ + -129.66156005859375, + -24.74759292602539, + 0.0710553526878357 + ], + [ + -130.2270050048828, + -24.18214225769043, + 0.0710553526878357 + ], + [ + -129.67279052734375, + -23.627933502197266, + 0.0710553526878357 + ], + [ + -129.1073455810547, + -24.193384170532227, + 0.0710553526878357 + ], + [ + -129.66156005859375, + -24.74759292602539, + 1.8171813488006592 + ], + [ + -130.2270050048828, + -24.18214225769043, + 1.8171813488006592 + ], + [ + -129.67279052734375, + -23.627933502197266, + 1.8171813488006592 + ], + [ + -129.1073455810547, + -24.193384170532227, + 1.8171813488006592 + ] + ], + "corners_2d": [ + [ + 631.2947594258616, + 393.08916018738415 + ], + [ + 656.8553985447589, + 387.2165677205954 + ], + [ + 648.4859939430883, + 370.12430312507223 + ], + [ + 623.356544133673, + 375.77715312225547 + ], + [ + 630.9174636406123, + 349.1643924153765 + ], + [ + 657.5810346541673, + 343.3334528284063 + ], + [ + 648.8441530085873, + 326.3808866696684 + ], + [ + 622.6494446133062, + 331.9844949720649 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 71, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 501441, + "2": 158807, + "3": 57851, + "4": 67309, + "6": 18408, + "7": 448, + "9": 2145, + "10": 7, + "12": 3029, + "14": 14150, + "24": 17474, + "25": 80531 + }, + "instance_pixel_counts": { + "3662": 27862, + "11605": 42971, + "15701": 13, + "16994": 696, + "17240": 10923, + "17496": 4478, + "19083": 1127, + "20066": 1009, + "20565": 14867, + "21907": 76679, + "21909": 7068, + "22155": 2779, + "22421": 3126, + "22931": 133523, + "22933": 4798, + "23443": 243016, + "23445": 191, + "23955": 5741, + "23957": 212, + "24467": 3744, + "25600": 656, + "25856": 2783, + "26112": 16, + "36096": 618, + "36352": 570, + "36608": 560, + "36864": 629, + "37120": 29, + "37376": 623, + "41216": 5456, + "41728": 8694, + "46483": 31937, + "47201": 10219, + "47713": 1443, + "48225": 927, + "48531": 6801, + "48737": 42414, + "49249": 6042, + "49761": 4451, + "51297": 33812, + "51526": 39447, + "51809": 4094, + "52321": 6178, + "52833": 1028, + "53345": 132, + "53857": 262, + "54366": 80531, + "56970": 2808, + "57482": 18493, + "57994": 20230, + "58506": 663, + "60819": 1702, + "61254": 2145, + "62355": 377 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 618, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -129.66717529296875, + "y": -24.187763214111328, + "z": 0.944118320941925 + }, + "extent": { + "x": 0.3642871081829071, + "y": 0.3982788026332855, + "z": 0.8902605175971985 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.9792040154587, + "ymin": 326.52811176546044, + "xmax": 657.2232835026691, + "ymax": 392.8711600520253 + }, + "corners_3d": [ + [ + -129.6431427001953, + -24.726978302001953, + 0.05385780334472656 + ], + [ + -130.20639038085938, + -24.163726806640625, + 0.05385780334472656 + ], + [ + -129.6912078857422, + -23.648548126220703, + 0.05385780334472656 + ], + [ + -129.12796020507812, + -24.21179962158203, + 0.05385780334472656 + ], + [ + -129.6431427001953, + -24.726978302001953, + 1.8343788385391235 + ], + [ + -130.20639038085938, + -24.163726806640625, + 1.8343788385391235 + ], + [ + -129.6912078857422, + -23.648548126220703, + 1.8343788385391235 + ], + [ + -129.12796020507812, + -24.21179962158203, + 1.8343788385391235 + ] + ], + "corners_2d": [ + [ + 631.0636296767815, + 392.8711600520253 + ], + [ + 656.4991850459872, + 387.02907249696307 + ], + [ + 648.7233242223551, + 371.13943341295897 + ], + [ + 623.686707602428, + 376.7781252502359 + ], + [ + 630.6688039798644, + 348.08478018736866 + ], + [ + 657.2232835026691, + 342.285300713731 + ], + [ + 649.0991730619475, + 326.52811176546044 + ], + [ + 622.9792040154587, + 332.1170313277419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 570, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -125.54119873046875, + "y": -21.1900577545166, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4034472703933716, + "y": 0.44746947288513184, + "z": 0.869588315486908 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 549.7198831695819, + "ymin": 234.6587114478715, + "xmax": 587.8631114952411, + "ymax": 298.26810822454615 + }, + "corners_3d": [ + [ + -125.63584899902344, + -21.785070419311523, + 0.07455432415008545 + ], + [ + -126.1232681274414, + -21.03451156616211, + 0.07455432415008545 + ], + [ + -125.44654846191406, + -20.59504508972168, + 0.07455432415008545 + ], + [ + -124.9591293334961, + -21.345603942871094, + 0.07455432415008545 + ], + [ + -125.63584899902344, + -21.785070419311523, + 1.8137309551239014 + ], + [ + -126.1232681274414, + -21.03451156616211, + 1.8137309551239014 + ], + [ + -125.44654846191406, + -20.59504508972168, + 1.8137309551239014 + ], + [ + -124.9591293334961, + -21.345603942871094, + 1.8137309551239014 + ] + ], + "corners_2d": [ + [ + 563.8869567912759, + 298.26810822454615 + ], + [ + 587.8631114952411, + 289.7934458193112 + ], + [ + 576.7229535598135, + 276.9928558699611 + ], + [ + 553.0147715421027, + 285.20055512804856 + ], + [ + 560.9553380393321, + 255.58069344041957 + ], + [ + 585.8765481288149, + 247.24173494399417 + ], + [ + 574.3514291976105, + 234.6587114478715 + ], + [ + 549.7198831695819, + 242.72516584235038 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 560, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -131.92300415039062, + "y": -17.24505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4313671886920929, + "y": 0.4167327880859375, + "z": 0.9361221790313721 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 774.3109583128511, + "ymin": 221.95312222024728, + "xmax": 815.4286256816251, + "ymax": 287.6427603148861 + }, + "corners_3d": [ + [ + -131.99598693847656, + -17.840381622314453, + 0.008015692234039307 + ], + [ + -132.52049255371094, + -17.192655563354492, + 0.008015692234039307 + ], + [ + -131.8500213623047, + -16.64971923828125, + 0.008015692234039307 + ], + [ + -131.3255157470703, + -17.29744529724121, + 0.008015692234039307 + ], + [ + -131.99598693847656, + -17.840381622314453, + 1.8802599906921387 + ], + [ + -132.52049255371094, + -17.192655563354492, + 1.8802599906921387 + ], + [ + -131.8500213623047, + -16.64971923828125, + 1.8802599906921387 + ], + [ + -131.3255157470703, + -17.29744529724121, + 1.8802599906921387 + ] + ], + "corners_2d": [ + [ + 787.254403928608, + 287.6427603148861 + ], + [ + 808.591755007889, + 281.38250103793166 + ], + [ + 795.3723879862341, + 267.30969412046545 + ], + [ + 774.3109583128511, + 273.3513507588287 + ], + [ + 793.274504319663, + 241.89911967739306 + ], + [ + 815.4286256816251, + 235.75366333114567 + ], + [ + 801.5582117439798, + 221.95312222024728 + ], + [ + 779.7009137964207, + 227.87548620459634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 629, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -133.24693298339844, + "y": -24.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.39290526509284973, + "y": 0.302001953125, + "z": 0.8775360584259033 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 736.1783654342861, + "ymin": 364.640212081958, + "xmax": 772.0510420225444, + "ymax": 432.39014285143173 + }, + "corners_3d": [ + [ + -133.31121826171875, + -24.679136276245117, + 0.06660658121109009 + ], + [ + -133.73831176757812, + -24.25204086303711, + 0.06660658121109009 + ], + [ + -133.18264770507812, + -23.69639015197754, + 0.06660658121109009 + ], + [ + -132.75555419921875, + -24.123485565185547, + 0.06660658121109009 + ], + [ + -133.31121826171875, + -24.679136276245117, + 1.821678638458252 + ], + [ + -133.73831176757812, + -24.25204086303711, + 1.821678638458252 + ], + [ + -133.18264770507812, + -23.69639015197754, + 1.821678638458252 + ], + [ + -132.75555419921875, + -24.123485565185547, + 1.821678638458252 + ] + ], + "corners_2d": [ + [ + 746.7560456668734, + 432.39014285143173 + ], + [ + 766.3307029548902, + 427.5591823934495 + ], + [ + 755.4200858215835, + 408.88611317006877 + ], + [ + 736.1783654342861, + 413.52820044986606 + ], + [ + 751.6157817663693, + 388.04441208290734 + ], + [ + 772.0510420225444, + 383.22968064222584 + ], + [ + 760.5388938010797, + 364.640212081958 + ], + [ + 740.4660675531032, + 369.25842190223426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 29, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -133.28268432617188, + "y": -35.31512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3740478456020355, + "y": 0.40001586079597473, + "z": 0.8672992587089539 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 527.2838824558962, + "ymin": 699.783045681703, + "xmax": 576.5448701692694, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -133.20721435546875, + -35.85755157470703, + 0.07683861255645752 + ], + [ + -133.82894897460938, + -35.35407638549805, + 0.07683861255645752 + ], + [ + -133.358154296875, + -34.77269744873047, + 0.07683861255645752 + ], + [ + -132.73641967773438, + -35.27617263793945, + 0.07683861255645752 + ], + [ + -133.20721435546875, + -35.85755157470703, + 1.8114371299743652 + ], + [ + -133.82894897460938, + -35.35407638549805, + 1.8114371299743652 + ], + [ + -133.358154296875, + -34.77269744873047, + 1.8114371299743652 + ], + [ + -132.73641967773438, + -35.27617263793945, + 1.8114371299743652 + ] + ], + "corners_2d": [ + [ + 538.4697884715415, + 781.997419977989 + ], + [ + 576.5448701692694, + 773.9195830298656 + ], + [ + 570.8493967727895, + 740.0355394480844 + ], + [ + 533.7423774384422, + 747.6947867139438 + ], + [ + 532.1212901440168, + 742.9450966309441 + ], + [ + 572.603270531022, + 734.62271257238 + ], + [ + 566.6732363587594, + 699.783045681703 + ], + [ + 527.2838824558962, + 707.6484072888197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 623, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -118.42184448242188, + "y": -32.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.2840869128704071, + "y": 0.3954809606075287, + "z": 0.8785054683685303 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 114.35754141568145, + "ymin": 383.1184753698167, + "xmax": 171.76207259465184, + "ymax": 444.3707237271609 + }, + "corners_3d": [ + [ + -118.24488830566406, + -32.81163024902344, + 0.0656324028968811 + ], + [ + -118.90824890136719, + -32.38084030151367, + 0.0656324028968811 + ], + [ + -118.59880065917969, + -31.904329299926758, + 0.0656324028968811 + ], + [ + -117.93544006347656, + -32.33511734008789, + 0.0656324028968811 + ], + [ + -118.24488830566406, + -32.81163024902344, + 1.8226432800292969 + ], + [ + -118.90824890136719, + -32.38084030151367, + 1.8226432800292969 + ], + [ + -118.59880065917969, + -31.904329299926758, + 1.8226432800292969 + ], + [ + -117.93544006347656, + -32.33511734008789, + 1.8226432800292969 + ] + ], + "corners_2d": [ + [ + 137.5561262524754, + 444.3707237271609 + ], + [ + 166.71086609687842, + 442.1280656285237 + ], + [ + 171.76207259465184, + 427.4966755916006 + ], + [ + 143.06307643835032, + 429.6715642963842 + ], + [ + 114.35754141568145, + 399.9453251808163 + ], + [ + 144.91152473051102, + 397.7073745470859 + ], + [ + 150.5380081695754, + 383.1184753698167 + ], + [ + 120.48413912491242, + 385.2857564214329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5456, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1075.3907575456576, + "ymin": 105.63502982034782, + "xmax": 1242.2579029642184, + "ymax": 194.56087860967057 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1081.9946427005002, + 140.79502932240584 + ], + [ + 1075.3907575456576, + 161.32022889101864 + ], + [ + 1222.9475248963984, + 194.56087860967057 + ], + [ + 1225.2122073545954, + 172.0189712612247 + ], + [ + 1094.2722902656687, + 105.63502982034782 + ], + [ + 1087.8710408605816, + 125.62618009324211 + ], + [ + 1240.496508706604, + 158.07520734005433 + ], + [ + 1242.2579029642184, + 136.06023252267659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 8694, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 492.3762358572893, + "ymin": 308.9079140566494, + "xmax": 650.3159778942871, + "ymax": 483.2541342626139 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 497.6577017911484, + 457.4425556749633 + ], + [ + 560.7416099005648, + 483.2541342626139 + ], + [ + 649.9822827788456, + 363.6982185542041 + ], + [ + 592.2134335360674, + 343.60720598780665 + ], + [ + 492.3762358572893, + 422.2267762675063 + ], + [ + 557.7202390779518, + 448.0575004032971 + ], + [ + 650.3159778942871, + 328.83689618315725 + ], + [ + 590.6534669947034, + 308.9079140566494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.4764200516884, + "ymin": 0.9583007174418299, + "xmax": 1128.3521950913355, + "ymax": 30.392608061137082 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1120.0002820124996, + 26.393605135813345 + ], + [ + 1111.8394615661603, + 24.932918088529107 + ], + [ + 1110.4764200516884, + 28.910514270382862 + ], + [ + 1118.6932264473985, + 30.392608061137082 + ], + [ + 1128.3521950913355, + 2.379094071085092 + ], + [ + 1120.0270740165788, + 0.9583007174418299 + ], + [ + 1118.70094544515, + 4.827572182805454 + ], + [ + 1127.084357389525, + 6.2695534732973215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1120.7277678666508, + "ymin": 0.0, + "xmax": 1137.742090481108, + "ymax": 0.3201918270848978 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1129.6909964041765, + -3.2556280226740455 + ], + [ + 1121.946924820085, + -4.562447107750813 + ], + [ + 1120.7277678666508, + -1.0047315198000888 + ], + [ + 1128.5222562652707, + 0.3201918270848978 + ], + [ + 1137.742090481108, + -26.434536216733193 + ], + [ + 1129.850353688244, + -27.70327595676207 + ], + [ + 1128.6664515627172, + -24.248981395300518 + ], + [ + 1136.6105688218265, + -22.96237327989064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 465.8369349023426, + "ymin": 0.0, + "xmax": 478.50549546777575, + "ymax": 19.9383161400865 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 473.60554824069277, + 19.9383161400865 + ], + [ + 478.50549546777575, + 16.728545741244943 + ], + [ + 473.19878281176386, + 15.547596322924278 + ], + [ + 468.27803921256043, + 18.743231434769427 + ], + [ + 471.23486100057175, + 0.1826696904567484 + ], + [ + 476.21847589034246, + -2.9535849888233088 + ], + [ + 470.8418766508809, + -4.107352734806852 + ], + [ + 465.8369349023426, + -0.9851051216984388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1061.1013557639324, + "ymin": 136.1440087329102, + "xmax": 1079.0277940924582, + "ymax": 165.6277153100568 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1071.2573962415338, + 160.46262898876694 + ], + [ + 1062.8848562338108, + 158.56650972118172 + ], + [ + 1061.1013557639324, + 163.70276802598838 + ], + [ + 1069.5323745410492, + 165.6277153100568 + ], + [ + 1079.0277940924582, + 138.0105649697491 + ], + [ + 1070.4828033820543, + 136.1440087329102 + ], + [ + 1068.725512199565, + 141.20061936426026 + ], + [ + 1077.3314501303612, + 143.09607066478316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.2406212824292, + "ymin": 0.0, + "xmax": 1085.1436286064454, + "ymax": 336.3605901655778 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 972.4388400657044, + 336.3605901655778 + ], + [ + 977.5695728267644, + 322.8875597258565 + ], + [ + 748.3310282583473, + 256.52315928651296 + ], + [ + 740.2406212824292, + 267.94517194301716 + ], + [ + 1080.6206869248656, + -11.900165120606175 + ], + [ + 1085.1436286064454, + -22.446575761038503 + ], + [ + 779.3590376603477, + -72.86667658422101 + ], + [ + 769.4965298762087, + -64.36531114321008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 548.4867541496601, + "ymin": 0.0, + "xmax": 670.9652074245893, + "ymax": 0.4175989681055512 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 667.9114510579465, + -70.59699993885732 + ], + [ + 661.4816793591715, + -71.732541794707 + ], + [ + 558.9053809270747, + -1.1040119620723203 + ], + [ + 566.0493703399095, + 0.4175989681055512 + ], + [ + 670.9652074245893, + -232.2101132659891 + ], + [ + 663.8253848709596, + -233.0172409092089 + ], + [ + 548.4867541496601, + -181.95268209805863 + ], + [ + 556.5171525189874, + -180.8329175342261 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 303.27502157675605, + "ymin": 307.92347462952796, + "xmax": 861.5750888936759, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 760.2842767815679, + 893.4671521651908 + ], + [ + 774.1129176979593, + 857.1538790552456 + ], + [ + 442.35495605981686, + 688.4992736701091 + ], + [ + 422.6091319610007, + 716.37636977184 + ], + [ + 842.2036634130747, + 544.0309104148714 + ], + [ + 861.5750888936759, + 498.86141184694145 + ], + [ + 337.601080479473, + 307.92347462952796 + ], + [ + 303.27502157675605, + 337.5121327344136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 316.29122898626076, + "ymin": 324.6463531278281, + "xmax": 375.37023904443265, + "ymax": 360.12784938879713 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 353.8548221884551, + 360.12784938879713 + ], + [ + 375.37023904443265, + 340.0741441589522 + ], + [ + 338.85657766220567, + 326.47797279662734 + ], + [ + 316.8518159994886, + 345.89595744892716 + ], + [ + 353.35025934456604, + 358.2826765949461 + ], + [ + 374.9142576018298, + 338.23650273810944 + ], + [ + 338.3458907620024, + 324.6463531278281 + ], + [ + 316.29122898626076, + 344.05596376952036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 443.00628570009815, + "ymin": 0.0, + "xmax": 728.6120198706499, + "ymax": 139.48848822737807 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 474.2933856526946, + 73.79263734802191 + ], + [ + 468.8340061974002, + 77.65997416710269 + ], + [ + 711.5955848899622, + 139.48848822737807 + ], + [ + 715.8848550087864, + 134.7836392377652 + ], + [ + 449.4752859447852, + -125.81666625711813 + ], + [ + 443.00628570009815, + -122.86046391594573 + ], + [ + 723.704146149128, + -74.8030692524436 + ], + [ + 728.6120198706499, + -78.51346084123014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.8054499025604, + "ymin": 0.0, + "xmax": 1218.8874128760983, + "ymax": 9.47398452879031 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1151.0953693659676, + 9.47398452879031 + ], + [ + 1152.0255586553312, + 6.435716243927061 + ], + [ + 920.8946693662572, + -33.7381410081511 + ], + [ + 918.8054499025604, + -31.146544241245692 + ], + [ + 1218.2710681048748, + -174.15077706683758 + ], + [ + 1218.8874128760983, + -176.39586784657456 + ], + [ + 954.4448487947075, + -205.7671419958848 + ], + [ + 952.3046498501665, + -203.889895036579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1044.901229033032, + "ymin": 0.0, + "xmax": 1177.1753735961152, + "ymax": 233.43067692915056 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1044.901229033032, + 230.24791046629358 + ], + [ + 1057.3002621513392, + 233.43067692915056 + ], + [ + 1104.91264307975, + 93.23918160569355 + ], + [ + 1094.647194633671, + 91.1282323618093 + ], + [ + 1124.6498247075847, + -1.434978400282489 + ], + [ + 1139.9083116055072, + 1.2013605102619067 + ], + [ + 1177.1753735961152, + -110.89303705104828 + ], + [ + 1165.0336963828286, + -112.52012486259548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 316.3057269817974, + "ymin": 324.69372098965937, + "xmax": 375.3819910456807, + "ymax": 360.17540303447174 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 353.86782574171514, + 360.17540303447174 + ], + [ + 375.3819910456807, + 340.1215056571483 + ], + [ + 338.86973995369385, + 326.52518041438026 + ], + [ + 316.86626382542835, + 345.94337900487284 + ], + [ + 353.3633087958202, + 358.3303980883548 + ], + [ + 374.9260501366281, + 338.2840275897313 + ], + [ + 338.35909773228127, + 324.69372098965937 + ], + [ + 316.3057269817974, + 344.1035499952481 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.8689428131538, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 13.501313366348768 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1143.8689428131538, + -47.320412631848285 + ], + [ + 1151.6103032166495, + -3.098136981491905 + ], + [ + 1297.3138348879631, + 13.501313366348768 + ], + [ + 1276.5310274909475, + -33.474631368980795 + ], + [ + 1229.2880186522736, + -293.7903192804565 + ], + [ + 1247.972037024683, + -268.6057622180292 + ], + [ + 1425.8666015849385, + -258.94185002032987 + ], + [ + 1388.1502288959073, + -285.9913787573332 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00072/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00072/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..642fb9d7b0693f13640761534dcc53df06388954 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00072/meta.json @@ -0,0 +1,2570 @@ +{ + "frame_id": 72, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 36.0, + "sim_timestamp": 969.101266115671 + }, + "drone_pose": { + "x": -138.56487436043224, + "y": -42.24048752911819, + "z": 20.000000031959978, + "pitch": -42.4982518527179, + "yaw": 63.135975781368224, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33316630125045776, + -0.6577298045158386, + 0.6755677461624146, + 60.436622619628906 + ], + [ + 0.8920814394950867, + 0.4518747329711914, + 0.0, + -104.52375030517578 + ], + [ + -0.3052719831466675, + 0.6026614308357239, + 0.7372978925704956, + -82.50264739990234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.07606087605936, + "y": -41.76449164293131, + "z": 20.00000001512289 + }, + "t1_image_uv": [ + 194.28142509457678, + -519.6239978771424 + ], + "t1_depth": 0.4759328586940515 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -129.16718292236328, + "y": -23.687763214111328, + "z": 0.9441183137892222 + }, + "image_uv": [ + 640.0000000000001, + 360.0000000000001 + ], + "depth": 28.207212055265515, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 456, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -129.16717529296875, + "y": -23.687763214111328, + "z": 0.944118320941925 + }, + "extent": { + "x": 0.29296875, + "y": 0.37523558735847473, + "z": 0.8658623099327087 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 624.5040444823118, + "ymin": 328.86179693286687, + "xmax": 655.629750995609, + "ymax": 390.4966041034842 + }, + "corners_3d": [ + [ + -129.1090087890625, + -24.160255432128906, + 0.07825601100921631 + ], + [ + -129.63966369628906, + -23.62959098815918, + 0.07825601100921631 + ], + [ + -129.225341796875, + -23.21527099609375, + 0.07825601100921631 + ], + [ + -128.69468688964844, + -23.745935440063477, + 0.07825601100921631 + ], + [ + -129.1090087890625, + -24.160255432128906, + 1.8099806308746338 + ], + [ + -129.63966369628906, + -23.62959098815918, + 1.8099806308746338 + ], + [ + -129.225341796875, + -23.21527099609375, + 1.8099806308746338 + ], + [ + -128.69468688964844, + -23.745935440063477, + 1.8099806308746338 + ] + ], + "corners_2d": [ + [ + 631.0603400310754, + 390.4966041034842 + ], + [ + 654.9920361528631, + 385.02954884881046 + ], + [ + 648.7600747066325, + 372.25929670312473 + ], + [ + 625.1310887106466, + 377.57264022730953 + ], + [ + 630.6776781391048, + 346.9543709928995 + ], + [ + 655.629750995609, + 341.5274462207884 + ], + [ + 649.1272206688361, + 328.86179693286687 + ], + [ + 624.5040444823118, + 334.12977106213646 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 72, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 507272, + "2": 158367, + "3": 60790, + "4": 68369, + "6": 18977, + "7": 610, + "9": 2654, + "10": 6, + "12": 2907, + "14": 14726, + "24": 18159, + "25": 68763 + }, + "instance_pixel_counts": { + "3662": 27535, + "11605": 44601, + "15701": 155, + "16994": 784, + "17240": 10898, + "17496": 4845, + "19083": 1379, + "20066": 931, + "20565": 16034, + "21907": 79705, + "21909": 7379, + "22155": 2548, + "22421": 3249, + "22931": 139998, + "22933": 4876, + "23443": 236220, + "23445": 161, + "23955": 4905, + "23957": 244, + "24467": 4997, + "25600": 766, + "25856": 3057, + "26112": 21, + "36096": 456, + "36352": 581, + "36608": 594, + "36864": 613, + "37120": 35, + "37376": 628, + "41216": 5553, + "41728": 9173, + "46483": 35470, + "47201": 10565, + "47713": 1557, + "48225": 953, + "48531": 5977, + "48737": 44648, + "49249": 6479, + "49761": 4611, + "51297": 29671, + "51526": 40834, + "51809": 2686, + "52321": 6235, + "52833": 1139, + "53345": 152, + "53857": 355, + "54366": 68763, + "56970": 2909, + "57482": 19210, + "57994": 20874, + "58506": 681, + "60819": 1916, + "61254": 2654, + "62355": 334 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 456, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -129.16717529296875, + "y": -23.687763214111328, + "z": 0.944118320941925 + }, + "extent": { + "x": 0.40943846106529236, + "y": 0.3111804127693176, + "z": 0.8790439963340759 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 625.4019715103137, + "ymin": 326.48894367597813, + "xmax": 654.8271566541999, + "ymax": 392.95583163519973 + }, + "corners_3d": [ + [ + -129.2366485595703, + -24.197317123413086, + 0.06507432460784912 + ], + [ + -129.67672729492188, + -23.75724220275879, + 0.06507432460784912 + ], + [ + -129.0977020263672, + -23.17820930480957, + 0.06507432460784912 + ], + [ + -128.65762329101562, + -23.618284225463867, + 0.06507432460784912 + ], + [ + -129.2366485595703, + -24.197317123413086, + 1.823162317276001 + ], + [ + -129.67672729492188, + -23.75724220275879, + 1.823162317276001 + ], + [ + -129.0977020263672, + -23.17820930480957, + 1.823162317276001 + ], + [ + -128.65762329101562, + -23.618284225463867, + 1.823162317276001 + ] + ], + "corners_2d": [ + [ + 634.3200308128066, + 392.95583163519973 + ], + [ + 654.2111009406534, + 388.3960293906578 + ], + [ + 645.539936084668, + 370.52922689241166 + ], + [ + 625.9994994131796, + 374.9109182446987 + ], + [ + 634.0725119870716, + 348.73493702152575 + ], + [ + 654.8271566541999, + 344.207998747777 + ], + [ + 645.7751679061956, + 326.48894367597813 + ], + [ + 625.4019715103137, + 330.83160533786804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 581, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -125.04119873046875, + "y": -20.6900577545166, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3778710961341858, + "y": 0.4242004156112671, + "z": 0.8624461889266968 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 550.8868132185918, + "ymin": 235.54462280864803, + "xmax": 586.9999299621586, + "ymax": 297.51994882491806 + }, + "corners_3d": [ + [ + -125.1270751953125, + -21.251625061035156, + 0.08168679475784302 + ], + [ + -125.58914184570312, + -20.540096282958984, + 0.08168679475784302 + ], + [ + -124.955322265625, + -20.128490447998047, + 0.08168679475784302 + ], + [ + -124.49325561523438, + -20.84001922607422, + 0.08168679475784302 + ], + [ + -125.1270751953125, + -21.251625061035156, + 1.8065791130065918 + ], + [ + -125.58914184570312, + -20.540096282958984, + 1.8065791130065918 + ], + [ + -124.955322265625, + -20.128490447998047, + 1.8065791130065918 + ], + [ + -124.49325561523438, + -20.84001922607422, + 1.8065791130065918 + ] + ], + "corners_2d": [ + [ + 564.282233528357, + 297.51994882491806 + ], + [ + 586.9999299621586, + 289.51355096613116 + ], + [ + 576.5891066406322, + 277.52867560509685 + ], + [ + 554.109708391769, + 285.29851110389905 + ], + [ + 561.3962629819237, + 255.20483876508285 + ], + [ + 585.0003803960631, + 247.32662757544335 + ], + [ + 574.2335360016538, + 235.54462280864803 + ], + [ + 550.8868132185918, + 243.18143572632806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 594, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -131.42300415039062, + "y": -16.74505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5176122784614563, + "y": 0.4828961193561554, + "z": 0.9391049742698669 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 771.3904631267425, + "ymin": 220.2708977220768, + "xmax": 818.6077204172717, + "ymax": 289.83937656593764 + }, + "corners_3d": [ + [ + -131.5213623046875, + -17.446075439453125, + 0.005032896995544434 + ], + [ + -132.12916564941406, + -16.695512771606445, + 0.005032896995544434 + ], + [ + -131.32464599609375, + -16.044025421142578, + 0.005032896995544434 + ], + [ + -130.7168426513672, + -16.794588088989258, + 0.005032896995544434 + ], + [ + -131.5213623046875, + -17.446075439453125, + 1.8832428455352783 + ], + [ + -132.12916564941406, + -16.695512771606445, + 1.8832428455352783 + ], + [ + -131.32464599609375, + -16.044025421142578, + 1.8832428455352783 + ], + [ + -130.7168426513672, + -16.794588088989258, + 1.8832428455352783 + ] + ], + "corners_2d": [ + [ + 786.8709425274483, + 289.83937656593764 + ], + [ + 811.6246309861883, + 282.5770623021854 + ], + [ + 795.760006237803, + 265.7215431090587 + ], + [ + 771.3904631267425, + 272.6805543511563 + ], + [ + 792.9031718342387, + 243.9261810985098 + ], + [ + 818.6077204172717, + 236.79705935718778 + ], + [ + 801.9591308297879, + 220.2708977220768 + ], + [ + 776.6678970980558, + 227.0905064382796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 613, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -132.74693298339844, + "y": -23.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.49571776390075684, + "y": 0.4079333543777466, + "z": 0.9103034138679504 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 731.2878448890185, + "ymin": 360.62872909263746, + "xmax": 777.1530008064349, + "ymax": 436.5491358674798 + }, + "corners_3d": [ + [ + -132.8090057373047, + -24.326740264892578, + 0.03383922576904297 + ], + [ + -133.3859100341797, + -23.749835968017578, + 0.03383922576904297 + ], + [ + -132.6848602294922, + -23.048786163330078, + 0.03383922576904297 + ], + [ + -132.1079559326172, + -23.625690460205078, + 0.03383922576904297 + ], + [ + -132.8090057373047, + -24.326740264892578, + 1.8544460535049438 + ], + [ + -133.3859100341797, + -23.749835968017578, + 1.8544460535049438 + ], + [ + -132.6848602294922, + -23.048786163330078, + 1.8544460535049438 + ], + [ + -132.1079559326172, + -23.625690460205078, + 1.8544460535049438 + ] + ], + "corners_2d": [ + [ + 744.5168386006704, + 436.5491358674798 + ], + [ + 770.9909750957556, + 430.0092041172828 + ], + [ + 757.1950618580829, + 406.50837375903274 + ], + [ + 731.2878448890185, + 412.72755989690444 + ], + [ + 749.4689426549296, + 390.5341500689633 + ], + [ + 777.1530008064349, + 384.0161031743506 + ], + [ + 762.5654209734229, + 360.62872909263746 + ], + [ + 735.5004162126476, + 366.8125966689345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 35, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -132.78268432617188, + "y": -34.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.30538085103034973, + "y": 0.41145262122154236, + "z": 0.8705695867538452 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 526.8410702743005, + "ymin": 702.1853111252954, + "xmax": 576.2221217902221, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -132.6551055908203, + -35.31138610839844, + 0.07356828451156616 + ], + [ + -133.2946319580078, + -34.793514251708984, + 0.07356828451156616 + ], + [ + -132.91026306152344, + -34.31886291503906, + 0.07356828451156616 + ], + [ + -132.27073669433594, + -34.836734771728516, + 0.07356828451156616 + ], + [ + -132.6551055908203, + -35.31138610839844, + 1.8147075176239014 + ], + [ + -133.2946319580078, + -34.793514251708984, + 1.8147075176239014 + ], + [ + -132.91026306152344, + -34.31886291503906, + 1.8147075176239014 + ], + [ + -132.27073669433594, + -34.836734771728516, + 1.8147075176239014 + ] + ], + "corners_2d": [ + [ + 537.1749824014698, + 778.4126412232736 + ], + [ + 576.2221217902221, + 770.1819183228376 + ], + [ + 571.5912813674314, + 742.5577642575083 + ], + [ + 533.3567334563081, + 750.4386258732336 + ], + [ + 530.7455797176424, + 739.0635345126359 + ], + [ + 572.2611006575913, + 730.5866351109385 + ], + [ + 567.4391719451277, + 702.1853111252954 + ], + [ + 526.8410702743005, + 710.2801950032157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 628, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -117.92184448242188, + "y": -31.85797691345215, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.2744482457637787, + "y": 0.38729003071784973, + "z": 0.866514265537262 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 115.36012131721554, + "ymin": 383.4187964967497, + "xmax": 171.584348240973, + "ymax": 443.4821526583151 + }, + "corners_3d": [ + [ + -117.74651336669922, + -32.2990837097168, + 0.07762360572814941 + ], + [ + -118.39612579345703, + -31.877214431762695, + 0.07762360572814941 + ], + [ + -118.09717559814453, + -31.416872024536133, + 0.07762360572814941 + ], + [ + -117.44756317138672, + -31.8387393951416, + 0.07762360572814941 + ], + [ + -117.74651336669922, + -32.2990837097168, + 1.8106521368026733 + ], + [ + -118.39612579345703, + -31.877214431762695, + 1.8106521368026733 + ], + [ + -118.09717559814453, + -31.416872024536133, + 1.8106521368026733 + ], + [ + -117.44756317138672, + -31.8387393951416, + 1.8106521368026733 + ] + ], + "corners_2d": [ + [ + 138.1656804707007, + 443.4821526583151 + ], + [ + 166.68866162899303, + 441.30413955369494 + ], + [ + 171.584348240973, + 427.19098045250036 + ], + [ + 143.49220598440024, + 429.305372447704 + ], + [ + 115.36012131721554, + 399.6629276635766 + ], + [ + 145.23015975197598, + 397.4897575353938 + ], + [ + 150.6736269722091, + 383.4187964967497 + ], + [ + 121.27570032293511, + 385.52567378526885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5553, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1086.7770799118734, + "ymin": 114.26354563962639, + "xmax": 1256.4258774153095, + "ymax": 204.83824298569667 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1093.1399968379958, + 149.63379090300432 + ], + [ + 1086.7770799118734, + 170.67213353804263 + ], + [ + 1236.8881195669328, + 204.83824298569667 + ], + [ + 1238.7617292915334, + 181.70068764490003 + ], + [ + 1105.8797188173048, + 114.26354563962639 + ], + [ + 1099.744226924728, + 134.7683536862901 + ], + [ + 1255.0956532536115, + 168.14540971413788 + ], + [ + 1256.4258774153095, + 145.53172153627108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 9173, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 497.8845545280186, + "ymin": 323.22343116322196, + "xmax": 658.0453495086891, + "ymax": 502.5860630303267 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 503.05865027441496, + 475.774373689958 + ], + [ + 567.4436239722203, + 502.5860630303267 + ], + [ + 657.4523556420112, + 378.8151078070953 + ], + [ + 598.6015430660841, + 358.0372360158507 + ], + [ + 497.8845545280186, + 440.5623821638984 + ], + [ + 564.6254949108142, + 467.43015610116765 + ], + [ + 658.0453495086891, + 343.85509994408363 + ], + [ + 597.2285212472553, + 323.22343116322196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.6517619884012, + "ymin": 9.149834853513653, + "xmax": 1141.9557240992879, + "ymax": 38.9426484695814 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1133.2549870217508, + 34.83065754927253 + ], + [ + 1124.9430887915241, + 33.326431424360294 + ], + [ + 1123.6517619884012, + 37.41605880366063 + ], + [ + 1132.0217646469405, + 38.9426484695814 + ], + [ + 1141.9557240992879, + 10.613665417145398 + ], + [ + 1133.4735933052193, + 9.149834853513653 + ], + [ + 1132.2235900177877, + 13.129963835707201 + ], + [ + 1140.7662580968154, + 14.61594507107634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.574684783464, + "ymin": 0.0, + "xmax": 704.5314507602802, + "ymax": 5.090525256198134 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 699.327630235542, + 5.090525256198134 + ], + [ + 703.4802056064268, + 1.4602873035464086 + ], + [ + 696.7632716832719, + 0.13145736230006833 + ], + [ + 692.574684783464, + 3.7431396401197503 + ], + [ + 700.3170666720556, + -18.301830673931192 + ], + [ + 704.5314507602802, + -21.82766598011648 + ], + [ + 697.7008463008485, + -23.118076476441956 + ], + [ + 693.4492100108936, + -19.610561540068545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1133.3571599660079, + "ymin": 0.0, + "xmax": 1150.7571666588094, + "ymax": 8.041658073112615 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1142.3902423818072, + 4.3705492488299456 + ], + [ + 1134.5103786759641, + 3.0268584870697737 + ], + [ + 1133.3571599660079, + 6.679098027945088 + ], + [ + 1141.289244439397, + 8.041658073112615 + ], + [ + 1150.7571666588094, + -19.001165446449022 + ], + [ + 1142.7246000991358, + -20.3062478825467 + ], + [ + 1141.6104498972807, + -16.75868800529821 + ], + [ + 1149.6973037398493, + -15.434970374296313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 469.33807259123023, + "ymin": 2.462277032751274, + "xmax": 482.0873240041951, + "ymax": 26.739349916181823 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 477.1483194798509, + 26.739349916181823 + ], + [ + 482.0873240041951, + 23.458080709503236 + ], + [ + 476.7158783380988, + 22.248940303269706 + ], + [ + 471.7555552515812, + 25.515570726780197 + ], + [ + 474.8029960651138, + 6.851025554798582 + ], + [ + 479.8269836355717, + 3.6439407769952368 + ], + [ + 474.38392984765244, + 2.462277032751274 + ], + [ + 469.33807259123023, + 5.654849255686372 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1073.9831687923433, + "ymin": 146.5978549715581, + "xmax": 1092.3520202323903, + "ymax": 176.44167310149209 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1084.232778230605, + 171.12449210145996 + ], + [ + 1075.7008060055193, + 169.16961299556652 + ], + [ + 1073.9831687923433, + 174.45662522472225 + ], + [ + 1082.5759052681492, + 176.44167310149209 + ], + [ + 1092.3520202323903, + 148.52323119173627 + ], + [ + 1083.6411615930308, + 146.5978549715581 + ], + [ + 1081.9540445629082, + 151.8055351639564 + ], + [ + 1090.7282780226724, + 153.76117351797464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.3742023511184, + "ymin": 0.0, + "xmax": 1103.8561513187, + "ymax": 350.84465937745404 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 985.0091240332035, + 350.84465937745404 + ], + [ + 990.0341598353564, + 336.9378382570492 + ], + [ + 756.4755793350494, + 268.43716727287074 + ], + [ + 748.3742023511184, + 280.19336187108144 + ], + [ + 1099.6236435400333, + -0.25706392098413744 + ], + [ + 1103.8561513187, + -11.252739891423403 + ], + [ + 790.4383011609315, + -63.76257455199925 + ], + [ + 780.5862000344514, + -54.940789356466325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 552.7507510188163, + "ymin": 0.0, + "xmax": 675.8150351850124, + "ymax": 6.032889302003866 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 672.2565656768916, + -66.20498921240699 + ], + [ + 665.7659342122662, + -67.36044596818152 + ], + [ + 562.770982923518, + 4.480561546250385 + ], + [ + 569.9906291601774, + 6.032889302003866 + ], + [ + 675.8150351850124, + -228.8050125417053 + ], + [ + 668.600332051255, + -229.6276375996165 + ], + [ + 552.7507510188163, + -177.58556467249355 + ], + [ + 560.8767180272152, + -176.44060937186305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 306.67524294939557, + "ymin": 337.6688595390508, + "xmax": 889.9940566940156, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 774.9250107209064, + 932.2538869139622 + ], + [ + 788.7569558933938, + 893.9738835797336 + ], + [ + 447.6173209486195, + 716.6323069457154 + ], + [ + 427.50989875305, + 745.8108982726426 + ], + [ + 871.0060051626635, + 593.6710761275627 + ], + [ + 889.9940566940156, + 544.3418196047281 + ], + [ + 342.1227962656677, + 337.6688595390508 + ], + [ + 306.67524294939557, + 369.40936819287145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.1116199460815, + "ymin": 354.9215185592587, + "xmax": 381.26591288860993, + "ymax": 392.8847392086426 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 359.0832207817718, + 392.8847392086426 + ], + [ + 381.26591288860993, + 371.36127995726065 + ], + [ + 343.3953279510899, + 356.7653448837821 + ], + [ + 320.68516529035423, + 377.5811571127087 + ], + [ + 358.57002282285146, + 391.03076822470416 + ], + [ + 380.80440867299905, + 369.512725407751 + ], + [ + 342.87495599771887, + 354.9215185592587 + ], + [ + 320.1116199460815, + 375.7308468028931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 446.55672288424825, + "ymin": 0.0, + "xmax": 736.4326562084569, + "ymax": 148.1664079726523 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 477.6808324252721, + 80.87435527903187 + ], + [ + 472.1786045162079, + 84.82442258255617 + ], + [ + 718.1231115367107, + 148.1664079726523 + ], + [ + 722.4233155669077, + 143.3483831511514 + ], + [ + 453.0854836951401, + -120.17546604640557 + ], + [ + 446.55672288424825, + -117.1467411071369 + ], + [ + 731.5145941824376, + -67.74018169009099 + ], + [ + 736.4326562084569, + -71.55461221177109 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 925.7174482825711, + "ymin": 0.0, + "xmax": 1230.5828774572692, + "ymax": 15.42445571995529 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1160.8539354707636, + 15.42445571995529 + ], + [ + 1161.74132485162, + 12.327049133450714 + ], + [ + 927.7928044739544, + -28.657061239296354 + ], + [ + 925.7174482825711, + -26.019730513403147 + ], + [ + 1230.0317128890142, + -169.4948240165952 + ], + [ + 1230.5828774572692, + -171.7891706793505 + ], + [ + 962.4875171347365, + -201.8187954435515 + ], + [ + 960.3694333608621, + -199.90459380791674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1056.9409193348595, + "ymin": 0.0, + "xmax": 1190.419085281203, + "ymax": 244.71752032870006 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1056.9409193348595, + 241.43982170735939 + ], + [ + 1069.567061560289, + 244.71752032870006 + ], + [ + 1115.5697053675312, + 100.9543099823486 + ], + [ + 1105.1498123367958, + 98.79190377892462 + ], + [ + 1140.3914453542038, + 8.009333123347176 + ], + [ + 1155.9894819467975, + 10.738876825281181 + ], + [ + 1190.419085281203, + -104.71612220005767 + ], + [ + 1178.0641309511573, + -106.38849684198419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.12645395792225, + "ymin": 354.9692048172458, + "xmax": 381.27780649002057, + "ymax": 392.93251649118093 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 359.0964460178158, + 392.93251649118093 + ], + [ + 381.27780649002057, + 371.4089197626058 + ], + [ + 343.4087390574175, + 356.8128642605042 + ], + [ + 320.6999461576909, + 377.62884155735503 + ], + [ + 358.5832964234214, + 391.0787202281783 + ], + [ + 380.81634474052584, + 369.56053531107057 + ], + [ + 342.8884142019367, + 354.9692048172458 + ], + [ + 320.12645395792225, + 375.7787026966232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1152.6697917482782, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 19.62608967795768 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1152.6697917482782, + -42.38006808860047 + ], + [ + 1161.2490645224093, + 2.6598806750785684 + ], + [ + 1308.758297870359, + 19.62608967795768 + ], + [ + 1286.8278555369193, + -28.253473247367253 + ], + [ + 1240.4224355366346, + -290.5908001781461 + ], + [ + 1260.4936556751913, + -264.86031274509367 + ], + [ + 1441.042748257116, + -254.94737761861313 + ], + [ + 1401.4018059079708, + -282.6104720896799 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00073/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00073/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da361e253806f8451575ef20df0f96d5f4bc98db --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00073/meta.json @@ -0,0 +1,2677 @@ +{ + "frame_id": 73, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 36.5, + "sim_timestamp": 980.5200255808886 + }, + "drone_pose": { + "x": -138.07606087605936, + "y": -41.76449164293131, + "z": 20.00000001512289, + "pitch": -42.46192639284159, + "yaw": 63.13836288110955, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3333323001861572, + -0.6581256985664368, + 0.6751001477241516, + 60.00948715209961 + ], + [ + 0.8921002745628357, + 0.4518374800682068, + 0.0, + -104.30693054199219 + ], + [ + -0.3050355911254883, + 0.6022570133209229, + 0.737726092338562, + -82.02559661865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.5877873744734, + "y": -41.295274146874334, + "z": 20.000000006680057 + }, + "t1_image_uv": [ + 184.8404020134027, + -518.5050427344053 + ], + "t1_depth": 0.47156141672385454 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -128.66718292236328, + "y": -23.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.22671972636715, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 438, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -128.66717529296875, + "y": -23.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3756689429283142, + "y": 0.45777952671051025, + "z": 0.8988149762153625 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.9234313776439, + "ymin": 325.6897163620107, + "xmax": 659.2959311517028, + "ymax": 393.73568982466384 + }, + "corners_3d": [ + [ + -128.60911560058594, + -23.777099609375, + 0.04532289505004883 + ], + [ + -129.2565155029297, + -23.129701614379883, + 0.04532289505004883 + ], + [ + -128.72523498535156, + -22.598426818847656, + 0.04532289505004883 + ], + [ + -128.0778350830078, + -23.245824813842773, + 0.04532289505004883 + ], + [ + -128.60911560058594, + -23.777099609375, + 1.842952847480774 + ], + [ + -129.2565155029297, + -23.129701614379883, + 1.842952847480774 + ], + [ + -128.72523498535156, + -22.598426818847656, + 1.842952847480774 + ], + [ + -128.0778350830078, + -23.245824813842773, + 1.842952847480774 + ] + ], + "corners_2d": [ + [ + 629.2723477465859, + 393.73568982466384 + ], + [ + 658.4792987813355, + 387.0464158967919 + ], + [ + 650.4564573408989, + 370.71230882162104 + ], + [ + 621.7219671306536, + 377.16158100571784 + ], + [ + 628.7946162099628, + 348.5207657249842 + ], + [ + 659.2959311517028, + 341.882084733544 + ], + [ + 650.9098499342875, + 325.6897163620107 + ], + [ + 620.9234313776439, + 332.0799426135762 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 73, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 511707, + "2": 159354, + "3": 63776, + "4": 69335, + "6": 19525, + "7": 795, + "9": 2989, + "10": 10, + "12": 2872, + "14": 15471, + "24": 18311, + "25": 57455 + }, + "instance_pixel_counts": { + "3662": 27058, + "11605": 45953, + "15701": 462, + "16994": 867, + "17240": 10750, + "17496": 5226, + "19083": 1597, + "19595": 49, + "20066": 855, + "20565": 17361, + "21907": 82906, + "21909": 7465, + "22155": 2347, + "22421": 3400, + "22931": 146589, + "22933": 4754, + "23443": 227351, + "23445": 138, + "23955": 4002, + "23957": 265, + "24467": 6362, + "25600": 905, + "25856": 3420, + "26112": 19, + "36096": 438, + "36352": 553, + "36608": 566, + "36864": 666, + "37120": 60, + "37376": 589, + "41216": 5649, + "41728": 9822, + "45409": 18, + "46483": 39322, + "47201": 10930, + "47713": 1680, + "48225": 985, + "48531": 5143, + "48737": 47068, + "49043": 32, + "49249": 6882, + "49761": 4777, + "51297": 24229, + "51526": 42277, + "51809": 3706, + "52321": 6367, + "52833": 1271, + "53345": 175, + "53857": 450, + "54366": 57455, + "56970": 3001, + "57482": 19986, + "57994": 21417, + "58506": 697, + "60819": 1998, + "61254": 2989, + "62355": 291 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 438, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -128.66717529296875, + "y": -23.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5045458674430847, + "y": 0.4306933581829071, + "z": 0.9071149230003357 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.4903699364016, + "ymin": 322.9430221234453, + "xmax": 659.8725486525564, + "ymax": 396.6397021038581 + }, + "corners_3d": [ + [ + -128.71939086914062, + -23.849077224731445, + 0.037022948265075684 + ], + [ + -129.3284912109375, + -23.2399845123291, + 0.037022948265075684 + ], + [ + -128.61495971679688, + -22.52644920349121, + 0.037022948265075684 + ], + [ + -128.005859375, + -23.135541915893555, + 0.037022948265075684 + ], + [ + -128.71939086914062, + -23.849077224731445, + 1.851252794265747 + ], + [ + -129.3284912109375, + -23.2399845123291, + 1.851252794265747 + ], + [ + -128.61495971679688, + -22.52644920349121, + 1.851252794265747 + ], + [ + -128.005859375, + -23.135541915893555, + 1.851252794265747 + ] + ], + "corners_2d": [ + [ + 631.4697965072577, + 396.6397021038581 + ], + [ + 659.0210452997187, + 390.3061546867501 + ], + [ + 648.2661301954353, + 368.35702106864835 + ], + [ + 621.3116802310896, + 374.3873187749472 + ], + [ + 631.085148925202, + 350.9874455208536 + ], + [ + 659.8725486525564, + 344.70046289502886 + ], + [ + 648.6268478001538, + 322.9430221234453 + ], + [ + 620.4903699364016, + 328.91597061583997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 553, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -124.54119873046875, + "y": -20.1900577545166, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.40468260645866394, + "y": 0.47491148114204407, + "z": 0.9129872918128967 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 549.0679274168015, + "ymin": 233.5580542464616, + "xmax": 588.8019117133449, + "ymax": 299.74746980696403 + }, + "corners_3d": [ + [ + -124.62194061279297, + -20.808757781982422, + 0.031145691871643066 + ], + [ + -125.13925170898438, + -20.012168884277344, + 0.031145691871643066 + ], + [ + -124.46045684814453, + -19.57135772705078, + 0.031145691871643066 + ], + [ + -123.94314575195312, + -20.36794662475586, + 0.031145691871643066 + ], + [ + -124.62194061279297, + -20.808757781982422, + 1.8571202754974365 + ], + [ + -125.13925170898438, + -20.012168884277344, + 1.8571202754974365 + ], + [ + -124.46045684814453, + -19.57135772705078, + 1.8571202754974365 + ], + [ + -123.94314575195312, + -20.36794662475586, + 1.8571202754974365 + ] + ], + "corners_2d": [ + [ + 563.4036302428967, + 299.74746980696403 + ], + [ + 588.8019117133449, + 290.78185559429267 + ], + [ + 577.6545857694591, + 277.9729812515634 + ], + [ + 552.5411553689314, + 286.6555150021128 + ], + [ + 560.3103225482128, + 254.9486227487139 + ], + [ + 586.7578607872772, + 246.1355216065425 + ], + [ + 575.2064278602776, + 233.5580542464616 + ], + [ + 549.0679274168015, + 242.081992917082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 566, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -130.92300415039062, + "y": -16.24505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5198779106140137, + "y": 0.4852471947669983, + "z": 0.9368736147880554 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 771.2109300830559, + "ymin": 220.44030028500907, + "xmax": 818.5645620199655, + "ymax": 289.96043774331355 + }, + "corners_3d": [ + [ + -131.0216522216797, + -16.94932746887207, + 0.007264256477355957 + ], + [ + -131.6324005126953, + -16.195112228393555, + 0.007264256477355957 + ], + [ + -130.82435607910156, + -15.540772438049316, + 0.007264256477355957 + ], + [ + -130.21360778808594, + -16.29498863220215, + 0.007264256477355957 + ], + [ + -131.0216522216797, + -16.94932746887207, + 1.8810114860534668 + ], + [ + -131.6324005126953, + -16.195112228393555, + 1.8810114860534668 + ], + [ + -130.82435607910156, + -15.540772438049316, + 1.8810114860534668 + ], + [ + -130.21360778808594, + -16.29498863220215, + 1.8810114860534668 + ] + ], + "corners_2d": [ + [ + 786.7497270020435, + 289.96043774331355 + ], + [ + 811.6086488705172, + 282.6710364200968 + ], + [ + 795.682456642504, + 265.7652920903905 + ], + [ + 771.2109300830559, + 272.74898378570066 + ], + [ + 792.7543532579987, + 244.1699355996099 + ], + [ + 818.5645620199655, + 237.01466636167441 + ], + [ + 801.8543892248069, + 220.44030028500907 + ], + [ + 776.4608780434462, + 227.28366577207336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 666, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -132.24693298339844, + "y": -23.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.48280271887779236, + "y": 0.45686155557632446, + "z": 0.8789324760437012 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 729.900813654813, + "ymin": 361.34907105237033, + "xmax": 778.3943999503533, + "ymax": 435.7916688680601 + }, + "corners_3d": [ + [ + -132.26527404785156, + -23.85220718383789, + 0.0652053952217102 + ], + [ + -132.911376953125, + -23.206106185913086, + 0.0652053952217102 + ], + [ + -132.2285919189453, + -22.523319244384766, + 0.0652053952217102 + ], + [ + -131.58248901367188, + -23.16942024230957, + 0.0652053952217102 + ], + [ + -132.26527404785156, + -23.85220718383789, + 1.8230702877044678 + ], + [ + -132.911376953125, + -23.206106185913086, + 1.8230702877044678 + ], + [ + -132.2285919189453, + -22.523319244384766, + 1.8230702877044678 + ], + [ + -131.58248901367188, + -23.16942024230957, + 1.8230702877044678 + ] + ], + "corners_2d": [ + [ + 742.7556444423459, + 435.7916688680601 + ], + [ + 772.3988636580508, + 428.48119584115256 + ], + [ + 758.9252450292862, + 405.6432714739101 + ], + [ + 729.900813654813, + 412.60409540743217 + ], + [ + 747.4463813160843, + 391.3627568125228 + ], + [ + 778.3943999503533, + 384.07700107315463 + ], + [ + 764.1750336034492, + 361.34907105237033 + ], + [ + 733.900580897797, + 368.2711141561819 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 60, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -132.28268432617188, + "y": -34.31512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.36974120140075684, + "y": 0.46958738565444946, + "z": 0.9043119549751282 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 523.5351094365371, + "ymin": 697.3332899178431, + "xmax": 579.6018531078691, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -132.1504364013672, + -34.897987365722656, + 0.0398259162902832 + ], + [ + -132.88031005859375, + -34.30694580078125, + 0.0398259162902832 + ], + [ + -132.41493225097656, + -33.732261657714844, + 0.0398259162902832 + ], + [ + -131.68505859375, + -34.32330322265625, + 0.0398259162902832 + ], + [ + -132.1504364013672, + -34.897987365722656, + 1.8484498262405396 + ], + [ + -132.88031005859375, + -34.30694580078125, + 1.8484498262405396 + ], + [ + -132.41493225097656, + -33.732261657714844, + 1.8484498262405396 + ], + [ + -131.68505859375, + -34.32330322265625, + 1.8484498262405396 + ] + ], + "corners_2d": [ + [ + 535.0211345693964, + 782.1935316174686 + ], + [ + 579.6018531078691, + 772.772831891609 + ], + [ + 573.9322971815034, + 739.4195960655379 + ], + [ + 530.4709776597768, + 748.3582301134072 + ], + [ + 528.184292555042, + 741.3686305385638 + ], + [ + 575.6987005769258, + 731.6539251707839 + ], + [ + 569.7799686530408, + 697.3332899178431 + ], + [ + 523.5351094365371, + 706.5199612142553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 589, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -117.42184448242188, + "y": -31.35797691345215, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3071337938308716, + "y": 0.41526365280151367, + "z": 0.8781595230102539 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 114.13883849080105, + "ymin": 382.16436697460347, + "xmax": 173.32398636136816, + "ymax": 444.6303536708547 + }, + "corners_3d": [ + [ + -117.24085235595703, + -31.84173011779785, + 0.06597834825515747 + ], + [ + -117.93739318847656, + -31.38939094543457, + 0.06597834825515747 + ], + [ + -117.60283660888672, + -30.874223709106445, + 0.06597834825515747 + ], + [ + -116.90629577636719, + -31.326562881469727, + 0.06597834825515747 + ], + [ + -117.24085235595703, + -31.84173011779785, + 1.8222973346710205 + ], + [ + -117.93739318847656, + -31.38939094543457, + 1.8222973346710205 + ], + [ + -117.60283660888672, + -30.874223709106445, + 1.8222973346710205 + ], + [ + -116.90629577636719, + -31.326562881469727, + 1.8222973346710205 + ] + ], + "corners_2d": [ + [ + 137.2892670303566, + 444.6303536708547 + ], + [ + 167.87151059658402, + 442.29313770268465 + ], + [ + 173.32398636136816, + 426.5220638822516 + ], + [ + 143.25798305718257, + 428.7830905876009 + ], + [ + 114.13883849080105, + 400.21745592939305 + ], + [ + 146.18461531431808, + 397.8856078006195 + ], + [ + 152.2553019713523, + 382.16436697460347 + ], + [ + 120.77584666162761, + 384.41679452004917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5649, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1098.0851890689153, + "ymin": 122.97270531203958, + "xmax": 1270.4959538659764, + "ymax": 215.1676175871406 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1104.1669127591738, + 158.5468785917802 + ], + [ + 1098.0851890689153, + 180.11226803649504 + ], + [ + 1250.7742323813886, + 215.1676175871406 + ], + [ + 1252.2090899660948, + 191.42049131019485 + ], + [ + 1117.3714300967958, + 122.97270531203958 + ], + [ + 1111.5439682851922, + 144.00530088134488 + ], + [ + 1269.6473589905056, + 178.2761056439224 + ], + [ + 1270.4959538659764, + 155.04939823680357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 9822, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 503.68725621785245, + "ymin": 338.02888518666634, + "xmax": 666.0211435350559, + "ymax": 522.6641839759973 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 508.7389670356204, + 494.8329871473983 + ], + [ + 574.5118045218463, + 522.6641839759973 + ], + [ + 665.1523702910223, + 394.4142341375246 + ], + [ + 605.1595957515804, + 372.94657130668 + ], + [ + 503.68725621785245, + 459.6482535783289 + ], + [ + 571.9194644887685, + 487.5765473278539 + ], + [ + 666.0211435350559, + 359.36812878428333 + ], + [ + 603.9854459786073, + 338.02888518666634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.7809769875716, + "ymin": 17.459949309117917, + "xmax": 1155.5094009969687, + "ymax": 47.60954236257061 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1146.4549743787215, + 43.381131399879905 + ], + [ + 1137.9899550197154, + 41.834705307870706 + ], + [ + 1136.7809769875716, + 46.03978629713231 + ], + [ + 1145.3063372442055, + 47.60954236257061 + ], + [ + 1155.5094009969687, + 18.965550366430534 + ], + [ + 1146.8681036436228, + 17.459949309117917 + ], + [ + 1145.7052304633846, + 21.554364188498653 + ], + [ + 1154.4094367216244, + 23.083089491887108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.2049440623526, + "ymin": 0.0, + "xmax": 711.4013871120252, + "ymax": 12.833862942215717 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 706.0646277421973, + 12.833862942215717 + ], + [ + 710.2237875215286, + 9.10733817863786 + ], + [ + 703.4013391414308, + 7.74358171614432 + ], + [ + 699.2049440623526, + 11.45079928170992 + ], + [ + 707.1804383061794, + -10.747865736365156 + ], + [ + 711.4013871120252, + -14.368718503274238 + ], + [ + 704.4617373837484, + -15.693588943389045 + ], + [ + 700.2022500492229, + -12.091810357098836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1145.8610831680337, + "ymin": 0.0, + "xmax": 1163.6409249505634, + "ymax": 15.85607531523641 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1154.9559127506113, + 12.087122243542183 + ], + [ + 1146.9390268603065, + 10.70794297814217 + ], + [ + 1145.8610831680337, + 14.457258852668247 + ], + [ + 1153.9320861891456, + 15.85607531523641 + ], + [ + 1163.6409249505634, + -11.47350004549213 + ], + [ + 1155.4662324052717, + -12.813606685451703 + ], + [ + 1154.4314622415, + -9.170235742441605 + ], + [ + 1162.6624464536117, + -7.81072336726163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 472.57765300409176, + "ymin": 9.26956331011047, + "xmax": 485.4116404758082, + "ymax": 33.78180820826026 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 480.4362675649439, + 33.78180820826026 + ], + [ + 485.4116404758082, + 30.425281200896677 + ], + [ + 479.971908635625, + 29.188658348348838 + ], + [ + 474.974625791808, + 32.53003328548891 + ], + [ + 478.1132828461586, + 13.76010145342184 + ], + [ + 483.1749646177002, + 10.478452845857248 + ], + [ + 477.66181887426006, + 9.26956331011047 + ], + [ + 472.57765300409176, + 12.536183597997479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 638.8891224254331, + "ymin": 0.0, + "xmax": 650.0975405976568, + "ymax": 0.6136912453182504 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 645.4552775795083, + 0.6136912453182504 + ], + [ + 649.9348090523795, + -2.943967112851965 + ], + [ + 643.4200827156097, + -4.246212265834629 + ], + [ + 638.9071029760962, + -0.7065653373489909 + ], + [ + 645.5452614666206, + -22.61830902571819 + ], + [ + 650.0975405976568, + -26.072418618748713 + ], + [ + 643.4759596411773, + -27.336565573069493 + ], + [ + 638.8891224254331, + -23.90022950813426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1086.9418217825548, + "ymin": 157.2128253250835, + "xmax": 1105.752741876148, + "ymax": 187.41644003417065 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1097.276545180384, + 181.9417913807373 + ], + [ + 1088.5818643769271, + 179.92954908119688 + ], + [ + 1086.9418217825548, + 185.37266558021292 + ], + [ + 1095.6996976489988, + 187.41644003417065 + ], + [ + 1105.752741876148, + 159.1957053201081 + ], + [ + 1096.8725653249878, + 157.2128253250835 + ], + [ + 1095.2677864287675, + 162.5770038037561 + ], + [ + 1104.2139199855299, + 164.59153782702094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 756.6216968475071, + "ymin": 0.0, + "xmax": 1123.1162056984517, + "ymax": 365.62640724812036 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 997.860875220473, + 365.62640724812036 + ], + [ + 1002.7533823240657, + 351.266506249611 + ], + [ + 764.7170689092698, + 280.65377911406983 + ], + [ + 756.6216968475071, + 292.7604719629295 + ], + [ + 1119.225576429079, + 11.758773431912573 + ], + [ + 1123.1162056984517, + 0.28868563371599976 + ], + [ + 801.7416918070785, + -54.33344020548998 + ], + [ + 791.9263218877363, + -45.172824375103005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 556.6569866628332, + "ymin": 0.0, + "xmax": 680.225165447978, + "ymax": 11.821871324542542 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 676.199039400209, + -61.69044793686015 + ], + [ + 669.645833052612, + -62.86451786310744 + ], + [ + 566.3122741048778, + 10.240177132351107 + ], + [ + 573.6109305747375, + 11.821871324542542 + ], + [ + 680.225165447978, + -225.26953872289914 + ], + [ + 672.9336847939127, + -226.10677342998963 + ], + [ + 556.6569866628332, + -173.04621931483837 + ], + [ + 564.8825412421477, + -171.87694429521048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 310.89922573632634, + "ymin": 369.61484139931525, + "xmax": 921.8458004795956, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 790.9267389568822, + 972.9947047361503 + ], + [ + 804.6964651613451, + 932.5794532329962 + ], + [ + 453.45283805901425, + 746.151894455797 + ], + [ + 432.999443487707, + 776.7401075610304 + ], + [ + 903.5018623714237, + 647.7407108199207 + ], + [ + 921.8458004795956, + 593.6603638894813 + ], + [ + 347.49174969976133, + 369.61484139931525 + ], + [ + 310.89922573632634, + 403.7663870922279 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 324.77216009311906, + "ymin": 387.4326151236253, + "xmax": 388.1524727368586, + "ymax": 428.1433096785862 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 365.29673996449264, + 428.1433096785862 + ], + [ + 388.1524727368586, + 404.97293067002994 + ], + [ + 348.7864739113517, + 389.28574161753875 + ], + [ + 325.35805048345276, + 411.6660740465084 + ], + [ + 364.7761404930056, + 426.2843509270953 + ], + [ + 387.68689166684123, + 403.1167221166913 + ], + [ + 348.25728010041126, + 387.4326151236253 + ], + [ + 324.77216009311906, + 409.80885030385485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 449.8258482793158, + "ymin": 0.0, + "xmax": 744.1577456450359, + "ymax": 157.05139623638877 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 480.81625955425, + 88.19851596541525 + ], + [ + 475.274099615733, + 92.23571785633783 + ], + [ + 724.5486450193334, + 157.05139623638877 + ], + [ + 728.8532919199228, + 152.11528014726954 + ], + [ + 456.41169217085246, + -114.30286583358964 + ], + [ + 449.8258482793158, + -111.19764722689314 + ], + [ + 739.2374626825941, + -60.46185234808303 + ], + [ + 744.1577456450359, + -64.38512250169015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 932.2594353032414, + "ymin": 0.0, + "xmax": 1241.8484762379155, + "ymax": 21.383542495650033 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1170.2323389990327, + 21.383542495650033 + ], + [ + 1171.0712277020514, + 18.226298648671616 + ], + [ + 934.3165295655775, + -23.510420329742317 + ], + [ + 932.2594353032414, + -20.826333442514567 + ], + [ + 1241.3692340636344, + -164.788859494167 + ], + [ + 1241.8484762379155, + -167.13305221252904 + ], + [ + 970.1196993141755, + -197.77986287247882 + ], + [ + 968.028741423844, + -195.82789567619204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1069.0403710228434, + "ymin": 0.0, + "xmax": 1203.4459160762317, + "ymax": 256.150953793319 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1069.0403710228434, + 252.78076676479412 + ], + [ + 1081.898345825768, + 256.150953793319 + ], + [ + 1126.0137879498584, + 108.7142500704399 + ], + [ + 1115.4388568611325, + 106.50301790369241 + ], + [ + 1156.288794649871, + 17.64417396442701 + ], + [ + 1172.23446504218, + 20.465835782125737 + ], + [ + 1203.4459160762317, + -98.45711505171141 + ], + [ + 1190.8767625773366, + -100.17294233561933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 324.78731436487215, + "ymin": 387.48054483430064, + "xmax": 388.1644706063779, + "ymax": 428.19121214885877 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 365.31015500164006, + 428.19121214885877 + ], + [ + 388.1644706063779, + 405.0207645478605 + ], + [ + 348.80011149936246, + 389.33349761001904 + ], + [ + 325.373148476684, + 411.71393342764543 + ], + [ + 364.7896064236717, + 426.33243512815545 + ], + [ + 387.69893393632526, + 403.16473301115707 + ], + [ + 348.27096729679687, + 387.48054483430064 + ], + [ + 324.78731436487215, + 409.856888083219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1161.002690918258, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 25.719305170077917 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1161.002690918258, + -37.432705607631476 + ], + [ + 1170.4918721890617, + 8.42638275652223 + ], + [ + 1319.7610755067076, + 25.719305170077917 + ], + [ + 1296.6092946844242, + -23.05987489042218 + ], + [ + 1251.0088393178467, + -287.32157533865484 + ], + [ + 1272.5543884041892, + -261.0436564883838 + ], + [ + 1455.6920741014658, + -250.90462746421304 + ], + [ + 1414.037332424422, + -279.17934089189475 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00074/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00074/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff6815321267a95b24d52ebe2b3a01a052149e8b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00074/meta.json @@ -0,0 +1,2787 @@ +{ + "frame_id": 74, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 37.0, + "sim_timestamp": 991.4390107130166 + }, + "drone_pose": { + "x": -137.5877873744734, + "y": -41.295274146874334, + "z": 20.000000006680057, + "pitch": -42.41707246430508, + "yaw": 63.14783366175477, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.333462119102478, + -0.658652126789093, + 0.6745224595069885, + 59.589088439941406 + ], + [ + 0.892175018787384, + 0.45169001817703247, + 0.0, + -104.09970092773438 + ], + [ + -0.3046751022338867, + 0.60179203748703, + 0.7382543683052063, + -81.53581237792969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.11662385358989, + "y": -40.83188478931327, + "z": 20.000000002711968 + }, + "t1_image_uv": [ + 201.76124178051964, + -517.1251541151084 + ], + "t1_depth": 0.46232755588211233 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -128.16718292236328, + "y": -22.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.250896164182983, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 578, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -128.16717529296875, + "y": -22.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.47511717677116394, + "y": 0.37415769696235657, + "z": 0.9060767292976379 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.6659987869548, + "ymin": 324.00520109835054, + "xmax": 657.6464729605385, + "ymax": 395.50913260414853 + }, + "corners_3d": [ + [ + -128.2385711669922, + -23.288291931152344, + 0.03806114196777344 + ], + [ + -128.7677001953125, + -22.759151458740234, + 0.03806114196777344 + ], + [ + -128.0957794189453, + -22.087234497070312, + 0.03806114196777344 + ], + [ + -127.566650390625, + -22.616374969482422, + 0.03806114196777344 + ], + [ + -128.2385711669922, + -23.288291931152344, + 1.8502146005630493 + ], + [ + -128.7677001953125, + -22.759151458740234, + 1.8502146005630493 + ], + [ + -128.0957794189453, + -22.087234497070312, + 1.8502146005630493 + ], + [ + -127.566650390625, + -22.616374969482422, + 1.8502146005630493 + ] + ], + "corners_2d": [ + [ + 632.994356819681, + 395.50913260414853 + ], + [ + 656.8926686508207, + 390.0210098099922 + ], + [ + 646.8045373242395, + 369.3689528408079 + ], + [ + 623.393875472614, + 374.60931349808766 + ], + [ + 632.6797666566516, + 349.9214973082775 + ], + [ + 657.6464729605385, + 344.4748512239289 + ], + [ + 647.1009635106402, + 324.00520109835054 + ], + [ + 622.6659987869548, + 329.1953421820921 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 74, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 63, + "semantic_pixel_counts": { + "1": 516189, + "2": 161023, + "3": 66827, + "4": 70132, + "6": 19894, + "7": 1045, + "9": 3275, + "10": 9, + "12": 3059, + "14": 16621, + "24": 16932, + "25": 46594 + }, + "instance_pixel_counts": { + "3662": 26452, + "11605": 47094, + "15701": 948, + "16994": 902, + "17240": 10287, + "17496": 5627, + "17503": 3, + "17506": 40, + "19083": 1653, + "19595": 289, + "20066": 776, + "20565": 18785, + "21395": 76, + "21397": 4, + "21907": 86743, + "21909": 6979, + "22155": 2129, + "22421": 3554, + "22931": 153562, + "22933": 4461, + "23443": 216715, + "23445": 112, + "23955": 3001, + "23957": 293, + "24467": 7662, + "25600": 1187, + "25856": 3836, + "26112": 2, + "36096": 578, + "36352": 558, + "36608": 562, + "36864": 666, + "37120": 70, + "37376": 625, + "37888": 25, + "41216": 5779, + "41728": 10817, + "45409": 100, + "46483": 43934, + "47201": 11313, + "47713": 1812, + "48225": 1010, + "48531": 4263, + "48737": 49657, + "49043": 233, + "49249": 7296, + "49761": 4944, + "51297": 19872, + "51526": 43680, + "51809": 3869, + "52321": 6607, + "52833": 1398, + "53345": 207, + "53857": 551, + "54366": 46591, + "56970": 3104, + "57482": 20803, + "57994": 21978, + "58506": 713, + "60819": 1259, + "61254": 3275, + "62355": 251, + "62867": 19 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 578, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -128.16717529296875, + "y": -22.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3402392566204071, + "y": 0.4334057569503784, + "z": 0.8785468935966492 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.1164541417651, + "ymin": 327.1594613979161, + "xmax": 658.0635306312251, + "ymax": 392.25454332428177 + }, + "corners_3d": [ + [ + -128.10130310058594, + -23.234813690185547, + 0.06559097766876221 + ], + [ + -128.71421813964844, + -22.621885299682617, + 0.06559097766876221 + ], + [ + -128.23304748535156, + -22.14071273803711, + 0.06559097766876221 + ], + [ + -127.62012481689453, + -22.75364112854004, + 0.06559097766876221 + ], + [ + -128.10130310058594, + -23.234813690185547, + 1.8226847648620605 + ], + [ + -128.71421813964844, + -22.621885299682617, + 1.8226847648620605 + ], + [ + -128.23304748535156, + -22.14071273803711, + 1.8226847648620605 + ], + [ + -127.62012481689453, + -22.75364112854004, + 1.8226847648620605 + ] + ], + "corners_2d": [ + [ + 629.6987510169421, + 392.25454332428177 + ], + [ + 657.3176927929251, + 385.9398506295133 + ], + [ + 650.061924697973, + 371.16686870474405 + ], + [ + 622.8477762151379, + 377.2758734403848 + ], + [ + 629.2518603184071, + 348.07192621692724 + ], + [ + 658.0635306312251, + 341.80528803436295 + ], + [ + 650.4878822520587, + 327.1594613979161 + ], + [ + 622.1164541417651, + 333.2133827431481 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 558, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -124.04119873046875, + "y": -19.6900577545166, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.47725585103034973, + "y": 0.44989073276519775, + "z": 0.9122101664543152 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 548.8297329422676, + "ymin": 232.8852099918081, + "xmax": 589.1747290607676, + "ymax": 300.82279261127667 + }, + "corners_3d": [ + [ + -124.1964340209961, + -20.327301025390625, + 0.03193247318267822 + ], + [ + -124.68648529052734, + -19.57267951965332, + 0.03193247318267822 + ], + [ + -123.8859634399414, + -19.052814483642578, + 0.03193247318267822 + ], + [ + -123.39591217041016, + -19.807435989379883, + 0.03193247318267822 + ], + [ + -124.1964340209961, + -20.327301025390625, + 1.8563528060913086 + ], + [ + -124.68648529052734, + -19.57267951965332, + 1.8563528060913086 + ], + [ + -123.8859634399414, + -19.052814483642578, + 1.8563528060913086 + ], + [ + -123.39591217041016, + -19.807435989379883, + 1.8563528060913086 + ] + ], + "corners_2d": [ + [ + 565.1111062521622, + 300.82279261127667 + ], + [ + 589.1747290607676, + 292.3160919495085 + ], + [ + 576.0432520399701, + 277.2268744093048 + ], + [ + 552.2974331673745, + 285.41777081667874 + ], + [ + 562.090919527469, + 256.06245445280064 + ], + [ + 587.1471694527261, + 247.7004784190686 + ], + [ + 573.5412645630423, + 232.8852099918081 + ], + [ + 548.8297329422676, + 240.9246650582358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 562, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -130.42300415039062, + "y": -15.745049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5375829935073853, + "y": 0.5043896436691284, + "z": 0.9195353984832764 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 770.377952189013, + "ymin": 220.66004316911196, + "xmax": 819.1070644387978, + "ymax": 290.1311491628934 + }, + "corners_3d": [ + [ + -130.5233612060547, + -16.475345611572266, + 0.02460247278213501 + ], + [ + -131.158203125, + -15.691376686096191, + 0.02460247278213501 + ], + [ + -130.32264709472656, + -15.014753341674805, + 0.02460247278213501 + ], + [ + -129.68780517578125, + -15.798722267150879, + 0.02460247278213501 + ], + [ + -130.5233612060547, + -16.475345611572266, + 1.863673210144043 + ], + [ + -131.158203125, + -15.691376686096191, + 1.863673210144043 + ], + [ + -130.32264709472656, + -15.014753341674805, + 1.863673210144043 + ], + [ + -129.68780517578125, + -15.798722267150879, + 1.863673210144043 + ] + ], + "corners_2d": [ + [ + 786.4351101117836, + 290.1311491628934 + ], + [ + 812.2669145131848, + 282.5594218990196 + ], + [ + 795.7936442189707, + 265.1169048336073 + ], + [ + 770.377952189013, + 272.36043323154223 + ], + [ + 792.3068255002905, + 245.19867306957312 + ], + [ + 819.1070644387978, + 237.764479708811 + ], + [ + 801.8395302732332, + 220.66004316911196 + ], + [ + 775.4862182881718, + 227.75957821370116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 666, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -131.74693298339844, + "y": -22.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4210449159145355, + "y": 0.45698240399360657, + "z": 0.9042672514915466 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 730.5765658371257, + "ymin": 362.04509003334454, + "xmax": 777.441575646846, + "ymax": 434.7858748923617 + }, + "corners_3d": [ + [ + -131.72152709960938, + -23.308622360229492, + 0.039870619773864746 + ], + [ + -132.3677978515625, + -22.662351608276367, + 0.039870619773864746 + ], + [ + -131.7723388671875, + -22.066904067993164, + 0.039870619773864746 + ], + [ + -131.12606811523438, + -22.71317481994629, + 0.039870619773864746 + ], + [ + -131.72152709960938, + -23.308622360229492, + 1.848405122756958 + ], + [ + -132.3677978515625, + -22.662351608276367, + 1.848405122756958 + ], + [ + -131.7723388671875, + -22.066904067993164, + 1.848405122756958 + ], + [ + -131.12606811523438, + -22.71317481994629, + 1.848405122756958 + ] + ], + "corners_2d": [ + [ + 741.773848089121, + 434.7858748923617 + ], + [ + 771.3395423069888, + 427.5050395351521 + ], + [ + 759.6038142976263, + 407.62282958041067 + ], + [ + 730.5765658371257, + 414.5992702033494 + ], + [ + 746.5404112862445, + 389.07883544362556 + ], + [ + 777.441575646846, + 381.82557205046203 + ], + [ + 765.0383344182495, + 362.04509003334454 + ], + [ + 734.724625607593, + 368.9814326560071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 70, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -131.78268432617188, + "y": -33.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4891015589237213, + "y": 0.42388916015625, + "z": 0.909376859664917 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 525.2464617954686, + "ymin": 691.6374285345415, + "xmax": 578.53973664778, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -131.7610626220703, + -34.46199035644531, + 0.034761011600494385 + ], + [ + -132.41990661621094, + -33.928466796875, + 0.034761011600494385 + ], + [ + -131.80430603027344, + -33.16825866699219, + 0.034761011600494385 + ], + [ + -131.1454620361328, + -33.7017822265625, + 0.034761011600494385 + ], + [ + -131.7610626220703, + -34.46199035644531, + 1.8535146713256836 + ], + [ + -132.41990661621094, + -33.928466796875, + 1.8535146713256836 + ], + [ + -131.80430603027344, + -33.16825866699219, + 1.8535146713256836 + ], + [ + -131.1454620361328, + -33.7017822265625, + 1.8535146713256836 + ] + ], + "corners_2d": [ + [ + 538.1728756253162, + 786.7983098847719 + ], + [ + 578.53973664778, + 778.2297161363642 + ], + [ + 571.1068570912005, + 734.1536315279131 + ], + [ + 532.0748202647766, + 742.1472322545633 + ], + [ + 531.4868995239171, + 745.8325378050286 + ], + [ + 574.5324992565381, + 736.9920221089919 + ], + [ + 566.7774388353396, + 691.6374285345415 + ], + [ + 525.2464617954686, + 699.8479867138124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 625, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -116.92184448242188, + "y": -30.85797691345215, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.2956884801387787, + "y": 0.4211669862270355, + "z": 0.8915337324142456 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 114.30912448992456, + "ymin": 382.06233674760404, + "xmax": 173.9588849123109, + "ymax": 444.6258147964723 + }, + "corners_3d": [ + [ + -116.72966766357422, + -31.335346221923828, + 0.05260413885116577 + ], + [ + -117.43611145019531, + -30.876577377319336, + 0.05260413885116577 + ], + [ + -117.11402130126953, + -30.38060760498047, + 0.05260413885116577 + ], + [ + -116.40757751464844, + -30.83937644958496, + 0.05260413885116577 + ], + [ + -116.72966766357422, + -31.335346221923828, + 1.8356716632843018 + ], + [ + -117.43611145019531, + -30.876577377319336, + 1.8356716632843018 + ], + [ + -117.11402130126953, + -30.38060760498047, + 1.8356716632843018 + ], + [ + -116.40757751464844, + -30.83937644958496, + 1.8356716632843018 + ] + ], + "corners_2d": [ + [ + 137.75172767988192, + 444.6258147964723 + ], + [ + 168.72552690809317, + 442.25686386394693 + ], + [ + 173.9588849123109, + 427.0975076452684 + ], + [ + 143.48841500442114, + 429.3920961408333 + ], + [ + 114.30912448992456, + 399.53374048123897 + ], + [ + 146.78534038149098, + 397.1707430477164 + ], + [ + 152.62086493716885, + 382.06233674760404 + ], + [ + 120.69750273226282, + 384.34778648196703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 25, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 547.2184124160513, + "ymin": 0.0, + "xmax": 631.83439920245, + "ymax": 6.19628333376005 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 615.5681831753003, + 6.19628333376005 + ], + [ + 631.83439920245, + -6.343952469903343 + ], + [ + 566.6055579371689, + -19.27835793620494 + ], + [ + 549.2013054472711, + -7.372564736197603 + ], + [ + 615.0201118749967, + -25.31062632979115 + ], + [ + 631.6557083052396, + -37.35376992071792 + ], + [ + 565.0409783015573, + -49.76190874334077 + ], + [ + 547.2184124160513, + -38.34103398685181 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5779, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1109.5642224547637, + "ymin": 131.9232146026442, + "xmax": 1280.0, + "ymax": 225.7595145996843 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1115.3430282868692, + 167.6963579032832 + ], + [ + 1109.5642224547637, + 189.80214659724402 + ], + [ + 1264.8849743946798, + 225.7595145996843 + ], + [ + 1265.8522152288126, + 201.3865123828906 + ], + [ + 1129.0231512743267, + 131.9232146026442 + ], + [ + 1123.5272268629233, + 153.49726146368855 + ], + [ + 1284.4413319684281, + 188.67553418985915 + ], + [ + 1284.7768024579514, + 164.81900166002885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 10817, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 509.7628913606643, + "ymin": 353.3195466743762, + "xmax": 674.2788818378441, + "ymax": 543.4589368215911 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 514.6761548398556, + 514.56330022877 + ], + [ + 581.8943054522445, + 543.4589368215911 + ], + [ + 673.1161203848975, + 410.5100896259406 + ], + [ + 611.9415620816067, + 388.32910913194826 + ], + [ + 509.7628913606643, + 479.4304696139684 + ], + [ + 579.5499216383579, + 508.46824972697004 + ], + [ + 674.2788818378441, + 375.39159316269786 + ], + [ + 610.9807477461636, + 353.3195466743762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.1361525976529, + "ymin": 26.041275911693447, + "xmax": 1169.296272480465, + "ymax": 56.54887140807358 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1159.8779230808518, + 52.20067980900927 + ], + [ + 1151.2563976736992, + 50.61133886538829 + ], + [ + 1150.1361525976529, + 54.9351951722839 + ], + [ + 1158.820364378305, + 56.54887140807358 + ], + [ + 1169.296272480465, + 27.589381728239914 + ], + [ + 1160.4922320102974, + 26.041275911693447 + ], + [ + 1159.4232130507073, + 30.253317157092397 + ], + [ + 1168.2926509166941, + 31.825560715138238 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.9568361859693, + "ymin": 0.0, + "xmax": 718.3974433613644, + "ymax": 20.84787408587846 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 712.9256312028656, + 20.84787408587846 + ], + [ + 717.0886287622515, + 17.022295116223347 + ], + [ + 710.1583543791097, + 15.623049356467902 + ], + [ + 705.9568361859693, + 19.42854030711294 + ], + [ + 714.1727854289513, + -2.92108682125496 + ], + [ + 718.3974433613644, + -6.639723565473048 + ], + [ + 711.34633327033, + -7.9996282104957 + ], + [ + 707.0817852884935, + -4.300849333681526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1158.5437705585177, + "ymin": 0.0, + "xmax": 1176.7084232989664, + "ymax": 23.91952541669059 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1167.6974939893366, + 20.050225701192232 + ], + [ + 1159.5409531799455, + 18.63509693273818 + ], + [ + 1158.5437705585177, + 22.483963987798973 + ], + [ + 1166.7564104391615, + 23.91952541669059 + ], + [ + 1176.7084232989664, + -3.696511957707571 + ], + [ + 1168.3888325205176, + -5.072117119463542 + ], + [ + 1167.4391965864688, + -1.3304568931013705 + ], + [ + 1175.8171747254241, + 0.06535268892059776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 475.86321823280525, + "ymin": 16.323269065966144, + "xmax": 488.7805700817937, + "ymax": 41.071032521907796 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 483.76977859296517, + 41.071032521907796 + ], + [ + 488.7805700817937, + 37.63734888891702 + ], + [ + 483.27122087395605, + 36.372945910560986 + ], + [ + 478.2378986706753, + 39.79094720486137 + ], + [ + 481.4709574201919, + 20.917799250909695 + ], + [ + 486.5693668384238, + 17.55968983774187 + ], + [ + 480.9847568170128, + 16.323269065966144 + ], + [ + 475.86321823280525, + 19.665817111939816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 644.7211183259842, + "ymin": 0.0, + "xmax": 656.1265528500315, + "ymax": 8.3107136405892 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 651.3692989539085, + 8.3107136405892 + ], + [ + 655.8635569575996, + 4.660758091077014 + ], + [ + 649.249938586684, + 3.325446218557431 + ], + [ + 644.7211183259842, + 6.956679332375188 + ], + [ + 651.5591267535548, + -15.104403393117423 + ], + [ + 656.1265528500315, + -18.64951980692399 + ], + [ + 649.4028908760771, + -19.94627155725135 + ], + [ + 644.7997380865942, + -16.419641175249126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1100.1746163864957, + "ymin": 168.14163797877046, + "xmax": 1119.4372363065775, + "ymax": 198.70778006137988 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1110.5918005257263, + 193.07046333521603 + ], + [ + 1101.7302044813844, + 190.99962062111996 + ], + [ + 1100.1746163864957, + 196.60398012457995 + ], + [ + 1109.1019678054683, + 198.70778006137988 + ], + [ + 1119.4372363065775, + 170.1833026665489 + ], + [ + 1110.3832933117772, + 168.14163797877046 + ], + [ + 1108.8680950157088, + 173.66754923875223 + ], + [ + 1117.9907163780235, + 175.74232402528872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.0883482187485, + "ymin": 0.0, + "xmax": 1143.0599424625673, + "ymax": 380.8435388862657 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1011.0755173988383, + 380.8435388862657 + ], + [ + 1015.8202333475458, + 366.0123141187563 + ], + [ + 773.1700277074742, + 293.2296119966119 + ], + [ + 765.0883482187485, + 305.69971706431113 + ], + [ + 1139.549164320459, + 24.2851530717424 + ], + [ + 1143.0599424625673, + 12.315490076250057 + ], + [ + 813.4179975049713, + -44.50498012606067 + ], + [ + 803.6549271332824, + -34.989747522558616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 560.587296318462, + "ymin": 0.0, + "xmax": 684.6202858814286, + "ymax": 17.818713888721106 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 680.1223877749535, + -56.986566059317454 + ], + [ + 673.50615092783, + -58.17908423610743 + ], + [ + 569.8657768106912, + 16.207615989654755 + ], + [ + 577.2445418266705, + 17.818713888721106 + ], + [ + 684.6202858814286, + -221.52134387467152 + ], + [ + 677.2515165718156, + -222.3730814427231 + ], + [ + 560.587296318462, + -168.27890621485403 + ], + [ + 568.9138338001142, + -167.08521688742246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 315.68167307284415, + "ymin": 403.7675021268413, + "xmax": 956.8276509822308, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 807.9373703597857, + 1015.8209643341143 + ], + [ + 821.605175655968, + 973.0975864506693 + ], + [ + 459.66632989187906, + 776.9686734536403 + ], + [ + 438.86502043592327, + 809.065283424793 + ], + [ + 939.3735542584038, + 706.7647901704588 + ], + [ + 956.8276509822308, + 647.2567132660321 + ], + [ + 353.4696208025467, + 403.7675021268413 + ], + [ + 315.68167307284415, + 440.59619418459357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 330.0112256688423, + "ymin": 422.1843908765825, + "xmax": 395.7649050864549, + "ymax": 465.93533426946885 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 372.21204968882876, + 465.93533426946885 + ], + [ + 395.7649050864549, + 440.9348193952694 + ], + [ + 354.786000569285, + 424.0431415346505 + ], + [ + 330.60904375706406, + 448.15875825940986 + ], + [ + 371.68507094885064, + 464.076125707127 + ], + [ + 395.2965223776208, + 439.0750387899585 + ], + [ + 354.248692290774, + 422.1843908765825 + ], + [ + 330.0112256688423, + 446.29888588448034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.1524262147112, + "ymin": 0.0, + "xmax": 752.036259166417, + "ymax": 166.19728092021666 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 483.9899683080383, + 95.76282324382333 + ], + [ + 478.4088250414148, + 99.8893282956056 + ], + [ + 731.0824675096451, + 166.19728092021666 + ], + [ + 735.388851799918, + 161.1398378658924 + ], + [ + 459.7942607450441, + -108.17253675723612 + ], + [ + 453.1524262147112, + -104.988749068029 + ], + [ + 747.1177114343218, + -52.90074202954543 + ], + [ + 752.036259166417, + -56.93621347035099 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.7985244103445, + "ymin": 0.0, + "xmax": 1253.1429500536854, + "ymax": 27.521529671438145 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1179.6290667160392, + 27.521529671438145 + ], + [ + 1180.416607329848, + 24.303706395843733 + ], + [ + 940.8354682155184, + -18.181417999602047 + ], + [ + 938.7985244103445, + -15.45005106217161 + ], + [ + 1252.739498289376, + -159.87600622296623 + ], + [ + 1253.1429500536854, + -162.27070881204065 + ], + [ + 977.7536433081715, + -193.53270830325414 + ], + [ + 975.6922460231137, + -191.54254041489548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1081.3849624886516, + "ymin": 0.0, + "xmax": 1216.6227033868304, + "ymax": 267.89189677920854 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1081.3849624886516, + 264.4273210135721 + ], + [ + 1094.4806733226553, + 267.89189677920854 + ], + [ + 1136.5583911426547, + 116.68418400401688 + ], + [ + 1125.8260792073531, + 114.42382179450018 + ], + [ + 1172.5699657957623, + 27.619627143991636 + ], + [ + 1188.8737535813311, + 30.535993272884525 + ], + [ + 1216.6227033868304, + -91.96178202998152 + ], + [ + 1203.8357093447491, + -93.72151594591651 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 330.0266895096909, + "ymin": 422.23246916886256, + "xmax": 395.77697429949103, + "ymax": 465.98323960824666 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 372.22562809825445, + 465.98323960824666 + ], + [ + 395.77697429949103, + 440.98274193361794 + ], + [ + 354.7998463259182, + 424.09103919467674 + ], + [ + 330.62444801240053, + 448.2066824516033 + ], + [ + 371.6987028512855, + 464.1242197720393 + ], + [ + 395.3086379254478, + 439.123145307228 + ], + [ + 354.2625902626976, + 422.23246916886256 + ], + [ + 330.0266895096909, + 446.3469954532124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1169.307991126293, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 31.98600804101477 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1169.307991126293, + -32.31458008855145 + ], + [ + 1179.7452632122236, + 14.370454021044452 + ], + [ + 1330.7800860666348, + 31.98600804101477 + ], + [ + 1306.3618184460597, + -17.700259631846677 + ], + [ + 1261.568147387848, + -283.8377680148627 + ], + [ + 1284.6447839351558, + -257.00728457034836 + ], + [ + 1470.3820682002759, + -246.64381975660524 + ], + [ + 1426.6441556607497, + -275.5360873009986 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00075/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00075/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ecb24d5d95160baef7b32bbadaeca7ddd8ab34a6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00075/meta.json @@ -0,0 +1,2996 @@ +{ + "frame_id": 75, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 37.5, + "sim_timestamp": 1001.4365528260823 + }, + "drone_pose": { + "x": -137.11662385358989, + "y": -40.83188478931327, + "z": 20.000000002711968, + "pitch": -42.35464263835757, + "yaw": 63.12264099313215, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33408379554748535, + -0.6591605544090271, + 0.6737176179885864, + 59.24885559082031 + ], + [ + 0.8919762969017029, + 0.4520822763442993, + -2.9802322387695312e-08, + -103.84539794921875 + ], + [ + -0.3045758008956909, + 0.6009401082992554, + 0.7389888763427734, + -81.07969665527344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -136.68031892995032, + "y": -40.3771210143683, + "z": 20.000000000990962 + }, + "t1_image_uv": [ + 244.4222682986192, + -515.2078310777599 + ], + "t1_depth": 0.44552474296789746 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -127.66718292236328, + "y": -22.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.28464399273672, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 587, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -127.66718292236328, + "y": -22.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.506542980670929, + "y": 0.43797972798347473, + "z": 0.9060332775115967 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.2766151472833, + "ymin": 322.94989563999485, + "xmax": 660.0906030985535, + "ymax": 396.64890954953114 + }, + "corners_3d": [ + [ + -127.71566772460938, + -22.855642318725586, + 0.0381045937538147 + ], + [ + -128.33506774902344, + -22.236244201660156, + 0.0381045937538147 + ], + [ + -127.61869812011719, + -21.51988410949707, + 0.0381045937538147 + ], + [ + -126.99930572509766, + -22.1392822265625, + 0.0381045937538147 + ], + [ + -127.71566772460938, + -22.855642318725586, + 1.8501710891723633 + ], + [ + -128.33506774902344, + -22.236244201660156, + 1.8501710891723633 + ], + [ + -127.61869812011719, + -21.51988410949707, + 1.8501710891723633 + ], + [ + -126.99930572509766, + -22.1392822265625, + 1.8501710891723633 + ] + ], + "corners_2d": [ + [ + 631.2674568338892, + 396.64890954953114 + ], + [ + 659.2342113827042, + 390.23816426318325 + ], + [ + 648.4609480755222, + 368.288807489181 + ], + [ + 621.1026394913766, + 374.3915384185761 + ], + [ + 630.8757692508894, + 351.06140471331884 + ], + [ + 660.0906030985535, + 344.6999946763714 + ], + [ + 648.8281381679503, + 322.94989563999485 + ], + [ + 620.2766151472833, + 328.99251690344727 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 75, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 518105, + "2": 163807, + "3": 70092, + "4": 69451, + "6": 19314, + "7": 1253, + "9": 3428, + "10": 8, + "12": 3048, + "14": 17319, + "24": 18419, + "25": 37356 + }, + "instance_pixel_counts": { + "3662": 24525, + "11605": 48290, + "15701": 1634, + "16994": 910, + "17240": 8705, + "17496": 6068, + "17503": 49, + "17506": 124, + "19083": 1700, + "19595": 603, + "20066": 692, + "20565": 20168, + "21395": 316, + "21397": 37, + "21907": 89531, + "21909": 7608, + "22155": 1887, + "22421": 3697, + "22931": 161037, + "22933": 4390, + "23443": 205311, + "23445": 90, + "23955": 2062, + "23957": 311, + "24467": 8833, + "25600": 1562, + "25856": 4231, + "26112": 1, + "36096": 587, + "36352": 545, + "36608": 563, + "36864": 660, + "37120": 83, + "37376": 610, + "37888": 158, + "41216": 5802, + "41728": 11359, + "45409": 224, + "46483": 46950, + "46995": 127, + "47201": 11738, + "47713": 1930, + "48225": 1046, + "48531": 3316, + "48737": 52419, + "49043": 622, + "49249": 7738, + "49761": 5130, + "51297": 16486, + "51526": 44926, + "51809": 3709, + "52321": 6943, + "52833": 1543, + "53345": 228, + "53857": 658, + "54366": 37307, + "56970": 3204, + "57482": 21620, + "57994": 22544, + "58506": 731, + "60819": 2000, + "61254": 3428, + "62355": 206, + "62867": 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": 141, + "instance_id": 36096, + "pixel_count": 587, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -127.66718292236328, + "y": -22.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.394233375787735, + "y": 0.46260496973991394, + "z": 0.9078366160392761 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.6134954255331, + "ymin": 325.09006434029595, + "xmax": 659.6269388981085, + "ymax": 394.3506333686459 + }, + "corners_3d": [ + [ + -127.61883544921875, + -22.79364013671875, + 0.036301255226135254 + ], + [ + -128.27305603027344, + -22.13941764831543, + 0.036301255226135254 + ], + [ + -127.71553039550781, + -21.581886291503906, + 0.036301255226135254 + ], + [ + -127.06130981445312, + -22.236108779907227, + 0.036301255226135254 + ], + [ + -127.61883544921875, + -22.79364013671875, + 1.8519744873046875 + ], + [ + -128.27305603027344, + -22.13941764831543, + 1.8519744873046875 + ], + [ + -127.71553039550781, + -21.581886291503906, + 1.8519744873046875 + ], + [ + -127.06130981445312, + -22.236108779907227, + 1.8519744873046875 + ] + ], + "corners_2d": [ + [ + 629.3259487396599, + 394.3506333686459 + ], + [ + 658.7911489281046, + 387.61664545371195 + ], + [ + 650.3946413685304, + 370.5415259033385 + ], + [ + 621.4293592028298, + 377.02228851736834 + ], + [ + 628.8474899896141, + 348.68989480569286 + ], + [ + 659.6269388981085, + 342.0094823107463 + ], + [ + 650.8478473910801, + 325.09006434029595 + ], + [ + 620.6134954255331, + 331.50838138843824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 545, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -123.54119873046875, + "y": -19.1900577545166, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5016747713088989, + "y": 0.4568719267845154, + "z": 0.9337918162345886 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 548.4395038903616, + "ymin": 232.15263132609874, + "xmax": 589.83937405151, + "ymax": 301.96009343097217 + }, + "corners_3d": [ + [ + -123.71310424804688, + -19.846454620361328, + 0.010350823402404785 + ], + [ + -124.21076965332031, + -19.080123901367188, + 0.010350823402404785 + ], + [ + -123.36929321289062, + -18.533660888671875, + 0.010350823402404785 + ], + [ + -122.87162780761719, + -19.299991607666016, + 0.010350823402404785 + ], + [ + -123.71310424804688, + -19.846454620361328, + 1.877934455871582 + ], + [ + -124.21076965332031, + -19.080123901367188, + 1.877934455871582 + ], + [ + -123.36929321289062, + -18.533660888671875, + 1.877934455871582 + ], + [ + -122.87162780761719, + -19.299991607666016, + 1.877934455871582 + ] + ], + "corners_2d": [ + [ + 565.4283589884047, + 301.96009343097217 + ], + [ + 589.83937405151, + 293.33796529680814 + ], + [ + 576.0651336228383, + 277.50851439797265 + ], + [ + 551.9930458116082, + 285.7946148385662 + ], + [ + 562.3540347560224, + 256.15556962540643 + ], + [ + 587.7941383975475, + 247.68488504032496 + ], + [ + 573.5113457527564, + 232.15263132609874 + ], + [ + 548.4395038903616, + 240.28006895253634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 563, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -129.92300415039062, + "y": -15.245049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.49754393100738525, + "y": 0.5104992389678955, + "z": 0.9369351863861084 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 770.6893948001086, + "ymin": 221.1330395806364, + "xmax": 818.5370849453309, + "ymax": 290.15691610340565 + }, + "corners_3d": [ + [ + -129.9884033203125, + -15.954895973205566, + 0.0072026848793029785 + ], + [ + -130.6309356689453, + -15.161431312561035, + 0.0072026848793029785 + ], + [ + -129.85760498046875, + -14.535202980041504, + 0.0072026848793029785 + ], + [ + -129.21507263183594, + -15.328667640686035, + 0.0072026848793029785 + ], + [ + -129.9884033203125, + -15.954895973205566, + 1.881072998046875 + ], + [ + -130.6309356689453, + -15.161431312561035, + 1.881072998046875 + ], + [ + -129.85760498046875, + -14.535202980041504, + 1.881072998046875 + ], + [ + -129.21507263183594, + -15.328667640686035, + 1.881072998046875 + ] + ], + "corners_2d": [ + [ + 785.5156471941707, + 290.15691610340565 + ], + [ + 811.6140162898525, + 282.52901951117127 + ], + [ + 796.3982206624969, + 266.41642790801745 + ], + [ + 770.6893948001086, + 273.73788768804917 + ], + [ + 791.4443010573176, + 244.40932973768793 + ], + [ + 818.5370849453309, + 236.92448780256402 + ], + [ + 802.5750037061805, + 221.1330395806364 + ], + [ + 775.9011099655247, + 228.30538529544972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 660, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -131.24693298339844, + "y": -22.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.40685057640075684, + "y": 0.43389892578125, + "z": 0.8885927200317383 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 731.4120526261815, + "ymin": 362.936547218752, + "xmax": 776.2033100788279, + "ymax": 433.7848196440756 + }, + "corners_3d": [ + [ + -131.22781372070312, + -22.782262802124023, + 0.055545151233673096 + ], + [ + -131.8414306640625, + -22.168636322021484, + 0.055545151233673096 + ], + [ + -131.26605224609375, + -21.593263626098633, + 0.055545151233673096 + ], + [ + -130.65243530273438, + -22.206890106201172, + 0.055545151233673096 + ], + [ + -131.22781372070312, + -22.782262802124023, + 1.8327305316925049 + ], + [ + -131.8414306640625, + -22.168636322021484, + 1.8327305316925049 + ], + [ + -131.26605224609375, + -21.593263626098633, + 1.8327305316925049 + ], + [ + -130.65243530273438, + -22.206890106201172, + 1.8327305316925049 + ] + ], + "corners_2d": [ + [ + 742.225394506193, + 433.7848196440756 + ], + [ + 770.273455405722, + 426.90137881537726 + ], + [ + 758.965967602192, + 407.7225745893598 + ], + [ + 731.4120526261815, + 414.3276290210699 + ], + [ + 746.9141001941367, + 388.8714715708014 + ], + [ + 776.2033100788279, + 382.01531083071296 + ], + [ + 764.2659730657961, + 362.936547218752 + ], + [ + 735.5149677589006, + 369.5031590526193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 83, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -131.28268432617188, + "y": -33.31512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5063378810882568, + "y": 0.48009398579597473, + "z": 0.8996272087097168 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 522.3295528998751, + "ymin": 689.6302460910264, + "xmax": 581.1360724836155, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -131.2282257080078, + -34.01075744628906, + 0.04451066255569458 + ], + [ + -131.9744415283203, + -33.406490325927734, + 0.04451066255569458 + ], + [ + -131.33714294433594, + -32.61949157714844, + 0.04451066255569458 + ], + [ + -130.59092712402344, + -33.223758697509766, + 0.04451066255569458 + ], + [ + -131.2282257080078, + -34.01075744628906, + 1.8437650203704834 + ], + [ + -131.9744415283203, + -33.406490325927734, + 1.8437650203704834 + ], + [ + -131.33714294433594, + -32.61949157714844, + 1.8437650203704834 + ], + [ + -130.59092712402344, + -33.223758697509766, + 1.8437650203704834 + ] + ], + "corners_2d": [ + [ + 535.4250877997421, + 786.9763345659356 + ], + [ + 581.1360724836155, + 777.301863369813 + ], + [ + 573.387002806352, + 731.810798438882 + ], + [ + 529.2405276599516, + 740.813878335465 + ], + [ + 528.6446413829755, + 746.3856473311813 + ], + [ + 577.3496221826933, + 736.4098246761705 + ], + [ + 569.2622397727214, + 689.6302460910264 + ], + [ + 522.3295528998751, + 698.8715525517732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 610, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -116.42184448242188, + "y": -30.35797691345215, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.2628271281719208, + "y": 0.3779992461204529, + "z": 0.8663707375526428 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 117.39242210667362, + "ymin": 383.41255175477556, + "xmax": 172.40793557101762, + "ymax": 442.72929672418707 + }, + "corners_3d": [ + [ + -116.24797058105469, + -30.78427505493164, + 0.07776713371276855 + ], + [ + -116.88200378417969, + -30.372528076171875, + 0.07776713371276855 + ], + [ + -116.59571838378906, + -29.931678771972656, + 0.07776713371276855 + ], + [ + -115.96168518066406, + -30.343425750732422, + 0.07776713371276855 + ], + [ + -116.24797058105469, + -30.78427505493164, + 1.8105086088180542 + ], + [ + -116.88200378417969, + -30.372528076171875, + 1.8105086088180542 + ], + [ + -116.59571838378906, + -29.931678771972656, + 1.8105086088180542 + ], + [ + -115.96168518066406, + -30.343425750732422, + 1.8105086088180542 + ] + ], + "corners_2d": [ + [ + 139.9739354632054, + 442.72929672418707 + ], + [ + 167.7255348067809, + 440.62116119753443 + ], + [ + 172.40793557101762, + 427.178412674979 + ], + [ + 145.05766427001697, + 429.22760411550587 + ], + [ + 117.39242210667362, + 398.91090196209285 + ], + [ + 146.4463542911471, + 396.8085567526575 + ], + [ + 151.64918603051257, + 383.41255175477556 + ], + [ + 123.03479388090545, + 385.4535215204078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 158, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 550.91682517704, + "ymin": 0.0, + "xmax": 636.1942433946423, + "ymax": 12.288685956382324 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 619.8757072602016, + 12.288685956382324 + ], + [ + 636.1942433946423, + -0.47199605223363506 + ], + [ + 570.3161372519729, + -13.641565950279869 + ], + [ + 552.8349430147607, + -1.5331517337979221 + ], + [ + 619.4206750282374, + -19.383085098741617 + ], + [ + 636.1103186817155, + -31.642097925649637 + ], + [ + 568.8196258701265, + -44.27987689480943 + ], + [ + 550.91682517704, + -32.66093205735342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5802, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1121.4680202244956, + "ymin": 141.36732226650372, + "xmax": 1280.0, + "ymax": 236.9278329513542 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1126.9472967090296, + 177.3345545217235 + ], + [ + 1121.4680202244956, + 199.99115430507294 + ], + [ + 1279.5099503689123, + 236.9278329513542 + ], + [ + 1280.0062594007368, + 211.911519398204 + ], + [ + 1141.121074090232, + 141.36732226650372 + ], + [ + 1135.9545839088628, + 163.4935450619635 + ], + [ + 1299.7769713270077, + 199.65613510551617 + ], + [ + 1299.5937506902737, + 175.15180429536392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 11359, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 515.9999634448154, + "ymin": 369.08679720501135, + "xmax": 682.7846133310755, + "ymax": 564.9028551301578 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 520.7603431799574, + 534.8655543805377 + ], + [ + 589.4352557986113, + 564.9028551301578 + ], + [ + 681.3106407083844, + 427.1192497789176 + ], + [ + 618.9461105154317, + 404.17522776761024 + ], + [ + 515.9999634448154, + 499.8076971692757 + ], + [ + 587.3564517710428, + 530.0358268760606 + ], + [ + 682.7846133310755, + 391.94256006328413 + ], + [ + 618.2138299300412, + 369.08679720501135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.9874421988825, + "ymin": 35.1406243355172, + "xmax": 1183.5982521224971, + "ymax": 66.00899393580033 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1173.8012946034853, + 61.53832496812845 + ], + [ + 1165.0184890243129, + 59.90269097607484 + ], + [ + 1163.9874421988825, + 64.34794082618276 + ], + [ + 1172.835372954333, + 66.00899393580033 + ], + [ + 1183.5982521224971, + 36.73456075997581 + ], + [ + 1174.626427217278, + 35.1406243355172 + ], + [ + 1173.6519966809858, + 39.47293782055664 + ], + [ + 1182.6918090156476, + 41.092104696314266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.084699671421, + "ymin": 0.08378673606773646, + "xmax": 725.7797790753077, + "ymax": 29.24745627915769 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 720.1624152207071, + 29.24745627915769 + ], + [ + 724.330895367247, + 25.32258966330653 + ], + [ + 717.2929846152701, + 23.8856590131752 + ], + [ + 713.084699671421, + 27.7896105019139 + ], + [ + 721.5498541410165, + 5.297555604213812 + ], + [ + 725.7797790753077, + 1.4808723193045807 + ], + [ + 718.6173597148028, + 0.08378673606773646 + ], + [ + 714.3461930734109, + 3.8797820845318256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1171.7199512885784, + "ymin": 3.1700281510864556, + "xmax": 1190.2861317404297, + "ymax": 32.4852499109852 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1180.9365208833203, + 28.51366428828146 + ], + [ + 1172.6361969481986, + 27.05974517417627 + ], + [ + 1171.7199512885784, + 31.010041882951327 + ], + [ + 1180.0784299438722, + 32.4852499109852 + ], + [ + 1190.2861317404297, + 4.583917155470203 + ], + [ + 1181.8173023220347, + 3.1700281510864556 + ], + [ + 1180.953189869023, + 7.01186796762056 + ], + [ + 1189.4825821536756, + 8.44682107392805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 479.5538120692155, + "ymin": 23.67839081537062, + "xmax": 492.5456491889404, + "ymax": 48.65548819335578 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 487.49822257208774, + 48.65548819335578 + ], + [ + 492.5456491889404, + 45.14579321107692 + ], + [ + 486.96867788493523, + 43.85212299298843 + ], + [ + 481.8981274973811, + 47.34558072876786 + ], + [ + 485.2316010237714, + 28.377241961575294 + ], + [ + 490.3678899486795, + 24.943795635726417 + ], + [ + 484.7138468925098, + 23.67839081537062 + ], + [ + 479.5538120692155, + 27.09571813407564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1177.514800071839, + "ymin": 0.0, + "xmax": 1195.2912943429474, + "ymax": 7.3673632209610105 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1186.286333619315, + 3.7505057834321747 + ], + [ + 1178.3494177288314, + 2.425843371829785 + ], + [ + 1177.514800071839, + 6.024195971948927 + ], + [ + 1185.504881208517, + 7.3673632209610105 + ], + [ + 1195.2912943429474, + -19.479618835692804 + ], + [ + 1187.200522671722, + -20.765789535136037 + ], + [ + 1186.41463352763, + -17.27174463180046 + ], + [ + 1194.5606707739862, + -15.967307875650647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.9158736860322, + "ymin": 0.0, + "xmax": 662.5457264306162, + "ymax": 16.37409013653479 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 657.6632752422987, + 16.37409013653479 + ], + [ + 662.1738532549821, + 12.631994360298904 + ], + [ + 655.462117032283, + 11.261658752725623 + ], + [ + 650.9158736860322, + 14.984281374627017 + ], + [ + 657.9616379958633, + -7.217414979925991 + ], + [ + 662.5457264306162, + -10.853409996045684 + ], + [ + 655.7207445815297, + -12.184675798944681 + ], + [ + 651.0997711552071, + -8.567919012626191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 579.0960201760296, + "ymin": 0.0, + "xmax": 591.3324565218905, + "ymax": 1.7074520554248238 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 586.4579577866608, + 1.7074520554248238 + ], + [ + 591.3324565218905, + -1.831686770873091 + ], + [ + 584.9830545105128, + -3.1280446082313915 + ], + [ + 580.0772887710076, + 0.3931816910728685 + ], + [ + 585.5789046736279, + -21.463260752518693 + ], + [ + 590.5389927447831, + -24.89887258387222 + ], + [ + 584.0883734898297, + -26.157116078692297 + ], + [ + 579.0960201760296, + -22.73917619340358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1113.8571158155933, + "ymin": 179.61822553040204, + "xmax": 1133.5916827544752, + "ymax": 210.55195138120715 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1124.3617961172306, + 204.7476711862614 + ], + [ + 1115.3281966878778, + 202.61353508416147 + ], + [ + 1113.8571158155933, + 208.38331759094726 + ], + [ + 1122.959135217077, + 210.55195138120715 + ], + [ + 1133.5916827544752, + 181.72335969805488 + ], + [ + 1124.358581526272, + 179.61822553040204 + ], + [ + 1122.9332995018258, + 185.31014705288086 + ], + [ + 1132.2379143927412, + 187.44996554866924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 773.8403516286728, + "ymin": 0.0, + "xmax": 1163.7306068699295, + "ymax": 396.6915989312882 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1024.6747473030484, + 396.6915989312882 + ], + [ + 1029.27284079777, + 381.37397468720707 + ], + [ + 781.9135851330004, + 306.2560145037017 + ], + [ + 773.8403516286728, + 319.0960812225303 + ], + [ + 1160.6165095197734, + 37.53178665815295 + ], + [ + 1163.7306068699295, + 25.040162376243075 + ], + [ + 825.5616106745935, + -34.14477476406188 + ], + [ + 815.8507144717532, + -24.265207949015803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 564.9948955560583, + "ymin": 0.0, + "xmax": 689.5047003180244, + "ymax": 24.11841672978528 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 684.4815588843813, + -51.94551976264768 + ], + [ + 677.8038404050917, + -53.157689215158996 + ], + [ + 573.828134335028, + 22.476214199319372 + ], + [ + 581.2847129181248, + 24.11841672978528 + ], + [ + 689.5047003180244, + -217.3773079451205 + ], + [ + 682.0604631314943, + -218.24435706550105 + ], + [ + 564.9948955560583, + -163.14482822509206 + ], + [ + 573.4197027773164, + -161.92551720459574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.4875053874186, + "ymin": 439.9496219025532, + "xmax": 994.1040987562209, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 825.3177224354978, + 1060.8094557875215 + ], + [ + 838.8860166386704, + 1015.6094109263356 + ], + [ + 465.88797696342283, + 808.8786491123262 + ], + [ + 444.7103731365528, + 842.5605494235422 + ], + [ + 977.7291544141033, + 771.1505111266051 + ], + [ + 994.1040987562209, + 705.4654572060356 + ], + [ + 359.5612725457879, + 439.9496219025532 + ], + [ + 320.4875053874186, + 479.7020695956675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 335.2991855996414, + "ymin": 458.9943409510869, + "xmax": 403.55533796257487, + "ymax": 506.0897410702321 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 379.2529667929697, + 506.0897410702321 + ], + [ + 403.55533796257487, + 479.0868377353542 + ], + [ + 360.89080345820173, + 460.854341371858 + ], + [ + 335.90907835374736, + 486.8630614544434 + ], + [ + 378.71995114432536, + 504.23583271096555 + ], + [ + 403.0848056671317, + 477.22830726219684 + ], + [ + 360.34557239203366, + 458.9943409510869 + ], + [ + 335.2991855996414, + 485.0055627506154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.93650926326717, + "ymin": 0.0, + "xmax": 760.3232609116887, + "ymax": 175.70755026843167 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 487.5391310255126, + 103.60289212407139 + ], + [ + 481.91747872483876, + 107.81727697823248 + ], + [ + 737.9406539511469, + 175.70755026843167 + ], + [ + 742.2511562913776, + 170.52846797129962 + ], + [ + 463.6350463005466, + -101.69639253181782 + ], + [ + 456.93650926326717, + -98.43515992110775 + ], + [ + 755.404960096636, + -44.92173852772953 + ], + [ + 760.3232609116887, + -49.07005091894365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 945.7554076747074, + "ymin": 0.0, + "xmax": 1264.9811469301555, + "ymax": 34.115586232113344 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1189.4965076134367, + 34.115586232113344 + ], + [ + 1190.2335947549882, + 30.836695196001642 + ], + [ + 947.7735718532908, + -12.459999757977982 + ], + [ + 945.7554076747074, + -9.681793088612835 + ], + [ + 1264.6534801054697, + -154.48125563874032 + ], + [ + 1264.9811469301555, + -156.92691983709597 + ], + [ + 985.8582555695327, + -188.85091100508168 + ], + [ + 983.8254687960068, + -186.82289644394336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1094.14134871842, + "ymin": 0.0, + "xmax": 1230.34018596209, + "ymax": 280.18110815550494 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1094.14134871842, + 276.6145221316577 + ], + [ + 1107.4818343222357, + 280.18110815550494 + ], + [ + 1147.543949795614, + 125.12570421510642 + ], + [ + 1136.6499514663053, + 122.81211931129965 + ], + [ + 1189.430251112319, + 38.1742333968225 + ], + [ + 1206.104889573448, + 41.19267093038775 + ], + [ + 1230.34018596209, + -84.96787695604746 + ], + [ + 1217.3287547176978, + -86.77489598646417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 335.314962903101, + "ymin": 459.0424548249537, + "xmax": 403.5674616686906, + "ymax": 506.1375061106051 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 379.26669967995394, + 506.1375061106051 + ], + [ + 403.5674616686906, + 479.13472451694577 + ], + [ + 360.90485237409393, + 460.9022678219308 + ], + [ + 335.9247925619722, + 486.9109208874547 + ], + [ + 378.73374023238375, + 504.2837932271027 + ], + [ + 403.09697767312906, + 477.27638482092044 + ], + [ + 360.3596762483839, + 459.0424548249537 + ], + [ + 335.314962903101, + 485.05361434743924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1178.0932541156858, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 38.74974171346395 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1178.0932541156858, + -26.75150872036056 + ], + [ + 1189.4719666417718, + 20.76881879689114 + ], + [ + 1342.3411036103714, + 38.74974171346395 + ], + [ + 1316.648823959214, + -11.861948796558067 + ], + [ + 1272.6918574972178, + -279.8659001060819 + ], + [ + 1297.3132359842818, + -252.47666874497827 + ], + [ + 1485.7536424248706, + -241.8628053940089 + ], + [ + 1439.8925822353663, + -271.385354734525 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00076/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00076/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd32e48f806e964d6eb60dc5cf3b99453999127b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00076/meta.json @@ -0,0 +1,3311 @@ +{ + "frame_id": 76, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 38.0, + "sim_timestamp": 1012.19384262315 + }, + "drone_pose": { + "x": -136.68031892995032, + "y": -40.3771210143683, + "z": 20.000000000990962, + "pitch": -42.26040502238102, + "yaw": 63.02329029915313, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3357285261154175, + -0.6595668792724609, + 0.6725012063980103, + 59.06886672973633 + ], + [ + 0.8911910057067871, + 0.4536283016204834, + 0.0, + -103.4920654296875 + ], + [ + -0.3050656020641327, + 0.599327027797699, + 0.7400959730148315, + -80.69747161865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -136.29202689268882, + "y": -39.935487222290085, + "z": 20.000000000316145 + }, + "t1_image_uv": [ + 308.26193740238665, + -512.320834510754 + ], + "t1_depth": 0.421647726445285 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -127.16718292236328, + "y": -21.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.33580304476107, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 601, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -127.16718292236328, + "y": -21.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3872607350349426, + "y": 0.3984313905239105, + "z": 0.8723795413970947 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.8592211285577, + "ymin": 326.6646081540521, + "xmax": 657.3662436273514, + "ymax": 392.81504523548483 + }, + "corners_3d": [ + [ + -127.15928649902344, + -22.243331909179688, + 0.07175832986831665 + ], + [ + -127.72274780273438, + -21.67986488342285, + 0.07175832986831665 + ], + [ + -127.17507934570312, + -21.13219451904297, + 0.07175832986831665 + ], + [ + -126.61161804199219, + -21.695661544799805, + 0.07175832986831665 + ], + [ + -127.15928649902344, + -22.243331909179688, + 1.8165173530578613 + ], + [ + -127.72274780273438, + -21.67986488342285, + 1.8165173530578613 + ], + [ + -127.17507934570312, + -21.13219451904297, + 1.8165173530578613 + ], + [ + -126.61161804199219, + -21.695661544799805, + 1.8165173530578613 + ] + ], + "corners_2d": [ + [ + 631.2917404428279, + 392.81504523548483 + ], + [ + 656.6572701665891, + 387.06844752421915 + ], + [ + 648.491917676622, + 370.3284854882364 + ], + [ + 623.550271257572, + 375.8624977477634 + ], + [ + 630.9186263017007, + 348.9545755797437 + ], + [ + 657.3662436273514, + 343.2537057779652 + ], + [ + 648.8463460624745, + 326.6646081540521 + ], + [ + 622.8592211285577, + 332.14583988044404 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 76, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 520731, + "2": 164721, + "3": 73582, + "4": 60954, + "6": 19525, + "7": 1500, + "9": 3339, + "10": 9, + "12": 3048, + "14": 17915, + "24": 19915, + "25": 36361 + }, + "instance_pixel_counts": { + "3662": 14884, + "11605": 49681, + "15701": 2452, + "16994": 939, + "17240": 7785, + "17496": 6576, + "17503": 226, + "17506": 222, + "19083": 1744, + "19595": 973, + "20066": 594, + "20565": 21449, + "21395": 735, + "21397": 67, + "21907": 92171, + "21909": 8383, + "22155": 1630, + "22421": 3897, + "22931": 168703, + "22933": 4435, + "23443": 193846, + "23445": 67, + "23955": 1390, + "23957": 346, + "24467": 9849, + "25600": 1999, + "25856": 4643, + "26112": 22, + "36096": 601, + "36352": 574, + "36608": 560, + "36864": 629, + "37120": 60, + "37376": 624, + "37888": 518, + "40704": 60, + "41216": 5456, + "41728": 11881, + "45409": 333, + "46483": 50092, + "46995": 527, + "47201": 12185, + "47713": 2040, + "48225": 1082, + "48531": 2279, + "48737": 55380, + "49043": 1139, + "49249": 8205, + "49761": 5305, + "51297": 11447, + "51526": 46070, + "51809": 3011, + "52321": 7311, + "52833": 1664, + "53345": 203, + "53857": 695, + "54366": 36135, + "56458": 54, + "56970": 3299, + "57482": 22433, + "57994": 23151, + "58506": 821, + "60819": 2422, + "61254": 3339, + "61331": 7, + "62355": 139, + "62867": 152 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 601, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -127.16718292236328, + "y": -21.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4098290801048279, + "y": 0.43638181686401367, + "z": 0.8876466155052185 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.376760268368, + "ymin": 325.5338393449869, + "xmax": 658.87808330227, + "ymax": 393.9624384184469 + }, + "corners_3d": [ + [ + -127.14840698242188, + -22.28612518310547, + 0.05649125576019287 + ], + [ + -127.76554107666016, + -21.668987274169922, + 0.05649125576019287 + ], + [ + -127.18595886230469, + -21.089401245117188, + 0.05649125576019287 + ], + [ + -126.5688247680664, + -21.706539154052734, + 0.05649125576019287 + ], + [ + -127.14840698242188, + -22.28612518310547, + 1.8317844867706299 + ], + [ + -127.76554107666016, + -21.668987274169922, + 1.8317844867706299 + ], + [ + -127.18595886230469, + -21.089401245117188, + 1.8317844867706299 + ], + [ + -126.5688247680664, + -21.706539154052734, + 1.8317844867706299 + ] + ], + "corners_2d": [ + [ + 630.3084221143097, + 393.9624384184469 + ], + [ + 658.093985614393, + 387.66119219048477 + ], + [ + 649.4348492250244, + 369.9551101876615 + ], + [ + 622.1402591767286, + 376.010022191966 + ], + [ + 629.8853714905498, + 349.32762445135955 + ], + [ + 658.87808330227, + 343.0771028672765 + ], + [ + 649.8353205224149, + 325.5338393449869 + ], + [ + 621.376760268368, + 331.5297089016681 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 574, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -123.04119873046875, + "y": -18.6900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4488769471645355, + "y": 0.44723081588745117, + "z": 0.8895293474197388 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 549.9399633973993, + "ymin": 234.48286513844317, + "xmax": 589.11602974591, + "ymax": 300.15333911592074 + }, + "corners_3d": [ + [ + -123.17407989501953, + -19.309612274169922, + 0.05460852384567261 + ], + [ + -123.66123962402344, + -18.5594539642334, + 0.05460852384567261 + ], + [ + -122.90831756591797, + -18.07050323486328, + 0.05460852384567261 + ], + [ + -122.42115783691406, + -18.820661544799805, + 0.05460852384567261 + ], + [ + -123.17407989501953, + -19.309612274169922, + 1.833667278289795 + ], + [ + -123.66123962402344, + -18.5594539642334, + 1.833667278289795 + ], + [ + -122.90831756591797, + -18.07050323486328, + 1.833667278289795 + ], + [ + -122.42115783691406, + -18.820661544799805, + 1.833667278289795 + ] + ], + "corners_2d": [ + [ + 565.2389504439205, + 300.15333911592074 + ], + [ + 589.11602974591, + 291.789147646286 + ], + [ + 576.8424524242533, + 277.66433416941953 + ], + [ + 553.2636759643943, + 285.7357847053522 + ], + [ + 562.3203512800189, + 256.5725553941877 + ], + [ + 587.1508085632794, + 248.35130481052425 + ], + [ + 574.4476777571534, + 234.48286513844317 + ], + [ + 549.9399633973993, + 242.4055105574821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 560, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -129.42300415039062, + "y": -14.745049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.42646482586860657, + "y": 0.4250830113887787, + "z": 0.9363197088241577 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 773.9701082978364, + "ymin": 223.43983960582014, + "xmax": 815.1094600182737, + "ymax": 288.7812316076556 + }, + "corners_3d": [ + [ + -129.48692321777344, + -15.34378433227539, + 0.007818162441253662 + ], + [ + -130.02194213867188, + -14.683080673217773, + 0.007818162441253662 + ], + [ + -129.3590850830078, + -14.14631462097168, + 0.007818162441253662 + ], + [ + -128.82406616210938, + -14.807018280029297, + 0.007818162441253662 + ], + [ + -129.48692321777344, + -15.34378433227539, + 1.8804576396942139 + ], + [ + -130.02194213867188, + -14.683080673217773, + 1.8804576396942139 + ], + [ + -129.3590850830078, + -14.14631462097168, + 1.8804576396942139 + ], + [ + -128.82406616210938, + -14.807018280029297, + 1.8804576396942139 + ] + ], + "corners_2d": [ + [ + 786.6541315487162, + 288.7812316076556 + ], + [ + 808.3505256788019, + 282.4917370091725 + ], + [ + 795.3876040508545, + 268.69002922940206 + ], + [ + 773.9701082978364, + 274.76215516828836 + ], + [ + 792.5904771089881, + 243.13314216997742 + ], + [ + 815.1094600182737, + 236.96391105441228 + ], + [ + 801.5135026154069, + 223.43983960582014 + ], + [ + 779.2943519875707, + 229.38749593450808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 629, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.74693298339844, + "y": -21.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3746630847454071, + "y": 0.30422118306159973, + "z": 0.8749691843986511 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 735.7725686378542, + "ymin": 365.0573699089842, + "xmax": 770.984206019456, + "ymax": 431.59121372869015 + }, + "corners_3d": [ + [ + -130.79673767089844, + -22.16780662536621, + 0.06916868686676025 + ], + [ + -131.2269744873047, + -21.737573623657227, + 0.06916868686676025 + ], + [ + -130.69712829589844, + -21.207719802856445, + 0.06916868686676025 + ], + [ + -130.2668914794922, + -21.63795280456543, + 0.06916868686676025 + ], + [ + -130.79673767089844, + -22.16780662536621, + 1.8191070556640625 + ], + [ + -131.2269744873047, + -21.737573623657227, + 1.8191070556640625 + ], + [ + -130.69712829589844, + -21.207719802856445, + 1.8191070556640625 + ], + [ + -130.2668914794922, + -21.63795280456543, + 1.8191070556640625 + ] + ], + "corners_2d": [ + [ + 745.742626232598, + 431.59121372869015 + ], + [ + 765.3846433543774, + 426.81395258399925 + ], + [ + 755.0948896870299, + 409.1612106106091 + ], + [ + 735.7725686378542, + 413.7601253450891 + ], + [ + 750.4900951110478, + 387.37266083431723 + ], + [ + 770.984206019456, + 382.615841946641 + ], + [ + 760.1340750755877, + 365.0573699089842 + ], + [ + 739.9876155894224, + 369.62888753127794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 60, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.78268432617188, + "y": -32.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4018310308456421, + "y": 0.41447508335113525, + "z": 0.8731884360313416 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 525.5924816839315, + "ymin": 694.0693818876134, + "xmax": 576.3033061219489, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.7134552001953, + -33.38824462890625, + 0.07094943523406982 + ], + [ + -131.357666015625, + -32.86656951904297, + 0.07094943523406982 + ], + [ + -130.85191345214844, + -32.24200439453125, + 0.07094943523406982 + ], + [ + -130.20770263671875, + -32.76367950439453, + 0.07094943523406982 + ], + [ + -130.7134552001953, + -33.38824462890625, + 1.817326307296753 + ], + [ + -131.357666015625, + -32.86656951904297, + 1.817326307296753 + ], + [ + -130.85191345214844, + -32.24200439453125, + 1.817326307296753 + ], + [ + -130.20770263671875, + -32.76367950439453, + 1.817326307296753 + ] + ], + "corners_2d": [ + [ + 537.0095757542053, + 779.2258045696283 + ], + [ + 576.3033061219489, + 771.0314246239839 + ], + [ + 570.3369608560687, + 735.0080389215735 + ], + [ + 532.1160196608292, + 742.7474596783982 + ], + [ + 530.589653662922, + 739.5017286245884 + ], + [ + 572.359515398051, + 731.0676315078066 + ], + [ + 566.1521063917601, + 694.0693818876134 + ], + [ + 525.5924816839315, + 702.0074147549016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 624, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.92184448242188, + "y": -29.85797691345215, + "z": 1.0965304374694824 + }, + "extent": { + "x": 0.2743164002895355, + "y": 0.3871557414531708, + "z": 0.8665035963058472 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 116.04177262837823, + "ymin": 378.31635035826895, + "xmax": 172.0913804645465, + "ymax": 438.49795833954386 + }, + "corners_3d": [ + [ + -115.74655151367188, + -30.298898696899414, + 0.23002684116363525 + ], + [ + -116.39594268798828, + -29.877178192138672, + 0.23002684116363525 + ], + [ + -116.09713745117188, + -29.417055130004883, + 0.23002684116363525 + ], + [ + -115.44774627685547, + -29.838775634765625, + 0.23002684116363525 + ], + [ + -115.74655151367188, + -30.298898696899414, + 1.9630340337753296 + ], + [ + -116.39594268798828, + -29.877178192138672, + 1.9630340337753296 + ], + [ + -116.09713745117188, + -29.417055130004883, + 1.9630340337753296 + ], + [ + -115.44774627685547, + -29.838775634765625, + 1.9630340337753296 + ] + ], + "corners_2d": [ + [ + 138.68292962006086, + 438.49795833954386 + ], + [ + 167.1460490317359, + 436.382728717966 + ], + [ + 172.0913804645465, + 422.41911818843346 + ], + [ + 144.05898274110808, + 424.4724721281169 + ], + [ + 116.04177262837823, + 394.3284729492789 + ], + [ + 145.84003112537988, + 392.22062327142436 + ], + [ + 151.33227392361664, + 378.31635035826895 + ], + [ + 122.00571541729244, + 380.35982274194873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 518, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 555.449635582593, + "ymin": 0.0, + "xmax": 641.3562839693234, + "ymax": 18.86993913364364 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 624.9414420984123, + 18.86993913364364 + ], + [ + 641.3268311599836, + 5.905318350767516 + ], + [ + 574.8508672352655, + -7.524986521489382 + ], + [ + 557.2816874542513, + 4.768417758490386 + ], + [ + 624.598621516529, + -12.948088666399713 + ], + [ + 641.3562839693234, + -25.40668451864076 + ], + [ + 573.4429848265833, + -38.29820488456119 + ], + [ + 555.449635582593, + -26.49855061177243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 60, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 247.1342227493369, + "ymin": 0.0, + "xmax": 339.16948895055697, + "ymax": 17.660408421462364 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 282.4027668581452, + -8.583386666385366 + ], + [ + 257.01055907469726, + 4.0324869521055575 + ], + [ + 314.56633291182123, + 17.660408421462364 + ], + [ + 339.16948895055697, + 4.37837962448765 + ], + [ + 273.41220281915713, + -44.41205223876352 + ], + [ + 247.1342227493369, + -32.39129885694928 + ], + [ + 305.9468590729611, + -19.38920774714967 + ], + [ + 331.40649442290834, + -32.0615094016772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5456, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1133.9623269577944, + "ymin": 151.6003652206921, + "xmax": 1280.0, + "ymax": 249.021307160082 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1139.1711550897196, + 187.75467945570662 + ], + [ + 1133.9623269577944, + 210.965844046756 + ], + [ + 1294.8422915716742, + 249.021307160082 + ], + [ + 1294.8906207359028, + 223.34674728415283 + ], + [ + 1153.858745552463, + 151.6003652206921 + ], + [ + 1148.9932055039012, + 174.28264676853092 + ], + [ + 1315.8506700196863, + 211.5669966915081 + ], + [ + 1315.1700968759692, + 186.39956822861075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 11881, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 522.2102429497337, + "ymin": 385.3060960338991, + "xmax": 691.4239787654078, + "ymax": 586.8768785788822 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 526.8076035104052, + 555.5914279547811 + ], + [ + 596.8952609830126, + 586.8768785788822 + ], + [ + 689.6261665467476, + 444.2413003103207 + ], + [ + 626.1021071804763, + 420.46071444435916 + ], + [ + 522.2102429497337, + 520.6255597793117 + ], + [ + 595.0911068659645, + 552.1532356235984 + ], + [ + 691.4239787654078, + 409.0194740147343 + ], + [ + 625.6115853288118, + 385.3060960338991 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1178.4963038322903, + "ymin": 45.05434747432935, + "xmax": 1198.5841249557475, + "ymax": 76.28425450353637 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1188.3934415171489, + 71.69002858632786 + ], + [ + 1179.4439271111012, + 70.00224034058573 + ], + [ + 1178.4963038322903, + 74.56984620995269 + ], + [ + 1187.5134530239266, + 76.28425450353637 + ], + [ + 1198.5841249557475, + 46.69984760924484 + ], + [ + 1189.438796389385, + 45.05434747432935 + ], + [ + 1188.553336740159, + 49.5079185160306 + ], + [ + 1197.7693212616268, + 51.179859084534314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.7751228030936, + "ymin": 8.727298919569762, + "xmax": 733.7383984836647, + "ymax": 38.194396650467525 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 727.9581915122466, + 38.194396650467525 + ], + [ + 732.1381145483313, + 34.17356970184517 + ], + [ + 724.996061204624, + 32.6953817953912 + ], + [ + 720.7751228030936, + 36.69440707247867 + ], + [ + 729.4973138333058, + 14.076476581116196 + ], + [ + 733.7383984836647, + 10.165025405531821 + ], + [ + 726.4682375255084, + 8.727298919569762 + ], + [ + 722.1846349688292, + 12.617173268721046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1185.597925413101, + "ymin": 12.221219403415034, + "xmax": 1204.589928210757, + "ymax": 41.859564403755144 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1194.8876596743034, + 37.78514733004113 + ], + [ + 1186.4386150918144, + 36.287389102240695 + ], + [ + 1185.597925413101, + 40.339568060556985 + ], + [ + 1194.1072365505672, + 41.859564403755144 + ], + [ + 1204.589928210757, + 13.678314085370118 + ], + [ + 1195.966683739211, + 12.221219403415034 + ], + [ + 1195.1828384917685, + 16.163703398293535 + ], + [ + 1203.8688832819712, + 17.64281446560784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 483.96874876822653, + "ymin": 31.442791503693684, + "xmax": 497.01779414308794, + "ymax": 56.63358906676592 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 491.93066131885894, + 56.63358906676592 + ], + [ + 497.01779414308794, + 53.052919458739154 + ], + [ + 491.3791039434009, + 51.72754702781049 + ], + [ + 486.2683447825883, + 55.29139549561512 + ], + [ + 489.71044916056223, + 36.24331622665875 + ], + [ + 494.8875542315442, + 32.7395359516795 + ], + [ + 489.1701231200357, + 31.442791503693684 + ], + [ + 483.96874876822653, + 34.92986670556854 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1190.9120204632736, + "ymin": 0.0, + "xmax": 1209.0777345739539, + "ymax": 16.105235608106113 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1199.749633431124, + 12.39945264868311 + ], + [ + 1191.6768452830875, + 11.036567210521866 + ], + [ + 1190.9120204632736, + 14.723057034499618 + ], + [ + 1199.0398160762759, + 16.105235608106113 + ], + [ + 1209.0777345739539, + -10.999432621920903 + ], + [ + 1200.8461393739572, + -12.323184897428916 + ], + [ + 1200.134180534349, + -8.742282711333019 + ], + [ + 1208.4229878214228, + -7.399476042675985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.7100295076868, + "ymin": 0.0, + "xmax": 669.5772057145981, + "ymax": 24.953777909679502 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 664.5521770221277, + 24.953777909679502 + ], + [ + 669.0843271448173, + 21.12336458145512 + ], + [ + 662.2788639835272, + 19.714840578225676 + ], + [ + 657.7100295076868, + 23.524980468226147 + ], + [ + 664.9712899859247, + 1.1998063152109921 + ], + [ + 669.5772057145981, + -2.523299212092752 + ], + [ + 662.6553997901453, + -3.892136022031025 + ], + [ + 658.0115273312649, + -0.1890697883089274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 585.0192981010742, + "ymin": 0.0, + "xmax": 597.284136302709, + "ymax": 9.882169309135634 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 592.3780208766544, + 9.882169309135634 + ], + [ + 597.284136302709, + 6.262919198945156 + ], + [ + 590.8520858192475, + 4.931680239441107 + ], + [ + 585.9138784739655, + 8.532307980617361 + ], + [ + 591.588281741714, + -13.444346401840221 + ], + [ + 596.5807481653694, + -16.95886147860199 + ], + [ + 590.0448948675698, + -18.251373415325872 + ], + [ + 585.0192981010742, + -14.755239468766547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1128.0647270517113, + "ymin": 191.90600586183598, + "xmax": 1148.298003786229, + "ymax": 223.21215616196486 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1138.669311368707, + 217.23863382602588 + ], + [ + 1129.4583962632257, + 215.03322263098988 + ], + [ + 1128.0647270517113, + 220.97053745231418 + ], + [ + 1137.3467993876086, + 223.21215616196486 + ], + [ + 1148.298003786229, + 194.0825227666276 + ], + [ + 1138.880117993655, + 191.90600586183598 + ], + [ + 1137.5377996939997, + 197.76611149775312 + ], + [ + 1147.0301158161703, + 199.97905906903475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.8687695659111, + "ymin": 0.0, + "xmax": 1185.0044310878147, + "ymax": 413.36778540061766 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1038.584417239611, + 413.36778540061766 + ], + [ + 1043.0544549321976, + 397.55460603609197 + ], + [ + 790.9521404173692, + 319.83428835004327 + ], + [ + 782.8687695659111, + 333.04175879949025 + ], + [ + 1182.2792986714733, + 51.728415502127746 + ], + [ + 1185.0044310878147, + 38.69951982758852 + ], + [ + 838.1541960508631, + -23.085652826023306 + ], + [ + 828.4785950578904, + -12.84193117566383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 570.2861430249469, + "ymin": 0.0, + "xmax": 695.3258707533017, + "ymax": 30.878566469540942 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 689.680902738719, + -46.342317400560205 + ], + [ + 682.9457923131412, + -47.57649623510048 + ], + [ + 578.5522945008058, + 29.202176552942262 + ], + [ + 586.0803581693174, + 30.878566469540942 + ], + [ + 695.3258707533017, + -212.5561454986181 + ], + [ + 687.811098321057, + -213.440040697242 + ], + [ + 570.2861430249469, + -157.4207065602567 + ], + [ + 578.8014213376947, + -156.17372905860725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 324.61515621961183, + "ymin": 477.73679204270303, + "xmax": 1032.39358904099, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 842.2540541329784, + 1107.9049369903278 + ], + [ + 855.7748247222879, + 1060.073937526956 + ], + [ + 471.64322128147774, + 841.5551386276745 + ], + [ + 450.0317259256007, + 876.866296748005 + ], + [ + 1017.1975093398114, + 840.9867275279069 + ], + [ + 1032.39358904099, + 768.3340608532965 + ], + [ + 365.1075524313711, + 477.73679204270303 + ], + [ + 324.61515621961183, + 520.6067735612249 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.561393964732, + "ymin": 0.0, + "xmax": 864.3045492254516, + "ymax": 0.3353614308591659 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 858.1193303927937, + 0.3353614308591659 + ], + [ + 864.0780231302058, + -6.573722357594818 + ], + [ + 837.8181785646643, + -11.364103790294962 + ], + [ + 831.561393964732, + -4.5861613601764475 + ], + [ + 858.3428480964843, + -1.1158445815520963 + ], + [ + 864.3045492254516, + -8.012335215211579 + ], + [ + 838.0162618448576, + -12.793873420547698 + ], + [ + 831.7558100076171, + -6.0284164530368685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 339.9394944665939, + "ymin": 497.42857158499066, + "xmax": 410.7906381064146, + "ymax": 548.156221745882 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 385.6549224177377, + 548.156221745882 + ], + [ + 410.7906381064146, + 519.0114456298961 + ], + [ + 366.43292250575615, + 499.2851085876614 + ], + [ + 340.56241828713837, + 527.3104921423113 + ], + [ + 385.1151732215802, + 546.3135143820666 + ], + [ + 410.3176251620745, + 517.1593400964159 + ], + [ + 365.87918986648316, + 497.42857158499066 + ], + [ + 339.9394944665939, + 525.4607164749743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.5563796473249, + "ymin": 0.0, + "xmax": 864.2986948933631, + "ymax": 0.37279010201854135 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 858.1135655526826, + 0.37279010201854135 + ], + [ + 864.0721806166209, + -6.536617956201553 + ], + [ + 837.8130695920241, + -11.327227109356954 + ], + [ + 831.5563796473249, + -4.548963170611103 + ], + [ + 858.3370714354405, + -1.078339162070165 + ], + [ + 864.2986948933631, + -7.9751557573380865 + ], + [ + 838.0111426355884, + -12.75692285138905 + ], + [ + 831.7507855070969, + -5.991142721112396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.5396550073082, + "ymin": 0.0, + "xmax": 769.1954838972433, + "ymax": 185.72054699317707 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 491.7614978779455, + 111.80045299419075 + ], + [ + 486.0956429361894, + 116.09678155977318 + ], + [ + 745.2765292936745, + 185.72054699317707 + ], + [ + 749.5985718242024, + 180.4234943552913 + ], + [ + 468.29681563283054, + -94.71926041288754 + ], + [ + 461.5396550073082, + -91.38590645614948 + ], + [ + 764.2705404337914, + -36.335472202668996 + ], + [ + 769.1954838972433, + -40.59331041435598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.4798714862777, + "ymin": 0.0, + "xmax": 1277.763726734705, + "ymax": 41.507261534717884 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1200.1992068453728, + 41.507261534717884 + ], + [ + 1200.8904592635918, + 38.167593354909684 + ], + [ + 955.4837914493469, + -6.065295689958532 + ], + [ + 953.4798714862777, + -3.2421398593003232 + ], + [ + 1277.5078099228858, + -148.24336536486845 + ], + [ + 1277.763726734705, + -150.73970631581835 + ], + [ + 994.8151833809704, + -183.41564053114757 + ], + [ + 992.806715687987, + -181.3513872718155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1107.385840453917, + "ymin": 0.0, + "xmax": 1244.8711567397218, + "ymax": 293.28340343082465 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1107.385840453917, + 289.601686499968 + ], + [ + 1120.978461043524, + 293.28340343082465 + ], + [ + 1159.2239056119975, + 134.34992057260004 + ], + [ + 1148.1626250811437, + 131.97546178239423 + ], + [ + 1206.9337247671228, + 49.58682397860508 + ], + [ + 1223.992479388612, + 52.71913271739385 + ], + [ + 1244.8711567397218, + -77.1425490841292 + ], + [ + 1231.6269568923105, + -79.00289569389747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 339.95561004049506, + "ymin": 497.47659916707664, + "xmax": 410.80282481004525, + "ymax": 548.2036944111234 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 385.66882768202794, + 548.2036944111234 + ], + [ + 410.80282481004525, + 519.0591632695491 + ], + [ + 366.4471894489184, + 499.33294233632853 + ], + [ + 340.5784670206125, + 527.3581489435007 + ], + [ + 385.1291375639771, + 546.3611887403587 + ], + [ + 410.32986221498084, + 517.2072548811433 + ], + [ + 365.8935146226007, + 497.47659916707664 + ], + [ + 339.95561004049506, + 525.5085717591752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1187.7788340302893, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 46.39857135351792 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1187.7788340302893, + -20.395489769403525 + ], + [ + 1200.046531966926, + 27.964430035256044 + ], + [ + 1354.8725926437867, + 46.39857135351792 + ], + [ + 1327.9375666490582, + -5.160198176833376 + ], + [ + 1284.8499296052041, + -275.0242483521479 + ], + [ + 1310.9806682765754, + -247.07541004060488 + ], + [ + 1502.3024525242445, + -236.15902950240707 + ], + [ + 1454.315178333053, + -266.32490307521573 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00077/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00077/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..336470daf9cc90268b50fde63ff24490b7442161 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00077/meta.json @@ -0,0 +1,3311 @@ +{ + "frame_id": 77, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 38.5, + "sim_timestamp": 1024.505856467178 + }, + "drone_pose": { + "x": -136.29202689268882, + "y": -39.935487222290085, + "z": 20.000000000316145, + "pitch": -42.120968847886644, + "yaw": 62.82461035248983, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33876001834869385, + -0.6598528623580933, + 0.6706981062889099, + 59.10786437988281 + ], + [ + 0.8896126747131348, + 0.45671582221984863, + 0.0, + -103.00794219970703 + ], + [ + -0.30631840229034424, + 0.5966615080833435, + 0.7417304515838623, + -80.41133880615234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.95499734887915, + "y": -39.50809273638383, + "z": 20.000000000084004 + }, + "t1_image_uv": [ + 386.4779692363751, + -508.0649548929888 + ], + "t1_depth": 0.396189574943667 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -21.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.411980913355045, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 585, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -21.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.37312987446784973, + "y": 0.5374304056167603, + "z": 0.9025759696960449 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.5586579403853, + "ymin": 324.07086356262744, + "xmax": 662.3380332129697, + "ymax": 395.484032829071 + }, + "corners_3d": [ + [ + -126.12975311279297, + -21.560894012451172, + 0.041561901569366455 + ], + [ + -127.2046127319336, + -21.56089210510254, + 0.041561901569366455 + ], + [ + -127.2046127319336, + -20.814632415771484, + 0.041561901569366455 + ], + [ + -126.12975311279297, + -20.814634323120117, + 0.041561901569366455 + ], + [ + -126.12975311279297, + -21.560894012451172, + 1.8467137813568115 + ], + [ + -127.2046127319336, + -21.56089210510254, + 1.8467137813568115 + ], + [ + -127.2046127319336, + -20.814632415771484, + 1.8467137813568115 + ], + [ + -126.12975311279297, + -20.814634323120117, + 1.8467137813568115 + ] + ], + "corners_2d": [ + [ + 618.4970694213742, + 384.1209078161204 + ], + [ + 650.3320212416642, + 395.484032829071 + ], + [ + 661.4080627898534, + 380.18471410840135 + ], + [ + 629.9685256945866, + 369.20080383752486 + ], + [ + 617.5586579403853, + 338.8410528221015 + ], + [ + 650.7889187349243, + 350.1044731800597 + ], + [ + 662.3380332129697, + 334.94231616367216 + ], + [ + 629.5383761897174, + 324.07086356262744 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 77, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 523178, + "2": 164957, + "3": 77372, + "4": 53331, + "6": 20243, + "7": 1723, + "9": 3035, + "10": 7, + "12": 3076, + "14": 18449, + "24": 20821, + "25": 35408 + }, + "instance_pixel_counts": { + "3662": 6268, + "11605": 51325, + "15701": 3320, + "16994": 1006, + "17240": 6943, + "17496": 7455, + "17503": 500, + "17506": 334, + "19083": 1835, + "19595": 1396, + "20066": 459, + "20565": 22727, + "21395": 1342, + "21397": 104, + "21907": 95204, + "21909": 8696, + "22155": 1293, + "22421": 4085, + "22931": 176592, + "22933": 4269, + "23443": 181349, + "23445": 35, + "23955": 746, + "23957": 351, + "24467": 10681, + "25600": 2480, + "25856": 5058, + "26112": 30, + "36096": 585, + "36352": 587, + "36608": 590, + "36864": 620, + "37120": 119, + "37376": 575, + "37888": 856, + "40704": 197, + "41216": 4984, + "41728": 12412, + "45409": 441, + "46483": 52997, + "46995": 1311, + "47201": 12660, + "47713": 2149, + "48225": 1111, + "48531": 1131, + "48737": 58417, + "49043": 1825, + "49249": 8685, + "49761": 5473, + "51297": 6166, + "51526": 47063, + "51809": 2261, + "52321": 7540, + "52833": 1277, + "53345": 116, + "53857": 718, + "54366": 34908, + "56458": 149, + "56970": 3389, + "57482": 23201, + "57994": 23953, + "58506": 928, + "60819": 2974, + "61254": 3035, + "61331": 37, + "62355": 68, + "62867": 202 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 585, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -21.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3777734339237213, + "y": 0.547149658203125, + "z": 0.8798167705535889 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.1988042937459, + "ymin": 324.47658369529466, + "xmax": 662.696661909261, + "ymax": 395.1367791015508 + }, + "corners_3d": [ + [ + -126.12003326416016, + -21.565536499023438, + 0.06432110071182251 + ], + [ + -127.2143325805664, + -21.565536499023438, + 0.06432110071182251 + ], + [ + -127.2143325805664, + -20.80998992919922, + 0.06432110071182251 + ], + [ + -126.12003326416016, + -20.80998992919922, + 0.06432110071182251 + ], + [ + -126.12003326416016, + -21.565536499023438, + 1.8239545822143555 + ], + [ + -127.2143325805664, + -21.565536499023438, + 1.8239545822143555 + ], + [ + -127.2143325805664, + -20.80998992919922, + 1.8239545822143555 + ], + [ + -126.12003326416016, + -20.80998992919922, + 1.8239545822143555 + ] + ], + "corners_2d": [ + [ + 618.1287041130408, + 383.56654062496773 + ], + [ + 650.5591364081317, + 395.1367791015508 + ], + [ + 661.7750966290475, + 379.644766226424 + ], + [ + 629.752670814668, + 368.46558046789414 + ], + [ + 617.1988042937459, + 339.42952157837476 + ], + [ + 651.0141549395995, + 350.90092536944303 + ], + [ + 662.696661909261, + 335.5441193925894 + ], + [ + 629.3246731789634, + 324.47658369529466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 587, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -18.1900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4527930021286011, + "y": 0.4835895299911499, + "z": 0.9070312976837158 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 550.4590034508565, + "ymin": 235.33403854280087, + "xmax": 589.5032571977868, + "ymax": 299.9075906033467 + }, + "corners_3d": [ + [ + -122.16231536865234, + -18.73349952697754, + 0.03710657358169556 + ], + [ + -123.10836029052734, + -18.532411575317383, + 0.03710657358169556 + ], + [ + -122.92008209228516, + -17.646615982055664, + 0.03710657358169556 + ], + [ + -121.97403717041016, + -17.84770393371582, + 0.03710657358169556 + ], + [ + -122.16231536865234, + -18.73349952697754, + 1.8511691093444824 + ], + [ + -123.10836029052734, + -18.532411575317383, + 1.8511691093444824 + ], + [ + -122.92008209228516, + -17.646615982055664, + 1.8511691093444824 + ], + [ + -121.97403717041016, + -17.84770393371582, + 1.8511691093444824 + ] + ], + "corners_2d": [ + [ + 553.8459338797795, + 295.1904065496883 + ], + [ + 581.3628131018553, + 299.9075906033467 + ], + [ + 589.5032571977868, + 283.853407845434 + ], + [ + 562.483414029432, + 279.3212938607363 + ], + [ + 550.4590034508565, + 250.90562751104335 + ], + [ + 579.0435668152039, + 255.53903558929025 + ], + [ + 587.5472081449891, + 239.7787155884734 + ], + [ + 559.4985664463877, + 235.33403854280087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 590, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -14.245049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4482714831829071, + "y": 0.4116528332233429, + "z": 0.9535702466964722 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 776.1116912860546, + "ymin": 223.8766235610793, + "xmax": 812.8417555649371, + "ymax": 290.0574241020621 + }, + "corners_3d": [ + [ + -128.5604705810547, + -14.733894348144531, + -0.009432375431060791 + ], + [ + -129.37925720214844, + -14.647835731506348, + -0.009432375431060791 + ], + [ + -129.28553771972656, + -13.756204605102539, + -0.009432375431060791 + ], + [ + -128.4667510986328, + -13.842263221740723, + -0.009432375431060791 + ], + [ + -128.5604705810547, + -14.733894348144531, + 1.8977081775665283 + ], + [ + -129.37925720214844, + -14.647835731506348, + 1.8977081775665283 + ], + [ + -129.28553771972656, + -13.756204605102539, + 1.8977081775665283 + ], + [ + -128.4667510986328, + -13.842263221740723, + 1.8977081775665283 + ] + ], + "corners_2d": [ + [ + 776.1116912860546, + 284.66833977017234 + ], + [ + 799.7500954113592, + 290.0574241020621 + ], + [ + 806.1560559003876, + 275.0910982781953 + ], + [ + 782.9155313192379, + 269.9015732182008 + ], + [ + 781.6581867580923, + 238.33592006647712 + ], + [ + 806.3059161987042, + 243.6182630148261 + ], + [ + 812.8417555649371, + 228.95559316816727 + ], + [ + 788.6264626610621, + 223.8766235610793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 620, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -21.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3763525187969208, + "y": 0.38292479515075684, + "z": 0.8684595823287964 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 732.728842062555, + "ymin": 363.9307135848681, + "xmax": 772.7541430697476, + "ymax": 432.9555718073386 + }, + "corners_3d": [ + [ + -129.864013671875, + -21.564115524291992, + 0.07567828893661499 + ], + [ + -130.62985229492188, + -21.564115524291992, + 0.07567828893661499 + ], + [ + -130.62985229492188, + -20.811410903930664, + 0.07567828893661499 + ], + [ + -129.864013671875, + -20.811410903930664, + 0.07567828893661499 + ], + [ + -129.864013671875, + -21.564115524291992, + 1.8125975131988525 + ], + [ + -130.62985229492188, + -21.564115524291992, + 1.8125975131988525 + ], + [ + -130.62985229492188, + -20.811410903930664, + 1.8125975131988525 + ], + [ + -129.864013671875, + -20.811410903930664, + 1.8125975131988525 + ] + ], + "corners_2d": [ + [ + 732.728842062555, + 424.1303269108222 + ], + [ + 757.473832207129, + 432.9555718073386 + ], + [ + 767.2111492667918, + 416.20381670079115 + ], + [ + 742.81289386585, + 407.6885619893199 + ], + [ + 736.8055067634441, + 380.2751290440752 + ], + [ + 762.6894322885679, + 389.05857927038045 + ], + [ + 772.7541430697476, + 372.39238746405437 + ], + [ + 747.2497240662035, + 363.9307135848681 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 119, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.28268432617188, + "y": -32.31512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3893945515155792, + "y": 0.5135413408279419, + "z": 0.8886047005653381 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 514.6728632170614, + "ymin": 685.568394023421, + "xmax": 582.6679848164704, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -129.7312469482422, + -32.648704528808594, + 0.05553317070007324 + ], + [ + -130.75271606445312, + -32.756065368652344, + 0.05553317070007324 + ], + [ + -130.83412170410156, + -31.981542587280273, + 0.05553317070007324 + ], + [ + -129.81265258789062, + -31.874183654785156, + 0.05553317070007324 + ], + [ + -129.7312469482422, + -32.648704528808594, + 1.8327425718307495 + ], + [ + -130.75271606445312, + -32.756065368652344, + 1.8327425718307495 + ], + [ + -130.83412170410156, + -31.981542587280273, + 1.8327425718307495 + ], + [ + -129.81265258789062, + -31.874183654785156, + 1.8327425718307495 + ] + ], + "corners_2d": [ + [ + 521.9930483255499, + 756.842701544298 + ], + [ + 560.8161995044135, + 783.2205683986836 + ], + [ + 582.6679848164704, + 752.7269314597927 + ], + [ + 544.3072510160869, + 727.5681162129454 + ], + [ + 514.6728632170614, + 715.6021535177708 + ], + [ + 555.7953588846971, + 742.7380281377408 + ], + [ + 579.1238632220426, + 711.3744409952596 + ], + [ + 538.5169497585767, + 685.568394023421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 575, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -29.35797691345215, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3249218761920929, + "y": 0.4731481969356537, + "z": 0.8941630125045776 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 115.01915097716994, + "ymin": 370.29315830389794, + "xmax": 176.99109682175947, + "ymax": 443.7985502464183 + }, + "corners_3d": [ + [ + -114.8914794921875, + -29.577425003051758, + 0.20237231254577637 + ], + [ + -115.81710052490234, + -29.774171829223633, + 0.20237231254577637 + ], + [ + -115.95220947265625, + -29.13852882385254, + 0.20237231254577637 + ], + [ + -115.0265884399414, + -28.941781997680664, + 0.20237231254577637 + ], + [ + -114.8914794921875, + -29.577425003051758, + 1.9906983375549316 + ], + [ + -115.81710052490234, + -29.774171829223633, + 1.9906983375549316 + ], + [ + -115.95220947265625, + -29.13852882385254, + 1.9906983375549316 + ], + [ + -115.0265884399414, + -28.941781997680664, + 1.9906983375549316 + ] + ], + "corners_2d": [ + [ + 138.03137779500895, + 428.37446614274023 + ], + [ + 155.9247450252476, + 443.7985502464183 + ], + [ + 176.99109682175947, + 430.76681462857727 + ], + [ + 159.00202497747182, + 415.75884491203135 + ], + [ + 115.01915097716994, + 382.837792520612 + ], + [ + 133.35025207783065, + 398.19615605431875 + ], + [ + 155.7082179007329, + 385.21842749807433 + ], + [ + 137.26166942857844, + 370.29315830389794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 856, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 561.0397447499171, + "ymin": 0.0, + "xmax": 647.5933514335577, + "ymax": 26.100001724221954 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 630.9547208332777, + 26.100001724221954 + ], + [ + 647.4276451838127, + 12.957659713019439 + ], + [ + 580.431246655946, + -0.7654210815936722 + ], + [ + 562.7586511380639, + 11.685487566159566 + ], + [ + 630.7477195704745, + -5.837664236562318 + ], + [ + 647.5933514335577, + -18.469894423079154 + ], + [ + 579.1380665272462, + -31.64515786052334 + ], + [ + 561.0397447499171, + -19.691933323704404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 197, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 250.7651745664885, + "ymin": 0.0, + "xmax": 343.21695785518574, + "ymax": 24.42742176922127 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 286.1684308231866, + -2.2364092022855857 + ], + [ + 260.5878238976349, + 10.520354039534425 + ], + [ + 318.42766832383614, + 24.42742176922127 + ], + [ + 343.21695785518574, + 10.986146870504115 + ], + [ + 277.2390655988303, + -38.170443046725495 + ], + [ + 250.7651745664885, + -26.013119922438136 + ], + [ + 309.8732425745925, + -12.741890643946874 + ], + [ + 335.52642441563063, + -25.568921659179125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 4984, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1147.0801638855014, + "ymin": 162.8502021019583, + "xmax": 1280.0, + "ymax": 262.3018525490889 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1152.0664540716057, + 199.18220340859077 + ], + [ + 1147.0801638855014, + 222.9443990846032 + ], + [ + 1310.9311621078464, + 262.3018525490889 + ], + [ + 1310.5736386599424, + 235.95817721066018 + ], + [ + 1167.2849071387204, + 162.8502021019583 + ], + [ + 1162.6723280891729, + 186.0848366462121 + ], + [ + 1332.708357478036, + 224.67083289909797 + ], + [ + 1331.5716206658958, + 198.82938202898117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 12412, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 528.1715410775513, + "ymin": 401.9323536308888, + "xmax": 700.0277428153371, + "ymax": 609.2423617346967 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 532.6025102014697, + 576.5831792611773 + ], + [ + 604.0118949837401, + 609.2423617346967 + ], + [ + 697.9008640165542, + 461.8490241178203 + ], + [ + 633.2803843015655, + 437.1430049555987 + ], + [ + 528.1715410775513, + 541.7168042294425 + ], + [ + 602.4805000921751, + 574.671212662094 + ], + [ + 700.0277428153371, + 426.5917522011443 + ], + [ + 633.0400641912396, + 401.9323536308888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1193.6737675331942, + "ymin": 56.013246076085125, + "xmax": 1214.2663859970871, + "ymax": 87.60195088258126 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1203.6701922897814, + 82.8849305346547 + ], + [ + 1194.5484946118681, + 81.13745843817912 + ], + [ + 1193.6737675331942, + 85.82651236475874 + ], + [ + 1202.8656605061776, + 87.60195088258126 + ], + [ + 1214.2663859970871, + 57.71765333862777 + ], + [ + 1204.941809215808, + 56.013246076085125 + ], + [ + 1204.1348310887247, + 60.58717060492603 + ], + [ + 1213.532789933715, + 62.31937332918551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.0827698103276, + "ymin": 18.07297699051901, + "xmax": 742.3280521386228, + "ymax": 47.82212546478985 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 736.3646628356286, + 47.82212546478985 + ], + [ + 740.5650855017519, + 43.71198498751852 + ], + [ + 733.3252851037323, + 42.18820373559936 + ], + [ + 729.0827698103276, + 46.27559043805081 + ], + [ + 738.0667994837913, + 23.555141628569743 + ], + [ + 742.3280521386228, + 19.555519568809018 + ], + [ + 734.9567365941737, + 18.07297699051901 + ], + [ + 730.6518280033679, + 22.050069115780445 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1200.2242606750697, + "ymin": 22.325966954416458, + "xmax": 1219.66826596781, + "ymax": 52.28341696548466 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1209.601855879549, + 48.10721457586311 + ], + [ + 1200.9989698535924, + 46.559100230316346 + ], + [ + 1200.2242606750697, + 50.71199912195169 + ], + [ + 1208.8895656392303, + 52.28341696548466 + ], + [ + 1219.66826596781, + 23.83260366481113 + ], + [ + 1210.8852604557064, + 22.325966954416458 + ], + [ + 1210.1721355827542, + 26.36793443662208 + ], + [ + 1219.0202244213447, + 27.897655112025973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 489.2772912805179, + "ymin": 39.71839453510432, + "xmax": 502.3603089967903, + "ymax": 65.09879139515976 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 497.2292666683921, + 65.09879139515976 + ], + [ + 502.3603089967903, + 61.455571062552735 + ], + [ + 496.66894573673903, + 60.095603878519 + ], + [ + 491.51391396442455, + 63.72139019130856 + ], + [ + 495.07347471025196, + 44.614978601260475 + ], + [ + 500.2954027712146, + 41.049257018868275 + ], + [ + 494.52386776461685, + 39.71839453510432 + ], + [ + 489.2772912805179, + 43.26679707150106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1205.118618803337, + "ymin": 0.0, + "xmax": 1223.6985947374355, + "ymax": 25.899948255192953 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1214.036066745913, + 22.10642200622101 + ], + [ + 1205.8225272352045, + 20.699488115224483 + ], + [ + 1205.118618803337, + 24.472835372635018 + ], + [ + 1213.389042149054, + 25.899948255192953 + ], + [ + 1223.6985947374355, + -1.4519212572325841 + ], + [ + 1215.3211006979495, + -2.81890654779437 + ], + [ + 1214.67421934826, + 0.8475754377418525 + ], + [ + 1223.110910140509, + 2.2344999281286277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.1859997781319, + "ymin": 5.0675917858324055, + "xmax": 677.3038181768543, + "ymax": 34.176790883572494 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 672.1152570002284, + 34.176790883572494 + ], + [ + 676.6767888247006, + 30.265246756431395 + ], + [ + 669.7850912650501, + 28.81473166004855 + ], + [ + 665.1859997781319, + 32.705148934165265 + ], + [ + 672.6683601408993, + 10.280740676332528 + ], + [ + 677.3038181768543, + 6.47764928793265 + ], + [ + 670.2929041581635, + 5.0675917858324055 + ], + [ + 665.6185667366381, + 8.849791070231277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 591.7297769098238, + "ymin": 0.0, + "xmax": 604.0043965898843, + "ymax": 18.66135711018194 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 599.0604527183501, + 18.66135711018194 + ], + [ + 604.0043965898843, + 14.969694416543234 + ], + [ + 597.498264439583, + 13.600330332553199 + ], + [ + 592.5215552392127, + 17.272620086324252 + ], + [ + 598.375885880008, + -4.798950113349292 + ], + [ + 603.4067879986648, + -8.384746851964678 + ], + [ + 596.7945173064154, + -9.714627960830285 + ], + [ + 591.7297769098238, + -6.147960883983501 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1142.754687384106, + "ymin": 205.19946777341713, + "xmax": 1163.5145967955177, + "ymax": 236.8814938184108 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1153.4768076564583, + 230.7386708244407 + ], + [ + 1144.0834588211487, + 228.4517208066934 + ], + [ + 1142.754687384106, + 234.55641560041514 + ], + [ + 1152.2219774705704, + 236.8814938184108 + ], + [ + 1163.5145967955177, + 207.45751288312658 + ], + [ + 1153.9065227212143, + 205.19946777341713 + ], + [ + 1152.6346582142141, + 211.22761388401227 + ], + [ + 1162.320133472622, + 213.52404940798613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.0867779675139, + "ymin": 0.0, + "xmax": 1206.6326250479458, + "ymax": 431.00184538464026 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1052.6581199084396, + 431.00184538464026 + ], + [ + 1057.0320086199245, + 414.6900619213353 + ], + [ + 800.2088710797852, + 334.03011901362635 + ], + [ + 792.0867779675139, + 347.59388581762283 + ], + [ + 1204.267902652765, + 67.0316853984678 + ], + [ + 1206.6326250479458, + 53.45861886414616 + ], + [ + 851.0618284772836, + -11.205389945751563 + ], + [ + 841.3912978779865, + -0.6079226684303762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 576.6846904698612, + "ymin": 0.0, + "xmax": 702.3310158402772, + "ymax": 38.24486004574868 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 695.9455245738376, + -39.9734767724222 + ], + [ + 689.159219159191, + -41.232657977938686 + ], + [ + 584.2311299994784, + 36.53046723248781 + ], + [ + 591.8211125016518, + 38.24486004574868 + ], + [ + 702.3310158402772, + -206.8022374780835 + ], + [ + 694.7533262725985, + -207.70486468431432 + ], + [ + 576.6846904698612, + -150.90177906379017 + ], + [ + 585.2784114836759, + -149.62473772470554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 327.35612787095357, + "ymin": 516.5838659071264, + "xmax": 1070.347446420474, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 857.9921340363408, + 1156.9804010069597 + ], + [ + 871.5606926363416, + 1106.3784299940194 + ], + [ + 476.47763359685985, + 874.6561561312561 + ], + [ + 454.3502920170955, + 911.6084659646472 + ], + [ + 1056.3330790482642, + 916.150046022565 + ], + [ + 1070.347446420474, + 835.7101850193935 + ], + [ + 369.437114275231, + 516.5838659071264 + ], + [ + 327.35612787095357, + 562.6983858745364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 844.4242432837564, + "ymin": 0.0, + "xmax": 877.7558113063345, + "ymax": 12.842228894309528 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 871.5698510998279, + 12.842228894309528 + ], + [ + 877.5120147466741, + 5.691916071720982 + ], + [ + 850.6775969136567, + 0.6942364355872996 + ], + [ + 844.4242432837564, + 7.7051643012103455 + ], + [ + 871.8108599071177, + 11.375974502051463 + ], + [ + 877.7558113063345, + 4.2384695964709636 + ], + [ + 850.8917432425924, + -0.7501369219839376 + ], + [ + 844.6348996893505, + 6.248090991600918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 343.2287590624429, + "ymin": 536.932508747017, + "xmax": 416.72692947030293, + "ymax": 591.547085915651 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 390.64558261436525, + 591.547085915651 + ], + [ + 416.72692947030293, + 560.1629302548816 + ], + [ + 370.73437130327096, + 538.7810828694611 + ], + [ + 343.86667532071624, + 568.9037161951226 + ], + [ + 390.09711682725174, + 589.7211910451151 + ], + [ + 416.24987718419544, + 558.3222034324081 + ], + [ + 370.17058971834877, + 536.932508747017 + ], + [ + 343.2287590624429, + 567.0667241440997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 844.4188101867915, + "ymin": 0.0, + "xmax": 877.7495105417438, + "ymax": 12.880045064171782 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 871.5636352412137, + 12.880045064171782 + ], + [ + 877.5057268969886, + 5.729402461911661 + ], + [ + 850.6720737277639, + 0.7314891991160266 + ], + [ + 844.4188101867915, + 7.742744077404893 + ], + [ + 871.8046311035015, + 11.413869426985968 + ], + [ + 877.7495105417438, + 4.276032981690264 + ], + [ + 850.8862088228941, + -0.7128083887262164 + ], + [ + 844.6294553893, + 6.285748257567889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 467.1584015126141, + "ymin": 0.0, + "xmax": 778.6905159292248, + "ymax": 196.34704877596914 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 496.81336025201983, + 120.43559280865344 + ], + [ + 491.09825464239873, + 124.80405816323488 + ], + [ + 753.1288039754985, + 196.34704877596914 + ], + [ + 757.4734188882965, + 190.93930663685038 + ], + [ + 473.97660932444046, + -87.09777067048338 + ], + [ + 467.1584015126141, + -83.70136182119955 + ], + [ + 773.7480950096393, + -26.985336735924818 + ], + [ + 778.6905159292248, + -31.345606303620798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.1463954756116, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 49.972482379569726 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1211.9125963308268, + 49.972482379569726 + ], + [ + 1212.5652646364688, + 46.57323704261762 + ], + [ + 964.1427983018876, + 1.2403072679890101 + ], + [ + 962.1463954756116, + 4.1051566748793675 + ], + [ + 1291.4776233513858, + -140.8596242622748 + ], + [ + 1291.6688377362998, + -143.40545841727254 + ], + [ + 1004.8057830264502, + -176.949615382724 + ], + [ + 1002.814954658629, + -174.85195662832973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1121.0854582690745, + "ymin": 0.0, + "xmax": 1260.298453680198, + "ymax": 307.39256866600107 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1121.0854582690745, + 303.5787368918837 + ], + [ + 1134.937403638544, + 307.39256866600107 + ], + [ + 1171.6949255687819, + 144.60097329450204 + ], + [ + 1160.4601918600915, + 142.1555956025097 + ], + [ + 1225.0012605582187, + 62.06753418118416 + ], + [ + 1242.4567435282593, + 65.32850940751382 + ], + [ + 1260.298453680198, + -68.21462241771366 + ], + [ + 1246.8126472005263, + -70.13606333938492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 343.24526368818863, + "ymin": 536.9803335720729, + "xmax": 416.7392193256493, + "ymax": 591.594121721929 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 390.6597113196533, + 591.594121721929 + ], + [ + 416.7392193256493, + 560.2103511918297 + ], + [ + 370.7488961222205, + 538.8287080582954 + ], + [ + 343.8831090705788, + 568.9510400679264 + ], + [ + 390.1113077525181, + 589.7684339876298 + ], + [ + 416.26221961198115, + 558.3698272223806 + ], + [ + 370.18517542272565, + 536.9803335720729 + ], + [ + 343.24526368818863, + 567.1142521164734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1198.5798269151564, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 55.24168146574266 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1198.5798269151564, + -12.959649261496736 + ], + [ + 1211.6511308229867, + 36.23541627281725 + ], + [ + 1368.590690786576, + 55.24168146574266 + ], + [ + 1340.4718490209034, + 2.7167456916015453 + ], + [ + 1298.262808003302, + -268.9809430681124 + ], + [ + 1325.8279467528178, + -240.48004074592734 + ], + [ + 1520.252509001425, + -229.19135369118078 + ], + [ + 1470.1674159950865, + -260.0092553445527 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00078/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00078/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70af1b9ecbcb3084c8af2dd929dbd964332dcfbe --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00078/meta.json @@ -0,0 +1,3311 @@ +{ + "frame_id": 78, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 39.0, + "sim_timestamp": 1040.9278038197663 + }, + "drone_pose": { + "x": -135.95499734887915, + "y": -39.50809273638383, + "z": 20.000000000084004, + "pitch": -42.23849153071938, + "yaw": 63.73370536642828, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3276386260986328, + -0.6639094352722168, + 0.6722180843353271, + 57.32954788208008 + ], + [ + 0.8967468738555908, + 0.44254374504089355, + 2.9802322387695312e-08, + -104.43316650390625 + ], + [ + -0.29748594760894775, + 0.6028095483779907, + 0.7403531670570374, + -79.06761169433594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.66053134747608, + "y": -39.08686717661806, + "z": 20.000000000017156 + }, + "t1_image_uv": [ + 441.81343945413334, + -511.65074630251024 + ], + "t1_depth": 0.3761340626315646 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -20.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.347736816549716, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 590, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -20.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3774658143520355, + "y": 0.44898009300231934, + "z": 0.8716644644737244 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.2271933848492, + "ymin": 325.6887371331618, + "xmax": 659.625923207124, + "ymax": 393.85858403537753 + }, + "corners_3d": [ + [ + -126.21820068359375, + -21.065229415893555, + 0.07247340679168701 + ], + [ + -127.11616516113281, + -21.065229415893555, + 0.07247340679168701 + ], + [ + -127.11616516113281, + -20.3102970123291, + 0.07247340679168701 + ], + [ + -126.21820068359375, + -20.3102970123291, + 0.07247340679168701 + ], + [ + -126.21820068359375, + -21.065229415893555, + 1.8158023357391357 + ], + [ + -127.11616516113281, + -21.065229415893555, + 1.8158023357391357 + ], + [ + -127.11616516113281, + -20.3102970123291, + 1.8158023357391357 + ], + [ + -126.21820068359375, + -20.3102970123291, + 1.8158023357391357 + ] + ], + "corners_2d": [ + [ + 621.0309238340783, + 384.617992370524 + ], + [ + 647.9252587529485, + 393.85858403537753 + ], + [ + 658.8338503464034, + 378.22871575701987 + ], + [ + 632.2896600085534, + 369.30279981169576 + ], + [ + 620.2271933848492, + 340.862495439751 + ], + [ + 648.2646667985398, + 350.02838379025985 + ], + [ + 659.625923207124, + 334.529552787445 + ], + [ + 631.968783290404, + 325.6887371331618 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 78, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 524394, + "2": 165368, + "3": 74176, + "4": 53217, + "6": 20468, + "7": 1762, + "9": 3556, + "10": 13, + "12": 3143, + "14": 19504, + "24": 21050, + "25": 34949 + }, + "instance_pixel_counts": { + "3662": 6346, + "11605": 47082, + "15701": 2554, + "16994": 1071, + "17240": 6401, + "17496": 7706, + "17503": 535, + "17506": 317, + "19083": 1956, + "19595": 1337, + "20066": 520, + "20565": 24540, + "21395": 1932, + "21397": 131, + "21907": 97549, + "21909": 8875, + "22155": 1495, + "22421": 4269, + "22931": 183865, + "22933": 3792, + "23443": 169804, + "23445": 51, + "23955": 1065, + "23957": 366, + "24467": 11273, + "25600": 2943, + "25856": 5155, + "26112": 25, + "36096": 590, + "36352": 569, + "36608": 594, + "36864": 640, + "37120": 95, + "37376": 655, + "37888": 941, + "40704": 294, + "41216": 5330, + "41728": 12939, + "45409": 507, + "46483": 53735, + "46995": 1212, + "47201": 12842, + "47713": 2231, + "48225": 1153, + "48531": 1966, + "48737": 59647, + "49043": 1993, + "49249": 9009, + "49761": 5711, + "51297": 3862, + "51526": 46871, + "51809": 1807, + "52321": 7375, + "52833": 1550, + "53345": 157, + "53857": 755, + "54366": 34414, + "56458": 247, + "56970": 3511, + "57482": 24321, + "57994": 22938, + "58506": 1049, + "60819": 3189, + "61254": 3556, + "61331": 32, + "62355": 116, + "62867": 229 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 590, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -20.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4098535180091858, + "y": 0.3119860887527466, + "z": 0.8791844248771667 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.9522519272907, + "ymin": 326.1885715992644, + "xmax": 655.8525019385776, + "ymax": 393.2984657162151 + }, + "corners_3d": [ + [ + -126.35519409179688, + -21.09761619567871, + 0.06495344638824463 + ], + [ + -126.97917175292969, + -21.09761619567871, + 0.06495344638824463 + ], + [ + -126.97917175292969, + -20.277910232543945, + 0.06495344638824463 + ], + [ + -126.35519409179688, + -20.277910232543945, + 0.06495344638824463 + ], + [ + -126.35519409179688, + -21.09761619567871, + 1.8233222961425781 + ], + [ + -126.97917175292969, + -21.09761619567871, + 1.8233222961425781 + ], + [ + -126.97917175292969, + -20.277910232543945, + 1.8233222961425781 + ], + [ + -126.35519409179688, + -20.277910232543945, + 1.8233222961425781 + ] + ], + "corners_2d": [ + [ + 624.6115954057437, + 386.8676537573835 + ], + [ + 643.3069560213056, + 393.2984657162151 + ], + [ + 655.2087829821209, + 376.37967089958926 + ], + [ + 636.7775029614013, + 370.1862472966819 + ], + [ + 623.9522519272907, + 342.716772737715 + ], + [ + 643.4497063017681, + 349.0955475033661 + ], + [ + 655.8525019385776, + 332.32204604401096 + ], + [ + 636.6421004706551, + 326.1885715992644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 569, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -17.6900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44107913970947266, + "y": 0.4379602372646332, + "z": 0.8613188862800598 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 549.6256022674687, + "ymin": 237.14626332366714, + "xmax": 585.6523071556353, + "ymax": 298.64893027289975 + }, + "corners_3d": [ + [ + -122.20451354980469, + -18.212554931640625, + 0.08281898498535156 + ], + [ + -123.06129455566406, + -18.030441284179688, + 0.08281898498535156 + ], + [ + -122.87788391113281, + -17.167560577392578, + 0.08281898498535156 + ], + [ + -122.02110290527344, + -17.349674224853516, + 0.08281898498535156 + ], + [ + -122.20451354980469, + -18.212554931640625, + 1.8054567575454712 + ], + [ + -123.06129455566406, + -18.030441284179688, + 1.8054567575454712 + ], + [ + -122.87788391113281, + -17.167560577392578, + 1.8054567575454712 + ], + [ + -122.02110290527344, + -17.349674224853516, + 1.8054567575454712 + ] + ], + "corners_2d": [ + [ + 552.8927064754882, + 294.60636982486494 + ], + [ + 578.0251943538226, + 298.64893027289975 + ], + [ + 585.6523071556353, + 282.8702035866195 + ], + [ + 560.9695084312036, + 278.98317181032826 + ], + [ + 549.6256022674687, + 252.4977165224913 + ], + [ + 575.6886317304084, + 256.4735966477242 + ], + [ + 583.6446741423487, + 240.96360122036683 + ], + [ + 558.0648871989804, + 237.14626332366714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 594, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -13.745049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4525536894798279, + "y": 0.5030779838562012, + "z": 0.9370984435081482 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 771.2814862175638, + "ymin": 221.82453114202133, + "xmax": 812.9464408197496, + "ymax": 288.37295952496555 + }, + "corners_3d": [ + [ + -128.46998596191406, + -14.247710227966309, + 0.007039427757263184 + ], + [ + -129.4706268310547, + -14.142538070678711, + 0.007039427757263184 + ], + [ + -129.3760223388672, + -13.242388725280762, + 0.007039427757263184 + ], + [ + -128.37538146972656, + -13.34756088256836, + 0.007039427757263184 + ], + [ + -128.46998596191406, + -14.247710227966309, + 1.8812363147735596 + ], + [ + -129.4706268310547, + -14.142538070678711, + 1.8812363147735596 + ], + [ + -129.3760223388672, + -13.242388725280762, + 1.8812363147735596 + ], + [ + -128.37538146972656, + -13.34756088256836, + 1.8812363147735596 + ] + ], + "corners_2d": [ + [ + 771.2814862175638, + 282.05303715786437 + ], + [ + 800.289229118536, + 288.37295952496555 + ], + [ + 806.3503543899144, + 273.1487063627418 + ], + [ + 777.8433665174857, + 267.06611408192026 + ], + [ + 776.5484614863722, + 236.50708852795606 + ], + [ + 806.7732633696128, + 242.70533166253432 + ], + [ + 812.9464408197496, + 227.78091265480288 + ], + [ + 783.2650719415814, + 221.82453114202133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 640, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -20.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4167138636112213, + "y": 0.4924114942550659, + "z": 0.8977832794189453 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 729.6783594765619, + "ymin": 360.0910840605205, + "xmax": 777.9965766284212, + "ymax": 434.6952327670533 + }, + "corners_3d": [ + [ + -129.7545166015625, + -21.104476928710938, + 0.046354591846466064 + ], + [ + -130.73934936523438, + -21.104476928710938, + 0.046354591846466064 + ], + [ + -130.73934936523438, + -20.27104949951172, + 0.046354591846466064 + ], + [ + -129.7545166015625, + -20.27104949951172, + 0.046354591846466064 + ], + [ + -129.7545166015625, + -21.104476928710938, + 1.841921091079712 + ], + [ + -130.73934936523438, + -21.104476928710938, + 1.841921091079712 + ], + [ + -130.73934936523438, + -20.27104949951172, + 1.841921091079712 + ], + [ + -129.7545166015625, + -20.27104949951172, + 1.841921091079712 + ] + ], + "corners_2d": [ + [ + 729.6783594765619, + 423.6567989292375 + ], + [ + 761.746540401596, + 434.6952327670533 + ], + [ + 772.0252087274818, + 415.92280793499293 + ], + [ + 740.4683396384883, + 405.31550940023806 + ], + [ + 733.7697836844418, + 378.3233084762617 + ], + [ + 767.3696026814912, + 389.31183680360414 + ], + [ + 777.9965766284212, + 370.63133071332004 + ], + [ + 744.9581357623833, + 360.0910840605205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 95, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.28268432617188, + "y": -31.81512451171875, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.38263675570487976, + "y": 0.33241701126098633, + "z": 0.8599730730056763 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 530.996382926741, + "ymin": 694.0777372946808, + "xmax": 583.8502176583127, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -129.91209411621094, + -32.160919189453125, + 0.08415991067886353 + ], + [ + -130.5732879638672, + -32.230411529541016, + 0.08415991067886353 + ], + [ + -130.6532745361328, + -31.469331741333008, + 0.08415991067886353 + ], + [ + -129.99208068847656, + -31.399837493896484, + 0.08415991067886353 + ], + [ + -129.91209411621094, + -32.160919189453125, + 1.8041059970855713 + ], + [ + -130.5732879638672, + -32.230411529541016, + 1.8041059970855713 + ], + [ + -130.6532745361328, + -31.469331741333008, + 1.8041059970855713 + ], + [ + -129.99208068847656, + -31.399837493896484, + 1.8041059970855713 + ] + ], + "corners_2d": [ + [ + 537.2213448377363, + 763.9115428401515 + ], + [ + 562.8772664308228, + 780.6849262556912 + ], + [ + 583.8502176583127, + 750.4269579554293 + ], + [ + 558.5214982461935, + 734.4248844499557 + ], + [ + 530.996382926741, + 724.3377185738273 + ], + [ + 558.1410027755155, + 741.5888437542866 + ], + [ + 580.4875163933372, + 710.4889765378994 + ], + [ + 553.7074337415036, + 694.0777372946808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 655, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -28.85797882080078, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.2984668016433716, + "y": 0.42352294921875, + "z": 0.8811666965484619 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 113.71405617875405, + "ymin": 377.5595453304593, + "xmax": 172.62179352553517, + "ymax": 448.10375878233594 + }, + "corners_3d": [ + [ + -114.94551849365234, + -29.06186866760254, + 0.2153686285018921 + ], + [ + -115.77405548095703, + -29.237977981567383, + 0.2153686285018921 + ], + [ + -115.8981704711914, + -28.654088973999023, + 0.2153686285018921 + ], + [ + -115.06963348388672, + -28.47797966003418, + 0.2153686285018921 + ], + [ + -114.94551849365234, + -29.06186866760254, + 1.977702021598816 + ], + [ + -115.77405548095703, + -29.237977981567383, + 1.977702021598816 + ], + [ + -115.8981704711914, + -28.654088973999023, + 1.977702021598816 + ], + [ + -115.06963348388672, + -28.47797966003418, + 1.977702021598816 + ] + ], + "corners_2d": [ + [ + 136.70491335202706, + 434.358476284294 + ], + [ + 153.2772380088814, + 448.10375878233594 + ], + [ + 172.62179352553517, + 435.8047852630369 + ], + [ + 155.98528912585448, + 422.40707026132145 + ], + [ + 113.71405617875405, + 389.4568560061677 + ], + [ + 130.70538215180414, + 403.15691329377483 + ], + [ + 151.23750883480238, + 390.8975501063902 + ], + [ + 134.16709200285385, + 377.5595453304593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 941, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 547.0129817811323, + "ymin": 0.0, + "xmax": 634.573455535273, + "ymax": 28.394299062002972 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 618.1469044680764, + 28.394299062002972 + ], + [ + 634.573455535273, + 14.909257068227816 + ], + [ + 566.7465342363527, + 1.3720971401449447 + ], + [ + 549.0616899504761, + 14.16429114985749 + ], + [ + 617.6409539654428, + -3.762228338303032 + ], + [ + 634.4510262501399, + -16.730437791297277 + ], + [ + 565.137270834649, + -29.733703758956324 + ], + [ + 547.0129817811323, + -17.44641509275982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 294, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 232.01600173156697, + "ymin": 0.0, + "xmax": 326.54061110865985, + "ymax": 28.7790354474468 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 268.3880238252524, + 1.7423794798038443 + ], + [ + 242.47508538621156, + 14.945556144825332 + ], + [ + 301.48177500109335, + 28.7790354474468 + ], + [ + 326.54061110865985, + 14.882215907763793 + ], + [ + 258.8621498692283, + -34.54402783686362 + ], + [ + 232.01600173156697, + -21.951216580054165 + ], + [ + 292.3348929066407, + -8.739405443906492 + ], + [ + 318.2943524952412, + -22.01166834269702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5330, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1139.9762998335623, + "ymin": 163.98770433968107, + "xmax": 1280.0, + "ymax": 263.09947481340157 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1144.4462088811524, + 200.4224122492426 + ], + [ + 1139.9762998335623, + 224.6209269393224 + ], + [ + 1304.270150789822, + 263.09947481340157 + ], + [ + 1303.2934154668644, + 236.35152080591837 + ], + [ + 1159.5498536059245, + 163.98770433968107 + ], + [ + 1155.4705980247209, + 187.6595942298907 + ], + [ + 1325.966906145724, + 225.40020796896047 + ], + [ + 1324.1867368328617, + 199.15226119754672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 12939, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 521.3939829726062, + "ymin": 413.88924176971926, + "xmax": 694.4352423170876, + "ymax": 627.0561593973024 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 526.1876362281821, + 594.2761567413463 + ], + [ + 599.3651723718868, + 627.0561593973024 + ], + [ + 692.4748948111522, + 473.76485136345366 + ], + [ + 626.5737559659001, + 449.1209958834057 + ], + [ + 521.3939829726062, + 559.6111084600248 + ], + [ + 597.6007455707321, + 592.742372101569 + ], + [ + 694.4352423170876, + 438.51628104791496 + ], + [ + 626.0851809484842, + 413.88924176971926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1186.3392714763074, + "ymin": 57.15987260681709, + "xmax": 1206.798594197814, + "ymax": 88.92859739883284 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1196.2507200856435, + 84.1134119215896 + ], + [ + 1187.0873184277461, + 82.39871333026156 + ], + [ + 1186.3392714763074, + 87.1861096777663 + ], + [ + 1195.574558465942, + 88.92859739883284 + ], + [ + 1206.798594197814, + 58.832853802828026 + ], + [ + 1197.431009253083, + 57.15987260681709 + ], + [ + 1196.7536509101735, + 61.83125187324396 + ], + [ + 1206.196386993281, + 63.53186582842858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.5440848117502, + "ymin": 21.575992488659267, + "xmax": 731.6982127589874, + "ymax": 51.63097486226849 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 725.9291787469807, + 51.63097486226849 + ], + [ + 730.0969276685395, + 47.39324940797417 + ], + [ + 722.7559856718533, + 45.883135940890156 + ], + [ + 718.5440848117502, + 50.09791176464228 + ], + [ + 727.4681748646593, + 27.171695365447476 + ], + [ + 731.6982127589874, + 23.04593761911417 + ], + [ + 724.2227573730964, + 21.575992488659267 + ], + [ + 719.9469164851881, + 25.6790099782923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1191.9374806352712, + "ymin": 22.784459662352106, + "xmax": 1211.2291791053085, + "ymax": 52.89830499830663 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1201.2317855820208, + 48.641486954987556 + ], + [ + 1192.5990127810637, + 47.12463679685908 + ], + [ + 1191.9374806352712, + 51.35835043265615 + ], + [ + 1200.6340314567542, + 52.89830499830663 + ], + [ + 1211.2291791053085, + 24.26107916440185 + ], + [ + 1202.4155055700976, + 22.784459662352106 + ], + [ + 1201.817839958289, + 26.906240661266338 + ], + [ + 1210.69801328727, + 28.40575652422166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 475.326004487328, + "ymin": 44.19774454545336, + "xmax": 488.77966313017106, + "ymax": 69.86323872134591 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 483.6231047442832, + 69.86323872134591 + ], + [ + 488.77966313017106, + 66.0974949039051 + ], + [ + 482.98846141017094, + 64.74634302469838 + ], + [ + 477.80638282641337, + 68.49443677894772 + ], + [ + 481.22595093668576, + 49.207864801535834 + ], + [ + 486.4767960379035, + 45.520570311646736 + ], + [ + 480.6030794958724, + 44.19774454545336 + ], + [ + 475.326004487328, + 47.86749354851281 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1196.1147932583335, + "ymin": 0.0, + "xmax": 1214.5303838678542, + "ymax": 26.018122122519458 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1204.9505371259925, + 22.155631959918708 + ], + [ + 1196.7152029054078, + 20.778623301601954 + ], + [ + 1196.1147932583335, + 24.621140022438283 + ], + [ + 1204.4081522425465, + 26.018122122519458 + ], + [ + 1214.5303838678542, + -1.5018542055630064 + ], + [ + 1206.1306395454521, + -2.840092455348838 + ], + [ + 1205.589109344439, + 0.8945286651052129 + ], + [ + 1214.049235547966, + 2.2525103435016263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.7033417595839, + "ymin": 8.673436440520902, + "xmax": 665.723901867302, + "ymax": 38.09808913418129 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 660.7383033697256, + 38.09808913418129 + ], + [ + 665.2854097431434, + 34.06081126517853 + ], + [ + 658.2899849803626, + 32.62177450574353 + ], + [ + 653.7033417595839, + 36.637709566983744 + ], + [ + 661.1006480699552, + 14.000263103542977 + ], + [ + 665.723901867302, + 10.073011964736509 + ], + [ + 658.6063136444134, + 8.673436440520902 + ], + [ + 653.9421227814479, + 12.579566485809039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.8636969683372, + "ymin": 0.0, + "xmax": 591.4786202481182, + "ymax": 22.692911261568156 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 586.528198340847, + 22.692911261568156 + ], + [ + 591.4786202481182, + 18.877944961399294 + ], + [ + 584.8665510181662, + 17.5177686723909 + ], + [ + 579.8814882985096, + 21.313128357943697 + ], + [ + 585.6205507376364, + -0.9796705350321986 + ], + [ + 590.6609820391246, + -4.687063883959809 + ], + [ + 583.9399141921238, + -6.008669177485956 + ], + [ + 578.8636969683372, + -2.3206505739996146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.2424368043844, + "ymin": 208.19612385806963, + "xmax": 1157.908002054111, + "ymax": 240.05461314431466 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1147.8846612631125, + 233.7737472527735 + ], + [ + 1138.4303565433545, + 231.526056540666 + ], + [ + 1137.2424368043844, + 237.76894333129954 + ], + [ + 1146.77277941002, + 240.05461314431466 + ], + [ + 1157.908002054111, + 210.4162213735407 + ], + [ + 1148.2368677155623, + 208.19612385806963 + ], + [ + 1147.1093876774999, + 214.3630237575218 + ], + [ + 1156.8601247955323, + 216.62138285825222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 785.9134590922988, + "ymin": 0.0, + "xmax": 1204.6718404806754, + "ymax": 437.9722540488315 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1049.835157898951, + 437.9722540488315 + ], + [ + 1053.8927203450626, + 421.2248258480408 + ], + [ + 793.880712412958, + 341.472785355631 + ], + [ + 785.9134590922988, + 355.45765733742013 + ], + [ + 1202.8169510906055, + 72.41074677225652 + ], + [ + 1204.6718404806754, + 58.357915993667405 + ], + [ + 843.5979023023233, + -6.116682898457611 + ], + [ + 834.0844366489422, + 4.906127983534418 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 561.6595836691184, + "ymin": 0.0, + "xmax": 687.5857389664895, + "ymax": 41.029836949652235 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 682.6633751557921, + -39.19454449289299 + ], + [ + 675.8109542402333, + -40.43383368380728 + ], + [ + 571.1102262369736, + 39.33469783589811 + ], + [ + 578.8040860880441, + 41.029836949652235 + ], + [ + 687.5857389664895, + -207.24071315406024 + ], + [ + 679.9306229411462, + -208.131062126723 + ], + [ + 561.6595836691184, + -149.70202814810125 + ], + [ + 570.3795417185573, + -148.43517371704297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 315.3277850482259, + "ymin": 555.6165124784958, + "xmax": 1094.8433103316454, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 866.9982409036929, + 1192.6243833749932 + ], + [ + 879.8866052412851, + 1139.4281703194674 + ], + [ + 472.81710371370934, + 905.0338125954042 + ], + [ + 450.60653960564343, + 944.0198825988768 + ], + [ + 1083.2015435465637, + 978.6292467686633 + ], + [ + 1094.8433103316454, + 890.4300369018209 + ], + [ + 358.78241215241667, + 555.6165124784958 + ], + [ + 315.3277850482259, + 605.9653710300314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 837.1652622498207, + "ymin": 4.500379604921136, + "xmax": 870.8628522826019, + "ymax": 18.386251619826396 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 864.8009645468068, + 18.386251619826396 + ], + [ + 870.6219494731874, + 10.953648758162444 + ], + [ + 843.3144592063155, + 5.960539275291296 + ], + [ + 837.1652622498207, + 13.250803632717407 + ], + [ + 865.039130115299, + 16.904166832416422 + ], + [ + 870.8628522826019, + 9.484604719185938 + ], + [ + 843.5248059707851, + 4.500379604921136 + ], + [ + 837.3721231537154, + 11.777705620907625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 331.9979621353217, + "ymin": 576.6612777809584, + "xmax": 408.61164519937336, + "ymax": 635.1107939698072 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 381.80135706547946, + 635.1107939698072 + ], + [ + 408.61164519937336, + 600.8777171234954 + ], + [ + 360.3960052249411, + 578.4911018042992 + ], + [ + 332.68859067212924, + 611.3400051944307 + ], + [ + 381.2087901636333, + 633.3156570116024 + ], + [ + 408.09649580690893, + 599.0600733193384 + ], + [ + 359.78606469774525, + 576.6612777809584 + ], + [ + 331.9979621353217, + 609.5287418978131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 837.1599271458508, + "ymin": 4.538116786838657, + "xmax": 870.8566261953371, + "ymax": 18.424475339372066 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 864.7948221358106, + 18.424475339372066 + ], + [ + 870.6157363726734, + 10.991536727571315 + ], + [ + 843.3090341181932, + 5.998198494364885 + ], + [ + 837.1599271458508, + 13.288795978795065 + ], + [ + 865.0329746824216, + 16.942471586059753 + ], + [ + 870.8566261953371, + 9.522571882810212 + ], + [ + 843.5193696515403, + 4.538116786838657 + ], + [ + 837.366776849107, + 11.815777728979981 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 451.5377115512081, + "ymin": 0.0, + "xmax": 768.1851359759324, + "ymax": 201.03739339936357 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 483.75789318538403, + 125.61604824927775 + ], + [ + 478.0193596103534, + 130.12782517383866 + ], + [ + 744.0468036809946, + 201.03739339936357 + ], + [ + 748.3392082051826, + 195.4778509663026 + ], + [ + 458.4231094557081, + -83.83222901888405 + ], + [ + 451.5377115512081, + -80.30813686913751 + ], + [ + 763.283989930427, + -23.837858552766647 + ], + [ + 768.1851359759324, + -28.340266051125525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 950.6329286345524, + "ymin": 0.0, + "xmax": 1279.3820312186745, + "ymax": 48.68756457983653 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1200.8482932126567, + 48.68756457983653 + ], + [ + 1201.4224015232012, + 45.24513204945089 + ], + [ + 952.5764370872757, + 0.9859758202907756 + ], + [ + 950.6329286345524, + 3.9015463548801677 + ], + [ + 1279.2769339676202, + -142.69884803425578 + ], + [ + 1279.3820312186745, + -145.2802495403198 + ], + [ + 992.0953858896648, + -178.07872952510706 + ], + [ + 990.157943551686, + -175.94017689878808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.7032040216604, + "ymin": 0.0, + "xmax": 1250.624196433246, + "ymax": 310.7090508941334 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1115.7032040216604, + 306.9616640459493 + ], + [ + 1129.644284809164, + 310.7090508941334 + ], + [ + 1162.8557017925, + 144.84104963283815 + ], + [ + 1151.5953384060158, + 142.45069539140627 + ], + [ + 1219.5824788676496, + 64.49624220847915 + ], + [ + 1237.1648215078005, + 67.71284197646628 + ], + [ + 1250.624196433246, + -68.7593286163007 + ], + [ + 1237.1086685306589, + -70.64149072303269 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 332.01583218912697, + "ymin": 576.7086215529303, + "xmax": 408.62491529659815, + "ymax": 635.1570329217764 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 381.81662034240526, + 635.1570329217764 + ], + [ + 408.62491529659815, + 600.9245390946635 + ], + [ + 360.4117178359992, + 578.5382397003749 + ], + [ + 332.7063806785678, + 611.3866618035793 + ], + [ + 381.22412357743247, + 633.3621084379656 + ], + [ + 408.10982505573077, + 599.1071039999321 + ], + [ + 359.8018459340104, + 576.7086215529303 + ], + [ + 332.01583218912697, + 609.5756084416075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1186.2548722604306, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 52.98168700228098 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1186.2548722604306, + -14.792929692838186 + ], + [ + 1200.3537666561274, + 34.84366676522069 + ], + [ + 1356.6976212000743, + 52.98168700228098 + ], + [ + 1327.54707335297, + 0.1548075691299573 + ], + [ + 1284.192045459792, + -271.55136295532475 + ], + [ + 1312.870556021584, + -242.74886583502825 + ], + [ + 1506.3815178282057, + -231.9601138062984 + ], + [ + 1455.2134075830932, + -262.98683857679316 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00079/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00079/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3702c4f32299b4b9a61feed7a6a921503037f9fc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00079/meta.json @@ -0,0 +1,3417 @@ +{ + "frame_id": 79, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 39.5, + "sim_timestamp": 1052.6711573244538 + }, + "drone_pose": { + "x": -135.66053134747608, + "y": -39.08686717661806, + "z": 20.000000000017156, + "pitch": -42.31678520285314, + "yaw": 64.55204037982776, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3177281618118286, + -0.6676910519599915, + 0.6732290983200073, + 55.736541748046875 + ], + [ + 0.9029759764671326, + 0.4296910762786865, + 0.0, + -105.70292663574219 + ], + [ + -0.2892805337905884, + 0.6079096794128418, + 0.7394339442253113, + -77.7939224243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.39898422052434, + "y": -38.66713403976736, + "z": 20.000000000002295 + }, + "t1_image_uv": [ + 492.5330425477272, + -514.0470224585403 + ], + "t1_depth": 0.36335293816966535 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -20.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.305164351238428, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 592, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -20.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.41752439737319946, + "y": 0.4250219762325287, + "z": 0.8846858143806458 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.3865773617141, + "ymin": 324.80878794476075, + "xmax": 659.4109925401497, + "ymax": 394.7420916964215 + }, + "corners_3d": [ + [ + -126.2421646118164, + -20.605287551879883, + 0.059452056884765625 + ], + [ + -127.09220123291016, + -20.605287551879883, + 0.059452056884765625 + ], + [ + -127.09220123291016, + -19.770238876342773, + 0.059452056884765625 + ], + [ + -126.2421646118164, + -19.770238876342773, + 0.059452056884765625 + ], + [ + -126.2421646118164, + -20.605287551879883, + 1.8288236856460571 + ], + [ + -127.09220123291016, + -20.605287551879883, + 1.8288236856460571 + ], + [ + -127.09220123291016, + -19.770238876342773, + 1.8288236856460571 + ], + [ + -126.2421646118164, + -19.770238876342773, + 1.8288236856460571 + ] + ], + "corners_2d": [ + [ + 621.1990176148104, + 386.20691421821283 + ], + [ + 646.8873593091809, + 394.7420916964215 + ], + [ + 658.6148957822462, + 377.29646510228986 + ], + [ + 633.3070907083966, + 369.08435390476745 + ], + [ + 620.3865773617141, + 341.77572900160175 + ], + [ + 647.1879251914809, + 350.24375461178863 + ], + [ + 659.4109925401497, + 332.9427839939329 + ], + [ + 633.0236062080082, + 324.80878794476075 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 79, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 525940, + "2": 165577, + "3": 71089, + "4": 53103, + "6": 20705, + "7": 1822, + "9": 4003, + "10": 12, + "12": 3050, + "14": 20565, + "24": 21179, + "25": 34555 + }, + "instance_pixel_counts": { + "3662": 6441, + "11605": 42859, + "12117": 1, + "15701": 1717, + "16994": 1092, + "17240": 5942, + "17496": 7861, + "17503": 655, + "17506": 318, + "19083": 1959, + "19595": 1315, + "20066": 628, + "20565": 26512, + "21395": 2600, + "21397": 144, + "21907": 99829, + "21909": 9162, + "22155": 1772, + "22421": 4413, + "22931": 191209, + "22933": 3260, + "23443": 157792, + "23445": 63, + "23955": 1403, + "23957": 377, + "24467": 11807, + "25600": 3431, + "25856": 5270, + "26112": 23, + "36096": 592, + "36352": 593, + "36608": 589, + "36864": 624, + "37120": 35, + "37376": 617, + "37888": 1025, + "40448": 16, + "40704": 410, + "41216": 5630, + "41728": 13484, + "45409": 517, + "46483": 54985, + "46995": 1219, + "47201": 13051, + "47713": 2291, + "48225": 1183, + "48531": 2757, + "48737": 60357, + "49043": 2339, + "49249": 9337, + "49761": 5946, + "51297": 2014, + "51526": 46662, + "51809": 1332, + "52321": 7187, + "52833": 1771, + "53345": 197, + "53857": 789, + "54366": 33900, + "56458": 327, + "56970": 3648, + "57482": 25429, + "57994": 21940, + "58506": 1177, + "60819": 3290, + "61254": 4003, + "61331": 38, + "62355": 166, + "62867": 266 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 592, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -20.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39042967557907104, + "y": 0.40814512968063354, + "z": 0.8715358376502991 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.337332466329, + "ymin": 325.8518540378303, + "xmax": 658.4870825327614, + "ymax": 393.67757705279803 + }, + "corners_3d": [ + [ + -126.25904083251953, + -20.57819366455078, + 0.0726020336151123 + ], + [ + -127.07532501220703, + -20.57819366455078, + 0.0726020336151123 + ], + [ + -127.07532501220703, + -19.797332763671875, + 0.0726020336151123 + ], + [ + -126.25904083251953, + -19.797332763671875, + 0.0726020336151123 + ], + [ + -126.25904083251953, + -20.57819366455078, + 1.8156737089157104 + ], + [ + -127.07532501220703, + -20.57819366455078, + 1.8156737089157104 + ], + [ + -127.07532501220703, + -19.797332763671875, + 1.8156737089157104 + ], + [ + -126.25904083251953, + -19.797332763671875, + 1.8156737089157104 + ] + ], + "corners_2d": [ + [ + 622.0987965604044, + 385.492010084905 + ], + [ + 646.7626819444708, + 393.67757705279803 + ], + [ + 657.7395923425368, + 377.37102032040343 + ], + [ + 633.4176261456298, + 369.4756272599948 + ], + [ + 621.337332466329, + 341.725081690576 + ], + [ + 647.053076449077, + 349.84677353270416 + ], + [ + 658.4870825327614, + 333.67367395780565 + ], + [ + 633.1428249480181, + 325.8518540378303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 593, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -17.1900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4625830352306366, + "y": 0.43888309597969055, + "z": 0.8935195207595825 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 547.2423145802734, + "ymin": 236.32887450193982, + "xmax": 583.7430344156958, + "ymax": 300.1384349347011 + }, + "corners_3d": [ + [ + -122.20808410644531, + -17.733781814575195, + 0.05061835050582886 + ], + [ + -123.06666564941406, + -17.55128288269043, + 0.05061835050582886 + ], + [ + -122.87431335449219, + -16.646333694458008, + 0.05061835050582886 + ], + [ + -122.01573181152344, + -16.828832626342773, + 0.05061835050582886 + ], + [ + -122.20808410644531, + -17.733781814575195, + 1.8376574516296387 + ], + [ + -123.06666564941406, + -17.55128288269043, + 1.8376574516296387 + ], + [ + -122.87431335449219, + -16.646333694458008, + 1.8376574516296387 + ], + [ + -122.01573181152344, + -16.828832626342773, + 1.8376574516296387 + ] + ], + "corners_2d": [ + [ + 550.7338227518367, + 296.29338919087337 + ], + [ + 576.073280555593, + 300.1384349347011 + ], + [ + 583.7430344156958, + 283.45825789661995 + ], + [ + 558.8848208950119, + 279.7687878914239 + ], + [ + 547.2423145802734, + 252.56016636543572 + ], + [ + 573.5605553484061, + 256.34067710591165 + ], + [ + 581.5788237863267, + 239.95061315583206 + ], + [ + 555.7793015037172, + 236.32887450193982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 589, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -13.245049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.46793943643569946, + "y": 0.5888934135437012, + "z": 0.9271445274353027 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 766.6331520978845, + "ymin": 219.83341003351734, + "xmax": 813.1223474440362, + "ymax": 287.256163353576 + }, + "corners_3d": [ + [ + -128.38624572753906, + -13.771981239318848, + 0.016993343830108643 + ], + [ + -129.55758666992188, + -13.648869514465332, + 0.016993343830108643 + ], + [ + -129.4597625732422, + -12.718117713928223, + 0.016993343830108643 + ], + [ + -128.28842163085938, + -12.841229438781738, + 0.016993343830108643 + ], + [ + -128.38624572753906, + -13.771981239318848, + 1.8712823390960693 + ], + [ + -129.55758666992188, + -13.648869514465332, + 1.8712823390960693 + ], + [ + -129.4597625732422, + -12.718117713928223, + 1.8712823390960693 + ], + [ + -128.28842163085938, + -12.841229438781738, + 1.8712823390960693 + ] + ], + "corners_2d": [ + [ + 766.6331520978845, + 280.1434052838579 + ], + [ + 800.6971612590494, + 287.256163353576 + ], + [ + 806.5791239975947, + 271.4254793041832 + ], + [ + 773.1310439657583, + 264.5897880881208 + ], + [ + 771.6647002894229, + 235.07547191007433 + ], + [ + 807.1416610938116, + 242.05366103898348 + ], + [ + 813.1223474440362, + 226.52925472259673 + ], + [ + 778.3131468022777, + 219.83341003351734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 624, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -20.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.38026854395866394, + "y": 0.5345556735992432, + "z": 0.903748631477356 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 729.6601044788445, + "ymin": 359.3412032792495, + "xmax": 779.7486997150279, + "ymax": 433.34026161509775 + }, + "corners_3d": [ + [ + -129.71237182617188, + -20.568031311035156, + 0.04038923978805542 + ], + [ + -130.781494140625, + -20.568031311035156, + 0.04038923978805542 + ], + [ + -130.781494140625, + -19.8074951171875, + 0.04038923978805542 + ], + [ + -129.71237182617188, + -19.8074951171875, + 0.04038923978805542 + ], + [ + -129.71237182617188, + -20.568031311035156, + 1.847886562347412 + ], + [ + -130.781494140625, + -20.568031311035156, + 1.847886562347412 + ], + [ + -130.781494140625, + -19.8074951171875, + 1.847886562347412 + ], + [ + -129.71237182617188, + -19.8074951171875, + 1.847886562347412 + ] + ], + "corners_2d": [ + [ + 729.6601044788445, + 421.71898059576034 + ], + [ + 764.6563248406785, + 433.34026161509775 + ], + [ + 773.6448596649377, + 416.0724319563633 + ], + [ + 739.1705505938755, + 404.8684224605534 + ], + [ + 733.7810710536944, + 376.0930241339434 + ], + [ + 770.4602583171416, + 387.6623750900519 + ], + [ + 779.7486997150279, + 370.4764736489125 + ], + [ + 743.6428571898566, + 359.3412032792495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 35, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.28268432617188, + "y": -31.31512451171875, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.39552736282348633, + "y": 0.48547491431236267, + "z": 0.895589292049408 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 532.3674722851923, + "ymin": 691.2976802166165, + "xmax": 597.8139145177403, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -129.75852966308594, + -31.657739639282227, + 0.04855334758758545 + ], + [ + -130.72415161132812, + -31.759231567382812, + 0.04855334758758545 + ], + [ + -130.8068389892578, + -30.972509384155273, + 0.04855334758758545 + ], + [ + -129.84121704101562, + -30.871017456054688, + 0.04855334758758545 + ], + [ + -129.75852966308594, + -31.657739639282227, + 1.8397319316864014 + ], + [ + -130.72415161132812, + -31.759231567382812, + 1.8397319316864014 + ], + [ + -130.8068389892578, + -30.972509384155273, + 1.8397319316864014 + ], + [ + -129.84121704101562, + -30.871017456054688, + 1.8397319316864014 + ] + ], + "corners_2d": [ + [ + 538.771384755103, + 763.9984471330158 + ], + [ + 576.8388502057176, + 788.0632008514262 + ], + [ + 597.8139145177403, + 756.1989935910211 + ], + [ + 560.2828707388055, + 733.2872539354998 + ], + [ + 532.3674722851923, + 722.8524735788014 + ], + [ + 572.7630658949372, + 747.6453778498453 + ], + [ + 595.1624536457009, + 714.8296933931206 + ], + [ + 555.3684697130115, + 691.2976802166165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 617, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -28.35797882080078, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.30208495259284973, + "y": 0.31111693382263184, + "z": 0.8677303194999695 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 113.44466570237046, + "ymin": 384.70858345366935, + "xmax": 168.43525037433648, + "ymax": 451.40420953428065 + }, + "corners_3d": [ + [ + -115.05471801757812, + -28.588777542114258, + 0.22880500555038452 + ], + [ + -115.6633529663086, + -28.71814727783203, + 0.22880500555038452 + ], + [ + -115.78897094726562, + -28.127180099487305, + 0.22880500555038452 + ], + [ + -115.18033599853516, + -27.99781036376953, + 0.22880500555038452 + ], + [ + -115.05471801757812, + -28.588777542114258, + 1.9642655849456787 + ], + [ + -115.6633529663086, + -28.71814727783203, + 1.9642655849456787 + ], + [ + -115.78897094726562, + -28.127180099487305, + 1.9642655849456787 + ], + [ + -115.18033599853516, + -27.99781036376953, + 1.9642655849456787 + ] + ], + "corners_2d": [ + [ + 136.3428654063319, + 441.3512297271204 + ], + [ + 148.88008838685732, + 451.40420953428065 + ], + [ + 168.43525037433648, + 438.694765132202 + ], + [ + 155.86040484585004, + 428.9033809483999 + ], + [ + 113.44466570237046, + 397.1124216315603 + ], + [ + 126.30613632422228, + 407.14058924846137 + ], + [ + 147.05840790418466, + 394.46411602035425 + ], + [ + 134.14918713234965, + 384.70858345366935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 1025, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 533.9394693618508, + "ymin": 0.0, + "xmax": 622.6211493134788, + "ymax": 31.353775571526967 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 606.2210659941389, + 31.353775571526967 + ], + [ + 622.6211493134788, + 17.544317683731094 + ], + [ + 554.0147393552295, + 4.175938378561398 + ], + [ + 536.3013754364868, + 17.291031744650525 + ], + [ + 605.4308564037945, + -1.0007311583387377 + ], + [ + 622.2251245248336, + -14.286996711105246 + ], + [ + 552.1056982567518, + -27.13391865848763 + ], + [ + 533.9394693618508, + -14.530539625318397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 16, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 238.9455604997449, + "ymin": 0.0, + "xmax": 344.4345852420314, + "ymax": 5.791932622059392 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 270.9758526418905, + -22.179701776095158 + ], + [ + 246.98601818582887, + -10.175263252675336 + ], + [ + 321.5341720949355, + 5.791932622059392 + ], + [ + 344.4345852420314, + -6.975738931371495 + ], + [ + 263.60964632618516, + -50.85582816238207 + ], + [ + 238.9455604997449, + -39.31998071729322 + ], + [ + 314.8080296704749, + -23.958623760897638 + ], + [ + 338.3485872518414, + -36.24345097236903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 410, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 214.43995751542116, + "ymin": 0.0, + "xmax": 310.9378715700512, + "ymax": 33.67167234233983 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 251.7535782602111, + 6.277306441776204 + ], + [ + 225.50490238674337, + 19.905421273347486 + ], + [ + 285.6025529007546, + 33.67167234233983 + ], + [ + 310.9378715700512, + 19.341214321011876 + ], + [ + 241.66074563237697, + -30.328317000589834 + ], + [ + 214.43995751542116, + -17.32075278160272 + ], + [ + 275.8913186339151, + -4.163334387788041 + ], + [ + 302.163089007543, + -17.859620513708876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5630, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1133.4522440546934, + "ymin": 165.9882635501266, + "xmax": 1280.0, + "ymax": 264.85192914982053 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1137.454253358308, + 202.51905272723647 + ], + [ + 1133.4522440546934, + 227.14080595480402 + ], + [ + 1298.2482295661985, + 264.85192914982053 + ], + [ + 1296.70352510434, + 237.70684543740202 + ], + [ + 1152.44938453268, + 165.9882635501266 + ], + [ + 1148.8537909774486, + 190.08410324355572 + ], + [ + 1319.873023549333, + 227.0867543607277 + ], + [ + 1317.5018919315633, + 200.43978409609028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 13484, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 514.5697415573333, + "ymin": 426.2911452897099, + "xmax": 688.9338385070695, + "ymax": 645.2714245068081 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 519.7343087546801, + 612.3331905645475 + ], + [ + 594.6074889749444, + 645.2714245068081 + ], + [ + 687.144724900847, + 486.1418797699048 + ], + [ + 620.0189375563685, + 461.52946084207076 + ], + [ + 514.5697415573333, + 577.8898146654442 + ], + [ + 592.5986744703168, + 611.233921843602 + ], + [ + 688.9338385070695, + 450.914840019628 + ], + [ + 619.2800177554633, + 426.2911452897099 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1179.5840993274455, + "ymin": 59.1828496799464, + "xmax": 1199.9250750777755, + "ymax": 91.12499751182526 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1189.4237176134602, + 86.21462079120317 + ], + [ + 1180.2170100111157, + 84.52856720497164 + ], + [ + 1179.5840993274455, + 89.411285308716 + ], + [ + 1188.8643240734295, + 91.12499751182526 + ], + [ + 1199.9250750777755, + 60.82837170344959 + ], + [ + 1190.5128405925277, + 59.1828496799464 + ], + [ + 1189.9533665784343, + 63.94867571723961 + ], + [ + 1199.4424613466217, + 65.62171311162092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.5992823635104, + "ymin": 25.76802948663976, + "xmax": 721.669299231147, + "ymax": 56.110301746608855 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 716.0824322202668, + 56.110301746608855 + ], + [ + 720.2255418694143, + 51.74972985618547 + ], + [ + 712.7885006445796, + 50.251485326453576 + ], + [ + 708.5992823635104, + 54.5889054585698 + ], + [ + 717.4623729613661, + 31.474300411213562 + ], + [ + 721.669299231147, + 27.227061963017604 + ], + [ + 714.0948883425714, + 25.76802948663976 + ], + [ + 709.8401178111642, + 29.99231214144737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1184.3176626200934, + "ymin": 24.141900655725692, + "xmax": 1203.4728068784843, + "ymax": 54.40556797185445 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1193.5412402677525, + 50.07085805276819 + ], + [ + 1184.876564718745, + 48.58148539179149 + ], + [ + 1184.3176626200934, + 52.893249224692795 + ], + [ + 1193.047427091167, + 54.40556797185445 + ], + [ + 1203.4728068784843, + 25.5921389821587 + ], + [ + 1194.626398295814, + 24.141900655725692 + ], + [ + 1194.1334836902242, + 28.340746718824278 + ], + [ + 1203.0477590496666, + 29.81373324441381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 462.16974721181015, + "ymin": 49.265014894714795, + "xmax": 475.98340681859577, + "ymax": 75.19655755338539 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 470.7968141506957, + 75.19655755338539 + ], + [ + 475.98340681859577, + 71.31329073783684 + ], + [ + 470.0982813559626, + 69.96986563408353 + ], + [ + 464.88471931727736, + 73.83526954960087 + ], + [ + 468.1673337648541, + 54.38475270615794 + ], + [ + 473.4515850740718, + 50.58081465290883 + ], + [ + 467.48172642508354, + 49.265014894714795 + ], + [ + 462.16974721181015, + 53.051184889401725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1187.8452192289933, + "ymin": 0.0, + "xmax": 1206.1127076929517, + "ymax": 27.046019837147696 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1196.6113685030132, + 23.117085289164436 + ], + [ + 1188.351934261376, + 21.76646737361341 + ], + [ + 1187.8452192289933, + 25.675597407168482 + ], + [ + 1196.1637781432742, + 27.046019837147696 + ], + [ + 1206.1127076929517, + -0.6321660195671939 + ], + [ + 1197.6883492547481, + -1.9450493778589362 + ], + [ + 1197.2422266772005, + 1.8551734783118263 + ], + [ + 1205.7281100873045, + 3.1876398976473865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 642.8632663328226, + "ymin": 12.954531109375694, + "xmax": 654.7935500200907, + "ymax": 42.674784606707476 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 649.9983454393721, + 42.674784606707476 + ], + [ + 654.5381449059097, + 38.51655201000119 + ], + [ + 647.4444798000746, + 37.087482994197956 + ], + [ + 642.8632663328226, + 41.22415441408282 + ], + [ + 650.1753409022361, + 18.39175529554234 + ], + [ + 654.7935500200907, + 14.345030835698765 + ], + [ + 647.5749197339047, + 12.954531109375694 + ], + [ + 642.913818829391, + 16.979904003065997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 566.7103401117698, + "ymin": 0.0, + "xmax": 579.6584668099417, + "ymax": 27.36500690836118 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 574.6955117411812, + 27.36500690836118 + ], + [ + 579.6584668099417, + 23.431523456221328 + ], + [ + 572.9463562999896, + 22.079321281927776 + ], + [ + 567.9469808740557, + 25.99296565815223 + ], + [ + 573.5717989494161, + 3.4978087718803863 + ], + [ + 578.6278254243832, + -0.326496684521544 + ], + [ + 571.804001602283, + -1.6409462409822027 + ], + [ + 566.7103401117698, + 2.1637413878546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1132.149384550099, + "ymin": 212.0033854792378, + "xmax": 1152.7339293332093, + "ymax": 244.03530729885722 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1142.7250204185875, + 237.61971532619924 + ], + [ + 1133.2091347248343, + 235.40595104697303 + ], + [ + 1132.149384550099, + 241.7836487082031 + ], + [ + 1141.7433327509168, + 244.03530729885722 + ], + [ + 1152.7339293332093, + 214.19072056326064 + ], + [ + 1142.9990951939012, + 212.0033854792378 + ], + [ + 1142.0031055747177, + 218.3056375792035 + ], + [ + 1151.8196699724483, + 220.53116861557362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.0026781214772, + "ymin": 0.0, + "xmax": 1202.817751838792, + "ymax": 445.6475368433787 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1047.1708771569583, + 445.6475368433787 + ], + [ + 1050.9406993031553, + 428.47148974915785 + ], + [ + 787.8374125748992, + 349.47788377782217 + ], + [ + 780.0026781214772, + 363.8735037028128 + ], + [ + 1201.4360118649788, + 78.61347762121773 + ], + [ + 1202.817751838792, + 64.08618100204706 + ], + [ + 836.3924273017013, + -0.28186827727245145 + ], + [ + 827.0084108651168, + 11.158630133578924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 547.601216742529, + "ymin": 0.0, + "xmax": 673.9110455145693, + "ymax": 44.4524486798237 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 670.3731604961401, + -37.666423028914096 + ], + [ + 663.4586003420794, + -38.887630417352796 + ], + [ + 558.8688022608346, + 42.77466583467367 + ], + [ + 566.6601526416139, + 44.4524486798237 + ], + [ + 673.9110455145693, + -206.8046841664459 + ], + [ + 666.1832546967948, + -207.68378350298974 + ], + [ + 547.601216742529, + -147.71885960950192 + ], + [ + 556.4396706552192, + -146.4612378120678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 302.0899543354504, + "ymin": 596.2611932017668, + "xmax": 1118.7394095535806, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 875.1907716402994, + 1229.2225377498187 + ], + [ + 887.4505746224197, + 1173.3644772842315 + ], + [ + 468.6809303744437, + 935.8992158177474 + ], + [ + 446.33887630481746, + 976.9507307914878 + ], + [ + 1109.54872493195, + 1044.6953006167118 + ], + [ + 1118.7394095535806, + 948.0665541361147 + ], + [ + 347.080712635488, + 596.2611932017668 + ], + [ + 302.0899543354504, + 651.1115552309617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.141572823809, + "ymin": 10.490230738084847, + "xmax": 864.205353139114, + "ymax": 24.668576713080256 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 858.2492816856052, + 24.668576713080256 + ], + [ + 863.967574379034, + 16.958697798863454 + ], + [ + 836.2045741001258, + 11.96513750000895 + ], + [ + 830.141572823809, + 19.52965848102457 + ], + [ + 858.4843574087936, + 23.17169473920768 + ], + [ + 864.205353139114, + 15.475076019474841 + ], + [ + 836.4109168851148, + 10.490230738084847 + ], + [ + 830.3444180856133, + 18.04158854509302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 319.6167682605132, + "ymin": 618.0076322605014, + "xmax": 399.4418025200506, + "ymax": 680.5322413709291 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 371.80579233550856, + 680.5322413709291 + ], + [ + 399.4418025200506, + 643.2710685667221 + ], + [ + 349.0129772542119, + 619.811134582536 + ], + [ + 320.36517082848303, + 655.5536526674321 + ], + [ + 371.1643913167662, + 678.7771435678562 + ], + [ + 398.8844810336413, + 641.4845162902569 + ], + [ + 348.35251981224945, + 618.0076322605014 + ], + [ + 319.6167682605132, + 653.7768541778087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.136341380924, + "ymin": 10.528349685773264, + "xmax": 864.1992076901238, + "ymax": 24.707181361513904 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 858.2432190729161, + 24.707181361513904 + ], + [ + 863.9614419579432, + 16.996961071359237 + ], + [ + 836.1992523724601, + 12.003176397853622 + ], + [ + 830.136341380924, + 19.56803627111657 + ], + [ + 858.4782817292046, + 23.21038259319971 + ], + [ + 864.1992076901238, + 15.513420579615115 + ], + [ + 836.4055839582954, + 10.528349685773264 + ], + [ + 830.3391754749989, + 18.080048261487434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 436.767237888035, + "ymin": 0.0, + "xmax": 758.2600021673159, + "ymax": 206.33261065090807 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 471.46567488565466, + 131.32521604204356 + ], + [ + 465.69866397615584, + 135.97437633365652 + ], + [ + 735.5011616790081, + 206.33261065090807 + ], + [ + 739.7505179857211, + 200.6269494811177 + ], + [ + 443.72450076215614, + -79.8730305758545 + ], + [ + 436.767237888035, + -76.22615414329744 + ], + [ + 753.3901227540325, + -19.959601540142216 + ], + [ + 758.2600021673159, + -24.599100397328357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 940.0368898794881, + "ymin": 0.0, + "xmax": 1268.15188716963, + "ymax": 48.36297382150855 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1190.7589720621422, + 48.36297382150855 + ], + [ + 1191.262277124848, + 44.87924662453037 + ], + [ + 941.9339243568807, + 1.576781217272412 + ], + [ + 940.0368898794881, + 4.540188520043387 + ], + [ + 1268.1244469778912, + -143.52591993092517 + ], + [ + 1268.15188716963, + -146.14115330383504 + ], + [ + 980.369367610745, + -178.27282892698986 + ], + [ + 978.4784788472804, + -176.09581048135988 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.7368076819907, + "ymin": 0.0, + "xmax": 1241.7448612366252, + "ymax": 314.82922387096613 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1110.7368076819907, + 311.1391445856354 + ], + [ + 1124.7679221689418, + 314.82922387096613 + ], + [ + 1154.7650125074786, + 145.974032539525 + ], + [ + 1143.475679610899, + 143.63214816724025 + ], + [ + 1214.5720856527782, + 67.78029040059425 + ], + [ + 1232.2824118951157, + 70.95916082017493 + ], + [ + 1241.7448612366252, + -68.352846127227 + ], + [ + 1228.195323749088, + -70.2003599169314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 319.6361349919614, + "ymin": 618.0542990041367, + "xmax": 399.45615762923313, + "ymax": 680.5774445319348 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 371.8223118442611, + 680.5774445319348 + ], + [ + 399.45615762923313, + 643.3170853696164 + ], + [ + 349.02998968895105, + 619.8575902110231 + ], + [ + 320.38444718849325, + 655.5994170846285 + ], + [ + 371.18098993216296, + 678.8225631923431 + ], + [ + 398.8989027332678, + 641.5307465557795 + ], + [ + 348.369609559099, + 618.0542990041367 + ], + [ + 319.6361349919614, + 653.8228331477626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1175.019593076494, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 51.77908399189937 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1175.019593076494, + -15.647170226335504 + ], + [ + 1190.0520379293962, + 34.41617758079883 + ], + [ + 1345.9320243968418, + 51.77908399189937 + ], + [ + 1315.8316119519989, + -1.3506582543075183 + ], + [ + 1271.3232816049285, + -273.0570857877225 + ], + [ + 1301.0131509365642, + -243.96685192221435 + ], + [ + 1493.7910296509924, + -233.62599965028085 + ], + [ + 1441.6204950944189, + -264.85769840436797 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00080/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00080/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..463b308c3968e5eb3e700c0f87e3c6bcfdaa75e8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00080/meta.json @@ -0,0 +1,3417 @@ +{ + "frame_id": 80, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 40.0, + "sim_timestamp": 1063.8230820351746 + }, + "drone_pose": { + "x": -135.39898422052434, + "y": -38.66713403976736, + "z": 20.000000000002295, + "pitch": -42.368829265326205, + "yaw": 65.2943538774511, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3087955713272095, + -0.6711954474449158, + 0.6739004850387573, + 54.285804748535156 + ], + [ + 0.9084669947624207, + 0.4179565906524658, + -2.9802322387695312e-08, + -106.84432983398438 + ], + [ + -0.28166118264198303, + 0.6122163534164429, + 0.7388221025466919, + -76.58573150634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.16191860791375, + "y": -38.24670091384741, + "z": 20.00000000000013 + }, + "t1_image_uv": [ + 532.9150229155016, + -515.6431975290163 + ], + "t1_depth": 0.3553976179875954 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -19.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.2769650655311, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 587, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -19.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4060302674770355, + "y": 0.561799943447113, + "z": 0.9090582728385925 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.3153322389576, + "ymin": 323.169810468931, + "xmax": 663.5156789113356, + "ymax": 396.39872270594645 + }, + "corners_3d": [ + [ + -126.10538482666016, + -20.093793869018555, + 0.03507959842681885 + ], + [ + -127.2289810180664, + -20.093793869018555, + 0.03507959842681885 + ], + [ + -127.2289810180664, + -19.2817325592041, + 0.03507959842681885 + ], + [ + -126.10538482666016, + -19.2817325592041, + 0.03507959842681885 + ], + [ + -126.10538482666016, + -20.093793869018555, + 1.853196144104004 + ], + [ + -127.2289810180664, + -20.093793869018555, + 1.853196144104004 + ], + [ + -127.2289810180664, + -19.2817325592041, + 1.853196144104004 + ], + [ + -126.10538482666016, + -19.2817325592041, + 1.853196144104004 + ] + ], + "corners_2d": [ + [ + 617.3232731944048, + 385.4074906667312 + ], + [ + 651.4980266418959, + 396.39872270594645 + ], + [ + 662.5217680640146, + 379.2502669218209 + ], + [ + 628.8515962867109, + 368.6660710867757 + ], + [ + 616.3153322389576, + 339.7557542794064 + ], + [ + 652.0156086205823, + 350.65981674395044 + ], + [ + 663.5156789113356, + 333.65252807559597 + ], + [ + 628.3656773162467, + 323.169810468931 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 80, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 528645, + "2": 165487, + "3": 68088, + "4": 52981, + "6": 19777, + "7": 1833, + "9": 4405, + "10": 8, + "12": 3119, + "14": 21805, + "24": 21315, + "25": 34137 + }, + "instance_pixel_counts": { + "3662": 6556, + "11605": 38656, + "12117": 1, + "15701": 1343, + "16994": 1095, + "17240": 4576, + "17496": 8012, + "17503": 809, + "17506": 324, + "19083": 1976, + "19595": 1346, + "20066": 716, + "20565": 28088, + "21395": 3215, + "21397": 143, + "21907": 102227, + "21909": 9456, + "22155": 2034, + "22421": 4541, + "22931": 198769, + "22933": 2931, + "23443": 145929, + "23445": 74, + "23955": 1729, + "23957": 392, + "24467": 12249, + "25600": 3586, + "25856": 5398, + "26112": 38, + "36096": 587, + "36352": 589, + "36608": 584, + "36864": 642, + "37120": 8, + "37376": 709, + "37888": 1271, + "40448": 121, + "40704": 503, + "41216": 5876, + "41728": 14034, + "45409": 524, + "46483": 56710, + "46995": 1319, + "47201": 13251, + "47713": 2356, + "48225": 1227, + "48531": 3464, + "48737": 60458, + "49043": 3034, + "49249": 9679, + "49761": 6189, + "51297": 708, + "51526": 46425, + "51809": 832, + "52321": 6974, + "52833": 1973, + "53345": 234, + "53857": 827, + "54366": 33328, + "56458": 416, + "56970": 3773, + "57482": 26550, + "57994": 20713, + "58506": 1312, + "60819": 3221, + "61254": 4405, + "61331": 39, + "62355": 213, + "62867": 305 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 587, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -19.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3781787157058716, + "y": 0.5252221822738647, + "z": 0.9043514132499695 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.8864038435114, + "ymin": 324.1885748779444, + "xmax": 661.9675816034511, + "ymax": 395.3248244733584 + }, + "corners_3d": [ + [ + -126.14196014404297, + -20.065942764282227, + 0.039786458015441895 + ], + [ + -127.1924057006836, + -20.065940856933594, + 0.039786458015441895 + ], + [ + -127.1924057006836, + -19.30958366394043, + 0.039786458015441895 + ], + [ + -126.14196014404297, + -19.309585571289062, + 0.039786458015441895 + ], + [ + -126.14196014404297, + -20.065942764282227, + 1.8484892845153809 + ], + [ + -127.1924057006836, + -20.065940856933594, + 1.8484892845153809 + ], + [ + -127.1924057006836, + -19.30958366394043, + 1.8484892845153809 + ], + [ + -126.14196014404297, + -19.309585571289062, + 1.8484892845153809 + ] + ], + "corners_2d": [ + [ + 618.8224750900125, + 385.0628123869705 + ], + [ + 650.7593287237003, + 395.3248244733584 + ], + [ + 661.043572910358, + 379.3656701751061 + ], + [ + 629.5461797689799, + 369.45811155554316 + ], + [ + 617.8864038435114, + 339.6496232001163 + ], + [ + 651.2405642893818, + 349.83007906031213 + ], + [ + 661.9675816034511, + 334.0021835863956 + ], + [ + 629.0924615636768, + 324.1885748779444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 589, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -16.6900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.46903324127197266, + "y": 0.5199390053749084, + "z": 0.9336267113685608 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 542.819177700907, + "ymin": 235.3155950581327, + "xmax": 584.2257000255897, + "ymax": 301.91652365910716 + }, + "corners_3d": [ + [ + -122.13014221191406, + -17.256942749023438, + 0.010511159896850586 + ], + [ + -123.14729309082031, + -17.040739059448242, + 0.010511159896850586 + ], + [ + -122.95225524902344, + -16.123172760009766, + 0.010511159896850586 + ], + [ + -121.93510437011719, + -16.33937644958496, + 0.010511159896850586 + ], + [ + -122.13014221191406, + -17.256942749023438, + 1.8777645826339722 + ], + [ + -123.14729309082031, + -17.040739059448242, + 1.8777645826339722 + ], + [ + -122.95225524902344, + -16.123172760009766, + 1.8777645826339722 + ], + [ + -121.93510437011719, + -16.33937644958496, + 1.8777645826339722 + ] + ], + "corners_2d": [ + [ + 546.6479740373239, + 297.59109614861285 + ], + [ + 576.8043795897592, + 301.91652365910716 + ], + [ + 584.2257000255897, + 284.880541130849 + ], + [ + 554.6559761951584, + 280.7330413136755 + ], + [ + 542.819177700907, + 251.86422700225503 + ], + [ + 574.1980816939792, + 256.11480032300943 + ], + [ + 581.9753355442239, + 239.38436091093763 + ], + [ + 551.2310978111618, + 235.3155950581327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 584, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -12.745049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45042479038238525, + "y": 0.6062292456626892, + "z": 0.9336876273155212 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 764.2624867853839, + "ymin": 218.60625501226215, + "xmax": 811.2560081268844, + "ymax": 285.75162211014776 + }, + "corners_3d": [ + [ + -128.36717224121094, + -13.256375312805176, + 0.010450243949890137 + ], + [ + -129.572998046875, + -13.129638671875, + 0.010450243949890137 + ], + [ + -129.4788360595703, + -12.233723640441895, + 0.010450243949890137 + ], + [ + -128.27301025390625, + -12.36046028137207, + 0.010450243949890137 + ], + [ + -128.36717224121094, + -13.256375312805176, + 1.8778254985809326 + ], + [ + -129.572998046875, + -13.129638671875, + 1.8778254985809326 + ], + [ + -129.4788360595703, + -12.233723640441895, + 1.8778254985809326 + ], + [ + -128.27301025390625, + -12.36046028137207, + 1.8778254985809326 + ] + ], + "corners_2d": [ + [ + 764.2624867853839, + 278.71045850871224 + ], + [ + 799.3801203659858, + 285.75162211014776 + ], + [ + 804.7334323906728, + 270.4613166808649 + ], + [ + 770.2339088911476, + 263.6851393359597 + ], + [ + 769.2363234214445, + 233.32908929268808 + ], + [ + 805.8184376214743, + 240.23617672143968 + ], + [ + 811.2560081268844, + 225.24325774647795 + ], + [ + 775.344291718878, + 218.60625501226215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 642, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -19.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3695312440395355, + "y": 0.5104345679283142, + "z": 0.888444185256958 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 731.3503052694128, + "ymin": 359.35489411744004, + "xmax": 779.3468475264274, + "ymax": 431.38028943372353 + }, + "corners_3d": [ + [ + -129.7364959716797, + -20.057294845581055, + 0.05569368600845337 + ], + [ + -130.7573699951172, + -20.057294845581055, + 0.05569368600845337 + ], + [ + -130.7573699951172, + -19.3182315826416, + 0.05569368600845337 + ], + [ + -129.7364959716797, + -19.3182315826416, + 0.05569368600845337 + ], + [ + -129.7364959716797, + -20.057294845581055, + 1.8325819969177246 + ], + [ + -130.7573699951172, + -20.057294845581055, + 1.8325819969177246 + ], + [ + -130.7573699951172, + -19.3182315826416, + 1.8325819969177246 + ], + [ + -129.7364959716797, + -19.3182315826416, + 1.8325819969177246 + ] + ], + "corners_2d": [ + [ + 731.3503052694128, + 420.59479874666306 + ], + [ + 764.9385755180374, + 431.38028943372353 + ], + [ + 773.3577511082119, + 414.5186576876995 + ], + [ + 740.2666282385879, + 404.11170612510426 + ], + [ + 735.4808583571551, + 375.7449337791315 + ], + [ + 770.655935327129, + 386.4836678060119 + ], + [ + 779.3468475264274, + 369.7000588838191 + ], + [ + 744.7169854836784, + 359.35489411744004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 8, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.28268432617188, + "y": -30.81512451171875, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.36134767532348633, + "y": 0.5812476277351379, + "z": 0.8996214270591736 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 536.807237245397, + "ymin": 692.0483014678052, + "xmax": 607.764735756236, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -129.66685485839844, + -31.11373519897461, + 0.044521212577819824 + ], + [ + -130.82298278808594, + -31.23525047302246, + 0.044521212577819824 + ], + [ + -130.8985137939453, + -30.51651382446289, + 0.044521212577819824 + ], + [ + -129.7423858642578, + -30.39499855041504, + 0.044521212577819824 + ], + [ + -129.66685485839844, + -31.11373519897461, + 1.843764066696167 + ], + [ + -130.82298278808594, + -31.23525047302246, + 1.843764066696167 + ], + [ + -130.8985137939453, + -30.51651382446289, + 1.843764066696167 + ], + [ + -129.7423858642578, + -30.39499855041504, + 1.843764066696167 + ] + ], + "corners_2d": [ + [ + 542.974583823946, + 762.43387477962 + ], + [ + 589.1718272138596, + 790.672814669636 + ], + [ + 607.764735756236, + 761.142388130138 + ], + [ + 562.1967124534726, + 734.1525604357115 + ], + [ + 536.807237245397, + 721.1139673967548 + ], + [ + 585.8649435641664, + 750.2177793910548 + ], + [ + 605.7179277472417, + 719.7848812130442 + ], + [ + 557.3674327144402, + 692.0483014678052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 709, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -27.85797882080078, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.30400389432907104, + "y": 0.4959155023097992, + "z": 0.8857418894767761 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 107.22488789967304, + "ymin": 386.0127218329649, + "xmax": 171.09943162169924, + "ymax": 459.7981462736431 + }, + "corners_3d": [ + [ + -114.8735580444336, + -28.05223274230957, + 0.21079343557357788 + ], + [ + -115.84371948242188, + -28.258445739746094, + 0.21079343557357788 + ], + [ + -115.97013092041016, + -27.663724899291992, + 0.21079343557357788 + ], + [ + -114.99996948242188, + -27.45751190185547, + 0.21079343557357788 + ], + [ + -114.8735580444336, + -28.05223274230957, + 1.9822771549224854 + ], + [ + -115.84371948242188, + -28.258445739746094, + 1.9822771549224854 + ], + [ + -115.97013092041016, + -27.663724899291992, + 1.9822771549224854 + ], + [ + -114.99996948242188, + -27.45751190185547, + 1.9822771549224854 + ] + ], + "corners_2d": [ + [ + 130.95838285043618, + 443.85584847570385 + ], + [ + 151.45886685679267, + 459.7981462736431 + ], + [ + 171.09943162169924, + 446.6513732483945 + ], + [ + 150.55405005440218, + 431.1324942983234 + ], + [ + 107.22488789967304, + 398.6946706203656 + ], + [ + 128.28477535636307, + 414.6072388906412 + ], + [ + 149.17079391910272, + 401.48319947287496 + ], + [ + 128.0506947699074, + 386.0127218329649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 1271, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 521.6620711840413, + "ymin": 0.0, + "xmax": 611.4328798641807, + "ymax": 34.788490260627725 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 595.0401891874685, + 34.788490260627725 + ], + [ + 611.4328798641807, + 20.666390396917222 + ], + [ + 542.0817002893166, + 7.448660000600171 + ], + [ + 524.3235275827152, + 20.874552529715118 + ], + [ + 593.9783045465524, + 2.2493597950712 + ], + [ + 610.775875324541, + -11.343491664471003 + ], + [ + 539.8864599454315, + -24.05095887642284 + ], + [ + 521.6620711840413, + -11.143250293399603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 121, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 222.6328911105889, + "ymin": 0.0, + "xmax": 329.99285225273036, + "ymax": 10.321696400681333 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 255.38839584966377, + -17.908453815970915 + ], + [ + 231.10501844835022, + -5.5571571583194554 + ], + [ + 306.86248104750223, + 10.321696400681333 + ], + [ + 329.99285225273036, + -2.8006637298681767 + ], + [ + 247.6162711031035, + -46.81341775377507 + ], + [ + 222.6328911105889, + -34.93834644229031 + ], + [ + 299.7405499306286, + -19.654211658789052 + ], + [ + 323.53420403637136, + -32.286507777573945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 503, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 197.80212584386118, + "ymin": 0.0, + "xmax": 296.20399774661655, + "ymax": 38.934330907395235 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 236.04229910564442, + 11.187396842552005 + ], + [ + 209.45057232327338, + 25.225857944848713 + ], + [ + 270.5820576838848, + 38.934330907395235 + ], + [ + 296.20399774661655, + 24.184937359409446 + ], + [ + 225.4044243227242, + -25.71451698671933 + ], + [ + 197.80212584386118, + -12.306177003527296 + ], + [ + 260.3271675156324, + 0.8051713465931698 + ], + [ + 286.9210355295186, + -13.301021858341016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5876, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1127.4918381445298, + "ymin": 168.67383647061604, + "xmax": 1280.0, + "ymax": 267.38614577891246 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1131.065767718376, + 205.29822119483123 + ], + [ + 1127.4918381445298, + 230.33973556922618 + ], + [ + 1292.8631421510577, + 267.38614577891246 + ], + [ + 1290.791065864801, + 239.84161133176426 + ], + [ + 1145.9640457307348, + 168.67383647061604 + ], + [ + 1142.8115493033897, + 193.19018905440288 + ], + [ + 1314.4322820764323, + 229.5546876359691 + ], + [ + 1311.5113415291135, + 202.5063373030842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 14034, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 507.67115286909586, + "ymin": 439.12925292555667, + "xmax": 683.518567960214, + "ymax": 663.9715645583035 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 513.2178966363224, + 630.8291434700893 + ], + [ + 589.7426660178871, + 663.9715645583035 + ], + [ + 681.9042171935538, + 498.9765599161901 + ], + [ + 613.5877046618126, + 474.36047588950544 + ], + [ + 507.67115286909586, + 596.6316013436826 + ], + [ + 587.4774697787431, + 630.2346700190812 + ], + [ + 683.518567960214, + 463.7839063849972 + ], + [ + 612.5957905293106, + 439.12925292555667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1173.4171636074823, + "ymin": 61.89479649728395, + "xmax": 1193.6587451874627, + "ymax": 94.01065153317472 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1183.1972493950198, + 89.00574484769095 + ], + [ + 1173.9442290260708, + 87.34432588192124 + ], + [ + 1173.4171636074823, + 92.32165277092508 + ], + [ + 1182.7453104552878, + 94.01065153317472 + ], + [ + 1193.6587451874627, + 63.5167410360682 + ], + [ + 1184.1987213950983, + 61.89479649728395 + ], + [ + 1183.7477328586701, + 66.75437801489113 + ], + [ + 1193.2863043863981, + 68.40377144024734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.1719749583707, + "ymin": 30.480945452258993, + "xmax": 712.1667603350526, + "ymax": 61.10070775184937 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 706.7501818056274, + 61.10070775184937 + ], + [ + 710.8761917721222, + 56.619646876062575 + ], + [ + 703.345979718353, + 55.13121415626023 + ], + [ + 699.1719749583707, + 59.588904438868155 + ], + [ + 707.9753128703333, + 36.29746422338002 + ], + [ + 712.1667603350526, + 31.93102866430337 + ], + [ + 704.496377784045, + 30.480945452258993 + ], + [ + 700.2551168952566, + 34.82419357234198 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1177.3566450856733, + "ymin": 26.194173568877943, + "xmax": 1196.3943195479037, + "ymax": 56.60763926061037 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1186.5211587240674, + 52.195781022127505 + ], + [ + 1177.821413455165, + 50.73024794783447 + ], + [ + 1177.3566450856733, + 55.119274472900486 + ], + [ + 1186.1227715692517, + 56.60763926061037 + ], + [ + 1196.3943195479037, + 27.621546325509087 + ], + [ + 1187.5118815151031, + 26.194173568877943 + ], + [ + 1187.1151314458389, + 30.469313950441915 + ], + [ + 1196.066785275371, + 31.919329875813503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 449.6602613934863, + "ymin": 54.760236339131154, + "xmax": 463.82779950450254, + "ymax": 80.94619831529991 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 458.6063384739019, + 80.94619831529991 + ], + [ + 463.82779950450254, + 76.94837052205907 + ], + [ + 457.852875112731, + 75.61131165557265 + ], + [ + 452.60305716849876, + 79.59105869891403 + ], + [ + 455.7512283173544, + 59.98799291007106 + ], + [ + 461.0737466310247, + 56.07030748924785 + ], + [ + 455.0119427416922, + 54.760236339131154 + ], + [ + 449.6602613934863, + 58.659926486098016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.2886648983608, + "ymin": 0.0, + "xmax": 1198.427190864947, + "ymax": 28.773698504958986 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1188.9963997038913, + 24.77908570594593 + ], + [ + 1180.7095875387436, + 23.451489686805246 + ], + [ + 1180.2886648983608, + 27.42642812309498 + ], + [ + 1188.635686038181, + 28.773698504958986 + ], + [ + 1198.427190864947, + 0.9407684687601545 + ], + [ + 1189.9748169858456, + -0.350011892822522 + ], + [ + 1189.6161228568421, + 3.5150224928610214 + ], + [ + 1198.1311497786178, + 4.825263515763652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 632.437342969963, + "ymin": 17.740123587230983, + "xmax": 644.4184745116744, + "ymax": 47.74496691501696 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 639.8018789890507, + 47.74496691501696 + ], + [ + 644.3412741957596, + 43.46827071770099 + ], + [ + 637.1527645660607, + 42.047379365675624 + ], + [ + 632.5701487299631, + 46.302283409669485 + ], + [ + 639.7983283968656, + 23.287036497761108 + ], + [ + 644.4184745116744, + 19.12325082212726 + ], + [ + 637.1022635029979, + 17.740123587230983 + ], + [ + 632.437342969963, + 21.882315155967717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 555.1498500910252, + "ymin": 3.214472283439193, + "xmax": 568.4277652583361, + "ymax": 32.51250121504802 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 563.4461329458728, + 32.51250121504802 + ], + [ + 568.4277652583361, + 28.46310779245823 + ], + [ + 561.6194573799752, + 27.117367644968795 + ], + [ + 556.5996945189138, + 31.146680911345356 + ], + [ + 562.111925924629, + 8.461894234762838 + ], + [ + 567.189754040537, + 4.523199349634922 + ], + [ + 560.2670914663145, + 3.214472283439193 + ], + [ + 555.1498500910252, + 7.133298106515326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1127.4982510574653, + "ymin": 216.48055899432683, + "xmax": 1148.0190928595114, + "ymax": 248.68825897633255 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1138.0198571746168, + 242.13836142200725 + ], + [ + 1128.4401807441147, + 239.95336178998582 + ], + [ + 1127.4982510574653, + 246.46537934107994 + ], + [ + 1137.1579822083797, + 248.68825897633255 + ], + [ + 1148.0190928595114, + 218.64018859370327 + ], + [ + 1138.218232377578, + 216.48055899432683 + ], + [ + 1137.3432532720394, + 222.9177035068161 + ], + [ + 1147.2279397516124, + 225.11553383336087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 774.3394515292367, + "ymin": 6.157012999667643, + "xmax": 1201.2165448298554, + "ymax": 453.96368460156754 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1044.7161810359196, + 453.96368460156754 + ], + [ + 1048.2220041562398, + 436.35821671935526 + ], + [ + 782.0617026217848, + 357.9718231391978 + ], + [ + 774.3394515292367, + 372.77489249991766 + ], + [ + 1200.2800436703587, + 85.53007900463922 + ], + [ + 1201.2165448298554, + 70.52336506234576 + ], + [ + 829.4574906142725, + 6.157012999667643 + ], + [ + 820.1774582632456, + 18.01559652143169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 534.3513173412347, + "ymin": 0.0, + "xmax": 661.1534301747133, + "ymax": 48.33055346611491 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 658.9292294561051, + -35.60995130099718 + ], + [ + 651.9550899256169, + -36.8149215011141 + ], + [ + 547.363876526082, + 46.668053312245604 + ], + [ + 555.2483093333842, + 48.33055346611491 + ], + [ + 661.1534301747133, + -205.76217321442437 + ], + [ + 653.3558839631189, + -206.63117318672528 + ], + [ + 534.3513173412347, + -145.18749301354154 + ], + [ + 543.3031145592383, + -143.9378518479648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 287.4829965027144, + "ymin": 639.0118263598758, + "xmax": 1142.610669078403, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 882.781799539651, + 1267.1623128877632 + ], + [ + 894.4564213542702, + 1208.5349456931858 + ], + [ + 464.0839420564804, + 967.5151788786739 + ], + [ + 441.56002535997766, + 1010.692109690359 + ], + [ + 1135.9983336149328, + 1115.595258039532 + ], + [ + 1142.610669078403, + 1009.6376457242209 + ], + [ + 334.2117362872738, + 639.0118263598758 + ], + [ + 287.4829965027144, + 698.7246207382989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.367121158004, + "ymin": 17.08154206929288, + "xmax": 857.8065330576017, + "ymax": 31.55903976258253 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 851.9395635512774, + 31.55903976258253 + ], + [ + 857.5719298721453, + 23.571511832280578 + ], + [ + 829.3604553288626, + 18.57061409750378 + ], + [ + 823.367121158004, + 26.40959291891113 + ], + [ + 852.1714824535931, + 30.047936903578318 + ], + [ + 857.8065330576017, + 22.073877591042162 + ], + [ + 829.5627429783467, + 17.08154206929288 + ], + [ + 823.5658838297069, + 24.907143912331435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.9448245407659, + "ymin": 661.4776048168471, + "xmax": 389.13941255654345, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 360.5586409135182, + 728.4098162195071 + ], + [ + 389.13941255654345, + 687.8780576720503 + ], + [ + 336.47024055894326, + 663.246156076643 + ], + [ + 306.7574275087262, + 702.1090169792785 + ], + [ + 359.86247710257953, + 726.7056041784895 + ], + [ + 388.53486172663935, + 686.1318255754258 + ], + [ + 335.75376805934104, + 661.4776048168471 + ], + [ + 305.9448245407659, + 700.3767881319835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.3619950964729, + "ymin": 17.120027739657303, + "xmax": 857.8004695840762, + "ymax": 31.598010482522966 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 851.9335824583709, + 31.598010482522966 + ], + [ + 857.5658794535483, + 23.610135834964694 + ], + [ + 829.3552382747573, + 18.609017674576535 + ], + [ + 823.3619950964729, + 26.44834086886192 + ], + [ + 852.1654882638602, + 30.086992957881534 + ], + [ + 857.8004695840762, + 22.112584932354707 + ], + [ + 829.5575147720214, + 17.120027739657303 + ], + [ + 823.5607466494145, + 24.945975909108824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 422.6816970013321, + "ymin": 0.0, + "xmax": 748.8524771172574, + "ymax": 212.10304749377153 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 459.79690250044865, + 137.4227022748904 + ], + [ + 453.9961100931216, + 142.20564173710895 + ], + [ + 727.4256427443667, + 212.10304749377153 + ], + [ + 731.6403051641564, + 206.2542412019356 + ], + [ + 429.7164660750651, + -75.41706131710231 + ], + [ + 422.6816970013321, + -71.65012760416931 + ], + [ + 744.0044713927847, + -15.529268184509192 + ], + [ + 748.8524771172574, + -20.303549501017642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 930.2555469961171, + "ymin": 0.0, + "xmax": 1257.9576737325706, + "ymax": 48.76469637728536 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1181.5611376646252, + 48.76469637728536 + ], + [ + 1181.9999878982371, + 45.24035839321516 + ], + [ + 932.1116337306291, + 2.786531574393848 + ], + [ + 930.2555469961171, + 5.796108350087707 + ], + [ + 1257.9576737325706, + -143.61135133518144 + ], + [ + 1257.9141308073317, + -146.25981146199558 + ], + [ + 969.5321279878951, + -177.800444365795 + ], + [ + 967.6819551842108, + -175.58631937119367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1106.1980282169006, + "ymin": 0.0, + "xmax": 1233.646876542934, + "ymax": 319.6233242221932 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1106.1980282169006, + 315.9818620495082 + ], + [ + 1120.3221765581682, + 319.6233242221932 + ], + [ + 1147.3776136516672, + 147.8035076191843 + ], + [ + 1136.0550524546113, + 145.50404220896127 + ], + [ + 1210.0346883554507, + 71.75717859079754 + ], + [ + 1227.8780642232468, + 74.90519561623387 + ], + [ + 1233.646876542934, + -67.22964736550159 + ], + [ + 1220.0573086736404, + -69.04700580846861 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.965854596431, + "ymin": 661.5233712165162, + "xmax": 389.15498268330305, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 360.5765690278604, + 728.4537043214948 + ], + [ + 389.15498268330305, + 687.923031649012 + ], + [ + 336.48869414709196, + 663.2917071851452 + ], + [ + 306.7783553790839, + 702.1536290003704 + ], + [ + 359.88049465285, + 726.7497112200192 + ], + [ + 388.5505069866177, + 686.1770165730768 + ], + [ + 335.77230886588376, + 661.5233712165162 + ], + [ + 305.965854596431, + 700.4216179818852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1164.767391442842, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 51.384032130803575 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1164.767391442842, + -15.774933560779175 + ], + [ + 1180.6589149355432, + 34.715291308519795 + ], + [ + 1336.2013140254728, + 51.384032130803575 + ], + [ + 1305.2128482709932, + -2.0624049285004844 + ], + [ + 1259.573159800098, + -273.8076134528138 + ], + [ + 1290.2006667262492, + -244.43138843509996 + ], + [ + 1482.4266443750694, + -234.49192419129292 + ], + [ + 1429.3036146504583, + -265.9359657396451 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00081/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00081/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf7c10a47104121217247ed952f18cf015d894a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00081/meta.json @@ -0,0 +1,3418 @@ +{ + "frame_id": 81, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 40.5, + "sim_timestamp": 1076.8995423892047 + }, + "drone_pose": { + "x": -135.16191860791375, + "y": -38.24670091384741, + "z": 20.00000000000013, + "pitch": -42.40341614234166, + "yaw": 65.97704783768583, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.30061066150665283, + -0.674455463886261, + 0.674346387386322, + 52.939876556396484 + ], + [ + 0.9133824706077576, + 0.40710246562957764, + 2.9802322387695312e-08, + -107.88419342041016 + ], + [ + -0.2745280861854553, + 0.6159361600875854, + 0.7384151220321655, + -75.43156433105469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.94291859454665, + "y": -37.82431735866929, + "z": 20.0 + }, + "t1_image_uv": [ + 563.1443556305449, + -516.7054297598139 + ], + "t1_depth": 0.3507126271569752 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -19.187763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.25826139355115, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 594, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -19.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3909228444099426, + "y": 0.468453973531723, + "z": 0.8861611485481262 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.5357634961482, + "ymin": 324.98178927839706, + "xmax": 660.2832813072009, + "ymax": 394.54288145424897 + }, + "corners_3d": [ + [ + -126.19873046875, + -19.578685760498047, + 0.05798149108886719 + ], + [ + -127.13563537597656, + -19.578685760498047, + 0.05798149108886719 + ], + [ + -127.13563537597656, + -18.79684066772461, + 0.05798149108886719 + ], + [ + -126.19873046875, + -18.79684066772461, + 0.05798149108886719 + ], + [ + -126.19873046875, + -19.578685760498047, + 1.8303037881851196 + ], + [ + -127.13563537597656, + -19.578685760498047, + 1.8303037881851196 + ], + [ + -127.13563537597656, + -18.79684066772461, + 1.8303037881851196 + ], + [ + -126.19873046875, + -18.79684066772461, + 1.8303037881851196 + ] + ], + "corners_2d": [ + [ + 620.3869804834087, + 385.6107385308754 + ], + [ + 649.0674560110432, + 394.54288145424897 + ], + [ + 659.4467438666434, + 377.9610644348393 + ], + [ + 631.1832329248501, + 369.34950095207444 + ], + [ + 619.5357634961482, + 341.09918119683743 + ], + [ + 649.4650555765832, + 349.96304371955375 + ], + [ + 660.2832813072009, + 333.51403615443144 + ], + [ + 630.8077695796256, + 324.98178927839706 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 81, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 70, + "semantic_pixel_counts": { + "1": 533847, + "2": 165457, + "3": 65132, + "4": 52818, + "6": 16113, + "7": 1860, + "9": 4795, + "10": 6, + "12": 3064, + "14": 23087, + "24": 21713, + "25": 33708 + }, + "instance_pixel_counts": { + "3662": 6652, + "11605": 34989, + "12117": 1, + "15701": 1632, + "16994": 1137, + "17240": 464, + "17496": 8181, + "17503": 978, + "17506": 342, + "19083": 2067, + "19595": 1393, + "20066": 771, + "20565": 28510, + "21395": 3620, + "21397": 145, + "21907": 104886, + "21909": 9735, + "22155": 2215, + "22421": 4729, + "22931": 206521, + "22933": 2750, + "23443": 136087, + "23445": 85, + "23955": 2048, + "23957": 406, + "24467": 12642, + "25600": 3718, + "25856": 5541, + "26112": 69, + "36096": 594, + "36352": 563, + "36608": 594, + "36864": 625, + "37120": 35, + "37376": 653, + "37888": 1574, + "40448": 375, + "40704": 567, + "41216": 5954, + "41728": 14617, + "45409": 533, + "45971": 68, + "46483": 58501, + "46995": 1490, + "47201": 13477, + "47713": 2430, + "48225": 1261, + "48531": 4142, + "48737": 59864, + "49043": 3842, + "49249": 10039, + "49761": 6440, + "51297": 55, + "51526": 46166, + "51809": 305, + "52321": 6736, + "52833": 2138, + "53345": 266, + "53857": 865, + "54366": 32730, + "56458": 503, + "56970": 3892, + "57482": 27713, + "57994": 19553, + "58506": 1462, + "60819": 3214, + "61254": 4795, + "61331": 44, + "62355": 254, + "62867": 351 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 594, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -19.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.38847655057907104, + "y": 0.5881896615028381, + "z": 0.8937923312187195 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 615.7864714372066, + "ymin": 323.753883260702, + "xmax": 664.0648034865698, + "ymax": 395.8280871059351 + }, + "corners_3d": [ + [ + -126.07899475097656, + -19.57624053955078, + 0.050350308418273926 + ], + [ + -127.25537109375, + -19.57624053955078, + 0.050350308418273926 + ], + [ + -127.25537109375, + -18.799285888671875, + 0.050350308418273926 + ], + [ + -126.07899475097656, + -18.799285888671875, + 0.050350308418273926 + ], + [ + -126.07899475097656, + -19.57624053955078, + 1.837934970855713 + ], + [ + -127.25537109375, + -19.57624053955078, + 1.837934970855713 + ], + [ + -127.25537109375, + -18.799285888671875, + 1.837934970855713 + ], + [ + -126.07899475097656, + -18.799285888671875, + 1.837934970855713 + ] + ], + "corners_2d": [ + [ + 616.8008042339203, + 384.6137849961254 + ], + [ + 652.8043399917236, + 395.8280871059351 + ], + [ + 663.0626350909199, + 379.30822346964754 + ], + [ + 627.579203822709, + 368.49387182559366 + ], + [ + 615.7864714372066, + 339.72824380142276 + ], + [ + 653.3714551458844, + 350.85603149484024 + ], + [ + 664.0648034865698, + 334.46783067945034 + ], + [ + 627.0462618409279, + 323.753883260702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 563, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -16.1900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45201173424720764, + "y": 0.499509334564209, + "z": 0.9260436296463013 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 541.9229806461506, + "ymin": 236.3566377305937, + "xmax": 581.7524608107434, + "ymax": 301.7195333487821 + }, + "corners_3d": [ + [ + -122.1465835571289, + -16.736045837402344, + 0.018094241619110107 + ], + [ + -123.12377166748047, + -16.528337478637695, + 0.018094241619110107 + ], + [ + -122.9358139038086, + -15.64406967163086, + 0.018094241619110107 + ], + [ + -121.95862579345703, + -15.851778030395508, + 0.018094241619110107 + ], + [ + -122.1465835571289, + -16.736045837402344, + 1.8701815605163574 + ], + [ + -123.12377166748047, + -16.528337478637695, + 1.8701815605163574 + ], + [ + -122.9358139038086, + -15.64406967163086, + 1.8701815605163574 + ], + [ + -121.95862579345703, + -15.851778030395508, + 1.8701815605163574 + ] + ], + "corners_2d": [ + [ + 545.7634624528566, + 297.77657127671137 + ], + [ + 574.8590489896685, + 301.7195333487821 + ], + [ + 581.7524608107434, + 285.2244218922185 + ], + [ + 553.2079741396717, + 281.43842897408024 + ], + [ + 541.9229806461506, + 252.4001779848626 + ], + [ + 572.1909400812467, + 256.27597224217567 + ], + [ + 579.4167117448494, + 240.07202982466117 + ], + [ + 549.7446669757571, + 236.3566377305937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 594, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -12.245049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4309960901737213, + "y": 0.5153478980064392, + "z": 0.9426858425140381 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 765.1129694608022, + "ymin": 218.1008587471975, + "xmax": 806.2843594986623, + "ymax": 283.8283305038196 + }, + "corners_3d": [ + [ + -128.45553588867188, + -12.727553367614746, + 0.001452028751373291 + ], + [ + -129.48057556152344, + -12.619815826416016, + 0.001452028751373291 + ], + [ + -129.39047241210938, + -11.762545585632324, + 0.001452028751373291 + ], + [ + -128.3654327392578, + -11.870283126831055, + 0.001452028751373291 + ], + [ + -128.45553588867188, + -12.727553367614746, + 1.8868236541748047 + ], + [ + -129.48057556152344, + -12.619815826416016, + 1.8868236541748047 + ], + [ + -129.39047241210938, + -11.762545585632324, + 1.8868236541748047 + ], + [ + -128.3654327392578, + -11.870283126831055, + 1.8868236541748047 + ] + ], + "corners_2d": [ + [ + 765.1129694608022, + 278.0660385061632 + ], + [ + 794.9907130650349, + 283.8283305038196 + ], + [ + 799.8940376489168, + 269.1821359120073 + ], + [ + 770.5244069284241, + 263.6280321348755 + ], + [ + 770.1720418985118, + 232.24625925448606 + ], + [ + 801.3052130656552, + 237.89757438673306 + ], + [ + 806.2843594986623, + 223.5399426278182 + ], + [ + 775.702613295495, + 218.1008587471975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 625, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -19.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3665527403354645, + "y": 0.5186620950698853, + "z": 0.8787286281585693 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 731.7824460399103, + "ymin": 358.780800649816, + "xmax": 780.0603712877894, + "ymax": 430.1377582598252 + }, + "corners_3d": [ + [ + -129.728271484375, + -19.5543155670166, + 0.06540924310684204 + ], + [ + -130.76559448242188, + -19.5543155670166, + 0.06540924310684204 + ], + [ + -130.76559448242188, + -18.821210861206055, + 0.06540924310684204 + ], + [ + -129.728271484375, + -18.821210861206055, + 0.06540924310684204 + ], + [ + -129.728271484375, + -19.5543155670166, + 1.822866439819336 + ], + [ + -130.76559448242188, + -19.5543155670166, + 1.822866439819336 + ], + [ + -130.76559448242188, + -18.821210861206055, + 1.822866439819336 + ], + [ + -129.728271484375, + -18.821210861206055, + 1.822866439819336 + ] + ], + "corners_2d": [ + [ + 731.7824460399103, + 419.4723651798239 + ], + [ + 766.0586618560258, + 430.1377582598252 + ], + [ + 774.1036401577339, + 413.33725723834436 + ], + [ + 740.3398509297726, + 403.0449362339089 + ], + [ + 735.8874141251614, + 375.1169963402683 + ], + [ + 771.763770444534, + 385.7368917719591 + ], + [ + 780.0603712877894, + 369.01296200449804 + ], + [ + 744.7453441745964, + 358.780800649816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 35, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.28268432617188, + "y": -30.31512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4083887040615082, + "y": 0.4865882098674774, + "z": 0.8920394778251648 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 546.2799190061661, + "ymin": 693.9302234122313, + "xmax": 611.5998555462539, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -129.75607299804688, + -30.670413970947266, + 0.05209839344024658 + ], + [ + -130.7239227294922, + -30.772138595581055, + 0.05209839344024658 + ], + [ + -130.80929565429688, + -29.959835052490234, + 0.05209839344024658 + ], + [ + -129.84144592285156, + -29.858110427856445, + 0.05209839344024658 + ], + [ + -129.75607299804688, + -30.670413970947266, + 1.8361773490905762 + ], + [ + -130.7239227294922, + -30.772138595581055, + 1.8361773490905762 + ], + [ + -130.80929565429688, + -29.959835052490234, + 1.8361773490905762 + ], + [ + -129.84144592285156, + -29.858110427856445, + 1.8361773490905762 + ] + ], + "corners_2d": [ + [ + 551.8654445937809, + 767.9957628293619 + ], + [ + 591.0647582522151, + 791.2931118957822 + ], + [ + 611.5998555462539, + 757.7276920873821 + ], + [ + 573.0324596428843, + 735.6005850717058 + ], + [ + 546.2799190061661, + 727.232183634944 + ], + [ + 587.9036155092003, + 751.2475283833443 + ], + [ + 609.8152864324055, + 716.6651805366746 + ], + [ + 568.9020128177337, + 693.9302234122313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 653, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -27.35797882080078, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.31712400913238525, + "y": 0.3531518578529358, + "z": 0.8678267598152161 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 108.32744739301427, + "ymin": 392.7212992315605, + "xmax": 167.13683488514425, + "ymax": 461.8355564829032 + }, + "corners_3d": [ + [ + -115.0104751586914, + -27.59474754333496, + 0.22870856523513794 + ], + [ + -115.70134735107422, + -27.74159812927246, + 0.22870856523513794 + ], + [ + -115.83321380615234, + -27.1212100982666, + 0.22870856523513794 + ], + [ + -115.14234161376953, + -26.9743595123291, + 0.22870856523513794 + ], + [ + -115.0104751586914, + -27.59474754333496, + 1.9643621444702148 + ], + [ + -115.70134735107422, + -27.74159812927246, + 1.9643621444702148 + ], + [ + -115.83321380615234, + -27.1212100982666, + 1.9643621444702148 + ], + [ + -115.14234161376953, + -26.9743595123291, + 1.9643621444702148 + ] + ], + "corners_2d": [ + [ + 131.74394085972676, + 450.5411450488622 + ], + [ + 146.68613180205972, + 461.8355564829032 + ], + [ + 167.13683488514425, + 447.92560092144544 + ], + [ + 152.17190324782592, + 436.94820621169924 + ], + [ + 108.32744739301427, + 406.28106176835024 + ], + [ + 123.68028909037525, + 417.56127031472386 + ], + [ + 145.41258915421503, + 403.670537296514 + ], + [ + 130.02676088622286, + 392.7212992315605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 1574, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 510.0070820049974, + "ymin": 0.0, + "xmax": 600.8506843587039, + "ymax": 38.57184347119505 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 584.4489842135512, + 38.57184347119505 + ], + [ + 600.8506843587039, + 24.143516032205014 + ], + [ + 530.7756242924805, + 11.060719950674013 + ], + [ + 512.958116359513, + 24.79063132825644 + ], + [ + 583.1249757400562, + 5.85628936538518 + ], + [ + 599.9424035339292, + -8.036978059769183 + ], + [ + 528.3042562477161, + -20.619753350619476 + ], + [ + 510.0070820049974, + -7.414228758201375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 375, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 207.04870942878142, + "ymin": 0.0, + "xmax": 316.23274113545426, + "ymax": 15.136690790503224 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 240.52579532922397, + -13.355435159431408 + ], + [ + 215.94075154721918, + -0.6650532135199683 + ], + [ + 292.8620340112994, + 15.136690790503224 + ], + [ + 316.23274113545426, + 1.6673645694019683 + ], + [ + 232.3594788712942, + -42.47731064556319 + ], + [ + 207.04870942878142, + -30.270437651681164 + ], + [ + 285.3552299871226, + -15.05313801463842 + ], + [ + 309.41237672141136, + -28.025516297839374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 567, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 181.86106385887348, + "ymin": 0.0, + "xmax": 282.12636748937774, + "ymax": 44.469140159676726 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 221.02353629625333, + 16.368486015259066 + ], + [ + 194.0790645733464, + 30.80922294297642 + ], + [ + 256.20620484447784, + 44.469140159676726 + ], + [ + 282.12636748937774, + 29.308828009938054 + ], + [ + 209.85465021518473, + -20.814525495526595 + ], + [ + 181.86106385887348, + -7.0129899865253265 + ], + [ + 245.42072555735552, + 6.060659394705681 + ], + [ + 272.3484219368212, + -8.447900333206462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5954, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1122.032217360003, + "ymin": 171.89429594219737, + "xmax": 1280.0, + "ymax": 270.54119839490363 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1125.2076954819472, + 208.61185383923367 + ], + [ + 1122.032217360003, + 234.07563055153594 + ], + [ + 1288.0510839839692, + 270.54119839490363 + ], + [ + 1285.4807839200253, + 242.5898393820376 + ], + [ + 1140.0220100597498, + 171.89429594219737 + ], + [ + 1137.2826089041225, + 196.8338590740842 + ], + [ + 1309.582844547167, + 232.64207142583913 + ], + [ + 1306.1413148845193, + 205.18473311507063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 14617, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 500.70720572391247, + "ymin": 452.4077135127729, + "xmax": 678.1958904678406, + "ymax": 683.2320840317644 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 506.64873655487315, + 649.8402168431935 + ], + [ + 584.807253542681, + 683.2320840317644 + ], + [ + 676.7587813378839, + 512.2703255482263 + ], + [ + 607.2664152085384, + 487.618023631748 + ], + [ + 500.70720572391247, + 615.9170903768583 + ], + [ + 582.274491644132, + 649.8256951372675 + ], + [ + 678.1958904678406, + 477.12574557843453 + ], + [ + 606.018502864654, + 452.4077135127729 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1167.7854719017373, + "ymin": 65.14258246924919, + "xmax": 1187.9461019643527, + "ymax": 97.43571762487522 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1177.516190646318, + 92.3354965153236 + ], + [ + 1168.2134364682695, + 90.69534707877074 + ], + [ + 1167.7854719017373, + 95.76802095091591 + ], + [ + 1177.164963760383, + 97.43571762487522 + ], + [ + 1187.9461019643527, + 66.74421884038333 + ], + [ + 1178.4347022729685, + 65.14258246924919 + ], + [ + 1178.0854140224415, + 70.09668444795909 + ], + [ + 1187.677052965927, + 71.72574914098516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.1687237204193, + "ymin": 35.599629781228316, + "xmax": 703.0968894795602, + "ymax": 66.4927932056791 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 697.8406607700534, + 66.4927932056791 + ], + [ + 701.9559029105668, + 61.891713864364704 + ], + [ + 694.3338080537475, + 60.411231722466425 + ], + [ + 690.1687237204193, + 64.98870207686412 + ], + [ + 698.9144884633189, + 41.527782404881464 + ], + [ + 703.0968894795602, + 37.042555059546885 + ], + [ + 695.3318179523758, + 35.599629781228316 + ], + [ + 691.0976732174814, + 40.06141870563732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1170.9822460377486, + "ymin": 28.777705265562304, + "xmax": 1189.9206316837854, + "ymax": 59.34406760546727 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1180.097314946005, + 54.85458270488135 + ], + [ + 1171.3590890426212, + 53.4098546043312 + ], + [ + 1170.9822460377486, + 57.87658342772056 + ], + [ + 1179.788146428167, + 59.34406760546727 + ], + [ + 1189.9206316837854, + 30.185154564553443 + ], + [ + 1180.9986027323635, + 28.777705265562304 + ], + [ + 1180.6917732926681, + 33.129596095060265 + ], + [ + 1189.684369740099, + 34.55962181117917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 437.64453032146736, + "ymin": 60.58546000879926, + "xmax": 452.1637945475769, + "ymax": 87.01949959471216 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 446.9029075700729, + 87.01949959471216 + ], + [ + 452.1637945475769, + 82.90829844083072 + ], + [ + 446.10157109982265, + 81.57633581216555 + ], + [ + 440.81097827192116, + 85.66922993561315 + ], + [ + 443.8263107948708, + 65.92133153777513 + ], + [ + 449.1917214083047, + 61.89102616768906 + ], + [ + 443.04050004076583, + 60.58546000879926 + ], + [ + 437.64453032146736, + 64.5975345829159 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1173.3584251292846, + "ymin": 1.7739719994333427, + "xmax": 1191.3859612221752, + "ymax": 31.03310161461843 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1182.0169510846772, + 26.972505348449488 + ], + [ + 1173.6993558013621, + 25.665132320702526 + ], + [ + 1173.3584251292846, + 29.706150558009085 + ], + [ + 1181.7373145306192, + 31.03310161461843 + ], + [ + 1191.3859612221752, + 3.045358963327203 + ], + [ + 1182.9020262244635, + 1.7739719994333427 + ], + [ + 1182.624929482434, + 5.704100866032832 + ], + [ + 1191.17264785414, + 6.994859408428795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.4025356378379, + "ymin": 22.916416920018605, + "xmax": 634.5867907107912, + "ymax": 53.20077501866007 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 630.0418237035716, + 53.20077501866007 + ], + [ + 634.5867907107912, + 48.80624730859523 + ], + [ + 627.3051364402683, + 47.39189081420881 + ], + [ + 622.7151822995252, + 51.76437942168246 + ], + [ + 629.8612374729447, + 28.574031349014035 + ], + [ + 634.4893956108704, + 24.29374940722255 + ], + [ + 627.0773104617132, + 22.916416920018605 + ], + [ + 622.4025356378379, + 27.174846446750166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 544.0524711705818, + "ymin": 8.444862599460066, + "xmax": 557.6599105586934, + "ymax": 38.02883779109186 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 552.6540629346988, + 38.02883779109186 + ], + [ + 557.6599105586934, + 33.86432129774897 + ], + [ + 550.7575079898495, + 32.5236289544502 + ], + [ + 545.7118603180364, + 36.66781178259242 + ], + [ + 551.1130030160588, + 13.80158855104628 + ], + [ + 556.2182667051005, + 9.749221903302498 + ], + [ + 549.1988853384257, + 8.444862599460066 + ], + [ + 544.0524711705818, + 12.477096700514892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.2646834960242, + "ymin": 221.50299517409465, + "xmax": 1143.7389659671278, + "ymax": 253.89117124791025 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1133.7426725101495, + 247.20552669680376 + ], + [ + 1124.0963467951847, + 245.04496437698907 + ], + [ + 1123.2646834960242, + 251.6926799646483 + ], + [ + 1132.9930530370384, + 253.89117124791025 + ], + [ + 1143.7389659671278, + 223.6391758908447 + ], + [ + 1133.8690614840748, + 221.50299517409465 + ], + [ + 1133.107481934307, + 228.076474084815 + ], + [ + 1143.0633074492214, + 230.25092404802575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.9032217682707, + "ymin": 13.101388578272179, + "xmax": 1199.945843193943, + "ymax": 462.8483411200293 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1042.4963857540702, + 462.8483411200293 + ], + [ + 1045.7555998157513, + 444.8072602300095 + ], + [ + 776.5289975083995, + 366.8979272349333 + ], + [ + 768.9032217682707, + 382.1106675382691 + ], + [ + 1199.4369837506915, + 93.06570465603693 + ], + [ + 1199.945843193943, + 77.56745553960997 + ], + [ + 822.7829554243431, + 13.101388578272179 + ], + [ + 813.5861687147037, + 25.384799568219933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 521.7318997412403, + "ymin": 0.0, + "xmax": 649.1262002637934, + "ymax": 52.54499443171301 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 648.1595206126617, + -33.17618098973355 + ], + [ + 641.1272383813513, + -34.36648957181228 + ], + [ + 536.437437011007, + 50.89595078196953 + ], + [ + 544.4122613880558, + 52.54499443171301 + ], + [ + 649.1262002637934, + -204.29616775602824 + ], + [ + 641.2604176525846, + -205.15609047954865 + ], + [ + 521.7318997412403, + -142.26384521958937 + ], + [ + 530.7940705922251, + -141.0210006623485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.48596032435046, + "ymin": 684.3841497701187, + "xmax": 1167.1608825293786, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 890.0454335273344, + 1306.7266224576586 + ], + [ + 901.1627195967214, + 1245.1879037790104 + ], + [ + 459.11164739588446, + 1000.1171405438686 + ], + [ + 436.35907208324545, + 1045.5064925598012 + ], + [ + 1163.337847715668, + 1192.5312065322162 + ], + [ + 1167.1608825293786, + 1076.093658385128 + ], + [ + 320.1827915454856, + 684.3841497701187 + ], + [ + 271.48596032435046, + 749.4246047336314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 816.8359289304358, + "ymin": 24.178495788845225, + "xmax": 851.665120974219, + "ymax": 38.96630943768531 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 845.8738040827919, + 38.96630943768531 + ], + [ + 851.4336455360791, + 30.696558335197608 + ], + [ + 822.7730281475742, + 25.681444640631696 + ], + [ + 816.8359289304358, + 33.7992369280243 + ], + [ + 846.1026014530521, + 37.441271544558106 + ], + [ + 851.665120974219, + 29.18518793337961 + ], + [ + 822.9712910085586, + 24.178495788845225 + ], + [ + 817.0306256590761, + 32.282706691330645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.97751229820244, + "ymin": 707.5969806659971, + "xmax": 377.75663851152433, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 348.0978558491157, + 779.3620979297187 + ], + [ + 377.75663851152433, + 735.2473956164216 + ], + [ + 322.78091900343964, + 709.3203630624112 + ], + [ + 291.8618642247364, + 751.5959685789036 + ], + [ + 347.3400811113755, + 777.721832249752 + ], + [ + 377.0990877228045, + 733.5524867158362 + ], + [ + 322.00203426569095, + 707.5969806659971 + ], + [ + 290.97751229820244, + 749.9203997414746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 816.8309078166888, + "ymin": 24.217340734336688, + "xmax": 851.6591382432546, + "ymax": 39.00563884815091 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 845.8679035961686, + 39.00563884815091 + ], + [ + 851.4276758831174, + 30.735535934150732 + ], + [ + 822.7679149802243, + 25.72020545019342 + ], + [ + 816.8309078166888, + 33.838347347969716 + ], + [ + 846.0966878443455, + 37.48068841964022 + ], + [ + 851.6591382432546, + 29.22425092241258 + ], + [ + 822.9661667423411, + 24.217340734336688 + ], + [ + 817.0255934828864, + 32.3219032787693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 409.1102872080137, + "ymin": 0.0, + "xmax": 739.876290233822, + "ymax": 218.25694307122654 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 448.6076710636345, + 143.82468384461572 + ], + [ + 442.76816723567214, + 148.73983998853964 + ], + [ + 719.7401505884254, + 218.25694307122654 + ], + [ + 723.9269530912457, + 212.26582520573268 + ], + [ + 416.22836915538846, + -70.58827652452811 + ], + [ + 409.1102872080137, + -66.70211191514119 + ], + [ + 735.0422763654367, + -10.670280525165822 + ], + [ + 739.876290233822, + -15.579182821878248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 921.1449175273608, + "ymin": 0.0, + "xmax": 1248.6313128819036, + "ymax": 49.706590186521964 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1173.1122511552903, + 49.706590186521964 + ], + [ + 1173.4914315071585, + 46.14162564778496 + ], + [ + 922.9644022927322, + 4.44801793663936 + ], + [ + 921.1449175273608, + 7.502952634957751 + ], + [ + 1248.6313128819036, + -143.15960138575144 + ], + [ + 1248.5216605809865, + -145.84133253864854 + ], + [ + 959.432636332138, + -176.8541592000995 + ], + [ + 957.6186102218899, + -174.60354570700918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.0584069521383, + "ymin": 0.0, + "xmax": 1226.2378980746266, + "ymax": 324.9706808284467 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1102.0584069521383, + 321.37061193729164 + ], + [ + 1116.2794574895574, + 324.9706808284467 + ], + [ + 1140.5959576538921, + 150.1670199291782 + ], + [ + 1129.235909788222, + 147.90502408300415 + ], + [ + 1205.9649201040309, + 76.29070543596538 + ], + [ + 1223.9480529496714, + 79.41384659151538 + ], + [ + 1226.2378980746266, + -65.57187715791036 + ], + [ + 1212.6020959407042, + -67.36284901876076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 291.00040147045183, + "ymin": 707.6415823025277, + "xmax": 377.7735719557742, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 348.1173685218748, + 779.4043347131019 + ], + [ + 377.7735719557742, + 735.2910434165141 + ], + [ + 322.8009781441447, + 709.3647464843771 + ], + [ + 291.8846375547163, + 751.6391168786856 + ], + [ + 347.3596952215952, + 777.7642886028528 + ], + [ + 377.11610618882764, + 733.5963536688256 + ], + [ + 322.0221920287299, + 707.6415823025277 + ], + [ + 291.00040147045183, + 749.9637675259332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1155.3316768865166, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 51.59156711084421 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1155.3316768865166, + -15.3715015451956 + ], + [ + 1172.027736192148, + 35.553037146619715 + ], + [ + 1327.3407773476483, + 51.59156711084421 + ], + [ + 1295.5075234445576, + -2.189768520831649 + ], + [ + 1248.7674276970342, + -274.02735024311767 + ], + [ + 1280.2829720875666, + -244.36071893229587 + ], + [ + 1472.1158255948578, + -234.78541001083613 + ], + [ + 1418.0680963145824, + -266.4535143392135 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00082/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00082/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a52b11b3ecb928c1832bd5503b55b7cd25171b24 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00082/meta.json @@ -0,0 +1,3103 @@ +{ + "frame_id": 82, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 41.0, + "sim_timestamp": 1088.9671300852206 + }, + "drone_pose": { + "x": -134.94291859454665, + "y": -37.82431735866929, + "z": 20.0, + "pitch": -42.42669503298291, + "yaw": 66.61359592328706, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.29299038648605347, + -0.6775019764900208, + 0.6746464967727661, + 51.67010498046875 + ], + [ + 0.9178488850593567, + 0.39693009853363037, + 0.0, + -108.84358978271484 + ], + [ + -0.26778754591941833, + 0.6192234754562378, + 0.7381410598754883, + -74.32054138183594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.73820024046344, + "y": -37.39893985007934, + "z": 20.0 + }, + "t1_image_uv": [ + 587.4598346863062, + -517.42103068953 + ], + "t1_depth": 0.34817460598765115 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -18.687763214111328, + "z": 0.9441036653547781 + }, + "image_uv": [ + 640.0000000000001, + 359.9999999999999 + ], + "depth": 28.24575526623765, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 598, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -18.687763214111328, + "z": 0.9441035985946655 + }, + "extent": { + "x": 0.36940428614616394, + "y": 0.5352423191070557, + "z": 0.8997148871421814 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.7682264076304, + "ymin": 324.5315570469837, + "xmax": 662.0819410520721, + "ymax": 394.96995007327877 + }, + "corners_3d": [ + [ + -126.13194274902344, + -19.057167053222656, + 0.04438871145248413 + ], + [ + -127.20242309570312, + -19.057167053222656, + 0.04438871145248413 + ], + [ + -127.20242309570312, + -18.318359375, + 0.04438871145248413 + ], + [ + -126.13194274902344, + -18.318359375, + 0.04438871145248413 + ], + [ + -126.13194274902344, + -19.057167053222656, + 1.8438184261322021 + ], + [ + -127.20242309570312, + -19.057167053222656, + 1.8438184261322021 + ], + [ + -127.20242309570312, + -18.318359375, + 1.8438184261322021 + ], + [ + -126.13194274902344, + -18.318359375, + 1.8438184261322021 + ] + ], + "corners_2d": [ + [ + 618.7066674241756, + 385.01967942972516 + ], + [ + 651.6311757865868, + 394.96995007327877 + ], + [ + 661.1558433188861, + 379.19269569088016 + ], + [ + 628.6924732739053, + 369.581761540708 + ], + [ + 617.7682264076304, + 339.8312195033586 + ], + [ + 652.149689634061, + 349.70461225856013 + ], + [ + 662.0819410520721, + 334.05371003977297 + ], + [ + 628.2030214297266, + 324.5315570469837 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 82, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 535408, + "2": 165295, + "3": 62198, + "4": 52581, + "6": 16086, + "7": 1894, + "9": 5189, + "10": 8, + "12": 3024, + "14": 24427, + "24": 22189, + "25": 33301 + }, + "instance_pixel_counts": { + "3662": 6681, + "11605": 32376, + "15701": 2625, + "16994": 1162, + "17496": 8347, + "17503": 1195, + "17506": 362, + "19083": 2167, + "19595": 1462, + "20066": 814, + "20565": 27197, + "21395": 3843, + "21397": 162, + "21907": 107810, + "21909": 9919, + "22155": 2383, + "22421": 4926, + "22931": 214556, + "22933": 2551, + "23443": 122087, + "23445": 94, + "23955": 2360, + "23957": 421, + "24467": 13058, + "25600": 3852, + "25856": 5686, + "26112": 95, + "36096": 598, + "36352": 565, + "36608": 594, + "36864": 618, + "37120": 11, + "37376": 638, + "37888": 1848, + "40448": 704, + "40704": 656, + "41216": 5975, + "41728": 15244, + "45409": 537, + "45971": 162, + "46483": 60332, + "46995": 1721, + "47201": 13725, + "47713": 2516, + "48225": 1311, + "48531": 4792, + "48737": 58622, + "49043": 4687, + "49249": 10166, + "49761": 6693, + "51526": 45900, + "52321": 6481, + "52833": 2293, + "53345": 299, + "53857": 906, + "54366": 32106, + "56458": 593, + "56970": 4022, + "57482": 28866, + "57994": 18296, + "58506": 1619, + "60307": 26, + "60819": 3351, + "61254": 5189, + "61331": 60, + "62355": 278, + "62867": 401 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 598, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -18.687763214111328, + "z": 0.9441035985946655 + }, + "extent": { + "x": 0.37724608182907104, + "y": 0.5290631055831909, + "z": 0.8790010809898376 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.8629170997875, + "ymin": 324.96715699383077, + "xmax": 661.9766367638919, + "ymax": 394.58324574245904 + }, + "corners_3d": [ + [ + -126.13812255859375, + -19.06501007080078, + 0.06510251760482788 + ], + [ + -127.19624328613281, + -19.06501007080078, + 0.06510251760482788 + ], + [ + -127.19624328613281, + -18.310516357421875, + 0.06510251760482788 + ], + [ + -126.13812255859375, + -18.310516357421875, + 0.06510251760482788 + ], + [ + -126.13812255859375, + -19.06501007080078, + 1.8231046199798584 + ], + [ + -127.19624328613281, + -19.06501007080078, + 1.8231046199798584 + ], + [ + -127.19624328613281, + -18.310516357421875, + 1.8231046199798584 + ], + [ + -126.13812255859375, + -18.310516357421875, + 1.8231046199798584 + ] + ], + "corners_2d": [ + [ + 618.7765179475031, + 384.74481034555936 + ], + [ + 651.3416543472612, + 394.58324574245904 + ], + [ + 661.0759617878836, + 378.4740323805891 + ], + [ + 628.9767681292271, + 368.97828094828617 + ], + [ + 617.8629170997875, + 340.59585200703003 + ], + [ + 651.8354311476918, + 350.36019818339537 + ], + [ + 661.9766367638919, + 334.3770789940174 + ], + [ + 628.5108976050285, + 324.96715699383077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 565, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -15.690058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4529443681240082, + "y": 0.4859168231487274, + "z": 0.9081780314445496 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 540.8225097775787, + "ymin": 237.33288986623253, + "xmax": 579.7277895569333, + "ymax": 301.6570661958285 + }, + "corners_3d": [ + [ + -122.16007232666016, + -16.234132766723633, + 0.035959839820861816 + ], + [ + -123.11067199707031, + -16.03207778930664, + 0.035959839820861816 + ], + [ + -122.92232513427734, + -15.145983695983887, + 0.035959839820861816 + ], + [ + -121.97172546386719, + -15.348040580749512, + 0.035959839820861816 + ], + [ + -122.16007232666016, + -16.234132766723633, + 1.852315902709961 + ], + [ + -123.11067199707031, + -16.03207778930664, + 1.852315902709961 + ], + [ + -122.92232513427734, + -15.145983695983887, + 1.852315902709961 + ], + [ + -121.97172546386719, + -15.348040580749512, + 1.852315902709961 + ] + ], + "corners_2d": [ + [ + 544.6393093350225, + 298.0139661811733 + ], + [ + 573.0652938941018, + 301.6570661958285 + ], + [ + 579.7277895569333, + 285.06259654146737 + ], + [ + 551.8461421615519, + 281.5653357292425 + ], + [ + 540.8225097775787, + 253.49281998533408 + ], + [ + 570.3737903324906, + 257.0755079832119 + ], + [ + 577.3552256326711, + 240.76658521774922 + ], + [ + 548.3917565396331, + 237.33288986623253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 594, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -11.745049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4455273449420929, + "y": 0.4325726330280304, + "z": 0.9532115459442139 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 765.6105982417406, + "ymin": 217.06362326755752, + "xmax": 801.8551979560123, + "ymax": 282.7395602636853 + }, + "corners_3d": [ + [ + -128.53936767578125, + -12.233352661132812, + -0.00907367467880249 + ], + [ + -129.3997802734375, + -12.14292049407959, + -0.00907367467880249 + ], + [ + -129.306640625, + -11.256746292114258, + -0.00907367467880249 + ], + [ + -128.44622802734375, + -11.34717845916748, + -0.00907367467880249 + ], + [ + -128.53936767578125, + -12.233352661132812, + 1.8973493576049805 + ], + [ + -129.3997802734375, + -12.14292049407959, + 1.8973493576049805 + ], + [ + -129.306640625, + -11.256746292114258, + 1.8973493576049805 + ], + [ + -128.44622802734375, + -11.34717845916748, + 1.8973493576049805 + ] + ], + "corners_2d": [ + [ + 765.6105982417406, + 278.0720073823656 + ], + [ + 790.7185334581739, + 282.7395602636853 + ], + [ + 795.5755035133317, + 267.58904045277575 + ], + [ + 770.9124511188427, + 263.0960721140487 + ], + [ + 770.7512583868643, + 231.73307390064568 + ], + [ + 796.924427309686, + 236.30972620813162 + ], + [ + 801.8551979560123, + 221.46227012822615 + ], + [ + 776.1651817058184, + 217.06362326755752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 618, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -18.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3751757740974426, + "y": 0.388113409280777, + "z": 0.8690654635429382 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 736.5644605779919, + "ymin": 359.3183102667888, + "xmax": 776.0387186475277, + "ymax": 427.8041117810765 + }, + "corners_3d": [ + [ + -129.85882568359375, + -19.062938690185547, + 0.07507717609405518 + ], + [ + -130.63504028320312, + -19.062938690185547, + 0.07507717609405518 + ], + [ + -130.63504028320312, + -18.31258773803711, + 0.07507717609405518 + ], + [ + -129.85882568359375, + -18.31258773803711, + 0.07507717609405518 + ], + [ + -129.85882568359375, + -19.062938690185547, + 1.8132081031799316 + ], + [ + -130.63504028320312, + -19.062938690185547, + 1.8132081031799316 + ], + [ + -130.63504028320312, + -18.31258773803711, + 1.8132081031799316 + ], + [ + -129.85882568359375, + -18.31258773803711, + 1.8132081031799316 + ] + ], + "corners_2d": [ + [ + 736.5644605779919, + 420.02751763596825 + ], + [ + 762.3132363056147, + 427.8041117810765 + ], + [ + 770.3259244840349, + 410.5958257325471 + ], + [ + 744.9773989259185, + 403.0986845858189 + ], + [ + 740.8422576604751, + 376.15627763434617 + ], + [ + 767.7786591875522, + 383.9001644033487 + ], + [ + 776.0387186475277, + 366.77188835454683 + ], + [ + 749.5402577509911, + 359.3183102667888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 11, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.28268432617188, + "y": -29.81512451171875, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3894043266773224, + "y": 0.51408451795578, + "z": 0.8886274695396423 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 552.1451220637402, + "ymin": 695.2012391603193, + "xmax": 618.292287724649, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -129.730712890625, + -30.148658752441406, + 0.055515170097351074 + ], + [ + -130.7532501220703, + -30.256132125854492, + 0.055515170097351074 + ], + [ + -130.83465576171875, + -29.481590270996094, + 0.055515170097351074 + ], + [ + -129.81211853027344, + -29.374116897583008, + 0.055515170097351074 + ], + [ + -129.730712890625, + -30.148658752441406, + 1.8327701091766357 + ], + [ + -130.7532501220703, + -30.256132125854492, + 1.8327701091766357 + ], + [ + -130.83465576171875, + -29.481590270996094, + 1.8327701091766357 + ], + [ + -129.81211853027344, + -29.374116897583008, + 1.8327701091766357 + ] + ], + "corners_2d": [ + [ + 557.3643802780455, + 767.7817516751012 + ], + [ + 599.2243772956085, + 791.9416337296311 + ], + [ + 618.292287724649, + 759.6511928910533 + ], + [ + 577.1027076743924, + 736.6577773719307 + ], + [ + 552.1451220637402, + 727.1971405864406 + ], + [ + 596.5974603485782, + 752.1014114094232 + ], + [ + 616.9304484393564, + 718.829366042851 + ], + [ + 573.2322453235996, + 695.2012391603193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 638, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -26.85797882080078, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.30293455719947815, + "y": 0.3385363817214966, + "z": 0.8689932823181152 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 107.71732035266075, + "ymin": 397.24952423775215, + "xmax": 165.4286663493864, + "ymax": 465.52123712333514 + }, + "corners_3d": [ + [ + -115.02772521972656, + -27.083908081054688, + 0.22754204273223877 + ], + [ + -115.69000244140625, + -27.224679946899414, + 0.22754204273223877 + ], + [ + -115.81596374511719, + -26.632049560546875, + 0.22754204273223877 + ], + [ + -115.1536865234375, + -26.49127769470215, + 0.22754204273223877 + ], + [ + -115.02772521972656, + -27.083908081054688, + 1.9655286073684692 + ], + [ + -115.69000244140625, + -27.224679946899414, + 1.9655286073684692 + ], + [ + -115.81596374511719, + -26.632049560546875, + 1.9655286073684692 + ], + [ + -115.1536865234375, + -26.49127769470215, + 1.9655286073684692 + ] + ], + "corners_2d": [ + [ + 131.31245258009284, + 454.76636716858945 + ], + [ + 145.9404767305204, + 465.52123712333514 + ], + [ + 165.4286663493864, + 452.0106970378532 + ], + [ + 150.78920340704224, + 441.5478730496028 + ], + [ + 107.71732035266075, + 410.44221504898076 + ], + [ + 122.75844403911208, + 421.18837455700424 + ], + [ + 143.4812725247284, + 407.69055140360047 + ], + [ + 128.42012618128314, + 397.24952423775215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 1848, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 498.8305756797934, + "ymin": 0.0, + "xmax": 590.7428460810785, + "ymax": 42.6173234206654 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 574.3182769861929, + 42.6173234206654 + ], + [ + 590.7428460810785, + 27.88503184868398 + ], + [ + 519.9540393113788, + 14.924241775163637 + ], + [ + 502.06445588415147, + 28.955559781470924 + ], + [ + 572.7389479238041, + 9.729918168415338 + ], + [ + 589.5903343803183, + -4.461703651736741 + ], + [ + 517.2135052534541, + -16.932010249194946 + ], + [ + 498.8305756797934, + -3.431068241376124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 704, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 191.99340790164888, + "ymin": 0.0, + "xmax": 302.97899341310574, + "ymax": 20.16708519272538 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 226.19528161200037, + -8.593702003030216 + ], + [ + 201.29899671450318, + 4.432631219061193 + ], + [ + 279.35704338422363, + 20.16708519272538 + ], + [ + 302.97899341310574, + 6.353789912824936 + ], + [ + 217.6414149969201, + -37.92508132284263 + ], + [ + 191.99340790164888, + -25.38926921370131 + ], + [ + 271.4715031131296, + -10.22960086760412 + ], + [ + 295.8033310015016, + -23.539330525712217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 656, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 166.4190500743719, + "ymin": 0.0, + "xmax": 268.53095963707165, + "ymax": 50.21581186470053 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 206.50843245194812, + 21.755948888059777 + ], + [ + 179.19980972423122, + 36.59625728598991 + ], + [ + 242.30007623467657, + 50.21581186470053 + ], + [ + 268.53095963707165, + 34.64714046078643 + ], + [ + 194.81585772768966, + -15.69864504795521 + ], + [ + 166.4190500743719, + -1.5062190684848247 + ], + [ + 230.99058663579473, + 11.53731808255884 + ], + [ + 258.2651393368366, + -3.371446303817379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5975, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1117.0128862339482, + "ymin": 175.5360970965355, + "xmax": 1280.0, + "ymax": 274.1913865029977 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1119.8110095983848, + 212.3475844675874 + ], + [ + 1117.0128862339482, + 238.24019632138726 + ], + [ + 1283.7475635388846, + 274.1913865029977 + ], + [ + 1280.6988358943377, + 245.82269382063038 + ], + [ + 1134.554338080752, + 175.5360970965355 + ], + [ + 1132.2068518166532, + 200.90575371614537 + ], + [ + 1305.260550442473, + 236.22279932343875 + ], + [ + 1301.3179448589651, + 208.34559326624773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 15244, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 493.694689870107, + "ymin": 466.1382605230266, + "xmax": 672.9748841338272, + "ymax": 703.1210457313341 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 500.0444721155276, + 669.4372012751669 + ], + [ + 579.840002587067, + 703.1210457313341 + ], + [ + 671.7166676525329, + 526.0302939665767 + ], + [ + 601.0484406481402, + 501.31297038919297 + ], + [ + 493.694689870107, + 635.8219454642631 + ], + [ + 577.0294606798477, + 670.0808308478554 + ], + [ + 672.9748841338272, + 490.9488403433642 + ], + [ + 599.5412320910395, + 466.1382605230266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1162.6331993197584, + "ymin": 68.81179802739842, + "xmax": 1182.729934545414, + "ymax": 101.28765491805132 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1172.322717385562, + 96.09033744822693 + ], + [ + 1162.9666871629443, + 94.46873224537518 + ], + [ + 1162.6331993197584, + 99.63849564345162 + ], + [ + 1172.067597197263, + 101.28765491805132 + ], + [ + 1182.729934545414, + 70.3957822527426 + ], + [ + 1173.1634371929513, + 68.81179802739842 + ], + [ + 1172.9112360390454, + 73.86219479234182 + ], + [ + 1182.5596860624275, + 75.47362614161113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.5105360073997, + "ymin": 41.045282754603136, + "xmax": 694.3799726560192, + "ymax": 72.2117121947121 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 689.2761382300861, + 72.2117121947121 + ], + [ + 693.385811613343, + 67.4896200834325 + ], + [ + 685.6718862902294, + 66.01549546435615 + ], + [ + 681.5105360073997, + 70.71372021387015 + ], + [ + 690.2013154177248, + 47.08766783329162 + ], + [ + 694.3799726560192, + 42.48259359657851 + ], + [ + 686.5202137849586, + 41.045282754603136 + ], + [ + 682.2878941029222, + 45.626647529114564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1165.1227034133437, + "ymin": 31.77089158751278, + "xmax": 1183.9783384300968, + "ymax": 62.49502522999296 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1174.196056793022, + 57.92660099832494 + ], + [ + 1165.4159352946508, + 56.500231735296836 + ], + [ + 1165.1227034133437, + 61.045943005154925 + ], + [ + 1173.971807022447, + 62.49502522999296 + ], + [ + 1183.9783384300968, + 33.160795335592354 + ], + [ + 1175.0131452021722, + 31.77089158751278 + ], + [ + 1174.7919277975866, + 36.20083033745834 + ], + [ + 1183.829056942157, + 37.61327607408407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 425.9976338642462, + "ymin": 66.67798573220585, + "xmax": 440.8696982505534, + "ymax": 93.35756648452201 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 435.56516890635, + 93.35756648452201 + ], + [ + 440.8696982505534, + 89.13275567719626 + ], + [ + 434.7213796059011, + 87.8047826732269 + ], + [ + 429.3858142854307, + 92.01105020708883 + ], + [ + 432.2690130720223, + 72.12334063230185 + ], + [ + 437.6816324866764, + 67.98012141107915 + ], + [ + 431.4421898992359, + 66.67798573220585 + ], + [ + 425.9976338642462, + 70.80272859727063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1166.9707358076582, + "ymin": 4.300194925831136, + "xmax": 1184.903446191448, + "ymax": 33.69922502229184 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1175.587450747967, + 29.571614057952104 + ], + [ + 1167.2357420983199, + 28.282214674047736 + ], + [ + 1166.9707358076582, + 32.39031582262061 + ], + [ + 1175.3848356287563, + 33.69922502229184 + ], + [ + 1184.903446191448, + 5.554371225493753 + ], + [ + 1176.384475292794, + 4.300194925831136 + ], + [ + 1176.1849120208265, + 8.296431480587273 + ], + [ + 1184.7688104675185, + 9.56991812236339 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 612.7173714461717, + "ymin": 28.406623046503114, + "xmax": 625.1844122914459, + "ymax": 58.969589275077965 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 620.6287980370472, + 58.969589275077965 + ], + [ + 625.1844122914459, + 54.456403640269684 + ], + [ + 617.8100126350073, + 53.04716205650993 + ], + [ + 613.2076595660022, + 57.53804464239289 + ], + [ + 620.2734147128015, + 34.17719921602935 + ], + [ + 624.9147730891706, + 29.779534453207873 + ], + [ + 617.4071748471916, + 28.406623046503114 + ], + [ + 612.7173714461717, + 32.78216002138379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 533.3109780726422, + "ymin": 13.975372733962729, + "xmax": 547.2502382475897, + "ymax": 43.84355864378631 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 542.2152691461272, + 43.84355864378631 + ], + [ + 547.2502382475897, + 39.56326146332884 + ], + [ + 540.2544846090757, + 38.22637878438712 + ], + [ + 535.1780624240154, + 42.48607477660448 + ], + [ + 540.4692330405743, + 19.443315407030468 + ], + [ + 545.606959843871, + 15.27655993983052 + ], + [ + 538.4915767985296, + 13.975372733962729 + ], + [ + 533.3109780726422, + 18.121718092951255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1119.419229322139, + "ymin": 226.9755192422081, + "xmax": 1139.863053611307, + "ymax": 259.5500759247758 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1129.8619646677084, + 252.72593808125265 + ], + [ + 1120.1458152182772, + 250.58631127146077 + ], + [ + 1119.419229322139, + 257.372417012415 + ], + [ + 1129.219429710419, + 259.5500759247758 + ], + [ + 1139.863053611307, + 229.09170763906246 + ], + [ + 1129.920749506316, + 226.9755192422081 + ], + [ + 1129.2673836498616, + 233.6881138232337 + ], + [ + 1139.2977254407801, + 235.84269498186342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 763.6770513587429, + "ymin": 20.48571189448063, + "xmax": 1199.0556466721864, + "ymax": 472.24381548624933 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1040.5271340354566, + 472.24381548624933 + ], + [ + 1043.5516119236777, + 453.75699052347414 + ], + [ + 771.218678635483, + 376.21706028701254 + ], + [ + 763.6770513587429, + 391.84596119975726 + ], + [ + 1198.9657907112264, + 101.15177400329168 + ], + [ + 1199.0556466721864, + 85.1443680197234 + ], + [ + 816.3565458162423, + 20.48571189448063 + ], + [ + 807.2267227745353, + 33.205805581793015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 509.5943240814653, + "ymin": 0.0, + "xmax": 637.9196250606507, + "ymax": 57.01532339240663 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 637.9196250606507, + -30.470250955275333 + ], + [ + 630.8297821682972, + -31.647183738732394 + ], + [ + 525.9587469335919, + 55.37821400179428 + ], + [ + 534.0226172294297, + 57.01532339240663 + ], + [ + 637.6711848779322, + -202.53436879306093 + ], + [ + 629.7376288522959, + -203.38607325962516 + ], + [ + 509.5943240814653, + -139.05446683778928 + ], + [ + 518.7656036272906, + -137.81737859759238 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 810.5396600940456, + "ymin": 31.71750310517109, + "xmax": 845.7756770185673, + "ymax": 46.82992910010813 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 840.0496374427153, + 46.82992910010813 + ], + [ + 845.5472178401694, + 38.27001219060293 + ], + [ + 816.4310418467874, + 33.234238354648255 + ], + [ + 810.5396600940456, + 41.63854197085709 + ], + [ + 840.2754151830272, + 45.29104757289184 + ], + [ + 845.7756770185673, + 36.744987996059876 + ], + [ + 816.6253602955558, + 31.71750310517109 + ], + [ + 810.7303597979222, + 40.10802966712242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 810.5347421479396, + "ymin": 31.756705006011828, + "xmax": 845.7697721502409, + "ymax": 46.86961482404496 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 840.0438149327204, + 46.86961482404496 + ], + [ + 845.5413260759495, + 38.309341242939695 + ], + [ + 816.4260304906197, + 33.27335404641781 + ], + [ + 810.5347421479396, + 41.67801228397923 + ], + [ + 840.269579523138, + 45.330822925370455 + ], + [ + 845.7697721502409, + 36.78440452170173 + ], + [ + 816.6203378946043, + 31.756705006011828 + ], + [ + 810.725430847201, + 40.147588300775226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 395.91271410403317, + "ymin": 0.0, + "xmax": 731.2566906962211, + "ymax": 224.7307167745733 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 437.7809480627995, + 150.478544997041 + ], + [ + 431.8982352522755, + 155.5259925698077 + ], + [ + 712.3774961432354, + 224.7307167745733 + ], + [ + 716.5418818924546, + 218.59647861782383 + ], + [ + 403.11991714492217, + -65.4678529570163 + ], + [ + 395.91271410403317, + -61.46173725071969 + ], + [ + 726.4302038668258, + -5.467553214688735 + ], + [ + 731.2566906962211, + -10.512586034986896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.5803811569382, + "ymin": 0.0, + "xmax": 1240.01092485033, + "ymax": 51.05025199087828 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1165.2853180615275, + 51.05025199087828 + ], + [ + 1165.6083323834264, + 47.44419040855564 + ], + [ + 914.3666022196378, + 6.440520080218789 + ], + [ + 912.5803811569382, + 9.5406172422297 + ], + [ + 1240.01092485033, + -142.32002670527413 + ], + [ + 1239.8385962900888, + -145.03549665173358 + ], + [ + 949.9372765730135, + -175.57157536981435 + ], + [ + 948.1559013889191, + -173.28455744613177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1098.2866253093825, + "ymin": 0.0, + "xmax": 1220.474313078625, + "ymax": 330.7776093823276 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1098.2866253093825, + 327.21312669883014 + ], + [ + 1112.6088679630793, + 330.7776093823276 + ], + [ + 1134.330475034657, + 152.94229610304885 + ], + [ + 1122.9288766177535, + 150.71383970626758 + ], + [ + 1202.3438834098345, + 81.27893561520807 + ], + [ + 1220.474313078625, + 84.38219617779646 + ], + [ + 1219.4267502306866, + -63.513692301302 + ], + [ + 1205.7386843924319, + -65.28133221260094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.5660330809244, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 52.24755539910376 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1146.5660330809244, + -14.580635168218691 + ], + [ + 1164.028083898605, + 36.78992505935457 + ], + [ + 1319.2031186044214, + 52.24755539910376 + ], + [ + 1286.5538834264462, + -1.8885873449857513 + ], + [ + 1238.7466878112564, + -273.8777781052313 + ], + [ + 1271.1190692285172, + -243.91259163438804 + ], + [ + 1462.6951218351055, + -234.67246778639458 + ], + [ + 1407.7346344452785, + -266.57843041416527 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00083/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00083/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34245dbaeff181c109ac41ed7c8c10147657bf10 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00083/meta.json @@ -0,0 +1,2998 @@ +{ + "frame_id": 83, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 41.5, + "sim_timestamp": 1103.1224516311195 + }, + "drone_pose": { + "x": -134.73820024046344, + "y": -37.39893985007934, + "z": 20.0, + "pitch": -42.44256623219475, + "yaw": 67.21170490277811, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2858297824859619, + -0.680351197719574, + 0.6748508214950562, + 50.45958709716797 + ], + [ + 0.9219422936439514, + 0.38732725381851196, + -2.9802322387695312e-08, + -109.73522186279297 + ], + [ + -0.2613881230354309, + 0.622173547744751, + 0.7379541397094727, + -73.2466812133789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.5469251781818, + "y": -36.96968169242298, + "z": 20.0 + }, + "t1_image_uv": [ + 612.0870296889358, + -517.9092214500798 + ], + "t1_depth": 0.3467183984075408 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -18.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 359.99999999999983 + ], + "depth": 28.237147709290404, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 594, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -18.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4104052782058716, + "y": 0.3605145215988159, + "z": 0.8802719712257385 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.8273710160802, + "ymin": 325.7735179454163, + "xmax": 656.9551255984686, + "ymax": 393.71688224184265 + }, + "corners_3d": [ + [ + -126.30667114257812, + -18.598169326782227, + 0.06386590003967285 + ], + [ + -127.02769470214844, + -18.598167419433594, + 0.06386590003967285 + ], + [ + -127.02769470214844, + -17.77735710144043, + 0.06386590003967285 + ], + [ + -126.30667114257812, + -17.777359008789062, + 0.06386590003967285 + ], + [ + -126.30667114257812, + -18.598169326782227, + 1.82440984249115 + ], + [ + -127.02769470214844, + -18.598167419433594, + 1.82440984249115 + ], + [ + -127.02769470214844, + -17.77735710144043, + 1.82440984249115 + ], + [ + -126.30667114257812, + -17.777359008789062, + 1.82440984249115 + ] + ], + "corners_2d": [ + [ + 623.5393884813922, + 387.1604113071358 + ], + [ + 645.8516744791161, + 393.71688224184265 + ], + [ + 656.2606656166561, + 376.16659349871526 + ], + [ + 634.3014661678064, + 369.8592647736966 + ], + [ + 622.8273710160802, + 342.92671772297695 + ], + [ + 646.1067070844549, + 349.43453674550017 + ], + [ + 656.9551255984686, + 332.02362703933636 + ], + [ + 634.0598830475044, + 325.7735179454163 + ] + ], + "center_offset_px": [ + 0.0, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 83, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 536773, + "2": 165058, + "3": 59314, + "4": 52234, + "6": 16448, + "7": 1886, + "9": 5565, + "10": 7, + "12": 3033, + "14": 25846, + "24": 22475, + "25": 32961 + }, + "instance_pixel_counts": { + "3662": 6659, + "11605": 30658, + "15701": 3384, + "16994": 1203, + "17496": 8519, + "17503": 1491, + "17506": 386, + "19083": 2221, + "19595": 1540, + "20066": 866, + "20565": 25272, + "21395": 3956, + "21397": 159, + "21907": 110999, + "21909": 9965, + "22155": 2568, + "22421": 5166, + "22931": 222345, + "22933": 2119, + "23443": 107780, + "23445": 103, + "23955": 2671, + "23957": 437, + "24467": 13479, + "25600": 3982, + "25856": 5701, + "26112": 132, + "36096": 594, + "36352": 594, + "36608": 580, + "36864": 647, + "37376": 618, + "37888": 2065, + "40448": 1080, + "40704": 749, + "41216": 6040, + "41728": 15912, + "45409": 542, + "45971": 292, + "46483": 62194, + "46995": 2023, + "47201": 13992, + "47713": 2586, + "48225": 1355, + "48531": 5397, + "48737": 57280, + "49043": 5637, + "49249": 9979, + "49761": 6948, + "51526": 45575, + "52321": 6213, + "52833": 2431, + "53345": 332, + "53857": 951, + "54366": 31470, + "56458": 688, + "56970": 4155, + "57482": 29876, + "57994": 17150, + "58506": 1796, + "60307": 64, + "60819": 3653, + "61254": 5565, + "61331": 76, + "62355": 316, + "62867": 417 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 594, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -18.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.394477516412735, + "y": 0.4070800542831421, + "z": 0.874337375164032 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.5612834236513, + "ymin": 325.8538837405059, + "xmax": 658.2370418599652, + "ymax": 393.6531572663669 + }, + "corners_3d": [ + [ + -126.26010131835938, + -18.58224105834961, + 0.0698004961013794 + ], + [ + -127.07426452636719, + -18.58224105834961, + 0.0698004961013794 + ], + [ + -127.07426452636719, + -17.793285369873047, + 0.0698004961013794 + ], + [ + -126.26010131835938, + -17.793285369873047, + 0.0698004961013794 + ], + [ + -126.26010131835938, + -18.58224105834961, + 1.8184752464294434 + ], + [ + -127.07426452636719, + -18.58224105834961, + 1.8184752464294434 + ], + [ + -127.07426452636719, + -17.793285369873047, + 1.8184752464294434 + ], + [ + -126.26010131835938, + -17.793285369873047, + 1.8184752464294434 + ] + ], + "corners_2d": [ + [ + 622.3201082664469, + 386.2554123021457 + ], + [ + 647.5103635465313, + 393.6531572663669 + ], + [ + 657.4943913508978, + 376.76876566018313 + ], + [ + 632.6874688531974, + 369.6414603935633 + ], + [ + 621.5612834236513, + 342.3260761243672 + ], + [ + 647.8354615582789, + 349.6690624997312 + ], + [ + 658.2370418599652, + 332.9171940612908 + ], + [ + 632.3796232601445, + 325.8538837405059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 594, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -15.190058708190918, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4698095917701721, + "y": 0.4388061761856079, + "z": 0.9001753926277161 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 540.7037160969531, + "ymin": 237.8948012878738, + "xmax": 576.961327636634, + "ymax": 302.0158185192364 + }, + "corners_3d": [ + [ + -122.20966339111328, + -15.740835189819336, + 0.04395759105682373 + ], + [ + -123.0680923461914, + -15.558368682861328, + 0.04395759105682373 + ], + [ + -122.87273406982422, + -14.6392822265625, + 0.04395759105682373 + ], + [ + -122.0143051147461, + -14.821748733520508, + 0.04395759105682373 + ], + [ + -122.20966339111328, + -15.740835189819336, + 1.8443083763122559 + ], + [ + -123.0680923461914, + -15.558368682861328, + 1.8443083763122559 + ], + [ + -122.87273406982422, + -14.6392822265625, + 1.8443083763122559 + ], + [ + -122.0143051147461, + -14.821748733520508, + 1.8443083763122559 + ] + ], + "corners_2d": [ + [ + 544.4994540569833, + 298.88859897089236 + ], + [ + 570.272570672928, + 302.0158185192364 + ], + [ + 576.961327636634, + 284.748490048681 + ], + [ + 551.7039810553197, + 281.751359069102 + ], + [ + 540.7037160969531, + 254.73594294712655 + ], + [ + 567.490169838551, + 257.8121610719734 + ], + [ + 574.5008777736988, + 240.83812246945496 + ], + [ + 548.2710854258146, + 237.8948012878738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 580, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -11.245049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4710448980331421, + "y": 0.6007537841796875, + "z": 0.9249746203422546 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 758.9949056236829, + "ymin": 215.66914848099862, + "xmax": 804.9351770948231, + "ymax": 282.3852389345352 + }, + "corners_3d": [ + [ + -128.37478637695312, + -11.776309967041016, + 0.01916325092315674 + ], + [ + -129.5697021484375, + -11.650717735290527, + 0.01916325092315674 + ], + [ + -129.47122192382812, + -10.713788986206055, + 0.01916325092315674 + ], + [ + -128.27630615234375, + -10.839381217956543, + 0.01916325092315674 + ], + [ + -128.37478637695312, + -11.776309967041016, + 1.869112491607666 + ], + [ + -129.5697021484375, + -11.650717735290527, + 1.869112491607666 + ], + [ + -129.47122192382812, + -10.713788986206055, + 1.869112491607666 + ], + [ + -128.27630615234375, + -10.839381217956543, + 1.869112491607666 + ] + ], + "corners_2d": [ + [ + 758.9949056236829, + 276.12435843230867 + ], + [ + 793.9326580639853, + 282.3852389345352 + ], + [ + 798.7226934840332, + 266.31433061241836 + ], + [ + 764.4444284675772, + 260.301433281973 + ], + [ + 763.7129962478178, + 231.1759802360496 + ], + [ + 800.0860618680182, + 237.31855590910095 + ], + [ + 804.9351770948231, + 221.55904140503796 + ], + [ + 769.2764478405843, + 215.66914848099862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 647, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -18.187763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3758544921875, + "y": 0.5320501327514648, + "z": 0.9067454934120178 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 732.2603140824532, + "ymin": 356.22020230032336, + "xmax": 781.5039580333289, + "ymax": 429.24811053142656 + }, + "corners_3d": [ + [ + -129.7148895263672, + -18.563617706298828, + 0.03738749027252197 + ], + [ + -130.7789764404297, + -18.563617706298828, + 0.03738749027252197 + ], + [ + -130.7789764404297, + -17.811908721923828, + 0.03738749027252197 + ], + [ + -129.7148895263672, + -17.811908721923828, + 0.03738749027252197 + ], + [ + -129.7148895263672, + -18.563617706298828, + 1.8508784770965576 + ], + [ + -130.7789764404297, + -18.563617706298828, + 1.8508784770965576 + ], + [ + -130.7789764404297, + -17.811908721923828, + 1.8508784770965576 + ], + [ + -129.7148895263672, + -17.811908721923828, + 1.8508784770965576 + ] + ], + "corners_2d": [ + [ + 732.2603140824532, + 418.856604132028 + ], + [ + 767.632824700313, + 429.24811053142656 + ], + [ + 775.3034329976124, + 411.9044124338134 + ], + [ + 740.4890302801255, + 401.88797376754496 + ], + [ + 736.5213828356561, + 373.0911334889238 + ], + [ + 773.5960283387697, + 383.4367532871417 + ], + [ + 781.5039580333289, + 366.1755576408044 + ], + [ + 745.0422659591118, + 356.22020230032336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 618, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -26.35797882080078, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3027929663658142, + "y": 0.30759885907173157, + "z": 0.8676837682723999 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 107.23757063849439, + "ymin": 401.5666274327323, + "xmax": 163.92379375579816, + "ymax": 468.9565078566279 + }, + "corners_3d": [ + [ + -115.05801391601562, + -26.59020233154297, + 0.2288515567779541 + ], + [ + -115.6597671508789, + -26.718109130859375, + 0.2288515567779541 + ], + [ + -115.78567504882812, + -26.125755310058594, + 0.2288515567779541 + ], + [ + -115.18392181396484, + -25.997848510742188, + 0.2288515567779541 + ], + [ + -115.05801391601562, + -26.59020233154297, + 1.964219093322754 + ], + [ + -115.6597671508789, + -26.718109130859375, + 1.964219093322754 + ], + [ + -115.78567504882812, + -26.125755310058594, + 1.964219093322754 + ], + [ + -115.18392181396484, + -25.997848510742188, + 1.964219093322754 + ] + ], + "corners_2d": [ + [ + 130.94160498717633, + 459.24511143634766 + ], + [ + 144.4926507718106, + 468.9565078566279 + ], + [ + 163.92379375579816, + 455.25212808691737 + ], + [ + 150.3705164963502, + 445.8072881178407 + ], + [ + 107.23757063849439, + 414.9845703763187 + ], + [ + 121.17951471610434, + 424.6923014899466 + ], + [ + 141.85034455812388, + 410.9957002360132 + ], + [ + 127.89910519844796, + 401.5666274327323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2065, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 488.04614030308744, + "ymin": 0.0, + "xmax": 581.0307104770704, + "ymax": 46.871370629247565 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 564.5706336324051, + 46.871370629247565 + ], + [ + 581.0307104770704, + 31.834689374430923 + ], + [ + 509.53176520589176, + 18.984244685424642 + ], + [ + 491.55813968638404, + 33.31702891970747 + ], + [ + 562.7410970179379, + 13.814388906205238 + ], + [ + 579.6393910670793, + -0.6761951796920584 + ], + [ + 506.5271146416235, + -13.045128236765947 + ], + [ + 488.04614030308744, + 0.7514782009948817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 1080, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 177.34712572678205, + "ymin": 0.0, + "xmax": 290.12645016687003, + "ymax": 25.368094100941335 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 212.28149207442885, + -3.670550189597975 + ], + [ + 187.06324767557214, + 9.691487415383222 + ], + [ + 266.2417296915037, + 25.368094100941335 + ], + [ + 290.12645016687003, + 11.210860355744558 + ], + [ + 203.34356262880908, + -33.20680720230905 + ], + [ + 177.34712572678205, + -20.34207226558692 + ], + [ + 257.9806024973229, + -5.231079582746418 + ], + [ + 282.5990984235024, + -18.878361562063958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 749, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 151.35654175586103, + "ymin": 0.0, + "xmax": 255.3127368792205, + "ymax": 56.13563915503437 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 192.38330779371245, + 27.30792019076415 + ], + [ + 164.69776463959005, + 42.54845364310523 + ], + [ + 228.7577333146313, + 56.13563915503437 + ], + [ + 255.3127368792205, + 40.15772871196481 + ], + [ + 180.17016665665392, + -10.412223735775797 + ], + [ + 151.35654175586103, + 4.172102702356597 + ], + [ + 216.92671391043058, + 17.193053613332665 + ], + [ + 244.5623256700016, + 1.8828423667851553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 6040, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1112.4000496911044, + "ymin": 179.53438121720666, + "xmax": 1280.0, + "ymax": 278.2666983103818 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1114.8370058604432, + 216.4413672601199 + ], + [ + 1112.4000496911044, + 242.7724983406143 + ], + [ + 1279.918387885271, + 278.2666983103818 + ], + [ + 1276.4054804475993, + 249.46748139559165 + ], + [ + 1129.5226913400238, + 179.53438121720666 + ], + [ + 1127.5510397829291, + 205.34422138446652 + ], + [ + 1301.4319413138714, + 240.22655213236118 + ], + [ + 1297.001971150034, + 211.9158009985182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 15912, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 486.6303812359727, + "ymin": 480.34051135420367, + "xmax": 667.8540002570293, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 493.4033854836308, + 689.6835641905118 + ], + [ + 574.8528774116666, + 723.7024217605247 + ], + [ + 666.7761215838495, + 540.2738358372153 + ], + [ + 594.9224099108533, + 515.4636679864858 + ], + [ + 486.6303812359727, + 656.4145341718397 + ], + [ + 571.7541488792929, + 691.0697076594101 + ], + [ + 667.8540002570293, + 505.27220290913414 + ], + [ + 593.1520178502055, + 480.34051135420367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1157.9305251686703, + "ymin": 72.83711967428587, + "xmax": 1177.9800271635402, + "ymax": 105.50265917368054 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1167.5859675349714, + 100.20569148494201 + ], + [ + 1158.172919102241, + 98.60022116331447 + ], + [ + 1157.9305251686703, + 103.86959097826036 + ], + [ + 1167.4236025719151, + 105.50265917368054 + ], + [ + 1177.9800271635402, + 74.40580742758829 + ], + [ + 1168.3544941871733, + 72.83711967428587 + ], + [ + 1168.196043733239, + 77.98636547215148 + ], + [ + 1177.9052780632378, + 79.58255631791832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.147852699659, + "ymin": 46.77222591445923, + "xmax": 685.9661597689322, + "ymax": 78.21447136207291 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 681.0078688000385, + 78.21447136207291 + ], + [ + 685.1166268864825, + 73.3693521616658 + ], + [ + 677.3101261544876, + 71.90009142527254 + ], + [ + 673.147852699659, + 76.72106322608425 + ], + [ + 681.7864824753394, + 52.93237493743169 + ], + [ + 685.9661597689322, + 48.205378284783876 + ], + [ + 678.0108863943144, + 46.77222591445923 + ], + [ + 673.7756221999955, + 51.47522010888008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1159.738869515179, + "ymin": 35.10287912200482, + "xmax": 1178.5276912344198, + "ymax": 65.99109106428517 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1168.777241247269, + 61.34177501116881 + ], + [ + 1159.9516964219952, + 59.93161515425908 + ], + [ + 1159.738869515179, + 64.55823126657651 + ], + [ + 1168.634728384522, + 65.99109106428517 + ], + [ + 1178.5276912344198, + 36.47733257329696 + ], + [ + 1169.5156365717253, + 35.10287912200482 + ], + [ + 1169.3768589344163, + 39.61280729202082 + ], + [ + 1178.46224518942, + 41.00979837502274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.6416179726099, + "ymin": 73.00001580199148, + "xmax": 429.8697591618242, + "ymax": 99.92506815290699 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 424.51744970519707, + 99.92506815290699 + ], + [ + 429.8697591618242, + 95.58546952964656 + ], + [ + 423.6357638285203, + 94.26042906867428 + ], + [ + 418.25109531121893, + 98.58123638645259 + ], + [ + 421.0022014471467, + 78.55712423485835 + ], + [ + 426.4662925540286, + 74.29975437042884 + ], + [ + 420.1390168754619, + 73.00001580199148 + ], + [ + 414.6416179726099, + 77.23865174566572 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1161.0794287233375, + "ymin": 7.153911975260883, + "xmax": 1178.9327416603533, + "ymax": 36.698688846631626 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1169.6607708458928, + 32.50247876015419 + ], + [ + 1161.2715647338173, + 31.229084654215455 + ], + [ + 1161.0794287233375, + 35.40582737295392 + ], + [ + 1169.532143239097, + 36.698688846631626 + ], + [ + 1178.9327416603533, + 8.392792375807801 + ], + [ + 1170.375198474007, + 7.153911975260883 + ], + [ + 1170.2501417839362, + 11.217824726053777 + ], + [ + 1178.8737792490151, + 12.475979869502567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 603.3239284908807, + "ymin": 34.165737993120615, + "xmax": 616.0775419931888, + "ymax": 65.00920028109607 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 611.5066050564518, + 65.00920028109607 + ], + [ + 616.0775419931888, + 60.37552645306073 + ], + [ + 608.6099719679046, + 58.97005579845245 + ], + [ + 603.9905436166478, + 63.58114371867532 + ], + [ + 610.9778094981399, + 40.05247347482276 + ], + [ + 615.6371704010057, + 35.53553691400043 + ], + [ + 608.033565336465, + 34.165737993120615 + ], + [ + 603.3239284908807, + 38.66025222081106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 522.8578918298352, + "ymin": 19.761564470318888, + "xmax": 537.1331118789826, + "ymax": 49.915133544473974 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 532.0643491361154, + 49.915133544473974 + ], + [ + 537.1331118789826, + 45.51741598980118 + ], + [ + 530.043904366093, + 44.183156876624196 + ], + [ + 524.9320371227208, + 48.559989590316604 + ], + [ + 530.1140281246898, + 25.343573005669953 + ], + [ + 535.2890335107815, + 21.060732986457822 + ], + [ + 528.0774903270453, + 19.761564470318888 + ], + [ + 522.8578918298352, + 24.023700458929454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.9464631965418, + "ymin": 232.8472784621276, + "xmax": 1136.3757495672633, + "ymax": 265.61519208452995 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1126.3612625331568, + 258.6487962729467 + ], + [ + 1116.571792822898, + 256.5270054483689 + ], + [ + 1115.9464631965418, + 263.455214858497 + ], + [ + 1125.822024261312, + 265.61519208452995 + ], + [ + 1136.3757495672633, + 234.94654501492113 + ], + [ + 1126.3573460833704, + 232.8472784621276 + ], + [ + 1125.808415988684, + 239.7028138478256 + ], + [ + 1135.9170117288324, + 241.8406489515753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 758.6472258094583, + "ymin": 28.278401834738986, + "xmax": 1198.9081278627623, + "ymax": 482.12724251310624 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1038.8175977581175, + 482.12724251310624 + ], + [ + 1041.6160762795525, + 463.1814433983184 + ], + [ + 766.115127397943, + 385.9131747164234 + ], + [ + 758.6472258094583, + 401.9678242427053 + ], + [ + 1198.9081278627623, + 109.760732834464 + ], + [ + 1198.5820409580242, + 93.22192077656854 + ], + [ + 810.1674719191816, + 28.278401834738986 + ], + [ + 801.0905283430441, + 41.45101697024057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 497.8485679047013, + "ymin": 0.0, + "xmax": 628.1243394309658, + "ymax": 61.69175049754057 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 628.1243394309658, + -27.557868924071443 + ], + [ + 620.9769939710526, + -28.722572213033345 + ], + [ + 515.849011638036, + 60.065183537936775 + ], + [ + 524.0013964667544, + 61.69175049754057 + ], + [ + 626.6949622157097, + -200.55702088603584 + ], + [ + 618.6934398937277, + -201.4012953085953 + ], + [ + 497.8485679047013, + -135.62579939944487 + ], + [ + 507.1287373519785, + -134.3934691592646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.4695595473422, + "ymin": 39.668402980677456, + "xmax": 840.1320834723601, + "ymax": 55.12257415825138 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 834.4625073914199, + 55.12257415825138 + ], + [ + 839.9064880109105, + 46.261914845403965 + ], + [ + 810.3242972170794, + 41.198963134538076 + ], + [ + 804.4695595473422, + 49.90007604445151 + ], + [ + 834.685409873382, + 53.56981431871992 + ], + [ + 840.1320834723601, + 44.72319277283452 + ], + [ + 810.5147821646075, + 39.668402980677456 + ], + [ + 804.6563625250872, + 48.35555215906743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.4647421804949, + "ymin": 39.70796285698714, + "xmax": 840.1262525244067, + "ymax": 55.162617061771186 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 834.4567591344439, + 55.162617061771186 + ], + [ + 839.9006702010291, + 46.30159646142994 + ], + [ + 810.3193848100856, + 41.23843467547567 + ], + [ + 804.4647421804949, + 49.93990698424807 + ], + [ + 834.6796484311795, + 53.60994907177911 + ], + [ + 840.1262525244067, + 44.76296399989002 + ], + [ + 810.5098587638878, + 39.70796285698714 + ], + [ + 804.6515342091461, + 48.3954736281317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 383.0006720179976, + "ymin": 0.0, + "xmax": 722.946918868509, + "ymax": 231.4888030806896 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 427.2440327892173, + 157.35269765935692 + ], + [ + 421.31374433082146, + 162.53358375687003 + ], + [ + 705.2956126324061, + 231.4888030806896 + ], + [ + 709.4423155797635, + 225.20950773609712 + ], + [ + 390.3030084554361, + -60.105183164402774 + ], + [ + 383.0006720179976, + -55.97735220539852 + ], + [ + 718.1221735147499, + 0.029834778726240074 + ], + [ + 722.946918868509, + -5.154023166412912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 904.4896582688303, + "ymin": 0.0, + "xmax": 1232.021582226249, + "ymax": 52.71250508110177 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1158.0083777187995, + 52.71250508110177 + ], + [ + 1158.2779857854293, + 49.06453373008844 + ], + [ + 906.2453934652153, + 8.690188063096286 + ], + [ + 904.4896582688303, + 11.835670793217787 + ], + [ + 1232.021582226249, + -141.18385885451528 + ], + [ + 1231.789153679461, + -143.93385581569822 + ], + [ + 940.9690607273751, + -174.03793077598664 + ], + [ + 939.217440265795, + -171.71422539408138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1094.865546320983, + "ymin": 0.0, + "xmax": 1217.450978143068, + "ymax": 336.9946049085568 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1094.865546320983, + 333.4606043593522 + ], + [ + 1109.2937004762682, + 336.9946049085568 + ], + [ + 1128.5307014767195, + 156.0579379193911 + ], + [ + 1117.0834963446976, + 153.85962690492465 + ], + [ + 1199.1648716337636, + 86.66676297635098 + ], + [ + 1217.450978143068, + 89.75470862236438 + ], + [ + 1213.1639400149677, + -61.13505586158141 + ], + [ + 1199.4175088040422, + -62.88205863875555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.3870717829734, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 53.25968583726706 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1138.3870717829734, + -13.489919864517844 + ], + [ + 1156.5860072037722, + 38.34190040547736 + ], + [ + 1311.7056645404539, + 53.25968583726706 + ], + [ + 1278.2604580493903, + -1.2532844839643076 + ], + [ + 1229.4215271644634, + -273.45935417947976 + ], + [ + 1262.630876787892, + -243.18446333490692 + ], + [ + 1454.075248826182, + -234.2551760493517 + ], + [ + 1398.2035848604282, + -266.4148890669991 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00084/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00084/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8508bc047a0ab639593d40d2af2c9f601299c76 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00084/meta.json @@ -0,0 +1,3102 @@ +{ + "frame_id": 84, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 42.0, + "sim_timestamp": 1118.2966895157006 + }, + "drone_pose": { + "x": -134.5469251781818, + "y": -36.96968169242298, + "z": 20.0, + "pitch": -42.4533446608499, + "yaw": 67.77214596109745, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.279113233089447, + -0.682996928691864, + 0.674989640712738, + 49.30421447753906 + ], + [ + 0.925686776638031, + 0.3782907724380493, + 2.9802322387695312e-08, + -110.56302642822266 + ], + [ + -0.25534236431121826, + 0.6248289346694946, + 0.7378272414207458, + -72.21180725097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.37081050651642, + "y": -36.53581706100125, + "z": 20.0 + }, + "t1_image_uv": [ + 643.0565656328521, + -518.2409019796355 + ], + "t1_depth": 0.34548414683346024 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -17.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 28.231340752632285, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 596, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -17.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3697558641433716, + "y": 0.4369543492794037, + "z": 0.8726382851600647 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.0051656447608, + "ymin": 326.1987548592557, + "xmax": 658.8162127432556, + "ymax": 393.2914263115565 + }, + "corners_3d": [ + [ + -126.23023223876953, + -18.057519912719727, + 0.07149958610534668 + ], + [ + -127.10413360595703, + -18.057518005371094, + 0.07149958610534668 + ], + [ + -127.10413360595703, + -17.31800651550293, + 0.07149958610534668 + ], + [ + -126.23023223876953, + -17.318008422851562, + 0.07149958610534668 + ], + [ + -126.23023223876953, + -18.057519912719727, + 1.816776156425476 + ], + [ + -127.10413360595703, + -18.057518005371094, + 1.816776156425476 + ], + [ + -127.10413360595703, + -17.31800651550293, + 1.816776156425476 + ], + [ + -126.23023223876953, + -17.318008422851562, + 1.816776156425476 + ] + ], + "corners_2d": [ + [ + 621.7851208686114, + 385.5417156772126 + ], + [ + 648.9299608238432, + 393.2914263115565 + ], + [ + 658.0505618288945, + 377.38864912632704 + ], + [ + 631.2991391683813, + 369.9058758658913 + ], + [ + 621.0051656447608, + 341.7017033972384 + ], + [ + 649.3157593026875, + 349.39406469203374 + ], + [ + 658.8162127432556, + 333.6150661824476 + ], + [ + 630.9332877408895, + 326.1987548592557 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 84, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 538416, + "2": 164736, + "3": 56670, + "4": 51541, + "6": 16785, + "7": 1818, + "9": 5936, + "10": 8, + "12": 3092, + "14": 27081, + "24": 22843, + "25": 32674 + }, + "instance_pixel_counts": { + "3662": 6531, + "11605": 29693, + "15701": 3403, + "16994": 1248, + "17496": 8705, + "17503": 1846, + "17506": 414, + "19083": 2268, + "19595": 1642, + "20066": 911, + "20565": 23574, + "21395": 3937, + "21397": 154, + "21907": 114069, + "21909": 10194, + "22155": 2765, + "22421": 5348, + "22931": 229721, + "22933": 1670, + "23443": 94010, + "23445": 113, + "23955": 2987, + "23957": 456, + "24467": 13902, + "25600": 4135, + "25856": 5608, + "26112": 155, + "36096": 596, + "36352": 591, + "36608": 572, + "36864": 654, + "37376": 679, + "37888": 2168, + "40448": 1492, + "40704": 863, + "41216": 6146, + "41728": 16412, + "45409": 545, + "45971": 510, + "46483": 64199, + "46995": 2401, + "47201": 14259, + "47713": 2674, + "48225": 1403, + "48531": 5980, + "48737": 55909, + "49043": 6700, + "49249": 9784, + "49761": 7245, + "51526": 45010, + "52321": 5915, + "52833": 2568, + "53345": 364, + "53857": 997, + "54366": 30828, + "56458": 781, + "56970": 4291, + "57482": 30898, + "57994": 15873, + "58506": 1982, + "60307": 67, + "60819": 3969, + "61254": 5936, + "61331": 95, + "62355": 337, + "62867": 440 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 596, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -17.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3725878894329071, + "y": 0.5026776194572449, + "z": 0.8874374032020569 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.8496782761184, + "ymin": 325.20167727627137, + "xmax": 660.9762622442433, + "ymax": 394.298461736522 + }, + "corners_3d": [ + [ + -126.16450500488281, + -18.06035041809082, + 0.05670046806335449 + ], + [ + -127.16986083984375, + -18.06035041809082, + 0.05670046806335449 + ], + [ + -127.16986083984375, + -17.315176010131836, + 0.05670046806335449 + ], + [ + -126.16450500488281, + -17.315176010131836, + 0.05670046806335449 + ], + [ + -126.16450500488281, + -18.06035041809082, + 1.8315752744674683 + ], + [ + -127.16986083984375, + -18.06035041809082, + 1.8315752744674683 + ], + [ + -127.16986083984375, + -17.315176010131836, + 1.8315752744674683 + ], + [ + -126.16450500488281, + -17.315176010131836, + 1.8315752744674683 + ] + ], + "corners_2d": [ + [ + 619.732057218192, + 385.38132857347534 + ], + [ + 650.9511052335388, + 394.298461736522 + ], + [ + 660.108048770306, + 378.25264339407937 + ], + [ + 629.3447550067262, + 369.6448665383602 + ], + [ + 618.8496782761184, + 340.8012546789771 + ], + [ + 651.4327809366445, + 349.65132562417546 + ], + [ + 660.9762622442433, + 333.73164917947054 + ], + [ + 628.8892953127437, + 325.20167727627137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 591, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -14.690058708190918, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.43101564049720764, + "y": 0.5195624232292175, + "z": 0.8867146968841553 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 537.2675352375666, + "ymin": 239.14503069348552, + "xmax": 577.6080286214177, + "ymax": 301.6448818588053 + }, + "corners_3d": [ + [ + -122.12260437011719, + -15.21967887878418, + 0.05741828680038452 + ], + [ + -123.13902282714844, + -15.003631591796875, + 0.05741828680038452 + ], + [ + -122.95979309082031, + -14.160438537597656, + 0.05741828680038452 + ], + [ + -121.94337463378906, + -14.376485824584961, + 0.05741828680038452 + ], + [ + -122.12260437011719, + -15.21967887878418, + 1.8308477401733398 + ], + [ + -123.13902282714844, + -15.003631591796875, + 1.8308477401733398 + ], + [ + -122.95979309082031, + -14.160438537597656, + 1.8308477401733398 + ], + [ + -121.94337463378906, + -14.376485824584961, + 1.8308477401733398 + ] + ], + "corners_2d": [ + [ + 541.1366355288527, + 298.13317341636053 + ], + [ + 571.7311174542584, + 301.6448818588053 + ], + [ + 577.6080286214177, + 285.7438758102886 + ], + [ + 547.5797233287944, + 282.36677932114134 + ], + [ + 537.2675352375666, + 254.6439772823211 + ], + [ + 569.0474131378261, + 258.09930701689507 + ], + [ + 575.2047503028095, + 242.46287048135508 + ], + [ + 544.0353105871222, + 239.14503069348552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 572, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -10.745049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.46281248331069946, + "y": 0.4269012212753296, + "z": 0.9359420537948608 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 762.4452531791603, + "ymin": 215.5850960529099, + "xmax": 797.8519453788265, + "ymax": 280.65816589921167 + }, + "corners_3d": [ + [ + -128.54681396484375, + -11.249950408935547, + 0.008195817470550537 + ], + [ + -129.3959503173828, + -11.160703659057617, + 0.008195817470550537 + ], + [ + -129.2991943359375, + -10.240148544311523, + 0.008195817470550537 + ], + [ + -128.45005798339844, + -10.329395294189453, + 0.008195817470550537 + ], + [ + -128.54681396484375, + -11.249950408935547, + 1.880079984664917 + ], + [ + -129.3959503173828, + -11.160703659057617, + 1.880079984664917 + ], + [ + -129.2991943359375, + -10.240148544311523, + 1.880079984664917 + ], + [ + -128.45005798339844, + -10.329395294189453, + 1.880079984664917 + ] + ], + "corners_2d": [ + [ + 762.4452531791603, + 276.3617200343988 + ], + [ + 787.2786268017433, + 280.65816589921167 + ], + [ + 791.8472683307904, + 264.88609648676936 + ], + [ + 767.4774892016682, + 260.7571807370307 + ], + [ + 767.3610525860685, + 230.87491498963956 + ], + [ + 793.2246709750796, + 235.08894174252225 + ], + [ + 797.8519453788265, + 219.62839340447616 + ], + [ + 772.4908600028034, + 215.5850960529099 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 654, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -17.687763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.38770994544029236, + "y": 0.32623472809791565, + "z": 0.8649973273277283 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 739.502116008044, + "ymin": 358.2329170573265, + "xmax": 774.6610609060521, + "ymax": 425.6486502740429 + }, + "corners_3d": [ + [ + -129.9207000732422, + -18.07547378540039, + 0.07913565635681152 + ], + [ + -130.5731658935547, + -18.07547378540039, + 0.07913565635681152 + ], + [ + -130.5731658935547, + -17.300052642822266, + 0.07913565635681152 + ], + [ + -129.9207000732422, + -17.300052642822266, + 0.07913565635681152 + ], + [ + -129.9207000732422, + -18.07547378540039, + 1.809130311012268 + ], + [ + -130.5731658935547, + -18.07547378540039, + 1.809130311012268 + ], + [ + -130.5731658935547, + -17.300052642822266, + 1.809130311012268 + ], + [ + -129.9207000732422, + -17.300052642822266, + 1.809130311012268 + ] + ], + "corners_2d": [ + [ + 739.502116008044, + 419.4301561902134 + ], + [ + 761.2769223026127, + 425.6486502740429 + ], + [ + 769.0430306885721, + 407.78880323900296 + ], + [ + 747.627371452874, + 401.80266356925677 + ], + [ + 743.8909098623935, + 375.76632471110327 + ], + [ + 766.6632001986728, + 381.9585683087195 + ], + [ + 774.6610609060521, + 364.18384756191443 + ], + [ + 752.2814479555316, + 358.2329170573265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 679, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -25.85797882080078, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3188525438308716, + "y": 0.3628906309604645, + "z": 0.8689404129981995 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 104.38794931253119, + "ymin": 403.9254297246502, + "xmax": 165.02345274303627, + "ymax": 473.96271976522047 + }, + "corners_3d": [ + [ + -115.0005874633789, + -26.09441375732422, + 0.22759491205215454 + ], + [ + -115.71051025390625, + -26.24531364440918, + 0.22759491205215454 + ], + [ + -115.84310150146484, + -25.621543884277344, + 0.22759491205215454 + ], + [ + -115.1331787109375, + -25.470643997192383, + 0.22759491205215454 + ], + [ + -115.0005874633789, + -26.09441375732422, + 1.9654757976531982 + ], + [ + -115.71051025390625, + -26.24531364440918, + 1.9654757976531982 + ], + [ + -115.84310150146484, + -25.621543884277344, + 1.9654757976531982 + ], + [ + -115.1331787109375, + -25.470643997192383, + 1.9654757976531982 + ] + ], + "corners_2d": [ + [ + 128.34183768768702, + 462.5685377740194 + ], + [ + 144.61592946300044, + 473.96271976522047 + ], + [ + 165.02345274303627, + 459.2959252436814 + ], + [ + 148.7562739449337, + 448.23423430059245 + ], + [ + 104.38794931253119, + 418.242877379082 + ], + [ + 121.1417410109907, + 429.63764495024503 + ], + [ + 142.86451505614843, + 414.9723875049987 + ], + [ + 126.1097195813744, + 403.9254297246502 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2168, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 477.63547574435466, + "ymin": 0.0, + "xmax": 571.6984414715533, + "ymax": 51.29715419407461 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 555.1895633509395, + 51.29715419407461 + ], + [ + 571.6984414715533, + 35.95464608451414 + ], + [ + 499.49157032722087, + 23.201645966058834 + ], + [ + 481.4212444274493, + 37.836864885983516 + ], + [ + 553.1146659710012, + 18.07173153131555 + ], + [ + 570.0735210694304, + 3.280556137047256 + ], + [ + 496.2275300199763, + -8.999344905394878 + ], + [ + 477.63547574435466, + 5.094088857613826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 1492, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 163.0864243750476, + "ymin": 0.0, + "xmax": 277.6538047873181, + "ymax": 30.699370104037996 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 198.76244607577092, + 1.3713114295770197 + ], + [ + 173.2107613854812, + 15.069422480517005 + ], + [ + 253.49396653972445, + 30.699370104037996 + ], + [ + 277.6538047873181, + 16.197497397658992 + ], + [ + 189.44330875857656, + -28.36626793571105 + ], + [ + 163.0864243750476, + -15.172005012800696 + ], + [ + 244.85974300761012, + -0.09899461448583224 + ], + [ + 269.77778041159684, + -14.084768088255771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 863, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 136.64830549758057, + "ymin": 0.0, + "xmax": 242.44891331878154, + "ymax": 62.18999037782595 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 178.6248727218022, + 32.98349564181251 + ], + [ + 150.54871747427552, + 48.62562434890634 + ], + [ + 215.5554097077935, + 62.18999037782595 + ], + [ + 242.44891331878154, + 45.801135756197766 + ], + [ + 165.89336646334306, + -4.9974819945394415 + ], + [ + 136.64830549758057, + 9.980485297456426 + ], + [ + 203.20435214243741, + 22.9879294308476 + ], + [ + 231.2163117278729, + 7.274187357635299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 6146, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1108.1918169064952, + "ymin": 183.86568658774095, + "xmax": 1280.0, + "ymax": 282.74906972479107 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1110.2836276732685, + 220.8704290236023 + ], + [ + 1108.1918169064952, + 247.65223522921644 + ], + [ + 1276.5668948479524, + 282.74906972479107 + ], + [ + 1272.6033575539025, + 253.50335415157815 + ], + [ + 1124.9262234233606, + 183.86568658774095 + ], + [ + 1123.3145608771622, + 210.12837081351964 + ], + [ + 1298.1022991228813, + 244.63485761825987 + ], + [ + 1293.197830482835, + 215.87397367802257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 16412, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 479.4698037556951, + "ymin": 495.02442641407265, + "xmax": 662.8072196809771, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 486.6840835999829, + 710.6127185111278 + ], + [ + 569.8084734251427, + 745.0159696781888 + ], + [ + 661.9120383525257, + 555.0132435550338 + ], + [ + 588.8601202304834, + 530.078648445759 + ], + [ + 479.4698037556951, + 677.7326789059564 + ], + [ + 566.4086650023294, + 712.8371886688185 + ], + [ + 662.8072196809771, + 520.1098468358456 + ], + [ + 586.8213558359777, + 495.02442641407265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1153.6805368413163, + "ymin": 77.1940565445662, + "xmax": 1173.7184440254603, + "ymax": 110.05790326194216 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1163.3093361003878, + 104.65810207782843 + ], + [ + 1153.8351285829087, + 103.06620288934567 + ], + [ + 1153.6805368413163, + 108.43832054091081 + ], + [ + 1163.2364750612346, + 110.05790326194216 + ], + [ + 1173.7008776355324, + 78.74996128651117 + ], + [ + 1164.0119447867814, + 77.1940565445662 + ], + [ + 1163.9440160042818, + 82.44533802524785 + ], + [ + 1173.7184440254603, + 84.02884405846726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.0630652249095, + "ymin": 52.75260761388182, + "xmax": 677.8383374129645, + "ymax": 84.47486141811402 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 673.0185401319723, + 84.47486141811402 + ], + [ + 677.1313486906317, + 79.50418628964962 + ], + [ + 669.2312352458302, + 78.03810190960758 + ], + [ + 665.0630652249095, + 82.98432299099136 + ], + [ + 673.6525484156815, + 59.034768113456266 + ], + [ + 677.8383374129645, + 54.18325281589932 + ], + [ + 669.7864131208822, + 52.75260761388182 + ], + [ + 665.5431028404303, + 57.57980042591112 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1162.263136623536, + "ymin": 0.0, + "xmax": 1176.1204770076788, + "ymax": 0.8373664675399368 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1162.319078875229, + -3.1561424228976307 + ], + [ + 1162.263136623536, + -0.08915358190580491 + ], + [ + 1168.8902142256006, + 0.8373664675399368 + ], + [ + 1168.9069598958226, + -2.2405679210143603 + ], + [ + 1169.4038303221987, + -22.31569415431693 + ], + [ + 1169.389885346469, + -19.322492708316247 + ], + [ + 1176.1204770076788, + -18.418168313336594 + ], + [ + 1176.0939949758645, + -21.422197699061428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1154.8331122285567, + "ymin": 38.744697316830695, + "xmax": 1173.5876399747447, + "ymax": 69.8048605280893 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1163.8434801172116, + 65.0721789554791 + ], + [ + 1154.9686492926494, + 63.67595765058604 + ], + [ + 1154.8331122285567, + 68.38591852529584 + ], + [ + 1163.7796207109845, + 69.8048605280893 + ], + [ + 1173.5722829429794, + 40.105919462358315 + ], + [ + 1164.5093125568847, + 38.744697316830695 + ], + [ + 1164.449907091804, + 43.337077853463825 + ], + [ + 1173.5876399747447, + 44.720867140579344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 403.55179187233057, + "ymin": 79.51967557677563, + "xmax": 419.14025288373097, + "ymax": 106.69131790274048 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 413.7357000749177, + 106.69131790274048 + ], + [ + 419.14025288373097, + 102.23541474334019 + ], + [ + 412.8208591520026, + 100.91208508587118 + ], + [ + 407.3826308206284, + 105.34893377651545 + ], + [ + 410.00133239368006, + 85.19131707748164 + ], + [ + 415.52150107385455, + 80.81821614473176 + ], + [ + 409.1066336505163, + 79.51967557677563 + ], + [ + 403.55179187233057, + 83.87376960012472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1155.6862742236865, + "ymin": 10.303002018497637, + "xmax": 1173.4905283619169, + "ymax": 40.00086336474567 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1164.238882057366, + 35.734018940039164 + ], + [ + 1155.8085036276689, + 34.47456166723924 + ], + [ + 1155.6862742236865, + 38.72195245933767 + ], + [ + 1164.181304732885, + 40.00086336474567 + ], + [ + 1173.4767126751858, + 11.528603081882864 + ], + [ + 1164.8767513693313, + 10.303002018497637 + ], + [ + 1164.82327674006, + 14.43660908005046 + ], + [ + 1173.4905283619169, + 15.681477949450937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 594.2018142045514, + "ymin": 40.16418263788114, + "xmax": 607.2466798585789, + "ymax": 71.29163225812658 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 602.6554015869826, + 71.29163225812658 + ], + [ + 607.2466798585789, + 66.5351685952113 + ], + [ + 599.6852560216829, + 65.13193739855274 + ], + [ + 595.0437299127872, + 69.86550879835664 + ], + [ + 601.9543052126203, + 46.170939915268036 + ], + [ + 606.6368322914343, + 41.53236610604125 + ], + [ + 598.9364538749456, + 40.16418263788114 + ], + [ + 594.2018142045514, + 44.780015703843276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 512.6700851627052, + "ymin": 25.771868407239708, + "xmax": 527.2864247901207, + "ymax": 56.213548101992444 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 522.1788266381903, + 56.213548101992444 + ], + [ + 527.2864247901207, + 51.696346713373714 + ], + [ + 520.103440532823, + 50.36334540924486 + ], + [ + 514.9510861772501, + 54.85935799472065 + ], + [ + 520.024494749292, + 31.471399833218754 + ], + [ + 525.2419841919657, + 27.070351725168962 + ], + [ + 517.9338907198787, + 25.771868407239708 + ], + [ + 512.6700851627052, + 30.151897934359113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1112.8467727506727, + "ymin": 239.10521355542522, + "xmax": 1133.278846119618, + "ymax": 272.0748090490442 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1123.2413501566914, + 264.9615758698549 + ], + [ + 1113.3746366049927, + 262.85431037658867 + ], + [ + 1112.8467727506727, + 269.9291447824478 + ], + [ + 1122.8016611435655, + 272.0748090490442 + ], + [ + 1133.278846119618, + 241.1908474896979 + ], + [ + 1123.180186001924, + 239.10521355542522 + ], + [ + 1122.7319580955773, + 246.10834580021123 + ], + [ + 1132.923013630695, + 248.2327836204899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 753.7967148393578, + "ymin": 36.467246767565825, + "xmax": 1199.2823259105285, + "ymax": 492.50503414459916 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1037.3636009513846, + 492.50503414459916 + ], + [ + 1039.9449992887858, + 473.08468030681803 + ], + [ + 761.2019877460668, + 395.98098464984156 + ], + [ + 753.7967148393578, + 412.4727257380066 + ], + [ + 1199.2823259105285, + 118.89841938421804 + ], + [ + 1198.5425894643229, + 101.80198411086991 + ], + [ + 804.2000488238559, + 36.467246767565825 + ], + [ + 795.1606228304304, + 50.11091747552581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 486.4744237707133, + "ymin": 0.0, + "xmax": 618.759696099044, + "ymax": 66.53832281446296 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 618.759696099044, + -24.480882636425008 + ], + [ + 611.5547714053642, + -25.634601220342176 + ], + [ + 506.090297086581, + 64.92074261294829 + ], + [ + 514.33082820833, + 66.53832281446296 + ], + [ + 616.1831481001409, + -198.41373457894895 + ], + [ + 608.1132703949729, + -199.25145647944555 + ], + [ + 486.4744237707133, + -132.02207360966435 + ], + [ + 495.8635097779829, + -130.79334632437735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.6090764954558, + "ymin": 48.01996020247367, + "xmax": 834.7208126710343, + "ymax": 63.83596762993784 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 829.0981290217813, + 63.83596762993784 + ], + [ + 834.4979122429032, + 54.66217698288074 + ], + [ + 804.4370575135817, + 49.56445622074784 + ], + [ + 798.6090764954558, + 58.57443172624943 + ], + [ + 829.3183153482837, + 62.2692240364276 + ], + [ + 834.7208126710343, + 53.10964082583797 + ], + [ + 804.6238285621666, + 48.01996020247367 + ], + [ + 798.7920899566432, + 57.015795552346844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.6043569419245, + "ymin": 48.05988095243174, + "xmax": 834.7150512831469, + "ymax": 63.87637039800495 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 829.0924509152181, + 63.87637039800495 + ], + [ + 834.4921640376008, + 54.70221412702131 + ], + [ + 804.432240970289, + 49.60428644065615 + ], + [ + 798.6043569419245, + 58.61462585629221 + ], + [ + 829.3126240110184, + 62.3097209480232 + ], + [ + 834.7150512831469, + 53.14976978873426 + ], + [ + 804.6190010713594, + 48.05988095243174 + ], + [ + 798.7873595055355, + 57.05608249172025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 370.34559260797255, + "ymin": 0.0, + "xmax": 714.930996727161, + "ymax": 238.50992583915732 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 416.97415107680257, + 164.41778273809592 + ], + [ + 410.99159476544673, + 169.73361647210217 + ], + [ + 698.4787515744132, + 238.50992583915732 + ], + [ + 702.6127668792963, + 232.08309076917357 + ], + [ + 377.74962580382197, + -54.53744303573541 + ], + [ + 370.34559260797255, + -50.28572744842319 + ], + [ + 710.1017995783799, + 5.7934768163882495 + ], + [ + 714.930996727161, + 0.46745865104264794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.8644139131209, + "ymin": 0.0, + "xmax": 1224.6653906661509, + "ymax": 54.65637815341165 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1151.2778883974427, + 54.65637815341165 + ], + [ + 1151.4967801372677, + 50.965396607397906 + ], + [ + 898.5924658654778, + 11.157851296822855 + ], + [ + 896.8644139131209, + 14.34917901529326 + ], + [ + 1224.6653906661509, + -139.7957584552468 + ], + [ + 1224.3752932028879, + -142.58134715380675 + ], + [ + 932.5221335847268, + -172.30026595482138 + ], + [ + 930.797353465331, + -169.93937146670692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1091.7932664891828, + "ymin": 0.0, + "xmax": 1214.8887211413235, + "ymax": 343.61076534339145 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1091.7932664891828, + 340.1018331624613 + ], + [ + 1106.3326106788259, + 343.61076534339145 + ], + [ + 1123.1942535400885, + 159.485696953486 + ], + [ + 1111.6970948204812, + 157.314014464603 + ], + [ + 1196.4374362210342, + 92.4382912080249 + ], + [ + 1214.8887211413235, + 95.51591381412123 + ], + [ + 1207.4546845702787, + -58.471827191900445 + ], + [ + 1193.643260293281, + -60.201039710050395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1130.7898035736152, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 54.589853740893034 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1130.7898035736152, + -12.141056425472414 + ], + [ + 1149.6978161091738, + 40.17108152619835 + ], + [ + 1304.8464213849654, + 54.589853740893034 + ], + [ + 1270.623325460667, + -0.32583196375645684 + ], + [ + 1220.7935758035253, + -272.8257563472488 + ], + [ + 1254.823224850655, + -242.22690540466976 + ], + [ + 1446.2651462344224, + -233.58397118525215 + ], + [ + 1389.4792598134857, + -266.0165464440514 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00085/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00085/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9387a58625cdcbe55cd6c529aadc6ed17651d3ed --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00085/meta.json @@ -0,0 +1,3102 @@ +{ + "frame_id": 85, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 42.5, + "sim_timestamp": 1136.310765085509 + }, + "drone_pose": { + "x": -134.37081050651642, + "y": -36.53581706100125, + "z": 20.0, + "pitch": -42.45958244024843, + "yaw": 68.28951457433686, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2729074954986572, + -0.6854209899902344, + 0.6750699281692505, + 48.21181106567383 + ], + [ + 0.9290648698806763, + 0.36991679668426514, + 0.0, + -111.32398223876953 + ], + [ + -0.24971970915794373, + 0.6271837949752808, + 0.737753689289093, + -71.22478485107422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.21334010166726, + "y": -36.09673402775341, + "z": 20.0 + }, + "t1_image_uv": [ + 685.0060451333966, + -518.432906974492 + ], + "t1_depth": 0.34393162235501695 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -17.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.22798165094921, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 600, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -17.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3770849406719208, + "y": 0.46065428853034973, + "z": 0.8724420666694641 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.1947089454162, + "ymin": 325.9076703932806, + "xmax": 659.6159574363149, + "ymax": 393.6012418103942 + }, + "corners_3d": [ + [ + -126.20652770996094, + -17.564847946166992, + 0.07169580459594727 + ], + [ + -127.12783813476562, + -17.564847946166992, + 0.07169580459594727 + ], + [ + -127.12783813476562, + -16.810678482055664, + 0.07169580459594727 + ], + [ + -126.20652770996094, + -16.810678482055664, + 0.07169580459594727 + ], + [ + -126.20652770996094, + -17.564847946166992, + 1.8165799379348755 + ], + [ + -127.12783813476562, + -17.564847946166992, + 1.8165799379348755 + ], + [ + -127.12783813476562, + -16.810678482055664, + 1.8165799379348755 + ], + [ + -126.20652770996094, + -16.810678482055664, + 1.8165799379348755 + ] + ], + "corners_2d": [ + [ + 621.0080148497137, + 385.60676836130125 + ], + [ + 649.7404908432557, + 393.6012418103942 + ], + [ + 658.8178138774117, + 377.31602151538925 + ], + [ + 630.515806395909, + 369.6032895388893 + ], + [ + 620.1947089454162, + 341.77530750021737 + ], + [ + 650.1614621635376, + 349.7109358691501 + ], + [ + 659.6159574363149, + 333.5519325817521 + ], + [ + 630.1171506302932, + 325.9076703932806 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 85, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 541277, + "2": 164407, + "3": 54415, + "4": 50310, + "6": 17097, + "7": 1750, + "9": 6274, + "10": 9, + "12": 3011, + "14": 27067, + "24": 23502, + "25": 32481 + }, + "instance_pixel_counts": { + "3662": 6303, + "11605": 29222, + "15701": 3411, + "16994": 1282, + "17496": 8912, + "17503": 2271, + "17506": 446, + "19083": 2293, + "19595": 1757, + "20066": 953, + "20565": 21782, + "21395": 3806, + "21397": 147, + "21907": 117065, + "21909": 10578, + "22155": 2965, + "22421": 5507, + "22931": 236638, + "22933": 1386, + "23443": 81774, + "23445": 117, + "23955": 3339, + "23957": 469, + "24467": 14343, + "25600": 4275, + "25856": 5478, + "26112": 182, + "36096": 600, + "36352": 574, + "36608": 558, + "36864": 656, + "37376": 623, + "37888": 2254, + "40448": 1935, + "40704": 989, + "41216": 6208, + "41728": 15681, + "45409": 549, + "45971": 803, + "46483": 66299, + "46995": 2870, + "47201": 14575, + "47713": 2773, + "48225": 1452, + "48531": 6517, + "48737": 54460, + "49043": 7823, + "49249": 9578, + "49761": 7531, + "51526": 44007, + "52321": 5591, + "52833": 2703, + "53345": 389, + "53857": 1045, + "54366": 30210, + "56458": 877, + "56970": 4426, + "57482": 32225, + "57994": 14350, + "58506": 2187, + "60307": 69, + "60819": 4280, + "61254": 6274, + "61331": 113, + "62355": 362, + "62867": 474 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 600, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -17.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4006445109844208, + "y": 0.3417333960533142, + "z": 0.8852284550666809 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.712662211637, + "ymin": 326.06544672617355, + "xmax": 656.0749330425881, + "ymax": 393.38669286977233 + }, + "corners_3d": [ + [ + -126.32544708251953, + -17.588407516479492, + 0.05890941619873047 + ], + [ + -127.00891876220703, + -17.588407516479492, + 0.05890941619873047 + ], + [ + -127.00891876220703, + -16.787118911743164, + 0.05890941619873047 + ], + [ + -126.32544708251953, + -16.787118911743164, + 0.05890941619873047 + ], + [ + -126.32544708251953, + -17.588407516479492, + 1.8293663263320923 + ], + [ + -127.00891876220703, + -17.588407516479492, + 1.8293663263320923 + ], + [ + -127.00891876220703, + -16.787118911743164, + 1.8293663263320923 + ], + [ + -126.32544708251953, + -16.787118911743164, + 1.8293663263320923 + ] + ], + "corners_2d": [ + [ + 624.3922525010913, + 387.44913542868517 + ], + [ + 645.7108665229752, + 393.38669286977233 + ], + [ + 655.4125919736277, + 376.1222039903008 + ], + [ + 634.4330609735521, + 370.40665792023947 + ], + [ + 623.712662211637, + 342.96277462019435 + ], + [ + 645.9612295414245, + 348.8562666283013 + ], + [ + 656.0749330425881, + 331.7292303087741 + ], + [ + 634.1954209887666, + 326.06544672617355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 574, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -14.190058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4360937774181366, + "y": 0.44426393508911133, + "z": 0.861321747303009 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 538.3678444287098, + "ymin": 240.40919671460264, + "xmax": 574.1301587168742, + "ymax": 301.27102177397484 + }, + "corners_3d": [ + [ + -122.19731140136719, + -14.708991050720215, + 0.08281612396240234 + ], + [ + -123.06642150878906, + -14.52425479888916, + 0.08281612396240234 + ], + [ + -122.88508605957031, + -13.671126365661621, + 0.08281612396240234 + ], + [ + -122.01597595214844, + -13.855862617492676, + 0.08281612396240234 + ], + [ + -122.19731140136719, + -14.708991050720215, + 1.8054596185684204 + ], + [ + -123.06642150878906, + -14.52425479888916, + 1.8054596185684204 + ], + [ + -122.88508605957031, + -13.671126365661621, + 1.8054596185684204 + ], + [ + -122.01597595214844, + -13.855862617492676, + 1.8054596185684204 + ] + ], + "corners_2d": [ + [ + 542.0928638639737, + 298.4145753696979 + ], + [ + 568.3420508126761, + 301.27102177397484 + ], + [ + 574.1301587168742, + 285.1514180213892 + ], + [ + 548.3756278203884, + 282.40602375662405 + ], + [ + 538.3678444287098, + 256.15537166244036 + ], + [ + 565.605822093383, + 258.9674706236736 + ], + [ + 571.666258660903, + 243.10792739762218 + ], + [ + 544.9605098834861, + 240.40919671460264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 558, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -10.245049476623535, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4610595703125, + "y": 0.44128355383872986, + "z": 0.9349101781845093 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 760.5576280833287, + "ymin": 214.87354999537678, + "xmax": 796.5119366693546, + "ymax": 279.83873873673076 + }, + "corners_3d": [ + [ + -128.53233337402344, + -10.749710083007812, + 0.00923246145248413 + ], + [ + -129.41006469726562, + -10.657456398010254, + 0.00923246145248413 + ], + [ + -129.3136749267578, + -9.740388870239258, + 0.00923246145248413 + ], + [ + -128.43594360351562, + -9.832642555236816, + 0.00923246145248413 + ], + [ + -128.53233337402344, + -10.749710083007812, + 1.8790528774261475 + ], + [ + -129.41006469726562, + -10.657456398010254, + 1.8790528774261475 + ], + [ + -129.3136749267578, + -9.740388870239258, + 1.8790528774261475 + ], + [ + -128.43594360351562, + -9.832642555236816, + 1.8790528774261475 + ] + ], + "corners_2d": [ + [ + 760.5576280833287, + 275.5429998468339 + ], + [ + 786.2389740283182, + 279.83873873673076 + ], + [ + 790.5687933408236, + 264.1121537317932 + ], + [ + 765.3678775716497, + 259.9835688099947 + ], + [ + 765.3884871827355, + 230.11864620242878 + ], + [ + 792.1318914110334, + 234.33182025291362 + ], + [ + 796.5119366693546, + 218.91639607550138 + ], + [ + 770.2891764657908, + 214.87354999537678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 656, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -17.187763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4172460734844208, + "y": 0.4171563684940338, + "z": 0.884141206741333 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 736.5664194840855, + "ymin": 355.592686134266, + "xmax": 778.4097513540263, + "ymax": 426.8752375543687 + }, + "corners_3d": [ + [ + -129.82977294921875, + -17.605009078979492, + 0.05999177694320679 + ], + [ + -130.66409301757812, + -17.605009078979492, + 0.05999177694320679 + ], + [ + -130.66409301757812, + -16.770517349243164, + 0.05999177694320679 + ], + [ + -129.82977294921875, + -16.770517349243164, + 0.05999177694320679 + ], + [ + -129.82977294921875, + -17.605009078979492, + 1.8282742500305176 + ], + [ + -130.66409301757812, + -17.605009078979492, + 1.8282742500305176 + ], + [ + -130.66409301757812, + -16.770517349243164, + 1.8282742500305176 + ], + [ + -129.82977294921875, + -16.770517349243164, + 1.8282742500305176 + ] + ], + "corners_2d": [ + [ + 736.5664194840855, + 419.0980600569909 + ], + [ + 764.4780179063849, + 426.8752375543687 + ], + [ + 772.5131972734556, + 407.5784917148119 + ], + [ + 745.1020027995012, + 400.1143337950816 + ], + [ + 740.91928292436, + 374.47051926838924 + ], + [ + 770.1376966505287, + 382.2142693840673 + ], + [ + 778.4097513540263, + 363.011099475355 + ], + [ + 749.7394562782579, + 355.592686134266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 623, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -25.35797882080078, + "z": 1.095656394958496 + }, + "extent": { + "x": 0.3003320097923279, + "y": 0.5294445753097534, + "z": 0.8859842419624329 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 100.06676803820892, + "ymin": 404.73899624770195, + "xmax": 167.97300346237608, + "ymax": 480.0359016952832 + }, + "corners_3d": [ + [ + -114.8415298461914, + -25.541669845581055, + 0.20967215299606323 + ], + [ + -115.87727355957031, + -25.761825561523438, + 0.20967215299606323 + ], + [ + -116.00215911865234, + -25.174287796020508, + 0.20967215299606323 + ], + [ + -114.96641540527344, + -24.954132080078125, + 0.20967215299606323 + ], + [ + -114.8415298461914, + -25.541669845581055, + 1.9816405773162842 + ], + [ + -115.87727355957031, + -25.761825561523438, + 1.9816405773162842 + ], + [ + -116.00215911865234, + -25.174287796020508, + 1.9816405773162842 + ], + [ + -114.96641540527344, + -24.954132080078125, + 1.9816405773162842 + ] + ], + "corners_2d": [ + [ + 124.69462478405228, + 463.5289414998598 + ], + [ + 148.8181310519709, + 480.0359016952832 + ], + [ + 167.97300346237608, + 465.96629565547425 + ], + [ + 143.8715999751854, + 449.9175242760507 + ], + [ + 100.06676803820892, + 418.3355473728707 + ], + [ + 124.9293926015672, + 434.8486692761525 + ], + [ + 145.3548604980224, + 420.7721414769561 + ], + [ + 120.50441722751964, + 404.73899624770195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2254, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 467.64033804721834, + "ymin": 0.0, + "xmax": 562.7847586079888, + "ymax": 55.87694379222904 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 546.2113611715097, + 55.87694379222904 + ], + [ + 562.7847586079888, + 40.227842923024866 + ], + [ + 489.8760260174689, + 27.5556519085942 + ], + [ + 471.6942774798286, + 42.49339632363052 + ], + [ + 543.8970661113839, + 22.484281139202324 + ], + [ + 560.9325857626726, + 7.391530080498569 + ], + [ + 486.3585780922331, + -4.815291076251867 + ], + [ + 467.64033804721834, + 9.575283810930614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 1935, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 149.27738685742844, + "ymin": 0.0, + "xmax": 265.61608275188837, + "ymax": 36.12710783682871 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 185.70234399717032, + 6.495859989132327 + ], + [ + 159.80546720549137, + 20.52864466293414 + ], + [ + 241.1678481406293, + 36.12710783682871 + ], + [ + 265.61608275188837, + 21.281490589178986 + ], + [ + 176.00691075382417, + -23.43881472725758 + ], + [ + 149.27738685742844, + -9.916147414202044 + ], + [ + 232.164820736968, + 5.133413221371541 + ], + [ + 257.3961420762148, + -9.190232445768743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 989, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 122.35665663211478, + "ymin": 0.5084245532051455, + "xmax": 229.9915544960735, + "ymax": 68.34222426753587 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 165.2930940265112, + 38.74465744148904 + ], + [ + 136.81225791804388, + 54.787687177482894 + ], + [ + 202.74419068636905, + 68.34222426753587 + ], + [ + 229.9915544960735, + 51.54262603492214 + ], + [ + 152.04801818826786, + 0.5084245532051455 + ], + [ + 122.35665663211478, + 15.879760358829401 + ], + [ + 189.87691126415734, + 28.886069667863296 + ], + [ + 218.28139758523292, + 12.768570420800472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 6208, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1104.4108743802053, + "ymin": 188.54984422348562, + "xmax": 1280.0, + "ymax": 287.6738892670546 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1106.177737135302, + 225.65510564772651 + ], + [ + 1104.4108743802053, + 252.90176958248406 + ], + [ + 1273.7266051182808, + 287.6738892670546 + ], + [ + 1269.3295816700222, + 257.9625860351663 + ], + [ + 1120.7935821831004, + 188.54984422348562 + ], + [ + 1119.5218396749797, + 215.28014567624982 + ], + [ + 1295.3079743834287, + 249.48266268880562 + ], + [ + 1289.9454128301904, + 220.2518204611692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 15681, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 472.1159315519068, + "ymin": 510.19433465323027, + "xmax": 657.7758136592923, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 479.7947678953967, + 732.2332951984736 + ], + [ + 564.6097838173064, + 767.0836914869664 + ], + [ + 657.0680639868926, + 570.26070641306 + ], + [ + 582.808175009048, + 545.1610061624157 + ], + [ + 472.1159315519068, + 699.7882645034051 + ], + [ + 560.8905761996882, + 735.4092296682433 + ], + [ + 657.7758136592923, + 535.4754331223955 + ], + [ + 580.4935291665913, + 510.19433465323027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1149.9109969304022, + "ymin": 81.90131346097684, + "xmax": 1170.0289159870595, + "ymax": 114.97385446333962 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1159.5221493972058, + 109.46751687947531 + ], + [ + 1149.982050001875, + 107.88601558625393 + ], + [ + 1149.9109969304022, + 113.36452932006029 + ], + [ + 1159.5345767052318, + 114.97385446333962 + ], + [ + 1169.9231839414256, + 83.44755013711995 + ], + [ + 1160.1658583772532, + 81.90131346097684 + ], + [ + 1160.1842479177708, + 87.25833188773913 + ], + [ + 1170.0289159870595, + 88.83232321788552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.2624732551786, + "ymin": 58.9789467086494, + "xmax": 670.0040055384829, + "ymax": 90.9860028422475 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 665.3142327486983, + 90.9860028422475 + ], + [ + 669.4372194937882, + 85.88723460735531 + ], + [ + 661.4426669592183, + 84.42214195434315 + ], + [ + 657.2624732551786, + 89.49611381876792 + ], + [ + 665.8058267163606, + 65.38787140622696 + ], + [ + 670.0040055384829, + 60.409224298901336 + ], + [ + 661.8545052512587, + 58.9789467086494 + ], + [ + 657.5968692957298, + 63.93291516521526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1155.976814244772, + "ymin": 0.0, + "xmax": 1169.798778708992, + "ymax": 2.960721465378356 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1155.9895110263797, + -1.0583735277369897 + ], + [ + 1155.976814244772, + 2.0467637844411115 + ], + [ + 1162.621762453652, + 2.960721465378356 + ], + [ + 1162.594769006269, + -0.15529796489983028 + ], + [ + 1163.020083194595, + -20.27292814119147 + ], + [ + 1163.0499863197506, + -17.24212586557701 + ], + [ + 1169.798778708992, + -16.349953324776777 + ], + [ + 1169.7279391512498, + -19.391522759369934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.4403996388976, + "ymin": 42.711431167528644, + "xmax": 1169.242130100568, + "ymax": 73.95304158274155 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1159.4311204979065, + 69.13409564504752 + ], + [ + 1150.5026029945013, + 67.74902136246573 + ], + [ + 1150.4403996388976, + 72.54518190699008 + ], + [ + 1159.4419964248937, + 73.95304158274155 + ], + [ + 1169.1498368490325, + 44.062153020878384 + ], + [ + 1160.0313275858862, + 42.711431167528644 + ], + [ + 1160.0473852173775, + 47.38914607327729 + ], + [ + 1169.242130100568, + 48.762508655003444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 392.74895037983003, + "ymin": 86.21314271400922, + "xmax": 408.7016730980862, + "ymax": 113.63241713997274 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 403.2396858361843, + 113.63241713997274 + ], + [ + 408.7016730980862, + 109.05897532780247 + ], + [ + 402.29767365381645, + 107.73574336819212 + ], + [ + 396.80071212879966, + 112.2898469090598 + ], + [ + 399.2866625120926, + 92.0022053384601 + ], + [ + 404.8682509868049, + 87.51206947410304 + ], + [ + 398.36655986582707, + 86.21314271400922 + ], + [ + 392.74895037983003, + 90.6839777407468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.8315131916067, + "ymin": 13.760030997013814, + "xmax": 1168.661175546265, + "ymax": 43.61983534411718 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1159.3632748818695, + 39.279956811436136 + ], + [ + 1150.8875498556336, + 38.031907542723616 + ], + [ + 1150.8315131916067, + 42.35230898070438 + ], + [ + 1159.3730659588832, + 43.61983534411718 + ], + [ + 1168.5782203285162, + 14.974820851755226 + ], + [ + 1159.931468669422, + 13.760030997013814 + ], + [ + 1159.9459021426228, + 17.965708613196 + ], + [ + 1168.661175546265, + 19.199796492869893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 585.3600831755665, + "ymin": 46.39025131618672, + "xmax": 598.7013796098994, + "ymax": 77.80558778772689 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 594.0836596913583, + 77.80558778772689 + ], + [ + 598.7013796098994, + 72.92410191589329 + ], + [ + 591.0457291778047, + 71.52111689277132 + ], + [ + 586.3760108658472, + 76.37937260198879 + ], + [ + 593.2116310280217, + 52.5212847804047 + ], + [ + 597.923591583985, + 47.75876920954801 + ], + [ + 590.1259886802146, + 46.39025131618672 + ], + [ + 585.3600831755665, + 51.12967580405308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 502.76080429233195, + "ymin": 31.98991038712029, + "xmax": 517.7236226464375, + "ymax": 62.72261848079353 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 512.5711776404916, + 62.72261848079353 + ], + [ + 517.7236226464375, + 58.08402074945292 + ], + [ + 510.44695445633397, + 56.750488500863014 + ], + [ + 505.2481123228893, + 61.36756618756402 + ], + [ + 510.21344299484645, + 37.81069302558154 + ], + [ + 515.4796095890033, + 33.28945598209242 + ], + [ + 508.07500033612325, + 31.98991038712029 + ], + [ + 502.76080429233195, + 36.4897867064451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.1297852680823, + "ymin": 245.7768694055266, + "xmax": 1130.5847507997062, + "ymax": 278.9581497534019 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1120.513636941434, + 271.692821824027 + ], + [ + 1110.5651954527316, + 269.59595357440674 + ], + [ + 1110.1297852680823, + 276.82259427074655 + ], + [ + 1120.1685349729541, + 278.9581497534019 + ], + [ + 1130.5847507997062, + 247.8529773813012 + ], + [ + 1120.40107845829, + 245.7768694055266 + ], + [ + 1120.048585272993, + 252.93293570515385 + ], + [ + 1130.3269124956296, + 255.04816091533115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.0981887280034, + "ymin": 45.06225393396062, + "xmax": 1200.0757594003408, + "ymax": 503.41775809361735 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1036.1426778885964, + 503.41775809361735 + ], + [ + 1038.5193051427455, + 483.5053998547518 + ], + [ + 756.4552116107775, + 406.4297528319037 + ], + [ + 749.0981887280034, + 423.3704692486752 + ], + [ + 1200.0757594003408, + 128.60834130870907 + ], + [ + 1198.9286924327175, + 110.92459513314097 + ], + [ + 798.4245498853384, + 45.06225393396062 + ], + [ + 789.4023726184278, + 59.19689132896377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 475.5135029147242, + "ymin": 0.0, + "xmax": 609.8741912556807, + "ymax": 71.53528239868984 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 609.8741912556807, + -21.254866065291083 + ], + [ + 602.6118840716433, + -22.399173239928245 + ], + [ + 496.7175120395313, + 69.92467246724283 + ], + [ + 505.0453242839948, + 71.53528239868984 + ], + [ + 606.1913200546695, + -196.1203402575611 + ], + [ + 598.0530006136579, + -196.95263133711512 + ], + [ + 475.5135029147242, + -128.26253207770895 + ], + [ + 485.0109390529298, + -127.03589405645738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.9246647641457, + "ymin": 56.78272277518943, + "xmax": 829.5118604438485, + "ymax": 72.98383000013865 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 823.9233377340565, + 72.98383000013865 + ], + [ + 829.2915054915522, + 63.4835363347554 + ], + [ + 798.7389459577337, + 58.34128225016531 + ], + [ + 792.9246647641457, + 67.67306793198338 + ], + [ + 824.1409431824825, + 71.40298066875772 + ], + [ + 829.5118604438485, + 61.9170514000657 + ], + [ + 798.922099744729, + 56.78272277518943 + ], + [ + 793.103968106997, + 66.10020400374913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.9200409754535, + "ymin": 56.823007729730534, + "xmax": 829.5061647496289, + "ymax": 73.02459574096036 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 823.9177262901726, + 73.02459574096036 + ], + [ + 829.2858230347726, + 63.52393244496079 + ], + [ + 798.7342227851882, + 58.38147440476632 + ], + [ + 792.9200409754535, + 67.71362819332683 + ], + [ + 824.1353184527975, + 71.44384292761191 + ], + [ + 829.5061647496289, + 61.9575416141256 + ], + [ + 798.9173656668183, + 56.823007729730534 + ], + [ + 793.0993334693779, + 66.14085943278565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 357.9711532403504, + "ymin": 0.0, + "xmax": 707.2154060629401, + "ymax": 245.78983696008186 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 406.9906330041549, + 171.64890553575415 + ], + [ + 400.950332088104, + 177.10083616022126 + ], + [ + 691.9299911579467, + 245.78983696008186 + ], + [ + 696.0575313664356, + 239.21298950229863 + ], + [ + 365.4843246761843, + -48.78742329703374 + ], + [ + 357.9711532403504, + -44.40993214957115 + ], + [ + 702.374078034508, + 11.81828025545326 + ], + [ + 707.2154060629401, + 6.346680542231979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.7505926576877, + "ymin": 0.0, + "xmax": 1218.0085399479744, + "ymax": 56.892087132482686 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1145.1477501343427, + 56.892087132482686 + ], + [ + 1145.3191411186192, + 53.15675569750931 + ], + [ + 891.4543206525491, + 13.840906685480604 + ], + [ + 889.7505926576877, + 17.078598009432312 + ], + [ + 1218.0085399479744, + -138.15169080552823 + ], + [ + 1217.663690202372, + -140.97416575512727 + ], + [ + 924.650960967348, + -170.3646222667503 + ], + [ + 922.9495280793119, + -167.96597028960934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1089.0770074592378, + "ymin": 0.0, + "xmax": 1212.807073261191, + "ymax": 350.65666951279866 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1089.0770074592378, + 347.1660830425408 + ], + [ + 1103.7335626819283, + 350.65666951279866 + ], + [ + 1118.3580519460997, + 163.2419099398716 + ], + [ + 1106.806032024781, + 161.0925975466527 + ], + [ + 1194.1796672008327, + 98.61986697090418 + ], + [ + 1212.807073261191, + 101.69344195009211 + ], + [ + 1202.3483342861523, + -55.51351390119538 + ], + [ + 1188.4643750760638, + -57.228417185714875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.8355320339554, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 56.25435459605404 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1123.8355320339554, + -10.528783889013368 + ], + [ + 1143.418878586569, + 42.286762283923395 + ], + [ + 1298.691277124915, + 56.25435459605404 + ], + [ + 1263.7123731995598, + 0.9046223506175011 + ], + [ + 1212.9406127143066, + -271.9808361730585 + ], + [ + 1247.769724595594, + -241.0407105283764 + ], + [ + 1439.3551101799958, + -232.6552321712369 + ], + [ + 1381.6524042169547, + -265.3838979497041 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00086/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00086/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9df7dc693031473d4fbbc9cef143408e866bfb5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00086/meta.json @@ -0,0 +1,3103 @@ +{ + "frame_id": 86, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 43.0, + "sim_timestamp": 1151.232584288111 + }, + "drone_pose": { + "x": -134.21334010166726, + "y": -36.09673402775341, + "z": 20.0, + "pitch": -42.46091255393027, + "yaw": 68.75404848079694, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.26733577251434326, + -0.6875966191291809, + 0.6750869750976562, + 47.198272705078125 + ], + [ + 0.9320334792137146, + 0.36237215995788574, + 0.0, + -112.0108642578125 + ], + [ + -0.24463270604610443, + 0.6292036771774292, + 0.7377381324768066, + -70.29994201660156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.07870171167698, + "y": -35.65191305292709, + "z": 20.0 + }, + "t1_image_uv": [ + 740.2633525473582, + -518.4738541322497 + ], + "t1_depth": 0.3418510292606811 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -16.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 359.99999999999983 + ], + "depth": 28.227265519146904, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 600, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -16.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39378416538238525, + "y": 0.3177429139614105, + "z": 0.8659152984619141 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.6563701053165, + "ymin": 326.93576115092384, + "xmax": 655.1387204948323, + "ymax": 392.53239621009334 + }, + "corners_3d": [ + [ + -126.34944152832031, + -17.081546783447266, + 0.07822257280349731 + ], + [ + -126.98492431640625, + -17.081546783447266, + 0.07822257280349731 + ], + [ + -126.98492431640625, + -16.29397964477539, + 0.07822257280349731 + ], + [ + -126.34944152832031, + -16.29397964477539, + 0.07822257280349731 + ], + [ + -126.34944152832031, + -17.081546783447266, + 1.8100531101226807 + ], + [ + -126.98492431640625, + -17.081546783447266, + 1.8100531101226807 + ], + [ + -126.98492431640625, + -16.29397964477539, + 1.8100531101226807 + ], + [ + -126.34944152832031, + -16.29397964477539, + 1.8100531101226807 + ] + ], + "corners_2d": [ + [ + 625.2830307707204, + 387.12583254765275 + ], + [ + 645.1767914318933, + 392.53239621009334 + ], + [ + 654.5283528699752, + 375.5194404143501 + ], + [ + 634.9494739520727, + 370.31234823090676 + ], + [ + 624.6563701053165, + 343.60966660564424 + ], + [ + 645.3985958703487, + 348.9769503004272 + ], + [ + 655.1387204948323, + 332.0968096044962 + ], + [ + 634.7385778715075, + 326.93576115092384 + ] + ], + "center_offset_px": [ + 0.0, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 86, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 544950, + "2": 164003, + "3": 52178, + "4": 48953, + "6": 17005, + "7": 1774, + "9": 6628, + "10": 9, + "12": 3103, + "14": 26567, + "24": 24186, + "25": 32244 + }, + "instance_pixel_counts": { + "3662": 6086, + "11605": 28586, + "15701": 3395, + "16482": 34, + "16994": 1320, + "17496": 9141, + "17503": 2743, + "17506": 481, + "19083": 2333, + "19595": 1884, + "20066": 1009, + "20565": 20197, + "21395": 3681, + "21397": 142, + "21907": 120244, + "21909": 10908, + "22155": 3107, + "22421": 5588, + "22931": 242909, + "22933": 1307, + "23443": 70539, + "23445": 127, + "23955": 3652, + "23957": 488, + "24467": 14776, + "25600": 4436, + "25856": 5002, + "26112": 200, + "36096": 600, + "36352": 601, + "36608": 595, + "36864": 636, + "37376": 671, + "37888": 2340, + "40448": 2361, + "40704": 1146, + "41216": 6376, + "41728": 14344, + "45409": 549, + "45971": 1218, + "46483": 68514, + "46995": 3438, + "47201": 15022, + "47713": 2877, + "48225": 1499, + "48531": 7009, + "48737": 52955, + "49043": 8970, + "49249": 9370, + "49761": 7864, + "51526": 42867, + "52321": 5222, + "52833": 2829, + "53345": 415, + "53857": 1095, + "54366": 29501, + "56458": 945, + "56970": 4577, + "57482": 33564, + "57994": 12645, + "58506": 2407, + "60307": 70, + "60819": 4510, + "61254": 6628, + "61331": 144, + "62355": 385, + "62867": 517 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 600, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -16.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.40657714009284973, + "y": 0.29342588782310486, + "z": 0.8755078911781311 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.274949573207, + "ymin": 326.6160920831756, + "xmax": 654.512280320648, + "ymax": 392.83719457898616 + }, + "corners_3d": [ + [ + -126.3737564086914, + -17.094341278076172, + 0.06862998008728027 + ], + [ + -126.96060943603516, + -17.09433937072754, + 0.06862998008728027 + ], + [ + -126.96060943603516, + -16.281185150146484, + 0.06862998008728027 + ], + [ + -126.3737564086914, + -16.281187057495117, + 0.06862998008728027 + ], + [ + -126.3737564086914, + -17.094341278076172, + 1.8196457624435425 + ], + [ + -126.96060943603516, + -17.09433937072754, + 1.8196457624435425 + ], + [ + -126.96060943603516, + -16.281185150146484, + 1.8196457624435425 + ], + [ + -126.3737564086914, + -16.281187057495117, + 1.8196457624435425 + ] + ], + "corners_2d": [ + [ + 625.8831961017748, + 387.84119507552293 + ], + [ + 644.2552384214434, + 392.83719457898616 + ], + [ + 653.9211317174365, + 375.2788159818881 + ], + [ + 635.8491881633292, + 370.4729716947992 + ], + [ + 625.274949573207, + 343.8388602872958 + ], + [ + 644.4396370822562, + 348.79828790612197 + ], + [ + 654.512280320648, + 331.3788440252516 + ], + [ + 635.6739153937981, + 326.6160920831756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 601, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -13.690058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4427783489227295, + "y": 0.43760257959365845, + "z": 0.8560312390327454 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 537.4615276273512, + "ymin": 240.89098087166474, + "xmax": 572.8174677906126, + "ymax": 301.61641563135277 + }, + "corners_3d": [ + [ + -122.20521545410156, + -14.214144706726074, + 0.08810663223266602 + ], + [ + -123.06129455566406, + -14.032177925109863, + 0.08810663223266602 + ], + [ + -122.87718200683594, + -13.165972709655762, + 0.08810663223266602 + ], + [ + -122.02110290527344, + -13.347939491271973, + 0.08810663223266602 + ], + [ + -122.20521545410156, + -14.214144706726074, + 1.8001691102981567 + ], + [ + -123.06129455566406, + -14.032177925109863, + 1.8001691102981567 + ], + [ + -122.87718200683594, + -13.165972709655762, + 1.8001691102981567 + ], + [ + -122.02110290527344, + -13.347939491271973, + 1.8001691102981567 + ] + ], + "corners_2d": [ + [ + 541.2002451685432, + 298.93250704283105 + ], + [ + 567.1229595660232, + 301.61641563135277 + ], + [ + 572.8174677906126, + 285.21407863375043 + ], + [ + 547.3932966467505, + 282.63628750313416 + ], + [ + 537.4615276273512, + 256.92255232083204 + ], + [ + 564.3557941160701, + 259.565194919671 + ], + [ + 570.3194423046532, + 243.4252995595856 + ], + [ + 543.9613864836919, + 240.89098087166474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 595, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -9.745050430297852, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.45082518458366394, + "y": 0.5065582394599915, + "z": 0.9367052316665649 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 757.3692092415135, + "ymin": 214.108509319498, + "xmax": 796.8265893788813, + "ymax": 279.2838644580416 + }, + "corners_3d": [ + [ + -128.46633911132812, + -10.246356010437012, + 0.0074277520179748535 + ], + [ + -129.47390747070312, + -10.140456199645996, + 0.0074277520179748535 + ], + [ + -129.37966918945312, + -9.243744850158691, + 0.0074277520179748535 + ], + [ + -128.37210083007812, + -9.349644660949707, + 0.0074277520179748535 + ], + [ + -128.46633911132812, + -10.246356010437012, + 1.88083815574646 + ], + [ + -129.47390747070312, + -10.140456199645996, + 1.88083815574646 + ], + [ + -129.37966918945312, + -9.243744850158691, + 1.88083815574646 + ], + [ + -128.37210083007812, + -9.349644660949707, + 1.88083815574646 + ] + ], + "corners_2d": [ + [ + 757.3692092415135, + 274.50470360112956 + ], + [ + 786.8508691889338, + 279.2838644580416 + ], + [ + 790.8619791857602, + 263.8874592392275 + ], + [ + 761.9223917657265, + 259.2904585560676 + ], + [ + 762.0751190815429, + 229.0135042274292 + ], + [ + 792.7757616763868, + 233.70025643441002 + ], + [ + 796.8265893788813, + 218.60965337153334 + ], + [ + 766.7133844119834, + 214.108509319498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 636, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -16.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4033154249191284, + "y": 0.524981677532196, + "z": 0.9072365164756775 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 733.4542272895039, + "ymin": 353.7677221899874, + "xmax": 782.3045610092253, + "ymax": 427.3630989627097 + }, + "corners_3d": [ + [ + -129.72195434570312, + -17.091079711914062, + 0.03690135478973389 + ], + [ + -130.77191162109375, + -17.09107780456543, + 0.03690135478973389 + ], + [ + -130.77191162109375, + -16.284446716308594, + 0.03690135478973389 + ], + [ + -129.72195434570312, + -16.284448623657227, + 0.03690135478973389 + ], + [ + -129.72195434570312, + -17.091079711914062, + 1.8513743877410889 + ], + [ + -130.77191162109375, + -17.09107780456543, + 1.8513743877410889 + ], + [ + -130.77191162109375, + -16.284446716308594, + 1.8513743877410889 + ], + [ + -129.72195434570312, + -16.284448623657227, + 1.8513743877410889 + ] + ], + "corners_2d": [ + [ + 733.4542272895039, + 417.79454565232237 + ], + [ + 768.6146621285227, + 427.3630989627097 + ], + [ + 776.0834846039179, + 408.6407069067935 + ], + [ + 741.5380534123092, + 399.4453729511248 + ], + [ + 737.7706314141474, + 372.00912670862823 + ], + [ + 774.6185778755063, + 381.5345888626582 + ], + [ + 782.3045610092253, + 362.90492410437577 + ], + [ + 746.1317588303788, + 353.7677221899874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 671, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -24.85797882080078, + "z": 1.095715045928955 + }, + "extent": { + "x": 0.28846678137779236, + "y": 0.5366320610046387, + "z": 0.9032754898071289 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 99.29246335199014, + "ymin": 407.43604899141417, + "xmax": 167.6304103908301, + "ymax": 483.34935939345235 + }, + "corners_3d": [ + [ + -114.83695983886719, + -25.0285701751709, + 0.19243955612182617 + ], + [ + -115.88677215576172, + -25.2517147064209, + 0.19243955612182617 + ], + [ + -116.00672912597656, + -24.687387466430664, + 0.19243955612182617 + ], + [ + -114.95691680908203, + -24.464242935180664, + 0.19243955612182617 + ], + [ + -114.83695983886719, + -25.0285701751709, + 1.998990535736084 + ], + [ + -115.88677215576172, + -25.2517147064209, + 1.998990535736084 + ], + [ + -116.00672912597656, + -24.687387466430664, + 1.998990535736084 + ], + [ + -114.95691680908203, + -24.464242935180664, + 1.998990535736084 + ] + ], + "corners_2d": [ + [ + 124.49807285505688, + 466.72704813214534 + ], + [ + 149.29279293498644, + 483.34935939345235 + ], + [ + 167.6304103908301, + 469.67784231030714 + ], + [ + 142.86834132129144, + 453.5024502124768 + ], + [ + 99.29246335199014, + 420.6498468307294 + ], + [ + 124.87456964725789, + 437.2832059607542 + ], + [ + 144.46119821518317, + 423.6005984481807 + ], + [ + 118.90296463527932, + 407.43604899141417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2340, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 458.14295289625665, + "ymin": 0.0, + "xmax": 554.3647150506922, + "ymax": 60.598571614152604 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 537.7072462992245, + 60.598571614152604 + ], + [ + 554.3647150506922, + 44.644031042337645 + ], + [ + 480.76806288467185, + 32.03017542316178 + ], + [ + 462.45701400205166, + 47.268311321198325 + ], + [ + 535.1616431495971, + 27.04067718234188 + ], + [ + 552.2937758710195, + 11.647246919432519 + ], + [ + 477.005612678945, + -0.5080647007488892 + ], + [ + 458.14295289625665, + 14.177783397581948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 2361, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 136.0498262191312, + "ymin": 0.0, + "xmax": 254.12156755875094, + "ymax": 41.6125533785509 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 173.2264446170106, + 11.66200617505433 + ], + [ + 146.97280798647893, + 26.02438839641883 + ], + [ + 229.3706728360978, + 41.6125533785509 + ], + [ + 254.12156755875094, + 26.427519972676976 + ], + [ + 163.16376702920246, + -18.4637122760048 + ], + [ + 136.0498262191312, + -4.617377179493246 + ], + [ + 220.00682399610793, + 10.429023299447977 + ], + [ + 245.56598894512052, + -4.22849681088411 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 1146, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 108.60619837724812, + "ymin": 6.061747610529835, + "xmax": 218.04487761128803, + "ymax": 74.54714540580738 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 152.5067838336654, + 44.54535930150871 + ], + [ + 123.60733219577821, + 60.98428322836304 + ], + [ + 190.42735969439593, + 74.54714540580738 + ], + [ + 218.04487761128803, + 57.34109802796905 + ], + [ + 138.75826297537873, + 6.061747610529835 + ], + [ + 108.60619837724812, + 21.82194155254024 + ], + [ + 177.05255975872313, + 34.84439112180576 + ], + [ + 205.86643259176566, + 18.32693596316136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 6376, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1101.093563719414, + "ymin": 193.632355097893, + "xmax": 1280.0, + "ymax": 293.1105716768016 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1102.5632419840877, + 230.84134515917202 + ], + [ + 1101.093563719414, + 258.5689763350141 + ], + [ + 1271.449260607736, + 293.1105716768016 + ], + [ + 1266.6427793223525, + 262.91092492914373 + ], + [ + 1117.170922630598, + 193.632355097893 + ], + [ + 1116.211323069411, + 220.84706170512877 + ], + [ + 1293.1043011327756, + 254.83888903951078 + ], + [ + 1287.3069494776046, + 225.1144576716056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 14344, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 464.418090203559, + "ymin": 525.8426443484718, + "xmax": 652.6659781174802, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 472.5924654776693, + 754.5264225076596 + ], + [ + 559.1011354852528, + 789.9066710551292 + ], + [ + 652.1543564069927, + 586.0215849162714 + ], + [ + 576.6844362522196, + 560.702212259898 + ], + [ + 464.418090203559, + 722.5645058186922 + ], + [ + 555.0356037842237, + 758.7898179834017 + ], + [ + 652.6659781174802, + 551.375508885779 + ], + [ + 574.0828574636871, + 525.8426443484718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.6570433195134, + "ymin": 87.00299809795956, + "xmax": 1166.8806214115316, + "ymax": 120.29665102215924 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1156.268535427614, + 114.67957640216085 + ], + [ + 1146.6570433195134, + 113.10431862137659 + ], + [ + 1146.663457017346, + 118.69335458150235 + ], + [ + 1156.360234435544, + 120.29665102215924 + ], + [ + 1166.6926911566015, + 88.54364707495455 + ], + [ + 1156.8611654924118, + 87.00299809795956 + ], + [ + 1156.9598441108503, + 92.4699413212868 + ], + [ + 1166.8806214115316, + 94.03857345085834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.7640555369318, + "ymin": 65.45050879649324, + "xmax": 662.4828779460503, + "ymax": 97.74715433066729 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 657.9123144016643, + 97.74715433066729 + ], + [ + 662.0534779414986, + 92.51812237620783 + ], + [ + 653.9642529613809, + 91.05107392406137 + ], + [ + 649.7640555369318, + 96.25491830814968 + ], + [ + 658.2641258982039, + 71.99134046377947 + ], + [ + 662.4828779460503, + 66.88330490880475 + ], + [ + 654.2354833360655, + 65.45050879649324 + ], + [ + 649.9553555280182, + 70.53346020418377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.381256100185, + "ymin": 0.0, + "xmax": 1164.2099969336791, + "ymax": 5.40306329108995 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1150.381256100185, + 1.3545176636787346 + ], + [ + 1150.4081701346581, + 4.499211025104557 + ], + [ + 1157.0748386466876, + 5.40306329108995 + ], + [ + 1157.0077221156957, + 2.247523408142058 + ], + [ + 1157.368876892932, + -17.91879309996159 + ], + [ + 1157.4390154538685, + -14.848981408598945 + ], + [ + 1164.2099969336791, + -13.966557647776085 + ], + [ + 1164.0983922928713, + -17.04710337291823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.6100945139683, + "ymin": 47.04377996130887, + "xmax": 1165.4831158540733, + "ymax": 78.47818254700309 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1155.5974142519194, + 73.56966902110702 + ], + [ + 1146.6100945139683, + 72.19210708159659 + ], + [ + 1146.615700988131, + 77.0777107572028 + ], + [ + 1155.6775459665905, + 78.47818254700309 + ], + [ + 1165.3193253863542, + 48.387559394988386 + ], + [ + 1156.1398994615556, + 47.04377996130887 + ], + [ + 1156.225931875722, + 51.810104531468426 + ], + [ + 1165.4831158540733, + 53.17665820999832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 382.2825427032323, + "ymin": 93.05319238379349, + "xmax": 398.6022457727445, + "ymax": 120.7202353755749 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 393.0765715405912, + 120.7202353755749 + ], + [ + 398.6022457727445, + 116.02879412114706 + ], + [ + 392.1154638376879, + 114.70345294929746 + ], + [ + 386.55355511123315, + 119.3752436730131 + ], + [ + 388.9065608796926, + 98.96237895377755 + ], + [ + 394.5559748954821, + 94.35467165908125 + ], + [ + 387.9692866304632, + 93.05319238379349 + ], + [ + 382.2825427032323, + 97.6412761921888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.5749105409195, + "ymin": 17.56334108604517, + "xmax": 1164.452978199828, + "ymax": 47.5956651953004 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1155.1008322920761, + 43.18000776401368 + ], + [ + 1146.5749105409195, + 41.94008864136936 + ], + [ + 1146.579951619223, + 46.33619504995062 + ], + [ + 1155.1729144181318, + 47.5956651953004 + ], + [ + 1164.305924630908, + 18.770520625524227 + ], + [ + 1155.607299337681, + 17.56334108604517 + ], + [ + 1155.684558042248, + 21.843799864502046 + ], + [ + 1164.452978199828, + 23.0703580475448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 576.8236503022097, + "ymin": 52.83677150518315, + "xmax": 590.4668694424024, + "ymax": 84.54356951186395 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 585.8149073621655, + 84.54356951186395 + ], + [ + 590.4668694424024, + 79.53530812517539 + ], + [ + 582.7173687083961, + 78.1298714657147 + ], + [ + 578.0116835633257, + 83.11452164726649 + ], + [ + 584.7739120450944, + 59.09655496337905 + ], + [ + 589.5233009755732, + 54.20826195278278 + ], + [ + 581.6287913889616, + 52.83677150518315 + ], + [ + 576.8236503022097, + 57.70157960266312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 493.1645459665298, + "ymin": 38.401449977956815, + "xmax": 508.4788637461194, + "ymax": 69.42742342899521 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 503.274086560122, + 69.42742342899521 + ], + [ + 508.4788637461194, + 64.6661129716548 + ], + [ + 501.1095163059654, + 63.329620253414475 + ], + [ + 495.85673372149586, + 68.06904223053175 + ], + [ + 500.7144091872168, + 44.34725149480482 + ], + [ + 506.03693768733575, + 39.704430007619294 + ], + [ + 498.5367847712786, + 38.401449977956815 + ], + [ + 493.1645459665298, + 43.02253115547859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1107.8066131414298, + "ymin": 252.91435617466502, + "xmax": 1128.3084860620852, + "ymax": 286.319406319352 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1118.1921516754767, + 278.8960776194694 + ], + [ + 1108.1568041782657, + 276.80416317305384 + ], + [ + 1107.8066131414298, + 284.1884121367629 + ], + [ + 1117.9344576660617, + 286.319406319352 + ], + [ + 1128.3084860620852, + 254.9863562445819 + ], + [ + 1118.034305397666, + 252.91435617466502 + ], + [ + 1117.7703228587604, + 260.2293364995887 + ], + [ + 1128.141480697127, + 262.34087372633275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 744.5088659835496, + "ymin": 54.08204664538533, + "xmax": 1201.2440703666825, + "ymax": 514.9272080478577 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1035.111472700113, + 514.9272080478577 + ], + [ + 1037.3016658560887, + 494.5037147160334 + ], + [ + 751.837489438317, + 417.27308832878435 + ], + [ + 744.5088659835496, + 434.6743258661384 + ], + [ + 1201.2440703666825, + 138.95751289144494 + ], + [ + 1199.7040836924275, + 120.65335998974865 + ], + [ + 792.790902206068, + 54.08204664538533 + ], + [ + 783.757571437958, + 68.72798513135581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 465.04896887626893, + "ymin": 0.0, + "xmax": 601.5588624607177, + "ymax": 76.66618445349593 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 601.5588624607177, + -17.884633737944398 + ], + [ + 594.2399524532361, + -19.021621154274044 + ], + [ + 487.80046893769463, + 75.0598139857263 + ], + [ + 496.21369101176003, + 76.66618445349593 + ], + [ + 596.8232076481572, + -193.67728126684779 + ], + [ + 588.6170410677103, + -194.50563960032048 + ], + [ + 465.04896887626893, + -124.35759507120258 + ], + [ + 474.65294388098556, + -123.13099316467452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.3598770343602, + "ymin": 65.97560708948856, + "xmax": 824.453046101643, + "ymax": 82.58867515114781 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 818.8806707774595, + 82.58867515114781 + ], + [ + 824.2351427174212, + 72.7481105506887 + ], + [ + 793.1787747541925, + 67.54834131424889 + ], + [ + 787.3598770343602, + 77.21515739530327 + ], + [ + 819.0957668887186, + 80.99361330455855 + ], + [ + 824.453046101643, + 71.16755497184738 + ], + [ + 793.3583510788571, + 65.97560708948856 + ], + [ + 787.535484776978, + 75.62796886097999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.3553486351118, + "ymin": 66.01625915950069, + "xmax": 824.447413672937, + "ymax": 82.62980657912516 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 818.8751241522755, + 82.62980657912516 + ], + [ + 824.2295235883778, + 72.78886873252964 + ], + [ + 793.1741439252029, + 67.58889823763258 + ], + [ + 787.3553486351118, + 77.25608624763476 + ], + [ + 819.090206916578, + 81.03484370792398 + ], + [ + 824.447413672937, + 71.20840962238651 + ], + [ + 793.3537093859329, + 66.01625915950069 + ], + [ + 787.530945578541, + 75.66899531919188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 345.9346796890252, + "ymin": 0.0, + "xmax": 699.8170120801366, + "ymax": 253.32948409574146 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 397.3390528625399, + 179.0154646885572 + ], + [ + 391.23436876264714, + 184.6037117851825 + ], + [ + 685.6606056730697, + 253.32948409574146 + ], + [ + 689.7898838516404, + 246.6005676638463 + ], + [ + 353.56558801716005, + -42.87733661887853 + ], + [ + 345.9346796890252, + -38.37300728093106 + ], + [ + 694.9534789404754, + 18.107993589035743 + ], + [ + 699.8170120801366, + 12.487712180524966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 883.23060357454, + "ymin": 0.0, + "xmax": 1212.1615221123277, + "ymax": 59.45710576671729 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1139.7107899353678, + 59.45710576671729 + ], + [ + 1139.8388703751602, + 55.675851291394736 + ], + [ + 884.9143330713354, + 16.755734713243157 + ], + [ + 883.23060357454, + 20.04025539088525 + ], + [ + 1212.1615221123277, + -136.22016814360273 + ], + [ + 1211.7657942087599, + -139.08104899841464 + ], + [ + 917.4511287922701, + -168.21573693975483 + ], + [ + 915.7685374946748, + -165.77878708277467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1086.7254283718057, + "ymin": 0.0, + "xmax": 1211.2269954597145, + "ymax": 358.18839414784884 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1086.7254283718057, + 354.70731046699274 + ], + [ + 1101.5061365514307, + 358.18839414784884 + ], + [ + 1114.0841155642852, + 167.36910748859748 + ], + [ + 1102.47154943771, + 165.23668057304215 + ], + [ + 1192.4107431549528, + 105.2632814013555 + ], + [ + 1211.2269954597145, + 108.34109950014147 + ], + [ + 1197.9233704756148, + -52.223004857404874 + ], + [ + 1183.9580903198048, + -53.928103564248715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1117.6311496108835, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 58.302015739265016 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1117.6311496108835, + -8.621260779107843 + ], + [ + 1137.844713241103, + 44.72538691623288 + ], + [ + 1293.352799881871, + 58.302015739265016 + ], + [ + 1257.6485663785515, + 2.4798533310486164 + ], + [ + 1205.9939172452205, + -270.9012195746973 + ], + [ + 1241.5920805720857, + -239.5991285467129 + ], + [ + 1433.4931422399104, + -231.4345370371857 + ], + [ + 1374.8749894724442, + -264.4876973844014 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00087/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00087/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e07492b61364ee51544ba06b496d152f046bd5e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00087/meta.json @@ -0,0 +1,3104 @@ +{ + "frame_id": 87, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 43.5, + "sim_timestamp": 1162.394323114073 + }, + "drone_pose": { + "x": -134.07870171167698, + "y": -35.65191305292709, + "z": 20.0, + "pitch": -42.4565997636359, + "yaw": 69.15427077013697, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.26254427433013916, + -0.6894946694374084, + 0.6750315427780151, + 46.28277587890625 + ], + [ + 0.9345420002937317, + 0.3558529019355774, + 5.960464477539063e-08, + -112.6153335571289 + ], + [ + -0.24021196365356445, + 0.630845308303833, + 0.7377888560295105, + -69.45392608642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.97048924657082, + "y": -35.20072561195801, + "z": 20.0 + }, + "t1_image_uv": [ + 808.040898345784, + -518.3410924778233 + ], + "t1_depth": 0.3395019004108799 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -16.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.229587708308287, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 601, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -16.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3959375023841858, + "y": 0.5818822979927063, + "z": 0.9030187726020813 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.0980773634415, + "ymin": 323.8607053588261, + "xmax": 663.6947498398652, + "ymax": 395.67173695753246 + }, + "corners_3d": [ + [ + -126.0853042602539, + -16.58370018005371, + 0.04111909866333008 + ], + [ + -127.24906158447266, + -16.58370018005371, + 0.04111909866333008 + ], + [ + -127.24906158447266, + -15.791825294494629, + 0.04111909866333008 + ], + [ + -126.0853042602539, + -15.791826248168945, + 0.04111909866333008 + ], + [ + -126.0853042602539, + -16.58370018005371, + 1.8471566438674927 + ], + [ + -127.24906158447266, + -16.58370018005371, + 1.8471566438674927 + ], + [ + -127.24906158447266, + -15.791825294494629, + 1.8471566438674927 + ], + [ + -126.0853042602539, + -15.791826248168945, + 1.8471566438674927 + ] + ], + "corners_2d": [ + [ + 617.1127255366026, + 385.9476418638234 + ], + [ + 653.6125579440122, + 395.67173695753246 + ], + [ + 662.697248057311, + 378.43915011324344 + ], + [ + 626.7835310271103, + 369.0764120602656 + ], + [ + 616.0980773634415, + 340.5821452811011 + ], + [ + 654.2228158283266, + 350.23247771889584 + ], + [ + 663.6947498398652, + 333.13690250412145 + ], + [ + 626.2090196248969, + 323.8607053588261 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 87, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 548681, + "2": 163665, + "3": 49952, + "4": 47571, + "6": 16872, + "7": 1859, + "9": 6963, + "10": 11, + "12": 3179, + "14": 26116, + "24": 24802, + "25": 31929 + }, + "instance_pixel_counts": { + "3662": 5854, + "11605": 27672, + "15701": 3269, + "16482": 289, + "16994": 1358, + "17496": 9380, + "17503": 3230, + "17506": 521, + "19083": 2379, + "19554": 26, + "19595": 2025, + "20066": 1066, + "20565": 19011, + "21395": 3551, + "21397": 135, + "21907": 123690, + "21909": 11156, + "22155": 3255, + "22421": 5706, + "22931": 248268, + "22933": 1227, + "23443": 60111, + "23445": 132, + "23955": 3934, + "23957": 505, + "24467": 15194, + "25600": 4592, + "25856": 4534, + "26112": 225, + "36096": 601, + "36352": 577, + "36608": 598, + "36864": 641, + "37376": 762, + "37888": 2486, + "40448": 2779, + "40704": 1327, + "41216": 6572, + "41728": 12952, + "45409": 515, + "45971": 1746, + "46483": 70512, + "46995": 4136, + "47201": 15531, + "47713": 3014, + "48225": 1554, + "48531": 7439, + "48737": 51392, + "49043": 10100, + "49249": 9139, + "49761": 8182, + "51526": 41717, + "52321": 4848, + "52833": 2957, + "53345": 439, + "53857": 1151, + "54366": 28699, + "56458": 922, + "56970": 4727, + "57482": 34928, + "57994": 10804, + "58506": 2643, + "60307": 72, + "60819": 4708, + "61254": 6963, + "61331": 180, + "62355": 409, + "62867": 572 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 601, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -16.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.38535642623901367, + "y": 0.48338377475738525, + "z": 0.8897223472595215 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.4356802933188, + "ymin": 325.2048523135845, + "xmax": 660.3587460406153, + "ymax": 394.2862152386517 + }, + "corners_3d": [ + [ + -126.18379974365234, + -16.5731201171875, + 0.05441552400588989 + ], + [ + -127.15056610107422, + -16.5731201171875, + 0.05441552400588989 + ], + [ + -127.15056610107422, + -15.802406311035156, + 0.05441552400588989 + ], + [ + -126.18379974365234, + -15.802407264709473, + 0.05441552400588989 + ], + [ + -126.18379974365234, + -16.5731201171875, + 1.833860158920288 + ], + [ + -127.15056610107422, + -16.5731201171875, + 1.833860158920288 + ], + [ + -127.15056610107422, + -15.802406311035156, + 1.833860158920288 + ], + [ + -126.18379974365234, + -15.802407264709473, + 1.833860158920288 + ] + ], + "corners_2d": [ + [ + 620.2966172701405, + 386.2126355959809 + ], + [ + 650.6207048975748, + 394.2862152386517 + ], + [ + 659.514582651607, + 377.5450977937054 + ], + [ + 629.6646641498687, + 369.76376004378193 + ], + [ + 619.4356802933188, + 341.51110873547253 + ], + [ + 651.0891000676806, + 349.52417130543637 + ], + [ + 660.3587460406153, + 332.91549401057915 + ], + [ + 629.2216270496493, + 325.2048523135845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 577, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -13.190058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4693017899990082, + "y": 0.4862470030784607, + "z": 0.9257394671440125 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 534.7048868801799, + "ymin": 238.93123691359617, + "xmax": 573.5098141779172, + "ymax": 304.24489907951386 + }, + "corners_3d": [ + [ + -122.16315460205078, + -13.750202178955078, + 0.018398404121398926 + ], + [ + -123.11439514160156, + -13.54800796508789, + 0.018398404121398926 + ], + [ + -122.91924285888672, + -12.629915237426758, + 0.018398404121398926 + ], + [ + -121.96800231933594, + -12.832109451293945, + 0.018398404121398926 + ], + [ + -122.16315460205078, + -13.750202178955078, + 1.8698773384094238 + ], + [ + -123.11439514160156, + -13.54800796508789, + 1.8698773384094238 + ], + [ + -122.91924285888672, + -12.629915237426758, + 1.8698773384094238 + ], + [ + -121.96800231933594, + -12.832109451293945, + 1.8698773384094238 + ] + ], + "corners_2d": [ + [ + 538.8539457438216, + 301.3835067777737 + ], + [ + 567.6867635380655, + 304.24489907951386 + ], + [ + 573.5098141779172, + 286.8143791057952 + ], + [ + 545.2660527892085, + 284.0727651892072 + ], + [ + 534.7048868801799, + 255.93827213500805 + ], + [ + 564.7096597036729, + 258.75230122115454 + ], + [ + 570.8327827823229, + 241.6227885758284 + ], + [ + 541.4653782017868, + 238.93123691359617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 598, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -9.245050430297852, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4560253918170929, + "y": 0.604764997959137, + "z": 0.9265305399894714 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 753.3483895866768, + "ymin": 213.38321802035819, + "xmax": 798.3566824672411, + "ymax": 278.9801104299333 + }, + "corners_3d": [ + [ + -128.3692169189453, + -9.76179313659668, + 0.01760244369506836 + ], + [ + -129.57212829589844, + -9.63536262512207, + 0.01760244369506836 + ], + [ + -129.47679138183594, + -8.728307723999023, + 0.01760244369506836 + ], + [ + -128.2738800048828, + -8.854738235473633, + 0.01760244369506836 + ], + [ + -128.3692169189453, + -9.76179313659668, + 1.8706635236740112 + ], + [ + -129.57212829589844, + -9.63536262512207, + 1.8706635236740112 + ], + [ + -129.47679138183594, + -8.728307723999023, + 1.8706635236740112 + ], + [ + -128.2738800048828, + -8.854738235473633, + 1.8706635236740112 + ] + ], + "corners_2d": [ + [ + 753.3483895866768, + 273.4286645553542 + ], + [ + 788.5616649683898, + 278.9801104299333 + ], + [ + 792.4011630522687, + 263.3878246826564 + ], + [ + 757.8455975746547, + 258.050655428122 + ], + [ + 757.8369542964049, + 228.4504280569069 + ], + [ + 794.4875592264591, + 233.895370992437 + ], + [ + 798.3566824672411, + 218.60989502207804 + ], + [ + 762.4180964293342, + 213.38321802035819 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 641, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -16.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3683154284954071, + "y": 0.5289031863212585, + "z": 0.8928980827331543 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 734.0073324028299, + "ymin": 354.3892169151847, + "xmax": 782.225461642832, + "ymax": 425.56239720348026 + }, + "corners_3d": [ + [ + -129.71803283691406, + -16.55607795715332, + 0.05123978853225708 + ], + [ + -130.7758331298828, + -16.55607795715332, + 0.05123978853225708 + ], + [ + -130.7758331298828, + -15.81944751739502, + 0.05123978853225708 + ], + [ + -129.71803283691406, + -15.81944751739502, + 0.05123978853225708 + ], + [ + -129.71803283691406, + -16.55607795715332, + 1.837035894393921 + ], + [ + -130.7758331298828, + -16.55607795715332, + 1.837035894393921 + ], + [ + -130.7758331298828, + -15.81944751739502, + 1.837035894393921 + ], + [ + -129.71803283691406, + -15.81944751739502, + 1.837035894393921 + ] + ], + "corners_2d": [ + [ + 734.0073324028299, + 416.1252103439166 + ], + [ + 769.4668176597695, + 425.56239720348026 + ], + [ + 776.1039617324843, + 408.44519766501406 + ], + [ + 741.2160352479418, + 399.34553440875334 + ], + [ + 738.2720939096234, + 371.0708170139309 + ], + [ + 775.4022787132482, + 380.4647909273224 + ], + [ + 782.225461642832, + 363.4323216827528 + ], + [ + 745.7217060797002, + 354.3892169151847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 762, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -24.35797882080078, + "z": 1.095744252204895 + }, + "extent": { + "x": 0.32469236850738525, + "y": 0.44111448526382446, + "z": 0.8836711645126343 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 100.02974722468707, + "ymin": 411.12194235097763, + "xmax": 166.03435266204696, + "ymax": 484.8811295701595 + }, + "corners_3d": [ + [ + -114.92285919189453, + -24.5838623046875, + 0.21207308769226074 + ], + [ + -115.78581237792969, + -24.767288208007812, + 0.21207308769226074 + ], + [ + -115.92082977294922, + -24.132095336914062, + 0.21207308769226074 + ], + [ + -115.05787658691406, + -23.94866943359375, + 0.21207308769226074 + ], + [ + -114.92285919189453, + -24.5838623046875, + 1.9794154167175293 + ], + [ + -115.78581237792969, + -24.767288208007812, + 1.9794154167175293 + ], + [ + -115.92082977294922, + -24.132095336914062, + 1.9794154167175293 + ], + [ + -115.05787658691406, + -23.94866943359375, + 1.9794154167175293 + ] + ], + "corners_2d": [ + [ + 124.78908859364788, + 471.26859485335433 + ], + [ + 145.4264166088384, + 484.8811295701595 + ], + [ + 166.03435266204696, + 469.3901974155472 + ], + [ + 145.43606607812205, + 456.19203892788494 + ], + [ + 100.02974722468707, + 426.1922611566119 + ], + [ + 121.3159653613734, + 439.8181338038911 + ], + [ + 143.30243043812868, + 424.3134375118258 + ], + [ + 122.04816212347043, + 411.12194235097763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2486, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 449.23910143867795, + "ymin": 3.906959402427674, + "xmax": 546.5247034897463, + "ymax": 65.44967795775597 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 529.7590770887989, + 65.44967795775597 + ], + [ + 546.5247034897463, + 49.19343199410753 + ], + [ + 472.26414974166676, + 36.60847432733516 + ], + [ + 453.8022422051713, + 52.14191496022897 + ], + [ + 526.9928035698941, + 31.72970297470141 + ], + [ + 544.2460366158548, + 16.03903138752105 + ], + [ + 468.26804912934176, + 3.906959402427674 + ], + [ + 449.23910143867795, + 18.883306139576348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 2779, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 123.5602033439518, + "ymin": 0.0, + "xmax": 243.2993045533454, + "ymax": 47.11093425519675 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 161.48507919431654, + 16.82257509036748 + ], + [ + 134.8636768716725, + 31.504702310283335 + ], + [ + 218.23057595822416, + 47.11093425519675 + ], + [ + 243.2993045533454, + 31.59529494527328 + ], + [ + 151.06945986129597, + -13.485782276306566 + ], + [ + 123.5602033439518, + 0.6747765635281553 + ], + [ + 208.51856436239063, + 15.745177568513668 + ], + [ + 234.42080791986473, + 0.7622035128794096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 1327, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 95.54764541158772, + "ymin": 11.611586259478884, + "xmax": 206.73344761838558, + "ymax": 80.75145481130983 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 140.40883011251492, + 50.33175643467388 + ], + [ + 111.07738941610842, + 67.15593772540626 + ], + [ + 178.72869378872747, + 80.75145481130983 + ], + [ + 206.73344761838558, + 63.14861651116638 + ], + [ + 126.173797694379, + 11.611586259478884 + ], + [ + 95.54764541158772, + 27.750573759781958 + ], + [ + 164.86132651902597, + 40.812298384628434 + ], + [ + 194.10187571787566, + 23.90398737577391 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 6572, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1098.275319917332, + "ymin": 199.169276479321, + "xmax": 1280.0, + "ymax": 299.1435581614128 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1099.4848706570428, + 236.48559357043925 + ], + [ + 1098.275319917332, + 264.71232085843394 + ], + [ + 1269.7879946744615, + 299.1435581614128 + ], + [ + 1264.6045804488897, + 268.42865867826674 + ], + [ + 1114.1052606566222, + 199.169276479321 + ], + [ + 1113.4205339613345, + 226.8872888858297 + ], + [ + 1291.5482054365598, + 260.78753132771885 + ], + [ + 1285.3479116140295, + 230.5415697906685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 12952, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 456.1830164119846, + "ymin": 541.9523916555764, + "xmax": 647.354297175371, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 464.89391093580997, + 777.4548920164748 + ], + [ + 553.0821081050145, + 813.4723147816944 + ], + [ + 647.0528949985227, + 602.2952933097819 + ], + [ + 570.381255178329, + 576.6846741364243 + ], + [ + 456.1830164119846, + 746.0253362960211 + ], + [ + 548.6319199675914, + 782.9685161550346 + ], + [ + 647.354297175371, + 567.8104308318225 + ], + [ + 567.4769594753664, + 541.9523916555764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.9022968043646, + "ymin": 92.5538603831219, + "xmax": 1164.3159557355098, + "ymax": 126.08324960009958 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1153.5915408746537, + 120.35071383193107 + ], + [ + 1143.9022968043646, + 118.77636155751983 + ], + [ + 1143.9778580265424, + 124.48054496884791 + ], + [ + 1153.7542556534358, + 126.08324960009958 + ], + [ + 1164.054059742799, + 94.0941669881937 + ], + [ + 1154.1416159814041, + 92.5538603831219 + ], + [ + 1154.3122802383357, + 98.13542495271452 + ], + [ + 1164.3159557355098, + 99.70404292012358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 642.5831535835782, + "ymin": 72.1668634788715, + "xmax": 655.2921927209087, + "ymax": 104.7576093296683 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 650.8272945573741, + 104.7576093296683 + ], + [ + 654.9969067846273, + 99.39671270494426 + ], + [ + 646.8135844497095, + 97.92384185084575 + ], + [ + 642.5831535835782, + 103.25909460933428 + ], + [ + 651.0423685534694, + 78.84508437677715 + ], + [ + 655.2921927209087, + 73.60596368402065 + ], + [ + 646.9474163369686, + 72.1668634788715 + ], + [ + 642.6343396462712, + 77.38042898984122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1145.6034734762281, + "ymin": 0.0, + "xmax": 1159.4647265546514, + "ymax": 8.210966520363286 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1145.6034734762281, + 4.128274462349907 + ], + [ + 1145.6653094123715, + 7.314143706060122 + ], + [ + 1152.3581471504876, + 8.210966520363286 + ], + [ + 1152.2555738998399, + 5.014250205895507 + ], + [ + 1152.5612396313759, + -15.208050781895736 + ], + [ + 1152.6669456992972, + -12.097608757497937 + ], + [ + 1159.4647265546514, + -11.221924554386817 + ], + [ + 1159.317000295546, + -14.343103405090858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.3496553848818, + "ymin": 51.792946649362705, + "xmax": 1162.3697546044345, + "ymax": 83.43347739589876 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1152.4016926072177, + 78.4316711805539 + ], + [ + 1143.3496553848818, + 77.05697260941139 + ], + [ + 1143.4156062990025, + 82.03566537599534 + ], + [ + 1152.543666041794, + 83.43347739589876 + ], + [ + 1162.1418578295686, + 53.134336411975085 + ], + [ + 1152.8952932044328, + 51.792946649362705 + ], + [ + 1153.0438523225903, + 56.65156394455181 + ], + [ + 1162.3697546044345, + 58.01594081933325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 372.2092598536105, + "ymin": 100.00717742925798, + "xmax": 388.8969901096013, + "ymax": 127.9208268064493 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 383.30013869017154, + 127.9208268064493 + ], + [ + 388.8969901096013, + 123.11198303466719 + ], + [ + 382.3305705469113, + 121.78161260024513 + ], + [ + 376.6962895520742, + 126.57045556326634 + ], + [ + 378.9163308578675, + 106.0388363968757 + ], + [ + 384.64121241306583, + 101.31407452276784 + ], + [ + 377.97271343604837, + 100.00717742925798 + ], + [ + 372.2092598536105, + 104.71195493917921 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1142.941075719269, + "ymin": 21.761700301953226, + "xmax": 1160.9373182427205, + "ymax": 51.97895807390728 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1151.5228008445051, + 47.48441925410913 + ], + [ + 1142.941075719269, + 46.24845318567105 + ], + [ + 1143.0003486470018, + 50.72330039018868 + ], + [ + 1151.6503720358307, + 51.97895807390728 + ], + [ + 1160.7329443911217, + 22.965350235640585 + ], + [ + 1151.9765662534637, + 21.761700301953226 + ], + [ + 1152.109823442146, + 26.119995292959004 + ], + [ + 1160.9373182427205, + 27.343171060746954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 568.6170274505631, + "ymin": 59.495560729246165, + "xmax": 582.5680003453606, + "ymax": 91.49673236356034 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 577.8719457253326, + 91.49673236356034 + ], + [ + 582.5680003453606, + 86.36064995567477 + ], + [ + 574.7260230908458, + 84.94921587690652 + ], + [ + 569.9745727345006, + 90.06124866542882 + ], + [ + 576.6646055364728, + 65.88869853218904 + ], + [ + 581.4614998031417, + 60.87349020568968 + ], + [ + 573.4714286295209, + 59.495560729246165 + ], + [ + 568.6170274505631, + 64.48683264610719 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 483.918486718488, + "ymin": 44.989803538699164, + "xmax": 499.5887907188368, + "ymax": 76.3101841442085 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 494.32244066679687, + 76.3101841442085 + ], + [ + 499.5887907188368, + 71.42569584559578 + ], + [ + 492.12896314823377, + 70.08304274008577 + ], + [ + 486.8130604689421, + 74.9452247915691 + ], + [ + 491.56330890901035, + 51.064302032072135 + ], + [ + 496.9516581633234, + 46.29934110711707 + ], + [ + 489.35816496036523, + 44.989803538699164 + ], + [ + 483.918486718488, + 49.73259507733428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1105.8806737399286, + "ymin": 260.580502623031, + "xmax": 1126.457847829426, + "ymax": 294.223747269947 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1116.283844497698, + 286.6358239058573 + ], + [ + 1106.1556412227226, + 284.5418261929131 + ], + [ + 1105.8806737399286, + 292.0901386711848 + ], + [ + 1116.103624210903, + 294.223747269947 + ], + [ + 1126.457847829426, + 262.655402250421 + ], + [ + 1116.0868389598443, + 260.580502623031 + ], + [ + 1115.901333710115, + 268.0610542331498 + ], + [ + 1126.3717118963762, + 270.17605288468343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.9688405712706, + "ymin": 63.54694014974399, + "xmax": 1202.7138743119976, + "ymax": 527.1053265735202 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1034.20694122915, + 527.1053265735202 + ], + [ + 1036.2365670457523, + 506.14981342403644 + ], + [ + 747.2956758427204, + 428.524509861456 + ], + [ + 739.9688405712706, + 446.3970466966284 + ], + [ + 1202.7138743119976, + 150.02518239464297 + ], + [ + 1200.8059774735966, + 131.063837836549 + ], + [ + 787.2257966875517, + 63.54694014974399 + ], + [ + 778.1426623027535, + 78.72444752834997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 455.17766955829467, + "ymin": 0.0, + "xmax": 593.9191454717048, + "ymax": 81.91318015639007 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 593.9191454717048, + -14.37247193813397 + ], + [ + 586.5451653729701, + -15.504846912724474 + ], + [ + 479.41968580772675, + 80.30746543087167 + ], + [ + 487.91516176617586, + 81.91318015639007 + ], + [ + 588.1993416917427, + -191.08024447373975 + ], + [ + 579.9268178454709, + -191.90661432759555 + ], + [ + 455.17766955829467, + -120.31652437824937 + ], + [ + 464.88475726615496, + -119.08726265274913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 781.8334553992427, + "ymin": 75.61912128995056, + "xmax": 819.4679496678189, + "ymax": 92.67502217508508 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 813.8870555031633, + 92.67502217508508 + ], + [ + 819.2524959144854, + 82.48030978718992 + ], + [ + 787.6819110736074, + 77.20610995725423 + ], + [ + 781.8334553992427, + 87.22113139574219 + ], + [ + 814.0996109474501, + 91.06567106009783 + ], + [ + 819.4679496678189, + 80.88558912557085 + ], + [ + 787.8578582770401, + 75.61912128995056 + ], + [ + 782.005279878228, + 85.61955551936154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 781.8290246487644, + "ymin": 75.66014256992378, + "xmax": 819.4623804537712, + "ymax": 92.7165212295726 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 813.8815745053364, + 92.7165212295726 + ], + [ + 819.246940064041, + 82.52143243815027 + ], + [ + 787.6773739192837, + 77.24703366819097 + ], + [ + 781.8290246487644, + 87.26243041857094 + ], + [ + 814.0941165419595, + 91.10727162992555 + ], + [ + 819.4623804537712, + 80.92681068970393 + ], + [ + 787.8533103053744, + 75.66014256992378 + ], + [ + 782.0008383861286, + 85.66095466483483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 334.3031179161018, + "ymin": 0.0, + "xmax": 692.7487984810426, + "ymax": 261.1296495478484 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 388.071201041423, + 186.48043177091517 + ], + [ + 381.89413470443606, + 192.20395885304285 + ], + [ + 679.6781318813128, + 261.1296495478484 + ], + [ + 683.8197934321754, + 254.2472334691494 + ], + [ + 342.0616592082688, + -36.83305886750583 + ], + [ + 334.3031179161018, + -32.2019898150599 + ], + [ + 687.850062778336, + 24.667765283038705 + ], + [ + 692.7487984810426, + 18.89624447259365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 877.3976683554372, + "ymin": 0.0, + "xmax": 1207.248106108817, + "ymax": 62.39953207950521 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1135.0713071473185, + 62.39953207950521 + ], + [ + 1135.1614528268105, + 58.570540001083316 + ], + [ + 879.0668886357037, + 19.925353172325913 + ], + [ + 877.3976683554372, + 23.257065154246106 + ], + [ + 1207.248106108817, + -133.95885927063773 + ], + [ + 1206.806556697427, + -136.85989851016717 + ], + [ + 911.0306658561067, + -165.83054930053754 + ], + [ + 909.3611844187863, + -163.35483333336083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1084.7399007972047, + "ymin": 0.0, + "xmax": 1210.1606948662002, + "ymax": 366.273206086365 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1084.7399007972047, + 362.79021531714585 + ], + [ + 1099.6527288993987, + 366.273206086365 + ], + [ + 1110.439304480868, + 171.92031622187537 + ], + [ + 1098.759634761771, + 169.79782045592992 + ], + [ + 1191.1408765035296, + 112.43171213971851 + ], + [ + 1210.1606948662002, + 115.52451389999013 + ], + [ + 1194.2641445887532, + -48.55237814857492 + ], + [ + 1180.2073621926877, + -50.2534048036494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1112.2981638927604, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 60.79469004571121 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1112.2981638927604, + -6.376479020862973 + ], + [ + 1133.0828767603557, + 47.533947974331 + ], + [ + 1288.9583189683572, + 60.79469004571121 + ], + [ + 1252.5696580587623, + 4.453762430989627 + ], + [ + 1200.1021619803241, + -269.55286845051035 + ], + [ + 1236.4267546593614, + -237.864502604123 + ], + [ + 1428.846099706132, + -229.8750065536267 + ], + [ + 1369.3194768652625, + -263.2868691034415 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00088/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00088/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..628cf75f03dade8d4513725ac99313c51126446c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00088/meta.json @@ -0,0 +1,3106 @@ +{ + "frame_id": 88, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 44.0, + "sim_timestamp": 1175.7902374078985 + }, + "drone_pose": { + "x": -133.97048924657082, + "y": -35.20072561195801, + "z": 20.0, + "pitch": -42.44639933775371, + "yaw": 69.48014381946864, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2586607336997986, + -0.6910893321037292, + 0.6749001741409302, + 45.48174285888672 + ], + [ + 0.9365507960319519, + 0.35053205490112305, + 0.0, + -113.13117980957031 + ], + [ + -0.23657414317131042, + 0.6320782899856567, + 0.7379090189933777, + -68.70174407958984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.89077603786365, + "y": -34.74192201621566, + "z": 20.0 + }, + "t1_image_uv": [ + 884.9653588698288, + -518.0271630875441 + ], + "t1_depth": 0.3376929177277744 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -15.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.235082207669187, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 604, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -15.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3681298792362213, + "y": 0.5239983797073364, + "z": 0.8895964622497559 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.3761813913297, + "ymin": 325.29591327979904, + "xmax": 661.438580867257, + "ymax": 394.19060627802776 + }, + "corners_3d": [ + [ + -126.1431884765625, + -16.055892944335938, + 0.05454140901565552 + ], + [ + -127.1911849975586, + -16.055892944335938, + 0.05454140901565552 + ], + [ + -127.19117736816406, + -15.319633483886719, + 0.05454140901565552 + ], + [ + -126.14318084716797, + -15.319633483886719, + 0.05454140901565552 + ], + [ + -126.1431884765625, + -16.055892944335938, + 1.8337342739105225 + ], + [ + -127.1911849975586, + -16.055892944335938, + 1.8337342739105225 + ], + [ + -127.19117736816406, + -15.319633483886719, + 1.8337342739105225 + ], + [ + -126.14318084716797, + -15.319633483886719, + 1.8337342739105225 + ] + ], + "corners_2d": [ + [ + 619.2803761522943, + 385.5795614267921 + ], + [ + 652.2073617329258, + 394.19060627802776 + ], + [ + 660.5494926247295, + 378.15994231299436 + ], + [ + 628.1183993040689, + 369.847507989063 + ], + [ + 618.3761813913297, + 340.89065740420455 + ], + [ + 652.7453857393732, + 349.43658443889024 + ], + [ + 661.438580867257, + 333.5328451691486 + ], + [ + 627.6093059313823, + 325.29591327979904 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 88, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 70, + "semantic_pixel_counts": { + "1": 552547, + "2": 163433, + "3": 47769, + "4": 46126, + "6": 16884, + "7": 2021, + "9": 7295, + "10": 11, + "12": 3081, + "14": 25487, + "24": 25320, + "25": 31626 + }, + "instance_pixel_counts": { + "3662": 5574, + "11605": 26500, + "15701": 2994, + "16482": 593, + "16994": 1384, + "17496": 9644, + "17503": 3767, + "17506": 568, + "18059": 30, + "19083": 2437, + "19554": 146, + "19595": 2194, + "20066": 1128, + "20565": 18270, + "21395": 3368, + "21397": 123, + "21907": 127339, + "21909": 11481, + "22155": 3352, + "22421": 5813, + "22931": 252465, + "22933": 1019, + "23443": 50798, + "23445": 138, + "23955": 4151, + "23957": 523, + "24467": 15603, + "25600": 4844, + "25856": 4148, + "26112": 269, + "36096": 604, + "36352": 578, + "36608": 573, + "36864": 640, + "37376": 686, + "37888": 2659, + "40448": 3031, + "40704": 1526, + "41216": 6794, + "41728": 11477, + "45409": 446, + "45971": 2520, + "46483": 72412, + "46995": 4994, + "47201": 16091, + "47713": 3151, + "48225": 1605, + "48468": 5, + "48531": 7811, + "48737": 49731, + "49043": 11086, + "49249": 8899, + "49761": 8510, + "51526": 40552, + "52321": 4434, + "52833": 3081, + "53345": 456, + "53857": 1205, + "54366": 27859, + "56458": 872, + "56970": 4879, + "57482": 36484, + "57994": 8855, + "58506": 2902, + "60307": 93, + "60819": 4875, + "61254": 7295, + "61331": 214, + "62355": 425, + "62867": 616 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 604, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -15.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3847363293170929, + "y": 0.5884936451911926, + "z": 0.8876156210899353 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.0712456013854, + "ymin": 324.501143851994, + "xmax": 663.7327108389927, + "ymax": 395.04678353489487 + }, + "corners_3d": [ + [ + -126.07868957519531, + -16.072500228881836, + 0.056522250175476074 + ], + [ + -127.25567626953125, + -16.072500228881836, + 0.056522250175476074 + ], + [ + -127.25567626953125, + -15.303027153015137, + 0.056522250175476074 + ], + [ + -126.07868957519531, + -15.303027153015137, + 0.056522250175476074 + ], + [ + -126.07868957519531, + -16.072500228881836, + 1.8317534923553467 + ], + [ + -127.25567626953125, + -16.072500228881836, + 1.8317534923553467 + ], + [ + -127.25567626953125, + -15.303027153015137, + 1.8317534923553467 + ], + [ + -126.07868957519531, + -15.303027153015137, + 1.8317534923553467 + ] + ], + "corners_2d": [ + [ + 617.0694582740459, + 385.36809592388823 + ], + [ + 654.063881254312, + 395.04678353489487 + ], + [ + 662.7504513162033, + 378.2735052652519 + ], + [ + 626.3381428031875, + 368.94533235178017 + ], + [ + 616.0712456013854, + 340.78009298789306 + ], + [ + 654.6829582921571, + 350.3860965903436 + ], + [ + 663.7327108389927, + 333.7444697911059 + ], + [ + 625.7546878896778, + 324.501143851994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 578, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -12.690058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45396000146865845, + "y": 0.49996039271354675, + "z": 0.9235794544219971 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 533.6767755354807, + "ymin": 239.5895456314356, + "xmax": 573.0223139475038, + "ymax": 304.23129655231196 + }, + "corners_3d": [ + [ + -122.14654541015625, + -13.238046646118164, + 0.020558416843414307 + ], + [ + -123.12461853027344, + -13.030150413513184, + 0.020558416843414307 + ], + [ + -122.93585205078125, + -12.142070770263672, + 0.020558416843414307 + ], + [ + -121.95777893066406, + -12.349967002868652, + 0.020558416843414307 + ], + [ + -122.14654541015625, + -13.238046646118164, + 1.8677172660827637 + ], + [ + -123.12461853027344, + -13.030150413513184, + 1.8677172660827637 + ], + [ + -122.93585205078125, + -12.142070770263672, + 1.8677172660827637 + ], + [ + -121.95777893066406, + -12.349967002868652, + 1.8677172660827637 + ] + ], + "corners_2d": [ + [ + 537.8553611091614, + 301.3976712886617 + ], + [ + 567.5335366656424, + 304.23129655231196 + ], + [ + 573.0223139475038, + 287.35072024121837 + ], + [ + 543.9328324205435, + 284.63205434041254 + ], + [ + 533.6767755354807, + 256.06170167656916 + ], + [ + 564.5583689040336, + 258.8484523654989 + ], + [ + 570.3312130083932, + 242.25875288583052 + ], + [ + 540.0864945284028, + 239.5895456314356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 573, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -8.745050430297852, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.43782714009284973, + "y": 0.47873595356941223, + "z": 0.9499446153640747 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 756.0510543180959, + "ymin": 213.28094643511412, + "xmax": 793.4296039496959, + "ymax": 278.16384557692805 + }, + "corners_3d": [ + [ + -128.49266052246094, + -9.230520248413086, + -0.005801975727081299 + ], + [ + -129.44488525390625, + -9.130437850952148, + -0.005801975727081299 + ], + [ + -129.3533477783203, + -8.259580612182617, + -0.005801975727081299 + ], + [ + -128.401123046875, + -8.359663009643555, + -0.005801975727081299 + ], + [ + -128.49266052246094, + -9.230520248413086, + 1.894087314605713 + ], + [ + -129.44488525390625, + -9.130437850952148, + 1.894087314605713 + ], + [ + -129.3533477783203, + -8.259580612182617, + 1.894087314605713 + ], + [ + -128.401123046875, + -8.359663009643555, + 1.894087314605713 + ] + ], + "corners_2d": [ + [ + 756.0510543180959, + 273.8727017905286 + ], + [ + 783.9001421126352, + 278.16384557692805 + ], + [ + 787.5243562975772, + 263.2146554383398 + ], + [ + 760.1762259915589, + 259.0827207874257 + ], + [ + 760.7624056798559, + 227.7642701757733 + ], + [ + 789.7750380282047, + 231.97055235674287 + ], + [ + 793.4296039496959, + 217.3249994159475 + ], + [ + 764.9603008218087, + 213.28094643511412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 640, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -15.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.37025389075279236, + "y": 0.42541563510894775, + "z": 0.8715545535087585 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 737.703951424588, + "ymin": 355.35987444096804, + "xmax": 778.6691890251521, + "ymax": 423.62505019148864 + }, + "corners_3d": [ + [ + -129.82151794433594, + -16.05801773071289, + 0.07258331775665283 + ], + [ + -130.67234802246094, + -16.05801773071289, + 0.07258331775665283 + ], + [ + -130.67234802246094, + -15.317509651184082, + 0.07258331775665283 + ], + [ + -129.82151794433594, + -15.317509651184082, + 0.07258331775665283 + ], + [ + -129.82151794433594, + -16.05801773071289, + 1.81569242477417 + ], + [ + -130.67234802246094, + -16.05801773071289, + 1.81569242477417 + ], + [ + -130.67234802246094, + -15.317509651184082, + 1.81569242477417 + ], + [ + -129.82151794433594, + -15.317509651184082, + 1.81569242477417 + ] + ], + "corners_2d": [ + [ + 737.703951424588, + 416.1575170367604 + ], + [ + 766.2703524970583, + 423.62505019148864 + ], + [ + 772.8519538962759, + 406.4409416013396 + ], + [ + 744.751550086553, + 399.2424282348367 + ], + [ + 742.0291049531504, + 372.1787120157653 + ], + [ + 771.9067587861566, + 379.61233499883576 + ], + [ + 778.6691890251521, + 362.5141323233664 + ], + [ + 749.3010760099568, + 355.35987444096804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 686, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -23.85797882080078, + "z": 1.0957393646240234 + }, + "extent": { + "x": 0.3055126965045929, + "y": 0.3333068788051605, + "z": 0.8821649551391602 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.95973145885023, + "ymin": 415.26581794991233, + "xmax": 162.71724708801247, + "ymax": 484.8327308277346 + }, + "corners_3d": [ + [ + -115.03230285644531, + -24.08751678466797, + 0.21357440948486328 + ], + [ + -115.6843490600586, + -24.22611427307129, + 0.21357440948486328 + ], + [ + -115.81138610839844, + -23.628440856933594, + 0.21357440948486328 + ], + [ + -115.15933990478516, + -23.489843368530273, + 0.21357440948486328 + ], + [ + -115.03230285644531, + -24.08751678466797, + 1.9779043197631836 + ], + [ + -115.6843490600586, + -24.22611427307129, + 1.9779043197631836 + ], + [ + -115.81138610839844, + -23.628440856933594, + 1.9779043197631836 + ], + [ + -115.15933990478516, + -23.489843368530273, + 1.9779043197631836 + ] + ], + "corners_2d": [ + [ + 127.61895268852254, + 474.6063065015014 + ], + [ + 143.36266430953197, + 484.8327308277346 + ], + [ + 162.71724708801247, + 470.195608257559 + ], + [ + 147.00649952745061, + 460.2640444274041 + ], + [ + 102.95973145885023, + 429.6068794326334 + ], + [ + 119.20291642592883, + 439.8446342932807 + ], + [ + 139.85414686147618, + 425.1944271974544 + ], + [ + 123.63939833130553, + 415.26581794991233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2659, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 441.0060719355977, + "ymin": 8.406577459802861, + "xmax": 539.3334922465424, + "ymax": 70.41048391997685 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 522.4312590272468, + 70.41048391997685 + ], + [ + 539.3334922465424, + 53.85859359151277 + ], + [ + 464.44250515825945, + 41.2662961440339 + ], + [ + 445.80464458248525, + 57.087245031483405 + ], + [ + 519.4571287845721, + 36.53242361445746 + ], + [ + 536.8603276037668, + 20.550240133874922 + ], + [ + 460.226676129565, + 8.406577459802861 + ], + [ + 441.0060719355977, + 23.665978599127982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3031, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 111.94367540044368, + "ymin": 0.0, + "xmax": 233.25834731779037, + "ymax": 52.570887288669496 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 150.6076088054735, + 21.92364539731136 + ], + [ + 123.60807598311385, + 36.91108383152442 + ], + [ + 207.85579317203286, + 52.570887288669496 + ], + [ + 233.25834731779037, + 36.73771987091408 + ], + [ + 139.8581927050659, + -8.556984458785053 + ], + [ + 111.94367540044368, + 5.9038312475639145 + ], + [ + 197.81254438878375, + 21.032247401091297 + ], + [ + 224.07369178639857, + 5.736458018252904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 1526, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 83.31083970125394, + "ymin": 17.100145230088458, + "xmax": 196.16213668260258, + "ymax": 86.89564827086076 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 129.12165863057135, + 56.043609440149226 + ], + [ + 99.34551717426166, + 73.23697247353681 + ], + [ + 167.75238125936158, + 86.89564827086076 + ], + [ + 196.16213668260258, + 68.91083036012935 + ], + [ + 114.42334778533598, + 17.100145230088458 + ], + [ + 83.31083970125394, + 33.60248283997083 + ], + [ + 153.41313680028964, + 46.732499018640226 + ], + [ + 183.0979847098733, + 29.447535074795212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 6794, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1095.9777829463228, + "ymin": 205.20836393549766, + "xmax": 1280.0, + "ymax": 305.84883360570126 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1096.9731451249609, + 242.63601641340637 + ], + [ + 1095.9777829463228, + 271.3824378237151 + ], + [ + 1268.7820816883504, + 305.84883360570126 + ], + [ + 1263.2622503417474, + 274.58712719875905 + ], + [ + 1111.6291701376865, + 205.20836393549766 + ], + [ + 1111.172965169295, + 233.45116884245076 + ], + [ + 1290.6825893027344, + 267.40423177613286 + ], + [ + 1284.1192245641755, + 236.60396169392905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 11477, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 447.1982364440861, + "ymin": 558.5049778817868, + "xmax": 641.7021513468474, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 456.4982894584825, + 800.9817330260985 + ], + [ + 546.3347713498848, + 837.7698115048013 + ], + [ + 641.631368772924, + 619.0802241097142 + ], + [ + 563.7763323626107, + 593.0891560812584 + ], + [ + 447.1982364440861, + 770.1350315981008 + ], + [ + 541.4484169469195, + 807.9370627807585 + ], + [ + 641.7021513468474, + 584.7796695458312 + ], + [ + 560.5479006811527, + 558.5049778817868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.7453939042236, + "ymin": 98.60062420064975, + "xmax": 1162.362704717732, + "ymax": 132.38277363760122 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1151.519630586266, + 126.529407711343 + ], + [ + 1141.7453939042236, + 124.94944891792946 + ], + [ + 1141.8796215723205, + 130.77402442237295 + ], + [ + 1151.7429531646987, + 132.38277363760122 + ], + [ + 1162.0372526896522, + 100.14699224405103 + ], + [ + 1152.036235638401, + 98.60062420064975 + ], + [ + 1152.268393800612, + 104.30213819449165 + ], + [ + 1162.362704717732, + 105.87727127421485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 635.6329653002821, + "ymin": 79.12056228593559, + "xmax": 648.4326029968593, + "ymax": 112.0099506990766 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 644.0573877331349, + 112.0099506990766 + ], + [ + 648.2679842882596, + 106.51607254077283 + ], + [ + 639.9918956475393, + 105.03258554006177 + ], + [ + 635.7187610780073, + 110.50028106532477 + ], + [ + 644.1388967687741, + 85.94208958898497 + ], + [ + 648.4326029968593, + 80.570661922368 + ], + [ + 639.991734677698, + 79.12056228593559 + ], + [ + 635.6329653002821, + 84.46588077619674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.7473589812744, + "ymin": 0.0, + "xmax": 1155.6555078625656, + "ymax": 11.419995013189066 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1141.7473589812744, + 7.2976176111897075 + ], + [ + 1141.8384466834475, + 10.526536239121242 + ], + [ + 1148.5624790421364, + 11.419995013189066 + ], + [ + 1148.4300923869569, + 8.180184389397596 + ], + [ + 1148.6900943308628, + -12.106557733455645 + ], + [ + 1148.8257180921366, + -8.953610487070762 + ], + [ + 1155.6555078625656, + -8.081078651121743 + ], + [ + 1155.477280732863, + -11.244809628012035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1140.76453042272, + "ymin": 57.001252011638314, + "xmax": 1159.945896003793, + "ymax": 88.86341499066799 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1149.8880112297334, + 83.76407151841715 + ], + [ + 1140.76453042272, + 82.38658919924961 + ], + [ + 1140.8815054498361, + 87.46251644458602 + ], + [ + 1150.0825657043526, + 88.86341499066799 + ], + [ + 1159.6631471294918, + 58.34578612758054 + ], + [ + 1150.342363834006, + 57.001252011638314 + ], + [ + 1150.5441289662194, + 61.95635121567659 + ], + [ + 1159.945896003793, + 63.32418480209827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 362.568116956827, + "ymin": 107.03590201729509, + "xmax": 379.62355553506325, + "ymax": 135.19397693977254 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 373.94681610111286, + 135.19397693977254 + ], + [ + 379.62355553506325, + 130.26933012067786 + ], + [ + 372.98191138325495, + 128.930293771111 + ], + [ + 367.26663911650064, + 133.83454124111816 + ], + [ + 369.35365326177276, + 113.19208620414042 + ], + [ + 375.16286603592727, + 108.35178620414996 + ], + [ + 368.4170492288899, + 107.03590201729509 + ], + [ + 362.568116956827, + 111.85580832623577 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1140.0406819193759, + "ymin": 26.394407894688584, + "xmax": 1158.1696894184056, + "ymax": 56.81101600648424 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1148.6845769315387, + 52.234053155554705 + ], + [ + 1140.0406819193759, + 50.99698336608691 + ], + [ + 1140.1456955401518, + 55.55403072255234 + ], + [ + 1148.8591972910367, + 56.81101600648424 + ], + [ + 1157.9164228100922, + 27.599471420665623 + ], + [ + 1149.095611483965, + 26.394407894688584 + ], + [ + 1149.2763827892497, + 30.834021476939313 + ], + [ + 1158.1696894184056, + 32.05884123890047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 560.7476070742605, + "ymin": 66.35132569962826, + "xmax": 575.0128439691196, + "ymax": 98.6494372990241 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 570.2608033829638, + 98.6494372990241 + ], + [ + 575.0128439691196, + 93.38512057307025 + ], + [ + 567.0807086615642, + 91.96328709346017 + ], + [ + 562.2716775892343, + 97.20304313687774 + ], + [ + 568.8901029610354, + 72.8826375984778 + ], + [ + 573.7466595447922, + 67.73999926890247 + ], + [ + 565.6633457197066, + 66.35132569962826 + ], + [ + 560.7476070742605, + 71.46950318292465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 475.0421066108636, + "ymin": 51.73106631334696, + "xmax": 491.07269446353257, + "ymax": 83.34622719599247 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 485.73378123991773, + 83.34622719599247 + ], + [ + 491.07269446353257, + 78.33888239722916 + ], + [ + 483.5257273879264, + 76.98609020336187 + ], + [ + 478.1358037468534, + 81.97064858449352 + ], + [ + 482.7784143287335, + 57.937923817064075 + ], + [ + 488.2438157095, + 53.05104561785407 + ], + [ + 480.5603637261711, + 51.73106631334696 + ], + [ + 475.0421066108636, + 56.59528353601638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1104.3423277799232, + "ymin": 268.832061737688, + "xmax": 1125.0274022351873, + "ymax": 302.730398963596 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1114.782566913923, + 294.97043860374106 + ], + [ + 1104.5547520643418, + 292.86573105163086 + ], + [ + 1104.3423277799232, + 300.58537432607494 + ], + [ + 1114.667209223173, + 302.730398963596 + ], + [ + 1125.0274022351873, + 270.9184580985583 + ], + [ + 1114.5523828750372, + 268.832061737688 + ], + [ + 1114.4325875176185, + 276.4856838501436 + ], + [ + 1125.0094473492545, + 278.6129203892596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 735.4048598744831, + "ymin": 73.47214830398673, + "xmax": 1204.3973764196871, + "ymax": 540.0216625708757 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1033.3543884446253, + 540.0216625708757 + ], + [ + 1035.2567843758175, + 518.5110190655109 + ], + [ + 742.7632958983684, + 440.1939519567568 + ], + [ + 735.4048598744831, + 458.54808338816036 + ], + [ + 1204.3973764196871, + 161.8901315506898 + ], + [ + 1202.1573326025473, + 142.23018520660952 + ], + [ + 781.6371369839685, + 73.47214830398673 + ], + [ + 772.4548570350119, + 89.20182275316449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 445.9767179027374, + "ymin": 0.0, + "xmax": 587.0419692471244, + "ymax": 87.25135017404381 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 587.0419692471244, + -10.72928978639004 + ], + [ + 579.6151507172766, + -11.860354390670295 + ], + [ + 471.6381746579345, + 85.64186909383659 + ], + [ + 480.21153762910535, + 87.25135017404381 + ], + [ + 580.419915195024, + -188.3353736886338 + ], + [ + 572.0833566014021, + -189.1621361108273 + ], + [ + 445.9767179027374, + -116.15778106980434 + ], + [ + 455.7819587856853, + -114.92252032567637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.2451910678088, + "ymin": 85.72884154722846, + "xmax": 814.4616895389219, + "ymax": 103.26300368907152 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 808.8407045346187, + 103.26300368907152 + ], + [ + 814.2487995703068, + 92.69987615577548 + ], + [ + 782.1550500063029, + 87.33014619535766 + ], + [ + 776.2451910678088, + 97.70676274915144 + ], + [ + 809.0505594122524, + 101.63930391685273 + ], + [ + 814.4616895389219, + 91.09091053797891 + ], + [ + 782.3272002621964, + 85.72884154722846 + ], + [ + 776.4130161506382, + 96.09075761643896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.2408635378854, + "ymin": 85.77023366364034, + "xmax": 814.4561864895261, + "ymax": 103.30487185987954 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 808.835293288025, + 103.30487185987954 + ], + [ + 814.2433099428924, + 92.74136529601793 + ], + [ + 782.1506108531394, + 87.37143824315422 + ], + [ + 776.2408635378854, + 97.74843298372195 + ], + [ + 809.0451347060612, + 101.68127622793924 + ], + [ + 814.4561864895261, + 91.13250111797856 + ], + [ + 782.3227503510313, + 85.77023366364034 + ], + [ + 776.4086779531264, + 96.13253057032472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 323.1240491303701, + "ymin": 0.0, + "xmax": 686.006720838884, + "ymax": 269.1853783256261 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 379.2222086576088, + 194.00107326830144 + ], + [ + 372.9634267570646, + 199.85765328745836 + ], + [ + 673.9756607661317, + 269.1853783256261 + ], + [ + 678.142743148775, + 262.1485568688252 + ], + [ + 331.02141897310537, + -30.68858873021435 + ], + [ + 323.1240491303701, + -25.93199359744301 + ], + [ + 681.0568498545871, + 31.49538547656948 + ], + [ + 686.006720838884, + 25.570507623517756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.3276977833225, + "ymin": 0.0, + "xmax": 1203.3731397880783, + "ymax": 65.75658059130507 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1131.3160534992362, + 65.75658059130507 + ], + [ + 1131.3747431018396, + 61.877749374749555 + ], + [ + 873.9889969164477, + 23.36305362501605 + ], + [ + 872.3276977833225, + 26.74226397933603 + ], + [ + 1203.3731397880783, + -131.33712846108102 + ], + [ + 1202.8919204565923, + -134.28035743487857 + ], + [ + 905.4787068077069, + -163.197056472148 + ], + [ + 903.8154381314456, + -160.68213457124398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1083.109203254729, + "ymin": 0.0, + "xmax": 1209.6067098673373, + "ymax": 374.97228013315214 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1083.109203254729, + 371.47342760324955 + ], + [ + 1098.1631831296802, + 374.97228013315214 + ], + [ + 1107.475190721277, + 176.93926133739077 + ], + [ + 1095.7209986793252, + 174.81832417995216 + ], + [ + 1190.3664839153391, + 120.18231467163693 + ], + [ + 1209.6067098673373, + 123.30334188834388 + ], + [ + 1191.4384823781033, + -44.46376691748861 + ], + [ + 1177.2786118926938, + -46.167661083480084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1107.9392344807973, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 63.782259330632144 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1107.9392344807973, + -3.7638908774123365 + ], + [ + 1129.2231372504211, + 50.74844108090497 + ], + [ + 1285.616272918337, + 63.782259330632144 + ], + [ + 1248.5935089636118, + 6.867938007791508 + ], + [ + 1195.3931679643815, + -267.91462358369495 + ], + [ + 1232.3905065295398, + -235.81160873995896 + ], + [ + 1425.5599927755773, + -227.94266327218816 + ], + [ + 1365.1363182286593, + -261.75363681203567 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00089/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00089/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ae434d4c9267c241aa0a6d678aaab86463563ba --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00089/meta.json @@ -0,0 +1,3107 @@ +{ + "frame_id": 89, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 44.5, + "sim_timestamp": 1187.7077213784214 + }, + "drone_pose": { + "x": -133.89077603786365, + "y": -34.74192201621566, + "z": 20.0, + "pitch": -42.431570241932114, + "yaw": 69.72503050464577, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2557651400566101, + -0.692352294921875, + 0.674709141254425, + 44.804054260253906 + ], + [ + 0.9380403757095337, + 0.3465259075164795, + -2.9802322387695312e-08, + -113.55597686767578 + ], + [ + -0.23380421102046967, + 0.6329044103622437, + 0.7380837202072144, + -68.05421447753906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.8407571489413, + "y": -34.27372881623535, + "z": 20.0 + }, + "t1_image_uv": [ + 968.5627434002756, + -517.5709635565793 + ], + "t1_depth": 0.3369477352965026 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -15.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.243075371231566, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 590, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -15.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3702685534954071, + "y": 0.5358361601829529, + "z": 0.9006001353263855 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.9872645836747, + "ymin": 324.9157800558414, + "xmax": 661.823484375068, + "ymax": 394.55596084850634 + }, + "corners_3d": [ + [ + -126.13134765625, + -15.558032035827637, + 0.04353773593902588 + ], + [ + -127.20301818847656, + -15.558032035827637, + 0.04353773593902588 + ], + [ + -127.20301818847656, + -14.81749439239502, + 0.04353773593902588 + ], + [ + -126.13134765625, + -14.81749439239502, + 0.04353773593902588 + ], + [ + -126.13134765625, + -15.558032035827637, + 1.8447380065917969 + ], + [ + -127.20301818847656, + -15.558032035827637, + 1.8447380065917969 + ], + [ + -127.20301818847656, + -14.81749439239502, + 1.8447380065917969 + ], + [ + -126.13134765625, + -14.81749439239502, + 1.8447380065917969 + ] + ], + "corners_2d": [ + [ + 618.9183632291835, + 385.85432479035114 + ], + [ + 652.627836305301, + 394.55596084850634 + ], + [ + 660.9079939373697, + 378.41309389441875 + ], + [ + 627.7119137968083, + 370.0153183970848 + ], + [ + 617.9872645836747, + 340.6139893885757 + ], + [ + 653.1911731200574, + 349.248625586775 + ], + [ + 661.823484375068, + 333.23587881465534 + ], + [ + 627.1791216701413, + 324.9157800558414 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 89, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 556105, + "2": 163229, + "3": 45627, + "4": 44635, + "6": 17392, + "7": 2157, + "9": 7624, + "10": 11, + "12": 3050, + "14": 24689, + "24": 25813, + "25": 31268 + }, + "instance_pixel_counts": { + "3662": 5249, + "11605": 25082, + "15701": 2415, + "16482": 742, + "16994": 1404, + "17496": 9900, + "17503": 4298, + "17506": 623, + "18059": 266, + "19083": 2506, + "19554": 357, + "19595": 2386, + "20066": 1177, + "20565": 18088, + "21395": 3110, + "21397": 100, + "21643": 38, + "21907": 131023, + "21909": 11897, + "22155": 3440, + "22421": 5823, + "22931": 256003, + "22933": 799, + "23443": 42163, + "23445": 143, + "23955": 4312, + "23957": 546, + "24467": 15982, + "25600": 5471, + "25856": 3883, + "26112": 295, + "36096": 590, + "36352": 586, + "36608": 576, + "36864": 652, + "37376": 646, + "37888": 2825, + "40448": 3159, + "40704": 1756, + "41216": 7004, + "41728": 9945, + "45409": 376, + "45971": 3511, + "46483": 74289, + "46995": 6006, + "47201": 16698, + "47713": 3289, + "48225": 1668, + "48468": 42, + "48531": 8113, + "48737": 47993, + "49043": 11593, + "49249": 8641, + "49761": 8848, + "51526": 39386, + "52321": 3988, + "52833": 3206, + "53345": 475, + "53857": 1270, + "54366": 26970, + "56458": 801, + "56970": 5033, + "57482": 37989, + "57994": 6831, + "58506": 3184, + "60307": 121, + "60819": 5041, + "61254": 7624, + "61331": 272, + "62355": 438, + "62867": 633 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 590, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -15.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.41008299589157104, + "y": 0.5487481355667114, + "z": 0.9086888432502747 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.0586708731718, + "ymin": 323.77764705652027, + "xmax": 662.7041439747659, + "ymax": 395.7412181213542 + }, + "corners_3d": [ + [ + -126.11843872070312, + -15.597846031188965, + 0.03544902801513672 + ], + [ + -127.21593475341797, + -15.597846031188965, + 0.03544902801513672 + ], + [ + -127.21592712402344, + -14.777680397033691, + 0.03544902801513672 + ], + [ + -126.1184310913086, + -14.777680397033691, + 0.03544902801513672 + ], + [ + -126.11843872070312, + -15.597846031188965, + 1.852826714515686 + ], + [ + -127.21593475341797, + -15.597846031188965, + 1.852826714515686 + ], + [ + -127.21592712402344, + -14.777680397033691, + 1.852826714515686 + ], + [ + -126.1184310913086, + -14.777680397033691, + 1.852826714515686 + ] + ], + "corners_2d": [ + [ + 618.0384040280859, + 386.81246283662625 + ], + [ + 652.5823867790232, + 395.7412181213542 + ], + [ + 661.7441407015423, + 377.85760624253027 + ], + [ + 627.7822504870302, + 369.2734530757226 + ], + [ + 617.0586708731718, + 341.1591887096789 + ], + [ + 653.1494936574829, + 350.0193379342826 + ], + [ + 662.7041439747659, + 332.2809741729552 + ], + [ + 627.2482343336733, + 323.77764705652027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 586, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -12.190058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45072758197784424, + "y": 0.47596317529678345, + "z": 0.9004767537117004 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 533.9655579563145, + "ymin": 240.6020261405772, + "xmax": 571.6847172350612, + "ymax": 303.7959817618003 + }, + "corners_3d": [ + [ + -122.16934967041016, + -12.72989559173584, + 0.04366111755371094 + ], + [ + -123.10047149658203, + -12.531977653503418, + 0.04366111755371094 + ], + [ + -122.91304779052734, + -11.650221824645996, + 0.04366111755371094 + ], + [ + -121.98192596435547, + -11.848139762878418, + 0.04366111755371094 + ], + [ + -122.16934967041016, + -12.72989559173584, + 1.8446146249771118 + ], + [ + -123.10047149658203, + -12.531977653503418, + 1.8446146249771118 + ], + [ + -122.91304779052734, + -11.650221824645996, + 1.8446146249771118 + ], + [ + -121.98192596435547, + -11.848139762878418, + 1.8446146249771118 + ] + ], + "corners_2d": [ + [ + 538.0297044304808, + 301.176137183559 + ], + [ + 566.3200895643654, + 303.7959817618003 + ], + [ + 571.6847172350612, + 287.0320152394537 + ], + [ + 543.953167111924, + 284.51785687261486 + ], + [ + 533.9655579563145, + 256.97581886241335 + ], + [ + 563.3737174238918, + 259.5533390429787 + ], + [ + 569.0108090931391, + 243.07154775557592 + ], + [ + 540.2060317955481, + 240.6020261405772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 576, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -8.245050430297852, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.42574217915534973, + "y": 0.537915050983429, + "z": 0.9351467490196228 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 753.6805690439359, + "ymin": 213.37737083824595, + "xmax": 794.2106711778173, + "ymax": 277.5502901388711 + }, + "corners_3d": [ + [ + -128.4325408935547, + -8.724687576293945, + 0.008995890617370605 + ], + [ + -129.50247192382812, + -8.61223316192627, + 0.008995890617370605 + ], + [ + -129.41346740722656, + -7.765413284301758, + 0.008995890617370605 + ], + [ + -128.34353637695312, + -7.877867698669434, + 0.008995890617370605 + ], + [ + -128.4325408935547, + -8.724687576293945, + 1.8792893886566162 + ], + [ + -129.50247192382812, + -8.61223316192627, + 1.8792893886566162 + ], + [ + -129.41346740722656, + -7.765413284301758, + 1.8792893886566162 + ], + [ + -128.34353637695312, + -7.877867698669434, + 1.8792893886566162 + ] + ], + "corners_2d": [ + [ + 753.6805690439359, + 272.81800354684435 + ], + [ + 784.9685029239554, + 277.5502901388711 + ], + [ + 788.3686969701364, + 263.01198892157623 + ], + [ + 757.6296317861379, + 258.45067774269734 + ], + [ + 758.2151824952739, + 227.45001824372866 + ], + [ + 790.7871754242283, + 232.08971316085064 + ], + [ + 794.2106711778173, + 217.84291814190533 + ], + [ + 762.2331402680459, + 213.37737083824595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 652, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -15.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3667626976966858, + "y": 0.5338885188102722, + "z": 0.8787292242050171 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 734.2648089770067, + "ymin": 354.0341729653711, + "xmax": 782.5003818342346, + "ymax": 424.2496832038214 + }, + "corners_3d": [ + [ + -129.71304321289062, + -15.554526329040527, + 0.06540864706039429 + ], + [ + -130.78082275390625, + -15.554525375366211, + 0.06540864706039429 + ], + [ + -130.78082275390625, + -14.821000099182129, + 0.06540864706039429 + ], + [ + -129.71304321289062, + -14.821001052856445, + 0.06540864706039429 + ], + [ + -129.71304321289062, + -15.554526329040527, + 1.8228671550750732 + ], + [ + -130.78082275390625, + -15.554525375366211, + 1.8228671550750732 + ], + [ + -130.78082275390625, + -14.821000099182129, + 1.8228671550750732 + ], + [ + -129.71304321289062, + -14.821001052856445, + 1.8228671550750732 + ] + ], + "corners_2d": [ + [ + 734.2648089770067, + 414.99847918421324 + ], + [ + 770.12760925828, + 424.2496832038214 + ], + [ + 776.4737547032164, + 407.19015408348054 + ], + [ + 741.193065708987, + 398.2694682543117 + ], + [ + 738.4642197488547, + 370.66443473750326 + ], + [ + 775.9847709624523, + 379.87244888425306 + ], + [ + 782.5003818342346, + 362.8988945641863 + ], + [ + 745.6167204490604, + 354.0341729653711 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 646, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -23.35797882080078, + "z": 1.0957344770431519 + }, + "extent": { + "x": 0.32198241353034973, + "y": 0.4941662549972534, + "z": 0.9016585350036621 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 98.05919830442656, + "ymin": 413.5455490898928, + "xmax": 167.29497213291296, + "ymax": 489.77784080425954 + }, + "corners_3d": [ + [ + -114.87153625488281, + -23.57018280029297, + 0.19407594203948975 + ], + [ + -115.83826446533203, + -23.77566909790039, + 0.19407594203948975 + ], + [ + -115.97215270996094, + -23.145774841308594, + 0.19407594203948975 + ], + [ + -115.00542449951172, + -22.940288543701172, + 0.19407594203948975 + ], + [ + -114.87153625488281, + -23.57018280029297, + 1.997393012046814 + ], + [ + -115.83826446533203, + -23.77566909790039, + 1.997393012046814 + ], + [ + -115.97215270996094, + -23.145774841308594, + 1.997393012046814 + ], + [ + -115.00542449951172, + -22.940288543701172, + 1.997393012046814 + ] + ], + "corners_2d": [ + [ + 123.45690187236244, + 474.66422868792245 + ], + [ + 146.95801304738427, + 489.77784080425954 + ], + [ + 167.29497213291296, + 474.1928208821235 + ], + [ + 143.85161057922153, + 459.5398450539262 + ], + [ + 98.05919830442656, + 428.6666420200002 + ], + [ + 122.32812606344226, + 443.7996239762955 + ], + [ + 144.0643103092786, + 428.19499457242347 + ], + [ + 119.84652284528431, + 413.5455490898928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2825, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 433.481310182787, + "ymin": 12.95087364488387, + "xmax": 532.8240743547822, + "ymax": 75.44589457546476 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 515.7530417577988, + 75.44589457546476 + ], + [ + 532.8240743547822, + 58.60554499516127 + ], + [ + 457.3422509381581, + 45.96376146206023 + ], + [ + 438.5002384628803, + 62.06293702346568 + ], + [ + 512.5850407580842, + 41.41357654173828 + ], + [ + 530.1708684956601, + 25.146700171543785 + ], + [ + 452.9220591413348, + 12.95087364488387 + ], + [ + 433.481310182787, + 28.48443522736693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3159, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 101.27790522003488, + "ymin": 0.0, + "xmax": 224.05826446676025, + "ymax": 57.931273160352475 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 140.66829633305895, + 26.900809094591636 + ], + [ + 113.28046544121378, + 42.17598781555802 + ], + [ + 198.30490362770672, + 57.931273160352475 + ], + [ + 224.05826446676025, + 41.79648023811632 + ], + [ + 129.60722335527515, + -3.7410623442935957 + ], + [ + 101.27790522003488, + 11.00294935253703 + ], + [ + 187.94988293936865, + 26.229596006332713 + ], + [ + 214.58661303188148, + 10.636416343110739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 1756, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 71.96879434918321, + "ymin": 22.460040348645805, + "xmax": 186.38673066123312, + "ymax": 92.91330622595598 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 118.713914723838, + 61.612698116167735 + ], + [ + 88.4805473526369, + 79.1553810614235 + ], + [ + 157.55328764863503, + 92.91330622595598 + ], + [ + 186.38673066123312, + 74.56481815513723 + ], + [ + 103.57943491573963, + 22.460040348645805 + ], + [ + 71.96879434918321, + 39.30654343856958 + ], + [ + 142.76626140169776, + 52.53924888179745 + ], + [ + 172.91373471081755, + 34.89529259339349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7004, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1094.206921560432, + "ymin": 211.775911085534, + "xmax": 1280.0, + "ymax": 313.2789943310985 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1095.0410618520339, + 249.3195673824975 + ], + [ + 1094.206921560432, + 278.6099297157228 + ], + [ + 1268.4550724782275, + 313.2789943310985 + ], + [ + 1262.6453674048014, + 281.4332621496436 + ], + [ + 1109.7577582723927, + 211.775911085534 + ], + [ + 1109.476556566386, + 240.5688275635244 + ], + [ + 1290.5349274012888, + 274.7412721124471 + ], + [ + 1283.65433789782, + 243.34797442096863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 9945, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 437.25174983241845, + "ymin": 575.4930309147869, + "xmax": 635.7568696094444, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 447.20652867196293, + 825.0949211964223 + ], + [ + 538.6469673305943, + 862.8129719663627 + ], + [ + 635.7568696094444, + 636.3844136327307 + ], + [ + 556.7436212825071, + 609.9069221070708 + ], + [ + 437.25174983241845, + 794.8848329908465 + ], + [ + 533.258833318589, + 833.7142767331175 + ], + [ + 635.5699278339148, + 602.2932791955031 + ], + [ + 553.1633353380525, + 575.4930309147869 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1140.1989503718319, + "ymin": 105.16855877814356, + "xmax": 1161.0344624597124, + "ymax": 139.22348974161005 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1150.0663975225887, + 133.2429612995081 + ], + [ + 1140.1989503718319, + 131.64982702165878 + ], + [ + 1140.3796610758852, + 137.60097783449336 + ], + [ + 1150.3382307441889, + 139.22348974161005 + ], + [ + 1160.6575665074859, + 106.72844119427344 + ], + [ + 1150.5592774893034, + 105.16855877814356 + ], + [ + 1150.8407206519455, + 110.99630761700851 + ], + [ + 1161.0344624597124, + 112.58555941925934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.9272001268129, + "ymin": 86.29134798638529, + "xmax": 641.8816892724371, + "ymax": 119.48503674058333 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 637.5784319795874, + 119.48503674058333 + ], + [ + 641.8445522842618, + 113.85711998037809 + ], + [ + 633.4774468553147, + 112.35736545030147 + ], + [ + 629.1471521646353, + 117.9584607693339 + ], + [ + 637.5292343657457, + 93.26289768632824 + ], + [ + 641.8816892724371, + 87.75798927437529 + ], + [ + 633.3464442857519, + 86.29134798638529 + ], + [ + 628.9272001268129, + 91.76949251024593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.8738057368546, + "ymin": 0.0, + "xmax": 1152.8447071074374, + "ymax": 15.036350601710353 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1138.8738057368546, + 10.867876231291064 + ], + [ + 1138.987743721026, + 14.14209681076909 + ], + [ + 1145.7485651411282, + 15.036350601710353 + ], + [ + 1145.5927348592775, + 11.751141384763969 + ], + [ + 1145.8179422903772, + -8.609905948551557 + ], + [ + 1145.977104930148, + -5.41219837889679 + ], + [ + 1152.8447071074374, + -4.5387458832655625 + ], + [ + 1152.642323586586, + -7.747335540815641 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.8795852635842, + "ymin": 62.68725034261092, + "xmax": 1158.2376290144139, + "ymax": 94.78930801855023 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1148.0821193193656, + 89.58739866605583 + ], + [ + 1138.8795852635842, + 88.20059816990505 + ], + [ + 1139.0368209076496, + 93.37867013795562 + ], + [ + 1148.3185619333335, + 94.78930801855023 + ], + [ + 1157.9107215462527, + 64.04133991708636 + ], + [ + 1148.507700777634, + 62.68725034261092 + ], + [ + 1148.7518997471152, + 67.74379620958115 + ], + [ + 1158.2376290144139, + 69.12161652483951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 353.36313754240376, + "ymin": 114.09195116011361, + "xmax": 370.7857220703599, + "ymax": 142.4922764942916 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 365.0192583909251, + 142.4922764942916 + ], + [ + 370.7857220703599, + 137.45401880116484 + ], + [ + 364.0741648148682, + 136.10202412286208 + ], + [ + 358.2681787419997, + 141.11942534084994 + ], + [ + 360.2216033815766, + 120.37477307037747 + ], + [ + 366.12514912469436, + 115.42103962381876 + ], + [ + 359.30743273154354, + 114.09195116011361 + ], + [ + 353.36313754240376, + 119.02482275695911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.9074108810853, + "ymin": 31.475366774246027, + "xmax": 1156.1851398470117, + "ymax": 62.10832598523939 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1146.620659431713, + 57.44472692543775 + ], + [ + 1137.9074108810853, + 56.200722110980166 + ], + [ + 1138.0484057988535, + 60.844082761164714 + ], + [ + 1146.8326303306599, + 62.10832598523939 + ], + [ + 1155.8926702481422, + 32.68755037134184 + ], + [ + 1146.9998802437099, + 31.475366774246027 + ], + [ + 1147.218408538517, + 36.00044143963305 + ], + [ + 1156.1851398470117, + 37.23271074735737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 553.1962721594772, + "ymin": 73.3764990694072, + "xmax": 567.7837045333024, + "ymax": 105.97491781399594 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 562.9619510985966, + 105.97491781399594 + ], + [ + 567.7837045333024, + 100.58216335683431 + ], + [ + 559.7643157122566, + 99.1447349512888 + ], + [ + 554.8840753018856, + 104.51232949117738 + ], + [ + 561.4306648955454, + 80.05138737152157 + ], + [ + 566.3609194464742, + 74.78100391721097 + ], + [ + 558.1872830221364, + 73.3764990694072 + ], + [ + 553.1962721594772, + 78.62180865657751 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 466.52414863932376, + "ymin": 58.58962835107951, + "xmax": 482.92010645771074, + "ymax": 90.50038928995383 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 477.496039426234, + 90.50038928995383 + ], + [ + 482.92010645771074, + 85.37087638749779 + ], + [ + 475.29010159889486, + 84.00324273865999 + ], + [ + 469.81367864356844, + 89.10941327830517 + ], + [ + 474.347660520254, + 64.93286085094235 + ], + [ + 479.9029797633643, + 59.92464527575123 + ], + [ + 472.13373446722005, + 58.58962835107951 + ], + [ + 466.52414863932376, + 63.57461541500817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1103.1729612348947, + "ymin": 277.7099704085356, + "xmax": 1124.037925477268, + "ymax": 311.8830853847719 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1113.672795944367, + 303.9423997277875 + ], + [ + 1103.3376997047992, + 301.8169211761958 + ], + [ + 1103.1729612348947, + 309.71637300760773 + ], + [ + 1113.6075242688912, + 311.8830853847719 + ], + [ + 1124.0025886994265, + 279.81790436963234 + ], + [ + 1113.4153946076958, + 277.7099704085356 + ], + [ + 1113.3463274927535, + 285.54541783850436 + ], + [ + 1124.037925477268, + 287.69514908770435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.7372170688454, + "ymin": 83.8657056691107, + "xmax": 1206.2168729644325, + "ymax": 553.7398960634772 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1032.479703100856, + 553.7398960634772 + ], + [ + 1034.294519082246, + 531.6476604330344 + ], + [ + 738.1665666310392, + 452.2890546223743 + ], + [ + 730.7372170688454, + 471.1357277396023 + ], + [ + 1206.2168729644325, + 174.62729769511128 + ], + [ + 1203.6894030875585, + 154.22055005758443 + ], + [ + 775.9236589130837, + 83.8657056691107 + ], + [ + 766.5829096621588, + 100.17011853409804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 437.48073254155395, + "ymin": 0.0, + "xmax": 580.975338397767, + "ymax": 92.64223996820067 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 580.975338397767, + -6.98672260158645 + ], + [ + 573.4983300238957, + -8.120287931397911 + ], + [ + 464.48317159280055, + 91.02383252065204 + ], + [ + 473.1292466694699, + 92.64223996820067 + ], + [ + 573.5412448723367, + -185.47629548167583 + ], + [ + 565.1434468752833, + -186.30621948442365 + ], + [ + 437.48073254155395, + -111.9208329433605 + ], + [ + 447.37816142422423, + -110.67564028544444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 770.4865038270715, + "ymin": 96.31373821879629, + "xmax": 809.3320213905026, + "ymax": 114.36735654400775 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 803.6329895955844, + 114.36735654400775 + ], + [ + 809.1219280706341, + 103.42006480847567 + ], + [ + 776.4960421487385, + 97.92945234205638 + ], + [ + 770.4865038270715, + 108.68233865688364 + ], + [ + 803.8398522361747, + 112.72921826948658 + ], + [ + 809.3320213905026, + 101.7967404603778 + ], + [ + 776.6641045777428, + 96.31373821879629 + ], + [ + 770.6499772636487, + 107.05183360992726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 770.4822885992436, + "ymin": 96.35550362889768, + "xmax": 809.3265905240988, + "ymax": 114.40959610066233 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 803.6276556220348, + 114.40959610066233 + ], + [ + 809.116510672004, + 103.46192332689549 + ], + [ + 776.4917084962867, + 97.97111509507624 + ], + [ + 770.4822885992436, + 108.72438188048787 + ], + [ + 803.8345047680446, + 112.77156468926904 + ], + [ + 809.3265905240988, + 101.83870304000754 + ], + [ + 776.6597602471654, + 96.35550362889768 + ], + [ + 770.6457514677047, + 107.09398224127818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 312.40425099467075, + "ymin": 0.0, + "xmax": 679.5644694459322, + "ymax": 277.48269923502426 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 370.79520640358226, + 201.52908451031308 + ], + [ + 364.44417157851933, + 207.51576366290954 + ], + [ + 668.5277751404712, + 277.48269923502426 + ], + [ + 672.7353659336836, + 270.2906427423104 + ], + [ + 320.4529685419048, + -24.491270803858583 + ], + [ + 312.40425099467075, + -19.611016665220802 + ], + [ + 674.5448961613536, + 38.57428609266583 + ], + [ + 679.5644694459322, + 32.49387383854173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 868.064955292797, + "ymin": 0.0, + "xmax": 1200.6106124264838, + "ymax": 69.53682970695314 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1128.501928013664, + 69.53682970695314 + ], + [ + 1128.5364687868127, + 65.60563419494446 + ], + [ + 869.7257944515975, + 27.057283882142542 + ], + [ + 868.064955292797, + 30.48441973764028 + ], + [ + 1200.6106124264838, + -128.35676203565032 + ], + [ + 1200.096658216468, + -131.3446304615145 + ], + [ + 900.8500928444612, + -160.3333360486663 + ], + [ + 899.185204531168, + -157.77863547919776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1081.8127342805035, + "ymin": 0.0, + "xmax": 1209.557723501142, + "ymax": 384.33103234030057 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1081.8127342805035, + 380.80009851499153 + ], + [ + 1097.0180876204925, + 384.33103234030057 + ], + [ + 1105.2214029462457, + 182.44563647078138 + ], + [ + 1093.3843771115976, + 180.3166755534733 + ], + [ + 1190.0777815508281, + 128.55535108287145 + ], + [ + 1209.557723501142, + 131.7202191453242 + ], + [ + 1189.4924707820494, + -39.9469005422456 + ], + [ + 1175.2164097538316, + -41.661680576336664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1104.6227493874123, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 67.2826893284809 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1104.6227493874123, + -0.783416345326259 + ], + [ + 1126.3246500101654, + 54.37586184052998 + ], + [ + 1283.4025650750743, + 67.2826893284809 + ], + [ + 1245.802111706281, + 9.731071723434127 + ], + [ + 1191.9583958727335, + -266.00215226590456 + ], + [ + 1229.5681800126763, + -233.4506463567525 + ], + [ + 1423.7474162569247, + -225.6404945290136 + ], + [ + 1362.438314969179, + -259.89831595863643 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00090/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00090/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85e0882ea08c007996d05d5d5ac9638cd1019ab0 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00090/meta.json @@ -0,0 +1,3107 @@ +{ + "frame_id": 90, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 45.0, + "sim_timestamp": 1202.0710816045757 + }, + "drone_pose": { + "x": -133.8407571489413, + "y": -34.27372881623535, + "z": 20.0, + "pitch": -42.41435183989258, + "yaw": 69.88419058060832, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25391054153442383, + -0.6932505369186401, + 0.6744873523712158, + 44.25411605834961 + ], + [ + 0.9389994144439697, + 0.34391874074935913, + 2.9802322387695312e-08, + -113.8890151977539 + ], + [ + -0.23196884989738464, + 0.6333432197570801, + 0.7382863759994507, + -67.51964569091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.82136448262028, + "y": -33.793770277310855, + "z": 20.0 + }, + "t1_image_uv": [ + 1057.5343886262108, + -517.0415306190979 + ], + "t1_depth": 0.337655496933989 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -14.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.252364471326253, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 585, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -14.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.37996581196784973, + "y": 0.4083392322063446, + "z": 0.8681828379631042 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.0575327629691, + "ymin": 326.5659871241906, + "xmax": 657.7364808718969, + "ymax": 392.9208672616735 + }, + "corners_3d": [ + [ + -126.25884246826172, + -15.067728996276855, + 0.07595503330230713 + ], + [ + -127.07552337646484, + -15.067728996276855, + 0.07595503330230713 + ], + [ + -127.07552337646484, + -14.3077974319458, + 0.07595503330230713 + ], + [ + -126.25884246826172, + -14.3077974319458, + 0.07595503330230713 + ], + [ + -126.25884246826172, + -15.067728996276855, + 1.8123207092285156 + ], + [ + -127.07552337646484, + -15.067728996276855, + 1.8123207092285156 + ], + [ + -127.07552337646484, + -14.3077974319458, + 1.8123207092285156 + ], + [ + -126.25884246826172, + -14.3077974319458, + 1.8123207092285156 + ] + ], + "corners_2d": [ + [ + 622.7902646070495, + 386.34119054941186 + ], + [ + 648.5225381117924, + 392.9208672616735 + ], + [ + 657.0201406915605, + 376.3888831286501 + ], + [ + 631.691710396577, + 370.045277400864 + ], + [ + 622.0575327629691, + 342.7229970116813 + ], + [ + 648.8881549496772, + 349.2536252794609 + ], + [ + 657.7364808718969, + 332.85257241633144 + ], + [ + 631.3446193443878, + 326.5659871241906 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 90, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 560176, + "2": 162711, + "3": 43528, + "4": 43103, + "6": 17987, + "7": 2308, + "9": 7947, + "10": 11, + "12": 3050, + "14": 23689, + "24": 26222, + "25": 30868 + }, + "instance_pixel_counts": { + "3662": 4878, + "11605": 23403, + "15701": 1686, + "16482": 848, + "16994": 1432, + "17496": 10190, + "17503": 4819, + "17506": 678, + "18059": 566, + "19083": 2560, + "19554": 604, + "19595": 2595, + "20066": 1212, + "20565": 18326, + "21395": 2814, + "21397": 82, + "21643": 197, + "21907": 134771, + "21909": 12269, + "22155": 3503, + "22421": 5810, + "22931": 259645, + "22933": 587, + "23443": 33401, + "23445": 145, + "23955": 4411, + "23957": 548, + "24467": 16382, + "25600": 5756, + "25856": 4004, + "26112": 345, + "36096": 585, + "36352": 593, + "36608": 571, + "36864": 619, + "37376": 682, + "37888": 2939, + "40448": 3240, + "40704": 1994, + "41216": 7144, + "41728": 8372, + "45409": 300, + "45971": 4612, + "46483": 76291, + "46995": 7197, + "47201": 17231, + "47713": 3411, + "48225": 1715, + "48468": 113, + "48531": 8340, + "48737": 46139, + "49043": 12312, + "49249": 8367, + "49761": 9195, + "51526": 38225, + "52321": 3502, + "52833": 3324, + "53345": 488, + "53857": 1334, + "54366": 26049, + "56458": 703, + "56970": 5190, + "57482": 39141, + "57994": 4988, + "58506": 3488, + "60307": 163, + "60819": 5204, + "61254": 7947, + "61331": 339, + "62355": 450, + "62867": 625 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 585, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -14.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39393553137779236, + "y": 0.38841307163238525, + "z": 0.8885345458984375 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.5248366435399, + "ymin": 325.895707292353, + "xmax": 657.2560309546245, + "ymax": 393.55922807988054 + }, + "corners_3d": [ + [ + -126.27877044677734, + -15.081698417663574, + 0.05560332536697388 + ], + [ + -127.05559539794922, + -15.081698417663574, + 0.05560332536697388 + ], + [ + -127.05559539794922, + -14.293828010559082, + 0.05560332536697388 + ], + [ + -126.27877044677734, + -14.293828010559082, + 0.05560332536697388 + ], + [ + -126.27877044677734, + -15.081698417663574, + 1.832672357559204 + ], + [ + -127.05559539794922, + -15.081698417663574, + 1.832672357559204 + ], + [ + -127.05559539794922, + -14.293828010559082, + 1.832672357559204 + ], + [ + -126.27877044677734, + -14.293828010559082, + 1.832672357559204 + ] + ], + "corners_2d": [ + [ + 623.2552398320443, + 387.29604242293993 + ], + [ + 647.7271148857731, + 393.55922807988054 + ], + [ + 656.5434574430197, + 376.42424635722836 + ], + [ + 632.4694609713118, + 370.3937740585917 + ], + [ + 622.5248366435399, + 342.6507617264673 + ], + [ + 648.0666070464813, + 348.8663362155458 + ], + [ + 657.2560309546245, + 331.870522765702 + ], + [ + 632.1473822752823, + 325.895707292353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 593, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -11.690058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.43518558144569397, + "y": 0.4520508050918579, + "z": 0.8618630766868591 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 534.5747510631579, + "ymin": 242.14550977499204, + "xmax": 570.469609543458, + "ymax": 302.70126901214843 + }, + "corners_3d": [ + [ + -122.18950653076172, + -12.209721565246582, + 0.08227479457855225 + ], + [ + -123.0738525390625, + -12.021747589111328, + 0.08227479457855225 + ], + [ + -122.89289093017578, + -11.170395851135254, + 0.08227479457855225 + ], + [ + -122.008544921875, + -11.358369827270508, + 0.08227479457855225 + ], + [ + -122.18950653076172, + -12.209721565246582, + 1.8060009479522705 + ], + [ + -123.0738525390625, + -12.021747589111328, + 1.8060009479522705 + ], + [ + -122.89289093017578, + -11.170395851135254, + 1.8060009479522705 + ], + [ + -122.008544921875, + -11.358369827270508, + 1.8060009479522705 + ] + ], + "corners_2d": [ + [ + 538.4427366381057, + 300.2636095792874 + ], + [ + 565.336094068157, + 302.70126901214843 + ], + [ + 570.469609543458, + 286.52159609919903 + ], + [ + 544.0905472937046, + 284.1790761427478 + ], + [ + 534.5747510631579, + 257.9666867633927 + ], + [ + 562.4835833880843, + 260.366503564411 + ], + [ + 567.8676156785839, + 244.44820040936202 + ], + [ + 540.5122390614501, + 242.14550977499204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 571, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -7.745050430297852, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.46071287989616394, + "y": 0.4429449439048767, + "z": 0.934901237487793 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 755.7618647759488, + "ymin": 213.09834706743663, + "xmax": 790.9074158039452, + "ymax": 277.556642878891 + }, + "corners_3d": [ + [ + -128.5306396484375, + -8.249540328979492, + 0.00924140214920044 + ], + [ + -129.41168212890625, + -8.156939506530762, + 0.00924140214920044 + ], + [ + -129.31536865234375, + -7.240561008453369, + 0.00924140214920044 + ], + [ + -128.434326171875, + -7.3331618309021, + 0.00924140214920044 + ], + [ + -128.5306396484375, + -8.249540328979492, + 1.8790438175201416 + ], + [ + -129.41168212890625, + -8.156939506530762, + 1.8790438175201416 + ], + [ + -129.31536865234375, + -7.240561008453369, + 1.8790438175201416 + ], + [ + -128.434326171875, + -7.3331618309021, + 1.8790438175201416 + ] + ], + "corners_2d": [ + [ + 755.7618647759488, + 273.7010058080182 + ], + [ + 781.5384667630286, + 277.556642878891 + ], + [ + 785.2047127288104, + 261.84876011579286 + ], + [ + 759.9178075781939, + 258.14369996402434 + ], + [ + 760.380184474592, + 228.33622391241204 + ], + [ + 787.2137810521431, + 232.11639497864115 + ], + [ + 790.9074158039452, + 216.7251646498445 + ], + [ + 764.6041260658017, + 213.09834706743663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 619, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -14.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4179052710533142, + "y": 0.46397215127944946, + "z": 0.8923185467720032 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 736.1606655393556, + "ymin": 352.90315957300214, + "xmax": 780.5670860142138, + "ymax": 424.8935269931988 + }, + "corners_3d": [ + [ + -129.782958984375, + -15.105669021606445, + 0.0518193244934082 + ], + [ + -130.71090698242188, + -15.105668067932129, + 0.0518193244934082 + ], + [ + -130.71090698242188, + -14.269857406616211, + 0.0518193244934082 + ], + [ + -129.782958984375, + -14.269858360290527, + 0.0518193244934082 + ], + [ + -129.782958984375, + -15.105669021606445, + 1.8364564180374146 + ], + [ + -130.71090698242188, + -15.105668067932129, + 1.8364564180374146 + ], + [ + -130.71090698242188, + -14.269857406616211, + 1.8364564180374146 + ], + [ + -129.782958984375, + -14.269858360290527, + 1.8364564180374146 + ] + ], + "corners_2d": [ + [ + 736.1606655393556, + 416.902631703571 + ], + [ + 767.3594983993326, + 424.8935269931988 + ], + [ + 774.5493182017092, + 405.482562189377 + ], + [ + 743.9283254704253, + 397.81627854724087 + ], + [ + 740.5171392735598, + 371.87474636830524 + ], + [ + 773.181031951355, + 379.82802911641227 + ], + [ + 780.5670860142138, + 360.51912679373123 + ], + [ + 748.5362181158606, + 352.90315957300214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 682, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -22.85797882080078, + "z": 1.0957295894622803 + }, + "extent": { + "x": 0.29323241114616394, + "y": 0.5016931295394897, + "z": 0.9018199443817139 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 98.83438713316377, + "ymin": 415.0787203517451, + "xmax": 166.6486367801644, + "ymax": 490.17846134008755 + }, + "corners_3d": [ + [ + -114.87014770507812, + -23.040494918823242, + 0.1939096450805664 + ], + [ + -115.85160827636719, + -23.24911117553711, + 0.1939096450805664 + ], + [ + -115.97354125976562, + -22.67546272277832, + 0.1939096450805664 + ], + [ + -114.99208068847656, + -22.466846466064453, + 0.1939096450805664 + ], + [ + -114.87014770507812, + -23.040494918823242, + 1.9975495338439941 + ], + [ + -115.85160827636719, + -23.24911117553711, + 1.9975495338439941 + ], + [ + -115.97354125976562, + -22.67546272277832, + 1.9975495338439941 + ], + [ + -114.99208068847656, + -22.466846466064453, + 1.9975495338439941 + ] + ], + "corners_2d": [ + [ + 124.19121537950582, + 474.90032344956666 + ], + [ + 148.1538639196295, + 490.17846134008755 + ], + [ + 166.6486367801644, + 475.9369518131779 + ], + [ + 142.7431055966917, + 461.08462211447136 + ], + [ + 98.83438713316377, + 428.8918302425703 + ], + [ + 123.58401207193833, + 444.1891437634499 + ], + [ + 143.35347337446058, + 429.9290270824162 + ], + [ + 118.65523501489247, + 415.0787203517451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2939, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 426.6778951797022, + "ymin": 17.49028103644048, + "xmax": 527.0077787571452, + "ymax": 80.51221977230551 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 509.7322747187775, + 80.51221977230551 + ], + [ + 527.0077787571452, + 63.39094210829495 + ], + [ + 450.97877650987346, + 50.65204664093426 + ], + [ + 431.9014766826419, + 67.0194708005036 + ], + [ + 506.3848802975554, + 46.32864858804476 + ], + [ + 524.189566529011, + 29.784204089829075 + ], + [ + 446.37026867643027, + 17.49028103644048 + ], + [ + 426.6778951797022, + 33.28845074161143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3240, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 91.60503078802651, + "ymin": 0.8914907331907784, + "xmax": 215.72828922284538, + "ymax": 63.125533605036594 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 131.70754441175097, + 31.683738163330872 + ], + [ + 103.92112567226798, + 47.226881924725035 + ], + [ + 189.6059903425891, + 63.125533605036594 + ], + [ + 215.72828922284538, + 46.706915808515475 + ], + [ + 120.35867854512048, + 0.8914907331907784 + ], + [ + 91.60503078802651, + 15.899471824458146 + ], + [ + 178.96001420616176, + 31.270385277063042 + ], + [ + 205.99008601353398, + 15.397101457959764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 1994, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 61.55930985500436, + "ymin": 27.618577123465172, + "xmax": 177.43282975176845, + "ymax": 98.73442852281528 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 109.22113844616513, + 66.96650887367935 + ], + [ + 78.51787658952412, + 84.8359255703711 + ], + [ + 148.15590088331885, + 98.73442852281528 + ], + [ + 177.43282975176845, + 80.04301968100754 + ], + [ + 93.67980373813702, + 27.618577123465172 + ], + [ + 61.55930985500436, + 44.78738023143626 + ], + [ + 132.946982355822, + 58.16226154429472 + ], + [ + 163.5764003836407, + 40.179370707318526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7144, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1092.9590584916446, + "ymin": 218.88846297754768, + "xmax": 1280.0, + "ymax": 321.4771914025418 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1093.6911736678483, + 256.55356596761214 + ], + [ + 1092.9590584916446, + 286.4167151474469 + ], + [ + 1268.8216911130758, + 321.4771914025418 + ], + [ + 1262.7738210629968, + 289.0035765409564 + ], + [ + 1108.4958496316635, + 218.88846297754768 + ], + [ + 1108.3297903470323, + 248.26166103002083 + ], + [ + 1291.124323874952, + 282.8416164263333 + ], + [ + 1283.9774126764273, + 250.80956853686928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 8372, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 426.1240869342489, + "ymin": 592.9193056531963, + "xmax": 629.2910572130353, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 436.81373221044674, + 849.8007820499113 + ], + [ + 529.8020549217067, + 888.6347857348734 + ], + [ + 629.2910572130353, + 654.225293558678 + ], + [ + 549.1502863093364, + 627.1385345019179 + ], + [ + 426.1240869342489, + 820.2862842588256 + ], + [ + 523.8308910719552, + 860.340551629408 + ], + [ + 628.8118802266114, + 620.3717381237972 + ], + [ + 545.1832855673899, + 592.9193056531963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1139.2667984380332, + "ymin": 112.2734264424601, + "xmax": 1160.3366046271635, + "ymax": 146.6246772359009 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1149.2367657421055, + 140.509420875725 + ], + [ + 1139.2667984380332, + 138.89449430677664 + ], + [ + 1139.480305093139, + 144.97961077099427 + ], + [ + 1149.5435241320388, + 146.6246772359009 + ], + [ + 1159.9218716261487, + 113.85532156148346 + ], + [ + 1149.7164415560587, + 112.2734264424601 + ], + [ + 1150.0334487393468, + 118.2349292838988 + ], + [ + 1160.3366046271635, + 119.84697534112738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.4771744734992, + "ymin": 93.65289559946461, + "xmax": 635.6890984498277, + "ymax": 127.1583935041431 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 631.3509987534404, + 127.1583935041431 + ], + [ + 635.6890984498277, + 121.39515003817974 + ], + [ + 627.2329439120599, + 119.87263124496761 + ], + [ + 622.829131681432, + 125.60829609772372 + ], + [ + 631.1732807962156, + 100.78226959443111 + ], + [ + 635.6013275014102, + 95.14245983329761 + ], + [ + 626.9736361954064, + 93.65289559946461 + ], + [ + 622.4771744734992, + 99.26516740953389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.027840557437, + "ymin": 0.0, + "xmax": 1151.0790171952915, + "ymax": 19.050277672322693 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1137.027840557437, + 14.82834857257427 + ], + [ + 1137.1576131547358, + 18.15060615196893 + ], + [ + 1143.9614271640312, + 19.050277672322693 + ], + [ + 1143.789131873466, + 15.716875891152824 + ], + [ + 1143.9914484833164, + -4.729986502084785 + ], + [ + 1144.1671613472167, + -1.4847787306030682 + ], + [ + 1151.0790171952915, + -0.6058746485280153 + ], + [ + 1150.8594258121962, + -3.86212155482184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.7094049361976, + "ymin": 68.85803754571566, + "xmax": 1157.2612457114428, + "ymax": 101.22152463805935 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1146.9995847408677, + 95.91101445668653 + ], + [ + 1137.7094049361976, + 94.50748990831994 + ], + [ + 1137.894877210278, + 99.79360329950879 + ], + [ + 1147.265974808105, + 101.22152463805935 + ], + [ + 1156.9021223445307, + 70.22895917291225 + ], + [ + 1147.4077971568904, + 68.85803754571566 + ], + [ + 1147.6823943989198, + 74.021996991776 + ], + [ + 1157.2612457114428, + 75.41721974887378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 344.57598898894634, + "ymin": 121.12391120018421, + "xmax": 362.36571122954615, + "ymax": 149.76496886224282 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 356.49859033977697, + 149.76496886224282 + ], + [ + 362.36571122954615, + 144.61562247202158 + ], + [ + 355.5902348242697, + 143.2457463456971 + ], + [ + 349.68273527005414, + 148.373710062877 + ], + [ + 351.5011261146371, + 127.53578635799857 + ], + [ + 357.5101252892176, + 122.47104717678661 + ], + [ + 350.6266295317832, + 121.12391120018421 + ], + [ + 344.57598898894634, + 126.16725092873477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.5635097253055, + "ymin": 37.005655476129334, + "xmax": 1155.0077083676392, + "ymax": 67.8750569396845 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1145.3542014381972, + 63.11974830944882 + ], + [ + 1136.5635097253055, + 61.86222189127227 + ], + [ + 1136.7296284112667, + 66.5968539962052 + ], + [ + 1145.5927370934205, + 67.8750569396845 + ], + [ + 1154.6868113159117, + 38.23141327559068 + ], + [ + 1145.713534583952, + 37.005655476129334 + ], + [ + 1145.958964778857, + 41.62118844692105 + ], + [ + 1155.0077083676392, + 42.867476867959226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 545.9260971146616, + "ymin": 80.53752315774545, + "xmax": 560.8456828040978, + "ymax": 113.44118396032971 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 555.9387219073147, + 113.44118396032971 + ], + [ + 560.8456828040978, + 107.91971370442656 + ], + [ + 552.7423202245742, + 106.46071457248638 + ], + [ + 547.7754920194003, + 111.95632134790745 + ], + [ + 554.248966361948, + 87.36225114339533 + ], + [ + 559.2687762645954, + 81.96371946227794 + ], + [ + 551.0081179743341, + 80.53752315774545 + ], + [ + 545.9260971146616, + 85.91026297960235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 458.33306315887864, + "ymin": 65.52399462326656, + "xmax": 475.10101204450484, + "ymax": 97.73242464900846 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 469.5776392518838, + 97.73242464900846 + ], + [ + 475.10101204450484, + 92.48152085238655 + ], + [ + 467.3926091880822, + 91.09363363240925 + ], + [ + 461.81566759409014, + 96.32054945150509 + ], + [ + 466.2389247140807, + 72.0082420792985 + ], + [ + 471.8986331728705, + 66.87934660575775 + ], + [ + 464.0483118226631, + 65.52399462326656 + ], + [ + 458.33306315887864, + 70.62900405891173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.3472558917188, + "ymin": 287.25007184895867, + "xmax": 1123.4340026700418, + "ymax": 321.7207159467384 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1112.9322034054524, + 313.5890397694787 + ], + [ + 1102.4811390502834, + 311.4313078628835 + ], + [ + 1102.3472558917188, + 319.520585828905 + ], + [ + 1112.9002815787235, + 321.7207159467384 + ], + [ + 1123.362253411283, + 289.391022162119 + ], + [ + 1112.6536229951091, + 287.25007184895867 + ], + [ + 1112.6182971094552, + 295.2777003349333 + ], + [ + 1123.4340026700418, + 297.4616595727232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.8790012356782, + "ymin": 94.735685421759, + "xmax": 1208.0968826234596, + "ymax": 568.3258427883986 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1031.5052781014206, + 568.3258427883986 + ], + [ + 1033.2780780639096, + 545.6213017562814 + ], + [ + 733.4241930619548, + 464.8191168989092 + ], + [ + 725.8790012356782, + 484.1706988556622 + ], + [ + 1208.0968826234596, + 188.31865039863703 + ], + [ + 1205.3350566340123, + 167.10804413052665 + ], + [ + 769.9730792196696, + 94.735685421759 + ], + [ + 760.4044762772365, + 111.64070065174809 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 429.6977494356622, + "ymin": 0.0, + "xmax": 575.7441178364732, + "ymax": 98.0399035868594 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 575.7441178364732, + -3.1885540016535856 + ], + [ + 568.2198017743528, + -4.328899761026435 + ], + [ + 457.9599985324493, + 96.40671910399561 + ], + [ + 466.6730480108367, + 98.0399035868594 + ], + [ + 567.5932722557077, + -182.55340282921816 + ], + [ + 559.1372615670662, + -183.38962595596854 + ], + [ + 429.6977494356622, + -107.65757112361126 + ], + [ + 439.68072762042493, + -106.39793597798916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.4379458225196, + "ymin": 107.38324574427398, + "xmax": 803.9667755676682, + "ymax": 126.00449605404913 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 798.1453520759312, + 126.00449605404913 + ], + [ + 803.7598431286128, + 114.65492420403211 + ], + [ + 770.5919090746022, + 109.013524671586 + ], + [ + 764.4379458225196, + 120.15949735617136 + ], + [ + 798.3487849220564, + 124.35177147733842 + ], + [ + 803.9667755676682, + 113.0170648864883 + ], + [ + 770.7554538293941, + 107.38324574427398 + ], + [ + 764.5965617542707, + 118.51436407046941 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.4338559389855, + "ymin": 107.42538851135299, + "xmax": 803.9614262981029, + "ymax": 126.04711075161623 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 798.14010665916, + 126.04711075161623 + ], + [ + 803.7545073522797, + 114.69715659168236 + ], + [ + 770.5876920057965, + 109.05556208463392 + ], + [ + 764.4338559389855, + 120.20191682477244 + ], + [ + 798.3435260017754, + 124.39449587981761 + ], + [ + 803.9614262981029, + 113.05940407235826 + ], + [ + 770.751226191784, + 107.42538851135299 + ], + [ + 764.5924614378507, + 118.5568917469142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 302.1238897319808, + "ymin": 0.0, + "xmax": 673.3802442990582, + "ymax": 286.00399478623103 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 362.7731510244081, + 209.01375582095218 + ], + [ + 356.3181756536036, + 215.12714522799106 + ], + [ + 663.2965023867835, + 286.00399478623103 + ], + [ + 667.5615947518322, + 278.655655297582 + ], + [ + 310.33786711047605, + -18.295711901278196 + ], + [ + 302.1238897319808, + -13.294012232647447 + ], + [ + 668.2698461519052, + 45.88107433331447 + ], + [ + 673.3802442990582, + 39.642535218722344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.635649720394, + "ymin": 0.0, + "xmax": 1199.0191976856927, + "ymax": 73.73347807354764 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1126.670002290565, + 73.73347807354764 + ], + [ + 1126.6884031531483, + 69.74685799050263 + ], + [ + 866.304260578634, + 30.982441951316616 + ], + [ + 864.635649720394, + 34.45817219467739 + ], + [ + 1199.0191976856927, + -125.03792601631608 + ], + [ + 1198.48007414408, + -128.07342072516246 + ], + [ + 897.1803433208211, + -157.27529806746895 + ], + [ + 895.5051669553465, + -154.67999600613268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1080.8228216246341, + "ymin": 0.0, + "xmax": 1210.002394167655, + "ymax": 394.3897224692751 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1080.8228216246341, + 390.80827135473794 + ], + [ + 1096.191073176124, + 394.3897224692751 + ], + [ + 1103.6952241130034, + 188.44730850499866 + ], + [ + 1091.7660888515832, + 186.2995936102963 + ], + [ + 1190.2606063672238, + 137.58583442119496 + ], + [ + 1210.002394167655, + 140.81261234841335 + ], + [ + 1188.4610519357673, + -35.0059263232838 + ], + [ + 1174.0540029749118, + -36.740677318900794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.3990685444867, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 71.29713961047514 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1102.3990685444867, + 2.54797326830834 + ], + [ + 1124.4303854029345, + 58.40750321661977 + ], + [ + 1282.376992353913, + 71.29713961047514 + ], + [ + 1244.2595755590137, + 13.033841672236065 + ], + [ + 1189.8714981952705, + -263.85330092027357 + ], + [ + 1228.0293687403407, + -230.81269061105775 + ], + [ + 1423.5072067002452, + -222.9928084347331 + ], + [ + 1361.3216466788624, + -257.753818695467 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00091/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00091/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d651577d822876d503a53daea6be1346008f81e2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00091/meta.json @@ -0,0 +1,3107 @@ +{ + "frame_id": 91, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 45.5, + "sim_timestamp": 1214.5181327683385 + }, + "drone_pose": { + "x": -133.82136448262028, + "y": -33.793770277310855, + "z": 20.0, + "pitch": -42.39771777742796, + "yaw": 69.95310403400485, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25314366817474365, + -0.6937393546104431, + 0.6742730140686035, + 43.83464813232422 + ], + [ + 0.9394124150276184, + 0.3427891135215759, + -2.9802322387695312e-08, + -114.12931060791016 + ], + [ + -0.23113347589969635, + 0.6334203481674194, + 0.7384821772575378, + -67.10590362548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.831782110753, + "y": -33.29902877302902, + "z": 20.0 + }, + "t1_image_uv": [ + 1145.6112257867549, + -516.5303410127726 + ], + "t1_depth": 0.340584473030154 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -14.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.261346557236077, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 579, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -14.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.390449196100235, + "y": 0.3857104480266571, + "z": 0.8679165244102478 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.6804905569632, + "ymin": 326.5421304225647, + "xmax": 657.1040464540276, + "ymax": 392.94867698263175 + }, + "corners_3d": [ + [ + -126.2814712524414, + -14.57821273803711, + 0.07622134685516357 + ], + [ + -127.05289459228516, + -14.57821273803711, + 0.07622134685516357 + ], + [ + -127.05289459228516, + -13.797313690185547, + 0.07622134685516357 + ], + [ + -126.2814712524414, + -13.797313690185547, + 0.07622134685516357 + ], + [ + -126.2814712524414, + -14.57821273803711, + 1.8120543956756592 + ], + [ + -127.05289459228516, + -14.57821273803711, + 1.8120543956756592 + ], + [ + -127.05289459228516, + -13.797313690185547, + 1.8120543956756592 + ], + [ + -126.2814712524414, + -13.797313690185547, + 1.8120543956756592 + ] + ], + "corners_2d": [ + [ + 623.3874608520088, + 386.75463078168866 + ], + [ + 647.7027901417594, + 392.94867698263175 + ], + [ + 656.4142065334546, + 375.97055566038733 + ], + [ + 632.4915315069338, + 370.0048528648284 + ], + [ + 622.6804905569632, + 343.14860902965006 + ], + [ + 648.0329375318933, + 349.29630345022684 + ], + [ + 657.1040464540276, + 332.45379132863474 + ], + [ + 632.1781703748567, + 326.5421304225647 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 91, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 564180, + "2": 162108, + "3": 41448, + "4": 41518, + "6": 18846, + "7": 2412, + "9": 8222, + "10": 11, + "12": 3132, + "14": 22546, + "24": 26781, + "25": 30396 + }, + "instance_pixel_counts": { + "3662": 4461, + "11605": 21349, + "15701": 954, + "16482": 947, + "16994": 1456, + "17496": 10503, + "17503": 5322, + "17506": 741, + "18059": 895, + "19083": 2632, + "19554": 828, + "19595": 2830, + "20066": 1244, + "20565": 18933, + "21395": 2505, + "21397": 68, + "21643": 477, + "21907": 138257, + "21909": 12514, + "22155": 3561, + "22421": 5705, + "22931": 262593, + "22933": 487, + "23443": 25378, + "23445": 147, + "23955": 4446, + "23957": 565, + "24467": 16737, + "25600": 5886, + "25856": 4486, + "26112": 383, + "36096": 579, + "36352": 612, + "36608": 581, + "36864": 667, + "37376": 693, + "37888": 3003, + "40448": 3326, + "40704": 2255, + "41216": 7222, + "41728": 6740, + "45409": 222, + "45971": 5785, + "46483": 78449, + "46995": 8572, + "47201": 17734, + "47713": 3537, + "48225": 1774, + "48468": 212, + "48531": 8475, + "48737": 44158, + "49043": 12983, + "49249": 8078, + "49761": 9546, + "51526": 37057, + "52321": 2983, + "52833": 3433, + "53345": 498, + "53857": 1405, + "54366": 25074, + "56458": 580, + "56970": 5354, + "57482": 39998, + "57994": 3375, + "58506": 3822, + "60307": 188, + "60819": 5501, + "61254": 8222, + "61331": 413, + "62355": 464, + "62867": 729 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 579, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -14.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4067431688308716, + "y": 0.4781847894191742, + "z": 0.8960471153259277 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.448070989366, + "ymin": 324.7658451591748, + "xmax": 660.3138555465378, + "ymax": 394.73661739420123 + }, + "corners_3d": [ + [ + -126.18899536132812, + -14.59450626373291, + 0.04809075593948364 + ], + [ + -127.14537048339844, + -14.59450626373291, + 0.04809075593948364 + ], + [ + -127.14537048339844, + -13.781020164489746, + 0.04809075593948364 + ], + [ + -126.18899536132812, + -13.781020164489746, + 0.04809075593948364 + ], + [ + -126.18899536132812, + -14.59450626373291, + 1.8401849269866943 + ], + [ + -127.14537048339844, + -14.59450626373291, + 1.8401849269866943 + ], + [ + -127.14537048339844, + -13.781020164489746, + 1.8401849269866943 + ], + [ + -126.18899536132812, + -13.781020164489746, + 1.8401849269866943 + ] + ], + "corners_2d": [ + [ + 620.3132393828386, + 387.05075728112575 + ], + [ + 650.4487915936095, + 394.73661739420123 + ], + [ + 659.4682028906548, + 377.019415182866 + ], + [ + 629.8391060049607, + 369.62830064469324 + ], + [ + 619.448070989366, + 342.0331742475282 + ], + [ + 650.9120606705461, + 349.6599060132128 + ], + [ + 660.3138555465378, + 332.0875778940807 + ], + [ + 629.4015488434238, + 324.7658451591748 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 612, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -11.190058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4487549066543579, + "y": 0.44838565587997437, + "z": 0.8799846172332764 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 534.4291646063033, + "ymin": 241.58887213357022, + "xmax": 570.3184123810342, + "ymax": 303.4806682286899 + }, + "corners_3d": [ + [ + -122.19591522216797, + -11.7222318649292, + 0.06415325403213501 + ], + [ + -123.07308959960938, + -11.535781860351562, + 0.06415325403213501 + ], + [ + -122.88648223876953, + -10.657885551452637, + 0.06415325403213501 + ], + [ + -122.00930786132812, + -10.844335556030273, + 0.06415325403213501 + ], + [ + -122.19591522216797, + -11.7222318649292, + 1.824122428894043 + ], + [ + -123.07308959960938, + -11.535781860351562, + 1.824122428894043 + ], + [ + -122.88648223876953, + -10.657885551452637, + 1.824122428894043 + ], + [ + -122.00930786132812, + -10.844335556030273, + 1.824122428894043 + ] + ], + "corners_2d": [ + [ + 538.381615973088, + 301.08240197343406 + ], + [ + 565.0553092485254, + 303.4806682286899 + ], + [ + 570.3184123810342, + 286.7993661743489 + ], + [ + 544.1707007097623, + 284.49754529549455 + ], + [ + 534.4291646063033, + 257.89584183783944 + ], + [ + 562.1314483659238, + 260.2560537496923 + ], + [ + 567.6572984057243, + 243.85058817789923 + ], + [ + 540.5219008839707, + 241.58887213357022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 581, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -7.245050430297852, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.43766599893569946, + "y": 0.5558905005455017, + "z": 0.930637776851654 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 752.3742261326092, + "ymin": 213.11880012562904, + "xmax": 793.8879796374607, + "ymax": 277.50636639486066 + }, + "corners_3d": [ + [ + -128.41590881347656, + -7.738425254821777, + 0.013504862785339355 + ], + [ + -129.52159118652344, + -7.6222124099731445, + 0.013504862785339355 + ], + [ + -129.4300994873047, + -6.751675605773926, + 0.013504862785339355 + ], + [ + -128.3244171142578, + -6.867888450622559, + 0.013504862785339355 + ], + [ + -128.41590881347656, + -7.738425254821777, + 1.8747804164886475 + ], + [ + -129.52159118652344, + -7.6222124099731445, + 1.8747804164886475 + ], + [ + -129.4300994873047, + -6.751675605773926, + 1.8747804164886475 + ], + [ + -128.3244171142578, + -6.867888450622559, + 1.8747804164886475 + ] + ], + "corners_2d": [ + [ + 752.3742261326092, + 272.69986069132915 + ], + [ + 784.7014397984306, + 277.50636639486066 + ], + [ + 788.0966334673527, + 262.57511562224374 + ], + [ + 756.3535295192604, + 257.94714885621806 + ], + [ + 756.8280112648779, + 227.56845270915613 + ], + [ + 790.4727859468621, + 232.28084542196154 + ], + [ + 793.8879796374607, + 217.64939280916607 + ], + [ + 760.875477730887, + 213.11880012562904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 667, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -14.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3928515613079071, + "y": 0.5855658054351807, + "z": 0.8993601202964783 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 732.3574549085826, + "ymin": 352.19312345474344, + "xmax": 784.5952645659423, + "ymax": 425.38361624492745 + }, + "corners_3d": [ + [ + -129.66136169433594, + -14.580615043640137, + 0.044777750968933105 + ], + [ + -130.83250427246094, + -14.580615043640137, + 0.044777750968933105 + ], + [ + -130.83250427246094, + -13.79491138458252, + 0.044777750968933105 + ], + [ + -129.66136169433594, + -13.79491138458252, + 0.044777750968933105 + ], + [ + -129.66136169433594, + -14.580615043640137, + 1.8434979915618896 + ], + [ + -130.83250427246094, + -14.580615043640137, + 1.8434979915618896 + ], + [ + -130.83250427246094, + -13.79491138458252, + 1.8434979915618896 + ], + [ + -129.66136169433594, + -13.79491138458252, + 1.8434979915618896 + ] + ], + "corners_2d": [ + [ + 732.3574549085826, + 415.3522168514804 + ], + [ + 771.7012426742476, + 425.38361624492745 + ], + [ + 778.3512268054154, + 407.10352374444307 + ], + [ + 739.6935612350568, + 397.4557185421957 + ], + [ + 736.5646328361589, + 369.97821811402406 + ], + [ + 777.7682128459537, + 379.9607894816081 + ], + [ + 784.5952645659423, + 361.77700775467474 + ], + [ + 744.1438137255549, + 352.19312345474344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 693, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -22.35797882080078, + "z": 1.0957247018814087 + }, + "extent": { + "x": 0.29872557520866394, + "y": 0.3574011027812958, + "z": 0.8801051378250122 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.57326319544791, + "ymin": 418.030214547082, + "xmax": 163.17322224888193, + "ymax": 487.9515808570101 + }, + "corners_3d": [ + [ + -115.01014709472656, + -22.575868606567383, + 0.21561956405639648 + ], + [ + -115.7093276977539, + -22.724485397338867, + 0.21561956405639648 + ], + [ + -115.83354187011719, + -22.14008903503418, + 0.21561956405639648 + ], + [ + -115.13436126708984, + -21.991472244262695, + 0.21561956405639648 + ], + [ + -115.01014709472656, + -22.575868606567383, + 1.975829839706421 + ], + [ + -115.7093276977539, + -22.724485397338867, + 1.975829839706421 + ], + [ + -115.83354187011719, + -22.14008903503418, + 1.975829839706421 + ], + [ + -115.13436126708984, + -21.991472244262695, + 1.975829839706421 + ] + ], + "corners_2d": [ + [ + 127.2156587011134, + 477.08206983293036 + ], + [ + 144.32266898407931, + 487.9515808570101 + ], + [ + 163.17322224888193, + 473.49134445584923 + ], + [ + 146.10877579442808, + 462.9308845883182 + ], + [ + 102.57326319544791, + 432.181553356984 + ], + [ + 120.22912344754513, + 443.064342872385 + ], + [ + 140.34557830017138, + 428.5889553260489 + ], + [ + 122.72834118998185, + 418.030214547082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3003, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 420.60041444905517, + "ymin": 21.96778289684306, + "xmax": 521.8889667501293, + "ymax": 85.55956075016127 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 504.3695678554823, + 85.55956075016127 + ], + [ + 521.8889667501293, + 68.16481191085165 + ], + [ + 445.3596455262447, + 55.27535349643273 + ], + [ + 426.01272648309765, + 71.90075213228613 + ], + [ + 500.85741987258837, + 51.22647002292433 + ], + [ + 518.9210651619629, + 34.411453634869986 + ], + [ + 440.5791778117331, + 21.96778289684306 + ], + [ + 420.60041444905517, + 38.020762114489 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3326, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 82.95432203893188, + "ymin": 5.262542263250168, + "xmax": 208.28696036864625, + "ymax": 68.08057849258955 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 123.75386755543013, + 36.19494660133296 + ], + [ + 95.55818069313989, + 51.98447341390147 + ], + [ + 181.77618153178025, + 68.08057849258955 + ], + [ + 208.28696036864625, + 51.39742970312625 + ], + [ + 112.14212855242693, + 5.262542263250168 + ], + [ + 82.95432203893188, + 20.513505163075422 + ], + [ + 170.86078315694334, + 36.08078869538815 + ], + [ + 198.30333784985413, + 19.94613388216709 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 2255, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 52.10702137999101, + "ymin": 32.49615450847563, + "xmax": 169.3150015175421, + "ymax": 104.28331700469707 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 100.66692224141173, + 72.02619463873623 + ], + [ + 69.48068913974669, + 90.19746933939018 + ], + [ + 139.5734134474631, + 104.28331700469707 + ], + [ + 169.3150015175421, + 85.27173532214783 + ], + [ + 84.74935869342482, + 32.49615450847563 + ], + [ + 52.10702137999101, + 49.96315912650414 + ], + [ + 123.96940965562953, + 63.5250138919323 + ], + [ + 155.10140629909944, + 45.22518642885632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7222, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1092.2285123631996, + "ymin": 226.56356319873277, + "xmax": 1280.0, + "ymax": 330.4915884869205 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1092.9245240140665, + 264.35641858273146 + ], + [ + 1092.2285123631996, + 294.8268468462808 + ], + [ + 1269.8975459510773, + 330.4915884869205 + ], + [ + 1263.6687992640736, + 297.3382478820661 + ], + [ + 1107.8472688215054, + 226.56356319873277 + ], + [ + 1107.729648941489, + 256.55319664861264 + ], + [ + 1292.471775598372, + 291.75340492463243 + ], + [ + 1285.114878187887, + 259.0284146034319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 6740, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 413.57240775348225, + "ymin": 610.7952129381983, + "xmax": 622.0806185964174, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 425.0941663033609, + 875.1173850503478 + ], + [ + 519.5609419512272, + 915.2831011371801 + ], + [ + 622.0806185964174, + 672.6298242160451 + ], + [ + 540.8489676085613, + 644.7922497468339 + ], + [ + 413.57240775348225, + 846.3646564421906 + ], + [ + 512.907175159409, + 887.8736572877704 + ], + [ + 621.2660457769679, + 639.0462445155158 + ], + [ + 536.4519848780446, + 610.7952129381983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.9526900405488, + "ymin": 119.9321998835758, + "xmax": 1160.2750104048755, + "ymax": 154.60754301785698 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1149.0357908082515, + 148.34845496361703 + ], + [ + 1138.9526900405488, + 146.70191806308128 + ], + [ + 1139.1836860299895, + 152.92989871435043 + ], + [ + 1149.362286748967, + 154.60754301785698 + ], + [ + 1159.837653520336, + 121.54580807239313 + ], + [ + 1149.5138115557068, + 119.9321998835758 + ], + [ + 1149.8510357009409, + 126.03652116712317 + ], + [ + 1160.2750104048755, + 127.6812700594931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 616.23360506553, + "ymin": 101.17631692181152, + "xmax": 629.7552256128803, + "ymax": 135.00358197664644 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 625.3266044439623, + 135.00358197664644 + ], + [ + 629.7552256128803, + 129.1032979132027 + ], + [ + 621.2121248062335, + 127.55058209559843 + ], + [ + 616.7163675574285, + 133.4223914713837 + ], + [ + 625.0216109491984, + 108.47269688947395 + ], + [ + 629.5442512294845, + 102.69611735635112 + ], + [ + 620.8261688283898, + 101.17631692181152 + ], + [ + 616.23360506553, + 106.92444411062613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.2567786796315, + "ymin": 0.0, + "xmax": 1150.4078477725116, + "ymax": 23.44642739230676 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1136.2567786796315, + 19.16255942051947 + ], + [ + 1136.394719631639, + 22.536191464480737 + ], + [ + 1143.2484701424632, + 23.44642739230676 + ], + [ + 1143.067333034878, + 20.061428468208703 + ], + [ + 1143.2598905047912, + -0.48477383808017294 + ], + [ + 1143.4445203354219, + 2.8112803224693153 + ], + [ + 1150.4078477725116, + 3.7006854175477315 + ], + [ + 1150.1786350966304, + 0.39336813827225114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.2692912304992, + "ymin": 75.51972091947914, + "xmax": 1157.0343297792958, + "ymax": 108.17014487462535 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1146.6568893021713, + 102.74374096231651 + ], + [ + 1137.2692912304992, + 101.31509016729814 + ], + [ + 1137.4696251065286, + 106.71637659970085 + ], + [ + 1146.9399495235166, + 108.17014487462535 + ], + [ + 1156.6562686370928, + 76.9157434558532 + ], + [ + 1147.0603102472548, + 75.51972091947914 + ], + [ + 1147.3519185047414, + 80.79831830875241 + ], + [ + 1157.0343297792958, + 82.2193749951852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 336.17760162556004, + "ymin": 128.07623101501042, + "xmax": 354.33554664226494, + "ymax": 156.95757235420444 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 348.3556437024215, + 156.95757235420444 + ], + [ + 354.33554664226494, + 151.69986448816488 + ], + [ + 347.5027724935693, + 150.30650713235127 + ], + [ + 341.4817883940547, + 155.54222578587064 + ], + [ + 343.1624868223652, + 134.62005415891886 + ], + [ + 349.2892822870037, + 129.4469312731166 + ], + [ + 342.34677093268965, + 128.07623101501042 + ], + [ + 336.17760162556004, + 133.22733594549834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.0324759683808, + "ymin": 42.98382495625265, + "xmax": 1154.6632468874654, + "ymax": 74.11353451064548 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1144.9097930796715, + 69.26036472542899 + ], + [ + 1136.0324759683808, + 67.98186824911113 + ], + [ + 1136.2116880633605, + 72.81378951148065 + ], + [ + 1145.1629473751136, + 74.11353451064548 + ], + [ + 1154.325854215803, + 44.23046650366649 + ], + [ + 1145.2624190070549, + 42.98382495625265 + ], + [ + 1145.5227257268243, + 47.695887459900234 + ], + [ + 1154.6632468874654, + 48.963638952032284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 538.8899873894111, + "ymin": 87.79750170814935, + "xmax": 554.1542797358185, + "ymax": 121.01349334096221 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 549.1446895498367, + 121.01349334096221 + ], + [ + 554.1542797358185, + 115.36277820180891 + ], + [ + 545.9705231910648, + 113.8753734701632 + ], + [ + 540.8998206298528, + 119.49939924976573 + ], + [ + 547.2975934323043, + 94.77945583539679 + ], + [ + 552.4248092500353, + 89.25210331899666 + ], + [ + 544.0807292764036, + 87.79750170814935 + ], + [ + 538.8899873894111, + 93.29822107764284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 450.4263088161014, + "ymin": 72.4885340132339, + "xmax": 467.5750142607212, + "ymax": 104.99852592997178 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 461.9364760122395, + 104.99852592997178 + ], + [ + 467.5750142607212, + 99.6269387789664 + ], + [ + 459.7933217904378, + 98.21260949922453 + ], + [ + 454.1001560203425, + 103.5594580416514 + ], + [ + 458.4091657253949, + 79.11929115107068 + ], + [ + 464.189498551316, + 73.8702882372952 + ], + [ + 456.26329569309553, + 72.4885340132339 + ], + [ + 450.4263088161014, + 77.71288778547682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.8364977270862, + "ymin": 297.4941265832577, + "xmax": 1123.1716412977444, + "ymax": 332.2885851969336 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1112.5354105126407, + 323.9537105965802 + ], + [ + 1101.958504218107, + 321.75062267413665 + ], + [ + 1101.8364977270862, + 330.0416440578937 + ], + [ + 1112.5179687869822, + 332.2885851969336 + ], + [ + 1123.0825249036488, + 299.6812165748804 + ], + [ + 1112.2419102201684, + 297.4941265832577 + ], + [ + 1112.2211553777022, + 305.72627285552704 + ], + [ + 1123.1716412977444, + 307.95788279260296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.7327907200371, + "ymin": 106.09577961251327, + "xmax": 1209.956731164394, + "ymax": 583.8578020429603 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1030.34455378298, + 583.8578020429603 + ], + [ + 1032.1274114588496, + 560.5050734763387 + ], + [ + 728.4448375071981, + 477.7986377492114 + ], + [ + 720.7327907200371, + 497.66943782186524 + ], + [ + 1209.956731164394, + 203.0661831987264 + ], + [ + 1207.0228791769264, + 180.98338179785483 + ], + [ + 763.6574640906382, + 106.09577961251327 + ], + [ + 753.7802829898569, + 123.63174331727649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 422.625420107576, + "ymin": 0.0, + "xmax": 571.3670562532653, + "ymax": 103.3925950736949 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 571.3670562532653, + 0.6131148812808078 + ], + [ + 563.7984527389458, + -0.5387915549165427 + ], + [ + 452.06609555600255, + 101.73804708141813 + ], + [ + 460.83990782603803, + 103.3925950736949 + ], + [ + 562.5986300073947, + -179.628910698264 + ], + [ + 554.0875232481102, + -180.4749713080597 + ], + [ + 422.625420107576, + -103.42913657720783 + ], + [ + 432.6867783444414, + -102.14991872418085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.9636190325369, + "ymin": 118.95280825182277, + "xmax": 798.2386379904975, + "ymax": 138.19844441354925 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 792.243292061524, + 138.19844441354925 + ], + [ + 798.0353859434038, + 126.42529396561949 + ], + [ + 764.3140372152669, + 120.5978888266284 + ], + [ + 757.9636190325369, + 132.15667704242804 + ], + [ + 792.4426848328455, + 136.5309106737553 + ], + [ + 798.2386379904975, + 124.77264226422585 + ], + [ + 764.4724687162312, + 118.95280825182277 + ], + [ + 758.1166882470766, + 130.496711315241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.9596722628645, + "ymin": 118.99533455684309, + "xmax": 798.2333837453051, + "ymax": 138.24143993045317 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 792.2381509389995, + 138.24143993045317 + ], + [ + 798.0301451871109, + 126.46790679499998 + ], + [ + 764.309952086356, + 120.64030694534839 + ], + [ + 757.9596722628645, + 132.19947795709277 + ], + [ + 792.4375302350923, + 136.57401888480865 + ], + [ + 798.2333837453051, + 124.81536477246584 + ], + [ + 764.468373168306, + 118.99533455684309 + ], + [ + 758.1127312282991, + 130.5396233767688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 292.24954357344046, + "ymin": 0.0, + "xmax": 667.4028046068464, + "ymax": 294.7311227555994 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 355.12972164141627, + 216.40108600398537 + ], + [ + 348.5578853893636, + 222.63748904646928 + ], + [ + 658.2363582616281, + 294.7311227555994 + ], + [ + 662.5779871421523, + 287.22505429111686 + ], + [ + 300.6442778154866, + -12.162739987018881 + ], + [ + 292.24954357344046, + -7.0419919029794755 + ], + [ + 662.1776473667566, + 53.3898002280323 + ], + [ + 667.4028046068464, + 46.98986656152704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.0636021237354, + "ymin": 0.0, + "xmax": 1198.662714754159, + "ymax": 78.33485014646817 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1125.862909685203, + 78.33485014646817 + ], + [ + 1125.8739270627073, + 74.2890810418869 + ], + [ + 863.749040819842, + 35.1059037558303 + ], + [ + 862.0636021237354, + 38.631235299991886 + ], + [ + 1198.662714754159, + -121.40917218239332 + ], + [ + 1198.1066397603963, + -124.49595752577346 + ], + [ + 894.5035346833865, + -154.06938633412835 + ], + [ + 892.8084991561491, + -151.4323100458805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1080.107704357871, + "ymin": 0.0, + "xmax": 1210.9297823184152, + "ymax": 405.19474477878555 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1080.107704357871, + 401.54183240899937 + ], + [ + 1095.651876545896, + 405.19474477878555 + ], + [ + 1102.9136182057664, + 194.9509529768176 + ], + [ + 1090.8819517948937, + 192.77246310432022 + ], + [ + 1190.9006411303983, + 147.3150299109164 + ], + [ + 1210.9297823184152, + 150.6246557319222 + ], + [ + 1188.3827386436374, + -29.649028747866566 + ], + [ + 1173.827841408768, + -31.414064608719286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.3204057885728, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 75.82264354406897 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1101.3204057885728, + 6.206135964560531 + ], + [ + 1123.5849952690737, + 62.82935300558279 + ], + [ + 1282.6041710034997, + 75.82264354406897 + ], + [ + 1244.0346413689388, + 16.760627748648176 + ], + [ + 1189.2125295754408, + -261.5190194863279 + ], + [ + 1227.8508606306425, + -227.94019126993885 + ], + [ + 1424.951819419102, + -220.03428182860864 + ], + [ + 1361.8940983926332, + -255.36547100264147 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00092/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00092/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b8021fcb6cf175665bdbe4f777c6b85d85ce097 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00092/meta.json @@ -0,0 +1,3214 @@ +{ + "frame_id": 92, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 46.0, + "sim_timestamp": 1227.7190269825514 + }, + "drone_pose": { + "x": -133.831782110753, + "y": -33.29902877302902, + "z": 20.0, + "pitch": -42.386083895546314, + "yaw": 69.93119479011705, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2534559369087219, + -0.6937710642814636, + 0.6741230487823486, + 43.539894104003906 + ], + [ + 0.9392812848091125, + 0.3431483507156372, + -2.9802322387695312e-08, + -114.27918243408203 + ], + [ + -0.23132416605949402, + 0.6331911087036133, + 0.7386190891265869, + -66.81555938720703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.86937764562964, + "y": -32.78854767146709, + "z": 20.0 + }, + "t1_image_uv": [ + 1226.3251762607888, + -516.1729754615039 + ], + "t1_depth": 0.34462819550718143 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -13.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.267633449256316, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 598, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -13.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.38191893696784973, + "y": 0.5301568508148193, + "z": 0.9027103185653687 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.064106959741, + "ymin": 324.7173304361297, + "xmax": 661.7297259465269, + "ymax": 394.764267105198 + }, + "corners_3d": [ + [ + -126.13702392578125, + -14.069682121276855, + 0.041427552700042725 + ], + [ + -127.19734191894531, + -14.069682121276855, + 0.041427552700042725 + ], + [ + -127.19734191894531, + -13.3058443069458, + 0.041427552700042725 + ], + [ + -126.13702392578125, + -13.3058443069458, + 0.041427552700042725 + ], + [ + -126.13702392578125, + -14.069682121276855, + 1.8468482494354248 + ], + [ + -127.19734191894531, + -14.069682121276855, + 1.8468482494354248 + ], + [ + -127.19734191894531, + -13.3058443069458, + 1.8468482494354248 + ], + [ + -126.13702392578125, + -13.3058443069458, + 1.8468482494354248 + ] + ], + "corners_2d": [ + [ + 618.9928633800963, + 386.24786852895113 + ], + [ + 652.3692468990353, + 394.764267105198 + ], + [ + 660.8179827270233, + 378.1222291928691 + ], + [ + 627.9682016170904, + 369.91276051818664 + ], + [ + 618.064106959741, + 340.90461758347095 + ], + [ + 652.9215008208574, + 349.3542283400753 + ], + [ + 661.7297259465269, + 332.8492721212828 + ], + [ + 627.4463047144172, + 324.7173304361297 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 92, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 74, + "semantic_pixel_counts": { + "1": 568490, + "2": 161268, + "3": 39365, + "4": 39896, + "6": 19843, + "7": 2449, + "9": 8487, + "10": 8, + "12": 3482, + "14": 21288, + "24": 27207, + "25": 29817 + }, + "instance_pixel_counts": { + "3662": 4016, + "11605": 19179, + "12117": 3, + "15701": 468, + "16482": 1027, + "16994": 1478, + "17496": 10827, + "17503": 5780, + "17506": 808, + "18059": 1221, + "19083": 2698, + "19554": 1044, + "19595": 3080, + "20066": 1243, + "20565": 19389, + "21395": 2215, + "21397": 50, + "21643": 863, + "21907": 141721, + "21909": 12779, + "22155": 3618, + "22421": 5681, + "22931": 264244, + "22933": 385, + "23443": 18529, + "23445": 146, + "23955": 4407, + "23957": 576, + "24467": 17090, + "25344": 19, + "25600": 5980, + "25856": 5033, + "26112": 433, + "36096": 598, + "36352": 608, + "36608": 585, + "36864": 631, + "37120": 323, + "37376": 737, + "37888": 3052, + "40448": 3387, + "40704": 2538, + "41216": 7315, + "41728": 4996, + "45409": 143, + "45971": 7002, + "46483": 80967, + "46995": 10149, + "47201": 18287, + "47713": 3649, + "48225": 1840, + "48468": 326, + "48531": 8542, + "48737": 42053, + "49043": 13624, + "49249": 7768, + "49761": 9913, + "51526": 35880, + "52321": 2420, + "52833": 3521, + "53345": 505, + "53857": 1476, + "54366": 24037, + "56458": 428, + "56970": 5514, + "57482": 40456, + "57994": 2026, + "58506": 4189, + "60307": 232, + "60819": 5655, + "61254": 8487, + "61331": 465, + "62355": 466, + "62867": 772 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 598, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -13.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.38319334387779236, + "y": 0.5875152349472046, + "z": 0.8847564458847046 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.1923405022089, + "ymin": 324.7240874544207, + "xmax": 663.6072826085172, + "ymax": 394.8253668529791 + }, + "corners_3d": [ + [ + -126.07966613769531, + -14.07095718383789, + 0.05938142538070679 + ], + [ + -127.25469970703125, + -14.070956230163574, + 0.05938142538070679 + ], + [ + -127.25469970703125, + -13.304569244384766, + 0.05938142538070679 + ], + [ + -126.07966613769531, + -13.304570198059082, + 0.05938142538070679 + ], + [ + -126.07966613769531, + -14.07095718383789, + 1.8288943767547607 + ], + [ + -127.25469970703125, + -14.070956230163574, + 1.8288943767547607 + ], + [ + -127.25469970703125, + -13.304569244384766, + 1.8288943767547607 + ], + [ + -126.07966613769531, + -13.304570198059082, + 1.8288943767547607 + ] + ], + "corners_2d": [ + [ + 617.1802453674254, + 385.38747777257555 + ], + [ + 654.1844342982242, + 394.8253668529791 + ], + [ + 662.6355977870247, + 378.11182858995613 + ], + [ + 626.2174332620062, + 369.01533639967624 + ], + [ + 616.1923405022089, + 340.9503456775624 + ], + [ + 654.8052115181126, + 350.3157369001385 + ], + [ + 663.6072826085172, + 333.7363772137654 + ], + [ + 625.6320587864348, + 324.7240874544207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 608, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -10.690058708190918, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.45405763387680054, + "y": 0.4998908042907715, + "z": 0.9232845306396484 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 532.7777532190139, + "ymin": 240.29096720793007, + "xmax": 571.984736337078, + "ymax": 304.7566649110932 + }, + "corners_3d": [ + [ + -122.14663696289062, + -11.238127708435059, + 0.02085810899734497 + ], + [ + -123.12457275390625, + -11.03026008605957, + 0.02085810899734497 + ], + [ + -122.93576049804688, + -10.141989707946777, + 0.02085810899734497 + ], + [ + -121.95782470703125, + -10.349857330322266, + 0.02085810899734497 + ], + [ + -122.14663696289062, + -11.238127708435059, + 1.867427110671997 + ], + [ + -123.12457275390625, + -11.03026008605957, + 1.867427110671997 + ], + [ + -122.93576049804688, + -10.141989707946777, + 1.867427110671997 + ], + [ + -121.95782470703125, + -10.349857330322266, + 1.867427110671997 + ] + ], + "corners_2d": [ + [ + 536.9835397074062, + 302.07541430286096 + ], + [ + 566.6883916561515, + 304.7566649110932 + ], + [ + 571.984736337078, + 287.8755207718719 + ], + [ + 542.8718205194981, + 285.30323513698966 + ], + [ + 532.7777532190139, + 256.76748262254716 + ], + [ + 563.6851365312373, + 259.40402449581813 + ], + [ + 569.2580418519685, + 242.81611893961684 + ], + [ + 538.9909599605949, + 240.29096720793007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 585, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -6.745050430297852, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4319433569908142, + "y": 0.5099602937698364, + "z": 0.9441145658493042 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 753.7375792816597, + "ymin": 213.1437723698702, + "xmax": 792.578809266079, + "ymax": 277.5994865728197 + }, + "corners_3d": [ + [ + -128.4609832763672, + -7.227932929992676, + 2.8073787689208984e-05 + ], + [ + -129.47532653808594, + -7.121322154998779, + 2.8073787689208984e-05 + ], + [ + -129.38502502441406, + -6.262167930603027, + 2.8073787689208984e-05 + ], + [ + -128.3706817626953, + -6.368778705596924, + 2.8073787689208984e-05 + ], + [ + -128.4609832763672, + -7.227932929992676, + 1.8882572650909424 + ], + [ + -129.47532653808594, + -7.121322154998779, + 1.8882572650909424 + ], + [ + -129.38502502441406, + -6.262167930603027, + 1.8882572650909424 + ], + [ + -128.3706817626953, + -6.368778705596924, + 1.8882572650909424 + ] + ], + "corners_2d": [ + [ + 753.7375792816597, + 273.18536270122803 + ], + [ + 783.3758332629959, + 277.5994865728197 + ], + [ + 786.7581475650163, + 262.8752933800679 + ], + [ + 757.6482097636646, + 258.6229728296905 + ], + [ + 758.3106926563175, + 227.4025243858731 + ], + [ + 789.1741699361276, + 231.72878882980592 + ], + [ + 792.578809266079, + 217.30524306815317 + ], + [ + 762.2878512758335, + 213.1437723698702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 631, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -13.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3664794862270355, + "y": 0.5037615895271301, + "z": 0.8776196241378784 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 735.3416033736346, + "ymin": 354.034032205842, + "xmax": 781.3957303861855, + "ymax": 423.54363312421094 + }, + "corners_3d": [ + [ + -129.7431640625, + -14.054243087768555, + 0.06651824712753296 + ], + [ + -130.75070190429688, + -14.054242134094238, + 0.06651824712753296 + ], + [ + -130.75070190429688, + -13.321283340454102, + 0.06651824712753296 + ], + [ + -129.7431640625, + -13.321284294128418, + 0.06651824712753296 + ], + [ + -129.7431640625, + -14.054243087768555, + 1.8217575550079346 + ], + [ + -130.75070190429688, + -14.054242134094238, + 1.8217575550079346 + ], + [ + -130.75070190429688, + -13.321283340454102, + 1.8217575550079346 + ], + [ + -129.7431640625, + -13.321284294128418, + 1.8217575550079346 + ] + ], + "corners_2d": [ + [ + 735.3416033736346, + 414.9194391534532 + ], + [ + 769.1774318814589, + 423.54363312421094 + ], + [ + 775.4372213729164, + 406.52524401719506 + ], + [ + 742.1522235223574, + 398.20920988012716 + ], + [ + 739.575975077907, + 370.6432563246187 + ], + [ + 774.9700644313695, + 379.22568434657813 + ], + [ + 781.3957303861855, + 362.2964917090022 + ], + [ + 746.6041019346256, + 354.034032205842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 323, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -132.02500915527344, + "y": -23.70755386352539, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3985547125339508, + "y": 0.5370777249336243, + "z": 0.9035544395446777 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 683.9115167769039, + "ymin": 676.1213239381689, + "xmax": 751.2049337392953, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -131.44921875, + -24.04778480529785, + 0.04057854413986206 + ], + [ + -132.51748657226562, + -24.160064697265625, + 0.04057854413986206 + ], + [ + -132.60079956054688, + -23.36732292175293, + 0.04057854413986206 + ], + [ + -131.53253173828125, + -23.255043029785156, + 0.04057854413986206 + ], + [ + -131.44921875, + -24.04778480529785, + 1.8476874828338623 + ], + [ + -132.51748657226562, + -24.160064697265625, + 1.8476874828338623 + ], + [ + -132.60079956054688, + -23.36732292175293, + 1.8476874828338623 + ], + [ + -131.53253173828125, + -23.255043029785156, + 1.8476874828338623 + ] + ], + "corners_2d": [ + [ + 683.9115167769039, + 750.6838720731264 + ], + [ + 730.6903104018542, + 772.6276274308307 + ], + [ + 744.6469377655327, + 739.6321619995224 + ], + [ + 698.8142325899232, + 718.788531977445 + ], + [ + 686.6891054391245, + 708.8625092512366 + ], + [ + 736.5326213059582, + 731.4488195085302 + ], + [ + 751.2049337392953, + 697.505914198498 + ], + [ + 702.4350508398688, + 676.1213239381689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 737, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -21.85797882080078, + "z": 1.0957247018814087 + }, + "extent": { + "x": 0.31199216842651367, + "y": 0.4081518352031708, + "z": 0.8934999108314514 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 100.84050449692631, + "ymin": 416.4423235840072, + "xmax": 165.09287415285803, + "ymax": 489.18937881661225 + }, + "corners_3d": [ + [ + -114.95774841308594, + -22.078292846679688, + 0.20222479104995728 + ], + [ + -115.75621032714844, + -22.24801254272461, + 0.20222479104995728 + ], + [ + -115.88594055175781, + -21.637664794921875, + 0.20222479104995728 + ], + [ + -115.08747863769531, + -21.467945098876953, + 0.20222479104995728 + ], + [ + -114.95774841308594, + -22.078292846679688, + 1.9892246723175049 + ], + [ + -115.75621032714844, + -22.24801254272461, + 1.9892246723175049 + ], + [ + -115.88594055175781, + -21.637664794921875, + 1.9892246723175049 + ], + [ + -115.08747863769531, + -21.467945098876953, + 1.9892246723175049 + ] + ], + "corners_2d": [ + [ + 125.90380227440119, + 476.7701462010472 + ], + [ + 145.41974702345658, + 489.18937881661225 + ], + [ + 165.09287415285803, + 474.07850535499585 + ], + [ + 145.6272759953237, + 462.02755861781054 + ], + [ + 100.84050449692631, + 431.18312932341166 + ], + [ + 120.99141909893615, + 443.61743139966956 + ], + [ + 142.00594095547945, + 428.4902215982395 + ], + [ + 121.90056168110698, + 416.4423235840072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3052, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 415.2099480572848, + "ymin": 26.316695366062618, + "xmax": 517.4336433523491, + "ymax": 90.52954256040039 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 499.62809355287914, + 90.52954256040039 + ], + [ + 517.4336433523491, + 72.86717795216947 + ], + [ + 440.44976686863765, + 59.76933185190762 + ], + [ + 420.7963583468101, + 76.64372698497732 + ], + [ + 495.96473053471664, + 56.046390028438 + ], + [ + 514.3304394919282, + 38.96613230675564 + ], + [ + 435.51256459693747, + 26.316695366062618 + ], + [ + 415.2099480572848, + 42.61603572909388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3387, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 75.28706194939207, + "ymin": 9.292289829934191, + "xmax": 201.6961697804548, + "ymax": 72.72362040900686 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 116.77120922807035, + 40.356691209543555 + ], + [ + 88.15448676848143, + 56.37129546819398 + ], + [ + 174.7757136210933, + 72.72362040900686 + ], + [ + 201.6961697804548, + 55.794696819246326 + ], + [ + 104.92002229240279, + 9.292289829934191 + ], + [ + 75.28706194939207, + 24.765560635345423 + ], + [ + 163.61078915670385, + 40.5859764954285 + ], + [ + 191.48673730412594, + 24.20810219876921 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 2538, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 43.569402698723025, + "ymin": 37.014649630006204, + "xmax": 161.99172223955895, + "ymax": 109.48861366944047 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 93.01207283704605, + 76.71610828173249 + ], + [ + 61.32863437842184, + 95.16450393028663 + ], + [ + 131.76258523758395, + 109.48861366944047 + ], + [ + 161.99172223955895, + 90.17922263493745 + ], + [ + 76.74683836199006, + 37.014649630006204 + ], + [ + 43.569402698723025, + 54.755953250639436 + ], + [ + 115.78799632957225, + 68.55372622345135 + ], + [ + 147.44507669375884, + 49.95850893524033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7315, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1091.9953268447885, + "ymin": 234.8010589306755, + "xmax": 1280.0, + "ymax": 340.3497882786907 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1092.7255207631033, + 272.7287870849368 + ], + [ + 1091.9953268447885, + 303.84788967375096 + ], + [ + 1271.6830019895572, + 340.3497882786907 + ], + [ + 1265.3338925010366, + 306.4558517726587 + ], + [ + 1107.7993285868738, + 234.8010589306755 + ], + [ + 1107.6590388438608, + 265.4506332524636 + ], + [ + 1294.583472148837, + 301.5046839331495 + ], + [ + 1287.0758980233263, + 268.02290766290173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4996, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 399.37401126736404, + "ymin": 629.1569829354207, + "xmax": 613.984743338096, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 411.8433052248465, + 901.1059381468431 + ], + [ + 507.7103796011635, + 942.8469166461206 + ], + [ + 613.984743338096, + 691.6458642995585 + ], + [ + 531.7012848879588, + 662.899250390112 + ], + [ + 399.37401126736404, + 873.1927461096303 + ], + [ + 500.25551251879284, + 916.4175264220635 + ], + [ + 612.7827847822045, + 658.3710808182637 + ], + [ + 526.8221144212844, + 629.1569829354207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1139.2472789953822, + "ymin": 128.1454025833893, + "xmax": 1160.8434582598254, + "ymax": 163.17729060215615 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1149.455504589414, + 156.7633503280005 + ], + [ + 1139.2472789953822, + 155.07432674735585 + ], + [ + 1139.479429229098, + 161.45595766911427 + ], + [ + 1149.7855419296557, + 163.17729060215615 + ], + [ + 1160.3996873128172, + 129.801494534597 + ], + [ + 1149.9446719068212, + 128.1454025833893 + ], + [ + 1150.2857465090033, + 134.4035455453528 + ], + [ + 1160.8434582598254, + 136.09200650025136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 610.1265500048189, + "ymin": 108.82813213593855, + "xmax": 623.9764391331684, + "ymax": 142.99064836572742 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 619.4370841038719, + 142.99064836572742 + ], + [ + 623.9764391331684, + 136.95062370286635 + ], + [ + 615.3482185683245, + 135.359468090037 + ], + [ + 610.7404276735336, + 141.36996347504459 + ], + [ + 619.0045800989573, + 116.30253184965144 + ], + [ + 623.6425648886467, + 110.38629757506092 + ], + [ + 614.835840163213, + 108.82813213593855 + ], + [ + 610.1265500048189, + 114.71483907045916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.5755061952416, + "ymin": 4.081280686329251, + "xmax": 1150.8483646702985, + "ymax": 28.18328676567819 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1136.5755061952416, + 23.827846961958016 + ], + [ + 1136.713601335113, + 27.256928181213766 + ], + [ + 1143.624959400856, + 28.18328676567819 + ], + [ + 1143.4429453135178, + 24.742541815661014 + ], + [ + 1143.6400055884499, + 4.081280686329251 + ], + [ + 1143.825580866068, + 7.4322708592123945 + ], + [ + 1150.8483646702985, + 8.3376372092535 + ], + [ + 1150.6174486579641, + 4.975085826654322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.557089096052, + "ymin": 82.65919363410472, + "xmax": 1157.5578054412745, + "ymax": 115.62650874933425 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1147.0531150278352, + 110.07535086728592 + ], + [ + 1137.557089096052, + 108.61230966227487 + ], + [ + 1137.7580818757326, + 114.13744619704826 + ], + [ + 1147.3387568181142, + 115.62650874933425 + ], + [ + 1157.174882083933, + 84.08945318544056 + ], + [ + 1147.4656312846366, + 82.65919363410472 + ], + [ + 1147.760047314032, + 88.06123057987014 + ], + [ + 1157.5578054412745, + 89.51744250633465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 328.10286246498714, + "ymin": 134.8953310866959, + "xmax": 346.6326454304627, + "ymax": 164.01865500878955 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 340.52682150615374, + 164.01865500878955 + ], + [ + 346.6326454304627, + 158.65494567585208 + ], + [ + 339.74932444596436, + 157.2319551845371 + ], + [ + 333.6018836577208, + 162.57297824678432 + ], + [ + 335.1404306221904, + 141.57493642892734 + ], + [ + 341.3984264723359, + 136.2956681003852 + ], + [ + 334.403791576343, + 134.8953310866959 + ], + [ + 328.10286246498714, + 140.15187157642458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.3170932986095, + "ymin": 49.3872913104143, + "xmax": 1155.1575537367876, + "ymax": 80.8054371754609 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1145.2913562918454, + 75.84691122453972 + ], + [ + 1136.3170932986095, + 74.53926104557365 + ], + [ + 1136.4966705941938, + 79.47581508480778 + ], + [ + 1145.5464993467247, + 80.8054371754609 + ], + [ + 1154.8162665400819, + 50.662863061086455 + ], + [ + 1145.6517821276282, + 49.3872913104143 + ], + [ + 1145.9142548990576, + 54.203301474236525 + ], + [ + 1155.1575537367876, + 55.50071486650103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 532.0160222458879, + "ymin": 95.11596999332414, + "xmax": 547.641022980699, + "ymax": 128.65470974893518 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 542.5098036135187, + 128.65470974893518 + ], + [ + 547.641022980699, + 122.87340111090415 + ], + [ + 539.3803004821034, + 121.35001686091641 + ], + [ + 534.1868703775779, + 127.10367084028212 + ], + [ + 540.5047859552143, + 102.26412393435669 + ], + [ + 545.7589129930765, + 96.60643342041698 + ], + [ + 537.3348391205586, + 95.11596999332414 + ], + [ + 532.0160222458879, + 100.74604514132534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 442.7310541453515, + "ymin": 79.43520913197796, + "xmax": 460.272631587978, + "ymax": 112.253764529535 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 454.5016242373123, + 112.253764529535 + ], + [ + 460.272631587978, + 106.76155415701675 + ], + [ + 452.422730568718, + 105.31393067227657 + ], + [ + 446.5962045317567, + 110.78053225318897 + ], + [ + 450.7855769660541, + 86.21930339741527 + ], + [ + 456.7042848086276, + 80.85009820103392 + ], + [ + 448.70735613275764, + 79.43520913197796 + ], + [ + 442.7310541453515, + 84.7788815608273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.606568039507, + "ymin": 308.4731806357982, + "xmax": 1123.219835373086, + "ymax": 343.6213002784915 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1112.4510280197655, + 335.0686188247707 + ], + [ + 1101.7371568976548, + 332.8056519946195 + ], + [ + 1101.606568039507, + 341.3126932460101 + ], + [ + 1112.4277330772557, + 343.6213002784915 + ], + [ + 1123.1338767300715, + 310.7209914814066 + ], + [ + 1112.1493669253111, + 308.4731806357982 + ], + [ + 1112.12251366614, + 316.92464863776377 + ], + [ + 1123.219835373086, + 319.21883349391646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.2029957199368, + "ymin": 117.96547748929032, + "xmax": 1211.7376979739722, + "ymax": 600.4134522428367 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1028.9188108159383, + 600.4134522428367 + ], + [ + 1030.7686926710455, + 576.3702080736899 + ], + [ + 723.1376205870233, + 491.24767724883094 + ], + [ + 715.2029957199368, + 511.65535292189276 + ], + [ + 1211.7376979739722, + 218.9832111137851 + ], + [ + 1208.7008097244252, + 195.9452297170373 + ], + [ + 756.848041489924, + 117.96547748929032 + ], + [ + 746.5714732264839, + 136.1697199363597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 416.21456478649463, + "ymin": 0.0, + "xmax": 567.8201461844591, + "ymax": 108.64247839831077 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 567.8201461844591, + 4.350991692692617 + ], + [ + 560.210053834087, + 3.182373858115625 + ], + [ + 446.7608228154255, + 106.9594156874982 + ], + [ + 455.58923640165415, + 108.64247839831077 + ], + [ + 558.5309229742614, + -176.7874394764649 + ], + [ + 549.9674591502071, + -177.64719790687343 + ], + [ + 416.21456478649463, + -99.31053623510593 + ], + [ + 426.34730847987, + -98.00606400360869 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.928066869692, + "ymin": 131.04431072430077, + "xmax": 792.0216699817813, + "ymax": 150.98140033240784 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 785.7945761528993, + 150.98140033240784 + ], + [ + 791.8227736961494, + 138.75854012376416 + ], + [ + 757.5334222015716, + 132.70454845316223 + ], + [ + 750.928066869692, + 144.70041465735034 + ], + [ + 785.989144498825, + 149.2987276339362 + ], + [ + 792.0216699817813, + 137.09072324150247 + ], + [ + 757.6859723784744, + 131.04431072430077 + ], + [ + 751.0747089908391, + 143.02530138414406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.9242859119399, + "ymin": 131.08722983131184, + "xmax": 792.0165282171288, + "ymax": 151.0247850866609 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 785.7895595505136, + 151.0247850866609 + ], + [ + 791.8176453768384, + 138.80154292543776 + ], + [ + 757.529488816221, + 132.74735636655612 + ], + [ + 750.9242859119399, + 144.74360506176046 + ], + [ + 785.9841144980467, + 149.3422282606325 + ], + [ + 792.0165282171288, + 137.13383878719992 + ], + [ + 757.6820287761498, + 131.08722983131184 + ], + [ + 751.0709180301242, + 143.06860605378571 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 282.70387347837345, + "ymin": 0.0, + "xmax": 661.5613246243026, + "ymax": 303.6440528463967 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 347.80641881490584, + 223.64157536873367 + ], + [ + 341.1038018675362, + 229.99762770917417 + ], + [ + 653.2867903528467, + 303.6440528463967 + ], + [ + 657.7255065445868, + 295.977853861212 + ], + [ + 291.29644357314066, + -6.156301406824355 + ], + [ + 282.70387347837345, + -0.9184052057263443 + ], + [ + 656.1951473119218, + 61.068536292972055 + ], + [ + 661.5613246243026, + 54.502587495203784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 860.3387747626034, + "ymin": 0.0, + "xmax": 1199.5721597424451, + "ymax": 83.30363447203246 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1126.0913026918427, + 83.30363447203246 + ], + [ + 1126.1041090061885, + 79.1941856151712 + ], + [ + 862.0506300622894, + 39.37416543214238 + ], + [ + 860.3387747626034, + 42.95064059908026 + ], + [ + 1199.5721597424451, + -117.52800282626754 + ], + [ + 1199.0076260837966, + -120.67058085080134 + ], + [ + 892.8167422248464, + -150.78812375365175 + ], + [ + 891.0916703239227, + -148.10755956758396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1079.6295506987751, + "ymin": 0.0, + "xmax": 1212.3278066748312, + "ymax": 416.78057218096956 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1079.6295506987751, + 413.0331149874123 + ], + [ + 1095.3642035208736, + 416.78057218096956 + ], + [ + 1102.8713220275076, + 201.9424872987551 + ], + [ + 1090.7255585338953, + 199.72016801698723 + ], + [ + 1191.9820942866088, + 157.7743609275038 + ], + [ + 1212.3278066748312, + 161.19050795069256 + ], + [ + 1189.2744694532732, + -23.907681675412505 + ], + [ + 1174.5526874124166, + -25.71439698895449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.4016857400954, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 80.82696026378414 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1101.4016857400954, + 10.139452711041997 + ], + [ + 1123.8002415329397, + 67.60140882802756 + ], + [ + 1284.1135206546269, + 80.82696026378414 + ], + [ + 1245.1569724351557, + 20.86559549783209 + ], + [ + 1190.0222469635862, + -259.0839200583447 + ], + [ + 1229.07558657855, + -224.9075988458561 + ], + [ + 1428.1586367848122, + -216.8332252518992 + ], + [ + 1364.2231778134762, + -252.81362589905098 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00093/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00093/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6302bd16a4023c6e73dd06cff814563445ba9453 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00093/meta.json @@ -0,0 +1,3214 @@ +{ + "frame_id": 93, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 46.5, + "sim_timestamp": 1240.1761740182992 + }, + "drone_pose": { + "x": -133.86937764562964, + "y": -32.78854767146709, + "z": 20.0, + "pitch": -42.381858843963336, + "yaw": 69.82443625954934, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2547653317451477, + -0.6933441758155823, + 0.6740685701370239, + 43.35765838623047 + ], + [ + 0.9386401772499084, + 0.34489792585372925, + 0.0, + -114.34648132324219 + ], + [ + -0.232484832406044, + 0.6327078342437744, + 0.7386687994003296, + -66.64154815673828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.92956749316843, + "y": -32.26286620112274, + "z": 20.0 + }, + "t1_image_uv": [ + 1293.859072976968, + -516.043224576867 + ], + "t1_depth": 0.3491439317685521 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -13.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.26991762712466, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 599, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -13.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3869335949420929, + "y": 0.34132933616638184, + "z": 0.8599453568458557 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.162007068554, + "ymin": 327.1601576235481, + "xmax": 655.6319247583615, + "ymax": 392.3225403707639 + }, + "corners_3d": [ + [ + -126.32585144042969, + -13.57469654083252, + 0.08419251441955566 + ], + [ + -127.00851440429688, + -13.57469654083252, + 0.08419251441955566 + ], + [ + -127.00851440429688, + -12.800829887390137, + 0.08419251441955566 + ], + [ + -126.32585144042969, + -12.800829887390137, + 0.08419251441955566 + ], + [ + -126.32585144042969, + -13.57469654083252, + 1.804083228111267 + ], + [ + -127.00851440429688, + -13.57469654083252, + 1.804083228111267 + ], + [ + -127.00851440429688, + -12.800829887390137, + 1.804083228111267 + ], + [ + -126.32585144042969, + -12.800829887390137, + 1.804083228111267 + ] + ], + "corners_2d": [ + [ + 624.8024843123956, + 386.81184931714864 + ], + [ + 646.2980067210914, + 392.3225403707639 + ], + [ + 655.0076771417234, + 375.53390771850525 + ], + [ + 633.8552068828908, + 370.22443874194136 + ], + [ + 624.162007068554, + 343.60666087018143 + ], + [ + 646.5651158096548, + 349.07617693363466 + ], + [ + 655.6319247583615, + 332.42175365668174 + ], + [ + 633.6011978860109, + 327.1601576235481 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 93, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 74, + "semantic_pixel_counts": { + "1": 573352, + "2": 160395, + "3": 36933, + "4": 38267, + "6": 20836, + "7": 2516, + "9": 8942, + "10": 12, + "12": 3685, + "14": 19979, + "24": 27630, + "25": 29053 + }, + "instance_pixel_counts": { + "3662": 3554, + "11605": 17098, + "15701": 109, + "16482": 1092, + "16994": 1503, + "17496": 11190, + "17503": 6116, + "17506": 878, + "18018": 18, + "18059": 1540, + "19083": 2773, + "19554": 1242, + "19595": 3352, + "20066": 1256, + "20565": 19379, + "21395": 2155, + "21397": 40, + "21643": 1337, + "21907": 145585, + "21909": 12974, + "22155": 3647, + "22421": 5676, + "22931": 264634, + "22933": 282, + "23443": 12832, + "23445": 146, + "23955": 4298, + "23957": 580, + "24467": 17427, + "25344": 46, + "25600": 6104, + "25856": 5529, + "26112": 483, + "36096": 599, + "36352": 574, + "36608": 589, + "36864": 627, + "37120": 604, + "37376": 692, + "37888": 3092, + "40448": 3454, + "40704": 2834, + "41216": 7426, + "41728": 3173, + "45409": 62, + "45971": 8258, + "46483": 83615, + "46995": 11854, + "47201": 18913, + "47713": 3797, + "48225": 1903, + "48468": 347, + "48531": 8531, + "48737": 39794, + "49043": 14163, + "49249": 7434, + "49761": 10292, + "51526": 34713, + "52321": 1818, + "52833": 3594, + "53345": 503, + "53857": 1550, + "54366": 22937, + "56458": 245, + "56970": 5674, + "57482": 40611, + "57994": 978, + "58506": 4589, + "60307": 269, + "60819": 5872, + "61254": 8942, + "61331": 531, + "62355": 459, + "62867": 801 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 599, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -13.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4102880656719208, + "y": 0.3226116895675659, + "z": 0.8792292475700378 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.4750251776127, + "ymin": 326.3138666352836, + "xmax": 655.2996906206647, + "ymax": 393.151804133733 + }, + "corners_3d": [ + [ + -126.34457397460938, + -13.598051071166992, + 0.06490862369537354 + ], + [ + -126.98979187011719, + -13.598051071166992, + 0.06490862369537354 + ], + [ + -126.98979187011719, + -12.777475357055664, + 0.06490862369537354 + ], + [ + -126.34457397460938, + -12.777475357055664, + 0.06490862369537354 + ], + [ + -126.34457397460938, + -13.598051071166992, + 1.8233671188354492 + ], + [ + -126.98979187011719, + -13.598051071166992, + 1.8233671188354492 + ], + [ + -126.98979187011719, + -12.777475357055664, + 1.8233671188354492 + ], + [ + -126.34457397460938, + -12.777475357055664, + 1.8233671188354492 + ] + ], + "corners_2d": [ + [ + 625.1171011172538, + 387.93717913191745 + ], + [ + 645.4342538809846, + 393.151804133733 + ], + [ + 654.6757394524755, + 375.3544110244671 + ], + [ + 634.7020839243395, + 370.3413765128014 + ], + [ + 624.4750251776127, + 343.7570798250559 + ], + [ + 645.6701087897229, + 348.93211288345606 + ], + [ + 655.2996906206647, + 331.2804460505053 + ], + [ + 634.4781589253271, + 326.3138666352836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 574, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -10.190058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44175782799720764, + "y": 0.43804994225502014, + "z": 0.8624704480171204 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 535.1605621681638, + "ymin": 242.11399750242487, + "xmax": 570.2869765658859, + "ymax": 302.84432411277623 + }, + "corners_3d": [ + [ + -122.2045669555664, + -10.713238716125488, + 0.08166742324829102 + ], + [ + -123.0615234375, + -10.531086921691895, + 0.08166742324829102 + ], + [ + -122.8778305053711, + -9.666878700256348, + 0.08166742324829102 + ], + [ + -122.0208740234375, + -9.849030494689941, + 0.08166742324829102 + ], + [ + -122.2045669555664, + -10.713238716125488, + 1.8066083192825317 + ], + [ + -123.0615234375, + -10.531086921691895, + 1.8066083192825317 + ], + [ + -122.8778305053711, + -9.666878700256348, + 1.8066083192825317 + ], + [ + -122.0208740234375, + -9.849030494689941, + 1.8066083192825317 + ] + ], + "corners_2d": [ + [ + 539.005508545295, + 300.4672877854439 + ], + [ + 565.0468425426179, + 302.84432411277623 + ], + [ + 570.2869765658859, + 286.4453727715147 + ], + [ + 544.7507527524257, + 284.162454991904 + ], + [ + 535.1605621681638, + 258.1501801136733 + ], + [ + 562.1846874924488, + 260.4900873421062 + ], + [ + 567.6802242733366, + 244.35783328553737 + ], + [ + 541.1996440886719, + 242.11399750242487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 589, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -6.245050430297852, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.44811034202575684, + "y": 0.525397002696991, + "z": 0.9368855953216553 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 753.538961288171, + "ymin": 213.14896218366948, + "xmax": 793.436947491462, + "ymax": 277.9584912591626 + }, + "corners_3d": [ + [ + -128.44732666015625, + -6.745625019073486, + 0.007257044315338135 + ], + [ + -129.49237060546875, + -6.635787010192871, + 0.007257044315338135 + ], + [ + -129.398681640625, + -5.744475841522217, + 0.007257044315338135 + ], + [ + -128.3536376953125, + -5.854313850402832, + 0.007257044315338135 + ], + [ + -128.44732666015625, + -6.745625019073486, + 1.881028175354004 + ], + [ + -129.49237060546875, + -6.635787010192871, + 1.881028175354004 + ], + [ + -129.398681640625, + -5.744475841522217, + 1.881028175354004 + ], + [ + -128.3536376953125, + -5.854313850402832, + 1.881028175354004 + ] + ], + "corners_2d": [ + [ + 753.538961288171, + 273.3730362952408 + ], + [ + 784.0859374912363, + 277.9584912591626 + ], + [ + 787.628736438857, + 262.6846019814777 + ], + [ + 757.6459826405378, + 258.2733772048481 + ], + [ + 758.0697244731153, + 227.93610307756936 + ], + [ + 789.8704144350895, + 232.43112220776774 + ], + [ + 793.436947491462, + 217.46655488707873 + ], + [ + 762.2473264637517, + 213.14896218366948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 627, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -13.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.41081541776657104, + "y": 0.5457525253295898, + "z": 0.9082723259925842 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 733.3679358835741, + "ymin": 352.0330177224121, + "xmax": 783.2975575659818, + "ymax": 425.8657038689767 + }, + "corners_3d": [ + [ + -129.70118713378906, + -13.598578453063965, + 0.03586554527282715 + ], + [ + -130.7926788330078, + -13.598578453063965, + 0.03586554527282715 + ], + [ + -130.7926788330078, + -12.776947975158691, + 0.03586554527282715 + ], + [ + -129.70118713378906, + -12.776947975158691, + 0.03586554527282715 + ], + [ + -129.70118713378906, + -13.598578453063965, + 1.8524101972579956 + ], + [ + -130.7926788330078, + -13.598578453063965, + 1.8524101972579956 + ], + [ + -130.7926788330078, + -12.776947975158691, + 1.8524101972579956 + ], + [ + -129.70118713378906, + -12.776947975158691, + 1.8524101972579956 + ] + ], + "corners_2d": [ + [ + 733.3679358835741, + 416.4523478630209 + ], + [ + 770.0153626783398, + 425.8657038689767 + ], + [ + 777.0568183944899, + 406.78117378324254 + ], + [ + 741.0756933330402, + 397.7435815406719 + ], + [ + 737.6659530556966, + 370.6240528963803 + ], + [ + 776.0636032474761, + 379.99116423557285 + ], + [ + 783.2975575659818, + 361.00945235209315 + ], + [ + 745.6309652570368, + 352.0330177224121 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 604, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -131.57867431640625, + "y": -23.125743865966797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3974316716194153, + "y": 0.32908815145492554, + "z": 0.8629456162452698 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 673.249453302072, + "ymin": 671.078806765152, + "xmax": 720.5506402256326, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -131.2098388671875, + -23.48659896850586, + 0.0811922550201416 + ], + [ + -131.86441040039062, + -23.555397033691406, + 0.0811922550201416 + ], + [ + -131.947509765625, + -22.764888763427734, + 0.0811922550201416 + ], + [ + -131.29293823242188, + -22.696090698242188, + 0.0811922550201416 + ], + [ + -131.2098388671875, + -23.48659896850586, + 1.8070834875106812 + ], + [ + -131.86441040039062, + -23.555397033691406, + 1.8070834875106812 + ], + [ + -131.947509765625, + -22.764888763427734, + 1.8070834875106812 + ], + [ + -131.29293823242188, + -22.696090698242188, + 1.8070834875106812 + ] + ], + "corners_2d": [ + [ + 673.249453302072, + 743.4499150934964 + ], + [ + 701.4798046425592, + 756.7304105134401 + ], + [ + 716.0596209281125, + 724.5895726082385 + ], + [ + 688.3865791578335, + 711.9680165701113 + ], + [ + 675.2443381533622, + 703.3383926376014 + ], + [ + 705.2096944579549, + 716.9759879898002 + ], + [ + 720.5506402256326, + 684.0005397482247 + ], + [ + 691.2128512122579, + 671.078806765152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 692, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -21.35797882080078, + "z": 1.0957199335098267 + }, + "extent": { + "x": 0.3073144555091858, + "y": 0.3812609910964966, + "z": 0.8731517791748047 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.1374995920196, + "ymin": 416.78115033028797, + "xmax": 164.1522430041809, + "ymax": 487.4353904279395 + }, + "corners_3d": [ + [ + -114.98502349853516, + -21.579309463500977, + 0.22256815433502197 + ], + [ + -115.73088073730469, + -21.73784637451172, + 0.22256815433502197 + ], + [ + -115.8586654663086, + -21.136648178100586, + 0.22256815433502197 + ], + [ + -115.11280822753906, + -20.978111267089844, + 0.22256815433502197 + ], + [ + -114.98502349853516, + -21.579309463500977, + 1.9688717126846313 + ], + [ + -115.73088073730469, + -21.73784637451172, + 1.9688717126846313 + ], + [ + -115.8586654663086, + -21.136648178100586, + 1.9688717126846313 + ], + [ + -115.11280822753906, + -20.978111267089844, + 1.9688717126846313 + ] + ], + "corners_2d": [ + [ + 126.56932136892215, + 475.8208465661977 + ], + [ + 144.7465595920914, + 487.4353904279395 + ], + [ + 164.1522430041809, + 472.60310880415443 + ], + [ + 146.01929097531973, + 461.32744445260096 + ], + [ + 102.1374995920196, + 431.27221775268856 + ], + [ + 120.89045313856855, + 442.8994442149733 + ], + [ + 141.58576278222944, + 428.0532582108686 + ], + [ + 122.87257969310929, + 416.78115033028797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3092, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 410.41792092560934, + "ymin": 30.508023536744815, + "xmax": 513.5582863414533, + "ymax": 95.39595487985883 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 495.4245670669653, + 95.39595487985883 + ], + [ + 513.5582863414533, + 77.47025200241228 + ], + [ + 436.1627468398105, + 64.10643632830624 + ], + [ + 416.1661613662949, + 81.22236790167949 + ], + [ + 491.62132294108386, + 60.760903315057874 + ], + [ + 510.3320766984841, + 43.41913132250738 + ], + [ + 431.0817866676603, + 30.508023536744815 + ], + [ + 410.41792092560934, + 47.046809661156715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3454, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 68.4988007264601, + "ymin": 12.955408367832831, + "xmax": 195.8600213313166, + "ymax": 77.03224774371347 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 110.65830502792937, + 44.14543369377998 + ], + [ + 81.60861434342337, + 60.36531753199159 + ], + [ + 168.5086454605879, + 77.03224774371347 + ], + [ + 195.8600213313166, + 59.874762821806826 + ], + [ + 98.58820163263294, + 12.955408367832831 + ], + [ + 68.4988007264601, + 28.631811163963675 + ], + [ + 157.11123934014387, + 44.76187338821666 + ], + [ + 185.44166440330025, + 28.157389763490414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 2834, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 35.84284467358407, + "ymin": 41.15104368084934, + "xmax": 155.36766920392483, + "ymax": 114.33089183744028 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 86.15705789086985, + 81.01541089144422 + ], + [ + 53.96206489674364, + 99.71781863618355 + ], + [ + 124.62805285170805, + 114.33089183744028 + ], + [ + 155.36766920392483, + 94.74438805706757 + ], + [ + 69.56892400989761, + 41.15104368084934 + ], + [ + 35.84284467358407, + 59.14436648197295 + ], + [ + 108.30356784872379, + 73.22693358921225 + ], + [ + 140.50845890737844, + 54.35620141886045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7426, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1092.1893744033214, + "ymin": 243.58664466338763, + "xmax": 1280.0, + "ymax": 351.04560733914286 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1093.0238031786996, + 281.6556152937721 + ], + [ + 1092.1893744033214, + 313.46864304091696 + ], + [ + 1274.1113138330595, + 351.04560733914286 + ], + [ + 1267.7016409660935, + 316.3453200818124 + ], + [ + 1108.2811938178436, + 243.58664466338763 + ], + [ + 1108.0473211882563, + 274.94385996761423 + ], + [ + 1297.393490500871, + 312.0912561925514 + ], + [ + 1289.7936991872668, + 277.7834793218028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3173, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 383.39007150042386, + "ymin": 648.0371336401308, + "xmax": 604.9061582443485, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 396.9369294653112, + 927.823077474737 + ], + [ + 494.1206048237227, + 971.3977158292723 + ], + [ + 604.9061582443485, + 711.3082464692018 + ], + [ + 521.6113867779917, + 681.4873270238247 + ], + [ + 383.39007150042386, + 900.8378383219683 + ], + [ + 485.73069291771674, + 946.057340969216 + ], + [ + 603.2573205297357, + 678.3870360996098 + ], + [ + 516.1903906592447, + 648.0371336401308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1140.079093497115, + "ymin": 136.90425793848718, + "xmax": 1161.9710493373382, + "ymax": 172.32670566457767 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1150.4248238568982, + 165.7457191419373 + ], + [ + 1140.079093497115, + 164.00297086287912 + ], + [ + 1140.2960581514465, + 170.55019499230195 + ], + [ + 1150.742212338253, + 172.32670566457767 + ], + [ + 1161.537063592315, + 138.61398934297625 + ], + [ + 1150.937667793629, + 136.90425793848718 + ], + [ + 1151.2662244323608, + 143.32842855642943 + ], + [ + 1161.9710493373382, + 145.0720135366299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 604.0653950360154, + "ymin": 116.59387707181057, + "xmax": 618.2647122504137, + "ymax": 151.10681396492768 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 613.5940480271905, + 151.10681396492768 + ], + [ + 618.2647122504137, + 144.92358628610955 + ], + [ + 609.5530033835637, + 143.28552557839603 + ], + [ + 604.8127297457191, + 149.43800105887794 + ], + [ + 613.031781480895, + 124.2583337412305 + ], + [ + 617.8062788535238, + 118.19877482195471 + ], + [ + 608.9124505248292, + 116.59387707181057 + ], + [ + 604.0653950360154, + 122.6226625995127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.9077108605343, + "ymin": 8.930946722768681, + "xmax": 1152.32436995921, + "ymax": 33.224463481534826 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1137.9077108605343, + 28.78743118824758 + ], + [ + 1138.0381189351674, + 32.27640018590989 + ], + [ + 1145.0148315643296, + 33.224463481534826 + ], + [ + 1144.8397302139042, + 29.72345747872123 + ], + [ + 1145.055329617799, + 8.930946722768681 + ], + [ + 1145.2340549278579, + 12.341332773137822 + ], + [ + 1152.32436995921, + 13.268150947285676 + ], + [ + 1152.099489957115, + 9.84582910640097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.5010232250102, + "ymin": 90.25940070134203, + "xmax": 1158.7604255874542, + "ymax": 123.57505025515479 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1148.116802266681, + 117.88935424061003 + ], + [ + 1138.5010232250102, + 116.38240429965558 + ], + [ + 1138.6885394871442, + 122.04098034692996 + ], + [ + 1148.391012587169, + 123.57505025515479 + ], + [ + 1158.3866342264623, + 91.73330420897116 + ], + [ + 1148.5520715167872, + 90.25940070134203 + ], + [ + 1148.8351638142549, + 95.79462052395456 + ], + [ + 1158.7604255874542, + 97.29559209595249 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.2609325479797, + "ymin": 141.5636494742183, + "xmax": 339.1684827883588, + "ymax": 170.9319662007438 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 332.9234779107228, + 170.9319662007438 + ], + [ + 339.1684827883588, + 165.46414275030975 + ], + [ + 332.2411615774989, + 164.0052941897605 + ], + [ + 325.95417302218226, + 169.44964012271222 + ], + [ + 327.3443251252315, + 148.3834358578948 + ], + [ + 333.74707994785973, + 142.99977883361035 + ], + [ + 326.707004654019, + 141.5636494742183 + ], + [ + 320.2609325479797, + 146.92377345061954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.3449849661138, + "ymin": 56.193434054137015, + "xmax": 1156.41873079578, + "ymax": 87.92957149936831 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1146.4267813128022, + 82.85742490342477 + ], + [ + 1137.3449849661138, + 81.51224790580738 + ], + [ + 1137.5123062979183, + 86.56153912725256 + ], + [ + 1146.6713970964174, + 87.92957149936831 + ], + [ + 1156.0860302357219, + 57.506184938321724 + ], + [ + 1146.8093019176608, + 56.193434054137015 + ], + [ + 1147.0613423495292, + 61.121591130500406 + ], + [ + 1156.41873079578, + 62.45707688632501 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 525.2117671196836, + "ymin": 102.4765030215666, + "xmax": 541.2161492898903, + "ymax": 136.3501104158403 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 535.9439627348856, + 136.3501104158403 + ], + [ + 541.2161492898903, + 130.43617906642143 + ], + [ + 532.8816979714694, + 128.8690539711668 + ], + [ + 527.5463520522704, + 134.75421774753468 + ], + [ + 533.7783080921621, + 109.80072964676705 + ], + [ + 539.1792426721818, + 104.01048613762873 + ], + [ + 530.6784007201225, + 102.4765030215666 + ], + [ + 525.2117671196836, + 108.23799929563694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 435.15271838175727, + "ymin": 86.34564300715658, + "xmax": 453.10202075720133, + "ymax": 119.48148859821094 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 447.1809369339925, + 119.48148859821094 + ], + [ + 453.10202075720133, + 113.86811509852032 + ], + [ + 445.1887969127106, + 112.3801932753826 + ], + [ + 439.21147407883063, + 117.96696164964038 + ], + [ + 443.2737771923735, + 93.290677967205 + ], + [ + 449.3489645768545, + 87.80056347284534 + ], + [ + 441.2862626692883, + 86.34564300715658 + ], + [ + 435.15271838175727, + 91.80921357270205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.5850466797583, + "ymin": 320.1941720467077, + "xmax": 1123.5062522227727, + "ymax": 355.726628969338 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1112.6071513910524, + 346.9400234827306 + ], + [ + 1101.7448607417075, + 344.6021429579252 + ], + [ + 1101.5850466797583, + 353.3409648604559 + ], + [ + 1112.5574949796128, + 355.726628969338 + ], + [ + 1123.444163854282, + 322.5178380061211 + ], + [ + 1112.3034585402083, + 320.1941720467077 + ], + [ + 1112.2496389990004, + 328.8813384756895 + ], + [ + 1123.5062522227727, + 331.2536020120636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 709.2065479027161, + "ymin": 130.36868158023313, + "xmax": 1213.352076110345, + "ymax": 618.0276759329204 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1027.1486709547341, + 618.0276759329204 + ], + [ + 1029.1238780344174, + 593.2472052726321 + ], + [ + 717.4206911877212, + 505.17740608340023 + ], + [ + 709.2065479027161, + 526.1421041756041 + ], + [ + 1213.352076110345, + 236.15657910220392 + ], + [ + 1210.2839213877428, + 212.06829829070855 + ], + [ + 749.4201786036748, + 130.36868158023313 + ], + [ + 738.648003488624, + 149.2842542115453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 410.36662382634694, + "ymin": 0.0, + "xmax": 565.0179450225783, + "ymax": 113.76531979260415 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 565.0179450225783, + 7.99138442496178 + ], + [ + 557.3688891980644, + 6.800945403797755 + ], + [ + 441.96005333303174, + 112.04659536364369 + ], + [ + 450.8372233500923, + 113.76531979260415 + ], + [ + 555.2947169113019, + -174.07249871424676 + ], + [ + 546.6812665466331, + -174.94982543915035 + ], + [ + 410.36662382634694, + -95.33619837372987 + ], + [ + 420.5641805244154, + -94.00072233215604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.2038481899143, + "ymin": 143.68303639950244, + "xmax": 785.1931509297259, + "ymax": 164.38576876146757 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 778.6732577617896, + 164.38576876146757 + ], + [ + 784.9994801647726, + 151.68313101738144 + ], + [ + 750.1260437788383, + 145.35880377367175 + ], + [ + 743.2038481899143, + 157.8197113836424 + ], + [ + 778.862007200371, + 162.68762570106122 + ], + [ + 785.1931509297259, + 149.99976573468044 + ], + [ + 750.2717402960259, + 143.68303639950244 + ], + [ + 743.3429625288403, + 156.1291265245789 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.2002614208146, + "ymin": 143.72635802269394, + "xmax": 785.1881441278101, + "ymax": 164.42955120000633 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 778.6683913221552, + 164.42955120000633 + ], + [ + 784.994486710701, + 151.72653357856333 + ], + [ + 750.1222872061403, + 145.40201099706601 + ], + [ + 743.2002614208146, + 157.8632995398287 + ], + [ + 778.857127504443, + 162.7315274039696 + ], + [ + 785.1881441278101, + 150.04328431387512 + ], + [ + 750.2679737770476, + 143.72635802269394 + ], + [ + 743.3393660837717, + 156.17283226782834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 273.3823403819067, + "ymin": 0.0, + "xmax": 655.7616248766446, + "ymax": 312.7325934451155 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 340.71986459545644, + 230.72047991094502 + ], + [ + 333.8725053437526, + 237.1933192926569 + ], + [ + 648.3707645035746, + 312.7325934451155 + ], + [ + 652.9272599113611, + 304.90312829045973 + ], + [ + 282.19029611591327, + -0.30036399826468596 + ], + [ + 273.3823403819067, + 5.053359002327511 + ], + [ + 650.2274818478027, + 68.90370347730175 + ], + [ + 655.7616248766446, + 62.16609150358164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.38282530463, + "ymin": 0.0, + "xmax": 1201.6712983420714, + "ymax": 88.60414279290023 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1127.2796118800675, + 88.60414279290023 + ], + [ + 1127.303187486701, + 84.42609660337064 + ], + [ + 861.1305487154505, + 43.75151639562591 + ], + [ + 859.38282530463, + 47.38099779580176 + ], + [ + 1201.6712983420714, + -113.43563462614549 + ], + [ + 1201.1065537719137, + -116.63894571963215 + ], + [ + 892.0357006450735, + -147.4749635411722 + ], + [ + 890.2704972988824, + -144.74887017504182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1079.3174361688152, + "ymin": 0.0, + "xmax": 1214.1265322004856, + "ymax": 429.1515203707062 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1079.3174361688152, + 425.28575848027054 + ], + [ + 1095.2574465647272, + 429.1515203707062 + ], + [ + 1103.4968584808908, + 209.3986036791138 + ], + [ + 1091.2252858245258, + 207.11925788705742 + ], + [ + 1193.4335322775632, + 168.97836610589718 + ], + [ + 1214.1265322004856, + 172.52607918390825 + ], + [ + 1191.064830962935, + -17.808154516996296 + ], + [ + 1176.1565315516045, + -19.6682707746275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.5637682248487, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 86.2724594059772 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1102.5637682248487, + 14.306321554078522 + ], + [ + 1124.999958482766, + 72.68689138576678 + ], + [ + 1286.8288829772832, + 86.2724594059772 + ], + [ + 1247.5469980889807, + 25.305925226911484 + ], + [ + 1192.219655207094, + -256.6005971731894 + ], + [ + 1231.6274875843135, + -221.76252583869712 + ], + [ + 1433.0580059633191, + -213.43647847936109 + ], + [ + 1368.231555557529, + -250.15080406193852 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00094/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00094/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..40e668076d8f3378923a87f29a246cd24317c7c9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00094/meta.json @@ -0,0 +1,3214 @@ +{ + "frame_id": 94, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 47.0, + "sim_timestamp": 1255.4783432108816 + }, + "drone_pose": { + "x": -133.92956749316843, + "y": -32.26286620112274, + "z": 20.0, + "pitch": -42.38629839106215, + "yaw": 69.64509123755718, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2569161653518677, + -0.6924944519996643, + 0.6741257905960083, + 43.26802062988281 + ], + [ + 0.9375560879707336, + 0.34783434867858887, + 2.9802322387695312e-08, + -114.34434509277344 + ], + [ + -0.23448409140110016, + 0.632030725479126, + 0.7386165857315063, + -66.56781005859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.00556827277876, + "y": -31.720582146412042, + "z": 20.0 + }, + "t1_image_uv": [ + 1340.7943580254082, + -516.1795630618003 + ], + "t1_depth": 0.3560028485340402 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -12.687763214111328, + "z": 0.9441329622273043 + }, + "image_uv": [ + 640.0000000000001, + 359.9999999999999 + ], + "depth": 28.267524744265174, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 605, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -12.687763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3756640553474426, + "y": 0.3860088884830475, + "z": 0.8688260316848755 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.8177187794886, + "ymin": 326.802838609344, + "xmax": 656.9836026360882, + "ymax": 392.6696662433893 + }, + "corners_3d": [ + [ + -126.28117370605469, + -13.063426971435547, + 0.0753069519996643 + ], + [ + -127.05319213867188, + -13.063426971435547, + 0.0753069519996643 + ], + [ + -127.05319213867188, + -12.31209945678711, + 0.0753069519996643 + ], + [ + -126.28117370605469, + -12.31209945678711, + 0.0753069519996643 + ], + [ + -126.28117370605469, + -13.063426971435547, + 1.8129589557647705 + ], + [ + -127.05319213867188, + -13.063426971435547, + 1.8129589557647705 + ], + [ + -127.05319213867188, + -12.31209945678711, + 1.8129589557647705 + ], + [ + -126.28117370605469, + -12.31209945678711, + 1.8129589557647705 + ] + ], + "corners_2d": [ + [ + 623.5192063160383, + 386.3869655182181 + ], + [ + 647.7906856318727, + 392.6696662433893 + ], + [ + 656.2979202062643, + 376.3719454227134 + ], + [ + 632.4009667432583, + 370.31179921308603 + ], + [ + 622.8177187794886, + 342.73967722192134 + ], + [ + 648.1246951400876, + 348.9748841951269 + ], + [ + 656.9836026360882, + 332.8080007114849 + ], + [ + 632.0835233018192, + 326.802838609344 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 94, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 74, + "semantic_pixel_counts": { + "1": 579111, + "2": 159490, + "3": 33963, + "4": 36588, + "6": 21822, + "7": 2571, + "9": 9531, + "10": 6, + "12": 3582, + "14": 18538, + "24": 28287, + "25": 28111 + }, + "instance_pixel_counts": { + "3662": 3087, + "11605": 15096, + "16482": 1125, + "16994": 1517, + "17496": 11581, + "17503": 6354, + "17506": 956, + "18018": 65, + "18059": 1858, + "19083": 2840, + "19554": 1430, + "19595": 3641, + "20066": 1241, + "20107": 8, + "20565": 18581, + "21395": 2470, + "21397": 46, + "21643": 1875, + "21907": 149601, + "21909": 13510, + "22155": 3669, + "22421": 5513, + "22931": 264080, + "22933": 178, + "23443": 8232, + "23445": 144, + "23955": 4160, + "23957": 589, + "24467": 17757, + "25344": 62, + "25600": 6209, + "25856": 6007, + "26112": 534, + "36096": 605, + "36352": 571, + "36608": 596, + "36864": 622, + "37120": 610, + "37376": 578, + "37888": 3143, + "40448": 3523, + "40704": 3169, + "41216": 7352, + "41728": 1351, + "45409": 31, + "45971": 9510, + "46483": 86633, + "46995": 13645, + "47201": 19639, + "47713": 3939, + "48225": 1968, + "48468": 286, + "48531": 8432, + "48737": 37374, + "49043": 14591, + "49249": 7081, + "49761": 10680, + "51526": 33501, + "52321": 1185, + "52833": 3636, + "53345": 503, + "53857": 1617, + "54366": 21757, + "56458": 32, + "56970": 5859, + "57482": 40410, + "57994": 285, + "58506": 5026, + "60307": 325, + "60819": 6094, + "61254": 9531, + "61331": 564, + "62355": 466, + "62867": 858 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 605, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -12.687763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.39116209745407104, + "y": 0.3682580590248108, + "z": 0.8818359971046448 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.1956014866907, + "ymin": 326.27790370607977, + "xmax": 656.5916784790365, + "ymax": 393.1801558424279 + }, + "corners_3d": [ + [ + -126.2989273071289, + -13.078925132751465, + 0.06229698657989502 + ], + [ + -127.03543853759766, + -13.078925132751465, + 0.06229698657989502 + ], + [ + -127.03543853759766, + -12.296601295471191, + 0.06229698657989502 + ], + [ + -126.2989273071289, + -12.296601295471191, + 0.06229698657989502 + ], + [ + -126.2989273071289, + -13.078925132751465, + 1.8259689807891846 + ], + [ + -127.03543853759766, + -13.078925132751465, + 1.8259689807891846 + ], + [ + -127.03543853759766, + -12.296601295471191, + 1.8259689807891846 + ], + [ + -126.2989273071289, + -12.296601295471191, + 1.8259689807891846 + ] + ], + "corners_2d": [ + [ + 623.8920930667057, + 387.1816830313959 + ], + [ + 647.0476258923652, + 393.1801558424279 + ], + [ + 655.9123520838367, + 376.2146049859847 + ], + [ + 633.1286345638749, + 370.4371553783877 + ], + [ + 623.1956014866907, + 342.8764031807319 + ], + [ + 647.3544705518017, + 348.82903838467104 + ], + [ + 656.5916784790365, + 332.0019637036723 + ], + [ + 632.837263560005, + 326.27790370607977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 571, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -9.690058708190918, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4319482743740082, + "y": 0.4843173921108246, + "z": 0.8628453016281128 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 534.2056163799319, + "ymin": 241.9606136305598, + "xmax": 572.0176605967431, + "ymax": 302.6358348214885 + }, + "corners_3d": [ + [ + -122.15727233886719, + -10.213263511657715, + 0.0813022255897522 + ], + [ + -123.104736328125, + -10.011872291564941, + 0.0813022255897522 + ], + [ + -122.92512512207031, + -9.166853904724121, + 0.0813022255897522 + ], + [ + -121.9776611328125, + -9.368245124816895, + 0.0813022255897522 + ], + [ + -122.15727233886719, + -10.213263511657715, + 1.806992769241333 + ], + [ + -123.104736328125, + -10.011872291564941, + 1.806992769241333 + ], + [ + -122.92512512207031, + -9.166853904724121, + 1.806992769241333 + ], + [ + -121.9776611328125, + -9.368245124816895, + 1.806992769241333 + ] + ], + "corners_2d": [ + [ + 538.0854557264843, + 299.95243687382765 + ], + [ + 566.8487496318911, + 302.6358348214885 + ], + [ + 572.0176605967431, + 286.6063670170143 + ], + [ + 543.7990306264277, + 284.02683781357655 + ], + [ + 534.2056163799319, + 257.62342489616657 + ], + [ + 564.0544093662646, + 260.26483533112923 + ], + [ + 569.4735104178712, + 244.49599971484702 + ], + [ + 540.2108348204052, + 241.9606136305598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 596, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -5.745050430297852, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.46208006143569946, + "y": 0.4383486807346344, + "z": 0.9333749413490295 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 756.5343551244137, + "ymin": 213.56438184202526, + "xmax": 791.5194523190002, + "ymax": 277.9913554399625 + }, + "corners_3d": [ + [ + -128.5353546142578, + -6.2504191398620605, + 0.01077258586883545 + ], + [ + -129.40725708007812, + -6.158779144287109, + 0.01077258586883545 + ], + [ + -129.31065368652344, + -5.239681720733643, + 0.01077258586883545 + ], + [ + -128.43875122070312, + -5.331321716308594, + 0.01077258586883545 + ], + [ + -128.5353546142578, + -6.2504191398620605, + 1.8775224685668945 + ], + [ + -129.40725708007812, + -6.158779144287109, + 1.8775224685668945 + ], + [ + -129.31065368652344, + -5.239681720733643, + 1.8775224685668945 + ], + [ + -128.43875122070312, + -5.331321716308594, + 1.8775224685668945 + ] + ], + "corners_2d": [ + [ + 756.5343551244137, + 274.1129585447222 + ], + [ + 782.0300946609589, + 277.9913554399625 + ], + [ + 785.8063780459107, + 262.2558910540745 + ], + [ + 760.7953069492977, + 258.5293017615421 + ], + [ + 761.1727942980232, + 228.82782434456465 + ], + [ + 787.7121991289047, + 232.63025186718568 + ], + [ + 791.5194523190002, + 217.21221844128453 + ], + [ + 765.5048402406204, + 213.56438184202526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 622, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -12.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.40959471464157104, + "y": 0.4240264892578125, + "z": 0.8842158317565918 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 737.3578337946109, + "ymin": 353.91662851569373, + "xmax": 778.911205071839, + "ymax": 424.48908886503034 + }, + "corners_3d": [ + [ + -129.82290649414062, + -13.097357749938965, + 0.05992203950881958 + ], + [ + -130.67095947265625, + -13.097357749938965, + 0.05992203950881958 + ], + [ + -130.67095947265625, + -12.278168678283691, + 0.05992203950881958 + ], + [ + -129.82290649414062, + -12.278168678283691, + 0.05992203950881958 + ], + [ + -129.82290649414062, + -13.097357749938965, + 1.8283536434173584 + ], + [ + -130.67095947265625, + -13.097357749938965, + 1.8283536434173584 + ], + [ + -130.67095947265625, + -12.278168678283691, + 1.8283536434173584 + ], + [ + -129.82290649414062, + -12.278168678283691, + 1.8283536434173584 + ] + ], + "corners_2d": [ + [ + 737.3578337946109, + 417.10855435720214 + ], + [ + 765.8321701200946, + 424.48908886503034 + ], + [ + 773.0217817834803, + 405.51139722046344 + ], + [ + 745.0622083880596, + 398.42453679782636 + ], + [ + 741.7249356646024, + 372.4887241880084 + ], + [ + 771.5231771906249, + 379.83424115074035 + ], + [ + 778.911205071839, + 360.9571126044497 + ], + [ + 749.676409623569, + 353.91662851569373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 610, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -131.17669677734375, + "y": -22.742494583129883, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.37819337844848633, + "y": 0.3332226872444153, + "z": 0.8651069402694702 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 652.3129769716962, + "ymin": 670.570751661138, + "xmax": 698.3200807194152, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.80577087402344, + -23.083784103393555, + 0.07903093099594116 + ], + [ + -131.46856689453125, + -23.1534481048584, + 0.07903093099594116 + ], + [ + -131.54762268066406, + -22.40120506286621, + 0.07903093099594116 + ], + [ + -130.88482666015625, + -22.331541061401367, + 0.07903093099594116 + ], + [ + -130.80577087402344, + -23.083784103393555, + 1.8092448711395264 + ], + [ + -131.46856689453125, + -23.1534481048584, + 1.8092448711395264 + ], + [ + -131.54762268066406, + -22.40120506286621, + 1.8092448711395264 + ], + [ + -130.88482666015625, + -22.331541061401367, + 1.8092448711395264 + ] + ], + "corners_2d": [ + [ + 652.3129769716962, + 741.4220732491622 + ], + [ + 680.5892706427929, + 754.913530028751 + ], + [ + 695.0607438786993, + 724.4240362858552 + ], + [ + 667.3057258263924, + 711.5687785919521 + ], + [ + 653.0524335502383, + 701.1601327874755 + ], + [ + 683.0546003767976, + 715.01287816809 + ], + [ + 698.3200807194152, + 683.7322953022152 + ], + [ + 668.9043666771769, + 670.570751661138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 578, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -20.85797882080078, + "z": 1.095715045928955 + }, + "extent": { + "x": 0.29438474774360657, + "y": 0.4917486608028412, + "z": 0.9002081155776978 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 99.70194734317897, + "ymin": 413.59432412826135, + "xmax": 166.80743669161222, + "ymax": 488.3090512499253 + }, + "corners_3d": [ + [ + -114.879638671875, + -21.043689727783203, + 0.19550693035125732 + ], + [ + -115.84164428710938, + -21.248170852661133, + 0.19550693035125732 + ], + [ + -115.96405029296875, + -20.67226791381836, + 0.19550693035125732 + ], + [ + -115.00204467773438, + -20.46778678894043, + 0.19550693035125732 + ], + [ + -114.879638671875, + -21.043689727783203, + 1.9959231615066528 + ], + [ + -115.84164428710938, + -21.248170852661133, + 1.9959231615066528 + ], + [ + -115.96405029296875, + -20.67226791381836, + 1.9959231615066528 + ], + [ + -115.00204467773438, + -20.46778678894043, + 1.9959231615066528 + ] + ], + "corners_2d": [ + [ + 124.90988169121772, + 473.29793200339964 + ], + [ + 148.22000038883937, + 488.3090512499253 + ], + [ + 166.80743669161222, + 474.1123979411593 + ], + [ + 143.54800673414195, + 459.5195088760205 + ], + [ + 99.70194734317897, + 427.36677254461887 + ], + [ + 123.76956720648877, + 442.3927636536911 + ], + [ + 143.62992658923702, + 428.18147292017227 + ], + [ + 119.60683444388269, + 413.59432412826135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3143, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 406.08888458758145, + "ymin": 34.53953841107716, + "xmax": 510.13439728673063, + "ymax": 100.15524842452066 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 491.6335881914338, + 100.15524842452066 + ], + [ + 510.13439728673063, + 81.96837432818643 + ], + [ + 432.36405083760576, + 68.28556535573 + ], + [ + 411.99023251361587, + 85.63785441042933 + ], + [ + 487.6984812470349, + 65.36559141338932 + ], + [ + 506.7942376043229, + 47.763929261534315 + ], + [ + 427.14886015378795, + 34.53953841107716 + ], + [ + 406.08888458758145, + 51.313116594454414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3523, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 62.41567651849164, + "ymin": 16.269807538044518, + "xmax": 190.62373365940368, + "ymax": 81.02474272929908 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 105.24606085999176, + 47.58112537994788 + ], + [ + 75.75166771610532, + 63.989781014535254 + ], + [ + 162.8212665586592, + 81.02474272929908 + ], + [ + 190.62373365940368, + 63.65278339024479 + ], + [ + 92.97283263687166, + 16.269807538044518 + ], + [ + 62.41567651849164, + 32.13340360677239 + ], + [ + 151.20395218776076, + 48.624954778747394 + ], + [ + 180.0090550918802, + 31.80738699510823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3169, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 28.758166163793476, + "ymin": 44.92729950978071, + "xmax": 149.2918895079922, + "ymax": 118.8342549488084 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 79.93887486111998, + 84.94859333829555 + ], + [ + 47.21826375761998, + 103.88568142060961 + ], + [ + 118.01991796471793, + 118.8342549488084 + ], + [ + 149.2918895079922, + 98.98769999241381 + ], + [ + 63.046471716323936, + 44.92729950978071 + ], + [ + 28.758166163793476, + 63.15408005672299 + ], + [ + 101.36029878342015, + 77.56645465790598 + ], + [ + 134.13495333838034, + 58.43649291880189 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7352, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1092.7059833872636, + "ymin": 252.88507542983263, + "xmax": 1280.0, + "ymax": 362.53330524214425 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1093.7094958084185, + 291.0998100429939 + ], + [ + 1092.7059833872636, + 323.65353601307345 + ], + [ + 1277.0666561219891, + 362.53330524214425 + ], + [ + 1270.651094073327, + 326.9595253535968 + ], + [ + 1109.179986376975, + 252.88507542983263 + ], + [ + 1108.7868388476113, + 284.9994054670531 + ], + [ + 1300.7829354360133, + 323.4704675342729 + ], + [ + 1293.1441796813588, + 288.26571929869124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 1351, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 365.5805299381497, + "ymin": 667.472983098669, + "xmax": 594.8055232980275, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 380.34523838251107, + 955.338679191903 + ], + [ + 478.76287754575753, + 1001.0070754879828 + ], + [ + 594.8055232980275, + 731.6469385804132 + ], + [ + 510.5380251158226, + 700.5890655385793 + ], + [ + 365.5805299381497, + 929.3807615604785 + ], + [ + 469.29322439137707, + 976.8784036951741 + ], + [ + 592.6449718732533, + 699.1299046313922 + ], + [ + 504.5102251917756, + 667.472983098669 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.3335172884265, + "ymin": 146.1825938405823, + "xmax": 1163.5421773058447, + "ymax": 182.02870291386742 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1151.8287098728777, + 175.26787366745586 + ], + [ + 1141.3335172884265, + 173.46049812788536 + ], + [ + 1141.5201052439293, + 180.18585739520782 + ], + [ + 1152.118411421041, + 182.02870291386742 + ], + [ + 1163.1330166522534, + 147.9568197539553 + ], + [ + 1152.3764460907244, + 146.1825938405823 + ], + [ + 1152.6772712411323, + 152.78563851079826 + ], + [ + 1163.5421773058447, + 154.59546335639732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 597.948134979133, + "ymin": 124.47157465676199, + "xmax": 612.5198022444838, + "ymax": 159.35066940200142 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 607.6981994171862, + 159.35066940200142 + ], + [ + 612.5198022444838, + 153.02000680838555 + ], + [ + 603.7259094174622, + 151.32691736771648 + ], + [ + 598.8336422347772, + 157.62543630674247 + ], + [ + 607.0015554305413, + 132.3385964228406 + ], + [ + 611.9328170985459, + 126.13125705292512 + ], + [ + 602.9530862114107, + 124.47157465676199 + ], + [ + 597.948134979133, + 130.6467226825644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1140.1005394570464, + "ymin": 14.02197367224096, + "xmax": 1154.6814753498202, + "ymax": 38.52690411480762 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1140.1005394570464, + 33.998534885882805 + ], + [ + 1140.2161504845662, + 37.551909082468 + ], + [ + 1147.2654908267905, + 38.52690411480762 + ], + [ + 1147.1043617767748, + 34.96104582707437 + ], + [ + 1147.3512248088878, + 14.02197367224096 + ], + [ + 1147.5160355980156, + 17.49630064603673 + ], + [ + 1154.6814753498202, + 18.449720025892532 + ], + [ + 1154.4696409332764, + 14.963008648357231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1139.977770521828, + "ymin": 98.28997440218882, + "xmax": 1160.5177223581618, + "ymax": 131.98456155325405 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1149.7241850802907, + 126.15411208167242 + ], + [ + 1139.977770521828, + 124.59408520044747 + ], + [ + 1140.138741833539, + 130.39612049297688 + ], + [ + 1149.9740198530444, + 131.98456155325405 + ], + [ + 1160.1659827015346, + 99.8166069004078 + ], + [ + 1150.194527723433, + 98.28997440218882 + ], + [ + 1150.4532366728702, + 103.96857789461853 + ], + [ + 1160.5177223581618, + 105.52359314333717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 312.53710769677093, + "ymin": 148.09338618988548, + "xmax": 331.8308520006913, + "ymax": 177.7107551243498 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 325.4340863836174, + 177.7107551243498 + ], + [ + 331.8308520006913, + 172.13991854719677 + ], + [ + 324.86537708930194, + 170.6393615130124 + ], + [ + 318.4264188273888, + 176.18583752432335 + ], + [ + 319.66019265470146, + 155.0581849957931 + ], + [ + 326.22061093161904, + 149.5711059358248 + ], + [ + 319.1410631786906, + 148.09338618988548 + ], + [ + 312.53710769677093, + 153.55603378554449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.986060019982, + "ymin": 63.36929629746504, + "xmax": 1158.3154327260459, + "ymax": 95.45218828425982 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1148.1855247767512, + 90.25782546811286 + ], + [ + 1138.986060019982, + 88.86709902670577 + ], + [ + 1139.129504765797, + 94.03756336413687 + ], + [ + 1148.4080989150284, + 95.45218828425982 + ], + [ + 1158.002794080702, + 64.72714915252527 + ], + [ + 1148.603079328821, + 63.36929629746504 + ], + [ + 1148.8330933498555, + 68.41815061238128 + ], + [ + 1158.3154327260459, + 69.79979317732028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 518.3715287963565, + "ymin": 109.87995924369994, + "xmax": 534.7760159841985, + "ymax": 144.1013557165576 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 529.3443971835749, + 144.1013557165576 + ], + [ + 534.7760159841985, + 138.05200219463677 + ], + [ + 526.3706347588537, + 136.4337129044186 + ], + [ + 520.8750490283599, + 142.45303873575517 + ], + [ + 527.0129255054837, + 117.39059931943703 + ], + [ + 532.5797223748372, + 111.46480649344832 + ], + [ + 524.0048881531129, + 109.87995924369994 + ], + [ + 518.3715287963565, + 115.7757231897715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 427.5798707332169, + "ymin": 93.22405849995334, + "xmax": 445.95416912829097, + "ymax": 126.68699004916408 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 439.8661742956107, + 126.68699004916408 + ], + [ + 445.95416912829097, + 120.95113607127985 + ], + [ + 437.98194390714383, + 119.41624232919847 + ], + [ + 431.83715064290186, + 125.12436962733898 + ], + [ + 435.7629236232158, + 100.33811273622337 + ], + [ + 442.0119557225521, + 94.72559873264407 + ], + [ + 433.88785529594236, + 93.22405849995334 + ], + [ + 427.5798707332169, + 98.80889036710562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.6798887197172, + "ymin": 332.6356533896675, + "xmax": 1123.9367780766397, + "ymax": 368.5817084684176 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1112.910067664723, + 359.54423804801365 + ], + [ + 1101.8883091449266, + 357.11681763430596 + ], + [ + 1101.6798887197172, + 366.10399844427576 + ], + [ + 1112.8148064919683, + 368.5817084684176 + ], + [ + 1123.9180058892423, + 335.04994496112226 + ], + [ + 1112.609200138078, + 332.6356533896675 + ], + [ + 1112.5088087166446, + 341.57578532418216 + ], + [ + 1123.9367780766397, + 344.0412755513709 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.6861051488519, + "ymin": 143.33030222092577, + "xmax": 1214.718007984446, + "ymax": 636.6940702938871 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1024.9737258998825, + 636.6940702938871 + ], + [ + 1027.1299165667215, + 611.1267980316002 + ], + [ + 711.2342341925787, + 519.5915529522194 + ], + [ + 702.6861051488519, + 541.1356860547701 + ], + [ + 1214.718007984446, + 254.64370180824267 + ], + [ + 1211.6880925755518, + 229.39960040615694 + ], + [ + 741.2737445309835, + 143.33030222092577 + ], + [ + 729.909498316816, + 163.00557723503644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 404.936603524833, + "ymin": 0.0, + "xmax": 562.8186271575203, + "ymax": 118.76160691385098 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 562.8186271575203, + 11.522067022887768 + ], + [ + 555.1326806080629, + 10.305121464615922 + ], + [ + 437.53967249076027, + 117.00060920857692 + ], + [ + 446.46050447593336, + 118.76160691385098 + ], + [ + 552.7308533974319, + -171.50243470323016 + ], + [ + 544.0692518834178, + -172.40092321123393 + ], + [ + 404.936603524833, + -91.51289068416543 + ], + [ + 415.19331224511814, + -90.14100070241443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.6921890869744, + "ymin": 156.89461905217988, + "xmax": 777.655092953312, + "ymax": 178.4417304603082 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 770.7815104301028, + 178.4417304603082 + ], + [ + 777.4677129183347, + 165.22564677372281 + ], + [ + 741.9931995657497, + 158.5862405283894 + ], + [ + 734.6921890869744, + 171.54358319346096 + ], + [ + 770.9632389467655, + 176.72785294317808 + ], + [ + 777.655092953312, + 163.52640784723926 + ], + [ + 742.1308684116, + 156.89461905217988 + ], + [ + 734.8224608964414, + 169.8372592162961 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.6888303993921, + "ymin": 156.9383516722688, + "xmax": 777.6502486509546, + "ymax": 178.4859172853503 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 770.7768251441996, + 178.4859172853503 + ], + [ + 777.4628817951744, + 165.26945737784249 + ], + [ + 741.9896500722784, + 158.62985532989882 + ], + [ + 734.6888303993921, + 171.58757589746182 + ], + [ + 770.9585406310948, + 176.77216265166118 + ], + [ + 777.6502486509546, + 163.57033796571827 + ], + [ + 742.1273093297259, + 156.9383516722688 + ], + [ + 734.8190929613065, + 169.88137304643155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 264.15376213537553, + "ymin": 5.412221608329105, + "xmax": 649.8973016700154, + "ymax": 321.99280016855136 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 333.7641337057101, + 237.65282135627916 + ], + [ + 326.7588940768138, + 244.24048598845025 + ], + [ + 643.4037438575671, + 321.99280016855136 + ], + [ + 648.0974653318322, + 313.9961792564472 + ], + [ + 273.1941907362703, + 5.412221608329105 + ], + [ + 264.15376213537553, + 10.881359740601908 + ], + [ + 644.1692257399053, + 76.89278700857204 + ], + [ + 649.8973016700154, + 69.97688933434506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.0589232963963, + "ymin": 0.0, + "xmax": 1204.7943039872612, + "ymax": 94.19143544930944 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1129.2798011993877, + 94.19143544930944 + ], + [ + 1129.322293016674, + 89.93980815502533 + ], + [ + 860.851158480075, + 48.20854395056665 + ], + [ + 859.0589232963963, + 51.89309751505283 + ], + [ + 1204.7943039872612, + -109.17178254235057 + ], + [ + 1204.2367631985276, + -112.44089894744224 + ], + [ + 892.0067659466346, + -144.15966168764044 + ], + [ + 890.1921174690752, + -141.38579319105924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1079.0843101475534, + "ymin": 0.0, + "xmax": 1216.2228465105795, + "ymax": 442.27863796160244 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1079.0843101475534, + 438.2716194270672 + ], + [ + 1095.243893912686, + 442.27863796160244 + ], + [ + 1104.6671170291986, + 217.27877072155007 + ], + [ + 1092.2587005007956, + 214.92994010095728 + ], + [ + 1195.1521545687094, + 180.91810792411857 + ], + [ + 1216.2228465105795, + 184.62242033589632 + ], + [ + 1193.6134991007455, + -11.383476666561933 + ], + [ + 1178.4997667809957, + -13.308299760594991 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1104.646419171996, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 92.10485002533142 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1104.646419171996, + 18.662575152717636 + ], + [ + 1127.0337423133296, + 78.04103272372879 + ], + [ + 1290.584193011226, + 92.10485002533142 + ], + [ + 1251.0307132149833, + 30.02924225382867 + ], + [ + 1195.6197768939523, + -254.10817939302115 + ], + [ + 1235.3308935560535, + -218.5432241374025 + ], + [ + 1439.4558764708327, + -209.88692090650852 + ], + [ + 1373.7177356112575, + -247.42022808084437 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00095/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00095/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11978a1eb6510dbd15d345ea05ff6f765a2b7215 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00095/meta.json @@ -0,0 +1,3214 @@ +{ + "frame_id": 95, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 47.5, + "sim_timestamp": 1268.607161368942 + }, + "drone_pose": { + "x": -134.00556827277876, + "y": -31.720582146412042, + "z": 20.0, + "pitch": -42.4041025040157, + "yaw": 69.40904401658602, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2596932053565979, + -0.6912339925765991, + 0.6743552684783936, + 43.23957824707031 + ], + [ + 0.936115026473999, + 0.35169386863708496, + 2.9802322387695312e-08, + -114.2886962890625 + ], + [ + -0.2371665984392166, + 0.6312741041183472, + 0.7384070754051208, + -66.57417297363281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.09038290178594, + "y": -31.157440423586188, + "z": 20.0 + }, + "t1_image_uv": [ + 1365.2859487223088, + -516.7265211500339 + ], + "t1_depth": 0.36723690087019867 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -12.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.257897966092347, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 593, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -12.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4078906178474426, + "y": 0.3106768727302551, + "z": 0.8805251121520996 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.8191145696867, + "ymin": 326.3855190136417, + "xmax": 654.9615873632152, + "ymax": 393.0689894629867 + }, + "corners_3d": [ + [ + -126.35650634765625, + -12.595653533935547, + 0.06361275911331177 + ], + [ + -126.97785949707031, + -12.595653533935547, + 0.06361275911331177 + ], + [ + -126.97785949707031, + -11.77987289428711, + 0.06361275911331177 + ], + [ + -126.35650634765625, + -11.77987289428711, + 0.06361275911331177 + ], + [ + -126.35650634765625, + -12.595653533935547, + 1.8246629238128662 + ], + [ + -126.97785949707031, + -12.595653533935547, + 1.8246629238128662 + ], + [ + -126.97785949707031, + -11.77987289428711, + 1.8246629238128662 + ], + [ + -126.35650634765625, + -11.77987289428711, + 1.8246629238128662 + ] + ], + "corners_2d": [ + [ + 625.4483694936101, + 387.94495553166695 + ], + [ + 644.9661675798451, + 393.0689894629867 + ], + [ + 654.3500149491794, + 375.41056333530037 + ], + [ + 635.1571194321992, + 370.4829674910196 + ], + [ + 624.8191145696867, + 343.69716027553034 + ], + [ + 645.182188399445, + 348.7825621830431 + ], + [ + 654.9615873632152, + 331.26776338111233 + ], + [ + 634.9519126741652, + 326.3855190136417 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 95, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 74, + "semantic_pixel_counts": { + "1": 584854, + "2": 158560, + "3": 30485, + "4": 34911, + "6": 22865, + "7": 2647, + "9": 10171, + "10": 10, + "12": 3451, + "14": 17528, + "24": 29119, + "25": 26999 + }, + "instance_pixel_counts": { + "3662": 2589, + "11605": 13139, + "15970": 12, + "16482": 1146, + "16994": 1542, + "17496": 12005, + "17503": 6475, + "17506": 1037, + "18018": 117, + "18059": 2085, + "19083": 2916, + "19554": 1589, + "19595": 3943, + "20066": 1219, + "20107": 89, + "20565": 17137, + "21395": 2900, + "21397": 60, + "21643": 2458, + "21907": 153129, + "21909": 14245, + "22155": 3677, + "22421": 5346, + "22931": 261847, + "22933": 70, + "23443": 4656, + "23445": 142, + "23955": 4036, + "23957": 600, + "24467": 18079, + "25344": 88, + "25600": 6343, + "25856": 6485, + "26112": 591, + "36096": 593, + "36352": 612, + "36608": 587, + "36864": 633, + "37120": 437, + "37376": 589, + "37888": 3187, + "40448": 3580, + "40704": 3517, + "41216": 7140, + "41728": 104, + "45409": 66, + "45971": 10752, + "46483": 90749, + "46995": 15450, + "47201": 20434, + "47713": 4101, + "48225": 2036, + "48468": 209, + "48531": 8280, + "48737": 34794, + "49043": 14976, + "49249": 6707, + "49761": 11084, + "51526": 32322, + "52321": 520, + "52833": 3661, + "53345": 493, + "53857": 1674, + "54366": 20524, + "56970": 6037, + "57482": 39607, + "57994": 2, + "58506": 5514, + "60307": 398, + "60819": 6274, + "61254": 10171, + "61331": 607, + "62355": 459, + "62867": 918 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 593, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -12.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39384764432907104, + "y": 0.3341760039329529, + "z": 0.8661112189292908 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.2374633291614, + "ymin": 326.8700670903117, + "xmax": 655.5526760239176, + "ymax": 392.6064143238593 + }, + "corners_3d": [ + [ + -126.3330078125, + -12.581610679626465, + 0.0780266523361206 + ], + [ + -127.00135803222656, + -12.581610679626465, + 0.0780266523361206 + ], + [ + -127.00135803222656, + -11.793915748596191, + 0.0780266523361206 + ], + [ + -126.3330078125, + -11.793915748596191, + 0.0780266523361206 + ], + [ + -126.3330078125, + -12.581610679626465, + 1.8102490901947021 + ], + [ + -127.00135803222656, + -12.581610679626465, + 1.8102490901947021 + ], + [ + -127.00135803222656, + -11.793915748596191, + 1.8102490901947021 + ], + [ + -126.3330078125, + -11.793915748596191, + 1.8102490901947021 + ] + ], + "corners_2d": [ + [ + 624.879996080126, + 387.09878850872803 + ], + [ + 645.8750991824246, + 392.6064143238593 + ], + [ + 654.9267989213007, + 375.54961374736547 + ], + [ + 634.2693685465612, + 370.2460660129922 + ], + [ + 624.2374633291614, + 343.5797763209145 + ], + [ + 646.1263511479286, + 349.04640673701107 + ], + [ + 655.5526760239176, + 332.12575468037795 + ], + [ + 634.0305722663701, + 326.8700670903117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 612, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -9.190058708190918, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.44914552569389343, + "y": 0.43926456570625305, + "z": 0.8763052225112915 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 535.9366660034756, + "ymin": 241.12814109957938, + "xmax": 571.3822561571361, + "ymax": 302.9117115487195 + }, + "corners_3d": [ + [ + -122.20491790771484, + -9.720717430114746, + 0.06782776117324829 + ], + [ + -123.06424713134766, + -9.538060188293457, + 0.06782776117324829 + ], + [ + -122.87747955322266, + -8.65939998626709, + 0.06782776117324829 + ], + [ + -122.01815032958984, + -8.842057228088379, + 0.06782776117324829 + ], + [ + -122.20491790771484, + -9.720717430114746, + 1.8204381465911865 + ], + [ + -123.06424713134766, + -9.538060188293457, + 1.8204381465911865 + ], + [ + -122.87747955322266, + -8.65939998626709, + 1.8204381465911865 + ], + [ + -122.01815032958984, + -8.842057228088379, + 1.8204381465911865 + ] + ], + "corners_2d": [ + [ + 539.8149086178362, + 300.40720007944685 + ], + [ + 565.884420945036, + 302.9117115487195 + ], + [ + 571.3822561571361, + 286.25421184683165 + ], + [ + 545.8245092076916, + 283.8503149971652 + ], + [ + 535.9366660034756, + 257.4082077356367 + ], + [ + 563.0062141914698, + 259.8730697452354 + ], + [ + 568.7737659390219, + 243.49026287454632 + ], + [ + 542.255570057953, + 241.12814109957938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 587, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -5.245050430297852, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.47802734375, + "y": 0.5745936632156372, + "z": 0.9394571185112 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 753.2296350025404, + "ymin": 212.7849645872024, + "xmax": 796.5436218519967, + "ymax": 279.3199920305826 + }, + "corners_3d": [ + [ + -128.40151977539062, + -5.780520439147949, + 0.004690408706665039 + ], + [ + -129.54441833496094, + -5.660397529602051, + 0.004690408706665039 + ], + [ + -129.44448852539062, + -4.709580421447754, + 0.004690408706665039 + ], + [ + -128.3015899658203, + -4.829703330993652, + 0.004690408706665039 + ], + [ + -128.40151977539062, + -5.780520439147949, + 1.883604645729065 + ], + [ + -129.54441833496094, + -5.660397529602051, + 1.883604645729065 + ], + [ + -129.44448852539062, + -4.709580421447754, + 1.883604645729065 + ], + [ + -128.3015899658203, + -4.829703330993652, + 1.883604645729065 + ] + ], + "corners_2d": [ + [ + 753.2296350025404, + 274.14289307822565 + ], + [ + 786.6643985561172, + 279.3199920305826 + ], + [ + 790.594210306004, + 263.00744731791605 + ], + [ + 757.8151879220009, + 258.03969004445133 + ], + [ + 757.7693570611283, + 228.55548145447622 + ], + [ + 792.5846686904869, + 233.63109459463368 + ], + [ + 796.5436218519967, + 217.64734498435757 + ], + [ + 762.4388058327174, + 212.7849645872024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 633, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -12.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.38127440214157104, + "y": 0.5113256573677063, + "z": 0.8993675708770752 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 734.5467666778097, + "ymin": 353.73198081244044, + "xmax": 781.7093167584487, + "ymax": 425.36510265473356 + }, + "corners_3d": [ + [ + -129.73561096191406, + -12.569037437438965, + 0.04477030038833618 + ], + [ + -130.7582550048828, + -12.569037437438965, + 0.04477030038833618 + ], + [ + -130.7582550048828, + -11.806488990783691, + 0.04477030038833618 + ], + [ + -129.73561096191406, + -11.806488990783691, + 0.04477030038833618 + ], + [ + -129.73561096191406, + -12.569037437438965, + 1.8435053825378418 + ], + [ + -130.7582550048828, + -12.569037437438965, + 1.8435053825378418 + ], + [ + -130.7582550048828, + -11.806488990783691, + 1.8435053825378418 + ], + [ + -129.73561096191406, + -11.806488990783691, + 1.8435053825378418 + ] + ], + "corners_2d": [ + [ + 734.5467666778097, + 416.3665813378054 + ], + [ + 768.8308399876178, + 425.36510265473356 + ], + [ + 775.5846662589721, + 407.671649257628 + ], + [ + 741.875137542599, + 399.0064025042043 + ], + [ + 738.859651744641, + 370.986618015714 + ], + [ + 774.766927561735, + 379.9419627301035 + ], + [ + 781.7093167584487, + 362.3408875824906 + ], + [ + 746.4319886145684, + 353.73198081244044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 437, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.83985900878906, + "y": -22.489479064941406, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39686527848243713, + "y": 0.37507450580596924, + "z": 0.8813039064407349 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 628.5724052432618, + "ymin": 673.9286606236747, + "xmax": 678.9983658036869, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.42535400390625, + -22.8449649810791, + 0.06283396482467651 + ], + [ + -131.17140197753906, + -22.923376083374023, + 0.06283396482467651 + ], + [ + -131.25436401367188, + -22.13399314880371, + 0.06283396482467651 + ], + [ + -130.50831604003906, + -22.05558204650879, + 0.06283396482467651 + ], + [ + -130.42535400390625, + -22.8449649810791, + 1.825441837310791 + ], + [ + -131.17140197753906, + -22.923376083374023, + 1.825441837310791 + ], + [ + -131.25436401367188, + -22.13399314880371, + 1.825441837310791 + ], + [ + -130.50831604003906, + -22.05558204650879, + 1.825441837310791 + ] + ], + "corners_2d": [ + [ + 629.2346853461992, + 747.0818887382964 + ], + [ + 660.8859907728877, + 762.5472327242348 + ], + [ + 676.7682645540605, + 730.2909465206519 + ], + [ + 645.7184051556585, + 715.591192032664 + ], + [ + 628.5724052432618, + 706.2265161476637 + ], + [ + 662.1875962890002, + 722.1245455739229 + ], + [ + 678.9983658036869, + 688.9928814529874 + ], + [ + 646.0609095345396, + 673.9286606236747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 589, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -20.35797882080078, + "z": 1.0957101583480835 + }, + "extent": { + "x": 0.3076513707637787, + "y": 0.41134214401245117, + "z": 0.8757615685462952 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 101.66633667214694, + "ymin": 413.6464974483228, + "xmax": 164.98924964689553, + "ymax": 485.2958632207889 + }, + "corners_3d": [ + [ + -114.95552825927734, + -20.57338523864746, + 0.21994858980178833 + ], + [ + -115.7602310180664, + -20.744430541992188, + 0.21994858980178833 + ], + [ + -115.8881607055664, + -20.1425724029541, + 0.21994858980178833 + ], + [ + -115.08345794677734, + -19.971527099609375, + 0.21994858980178833 + ], + [ + -114.95552825927734, + -20.57338523864746, + 1.9714717864990234 + ], + [ + -115.7602310180664, + -20.744430541992188, + 1.9714717864990234 + ], + [ + -115.8881607055664, + -20.1425724029541, + 1.9714717864990234 + ], + [ + -115.08345794677734, + -19.971527099609375, + 1.9714717864990234 + ] + ], + "corners_2d": [ + [ + 126.13040528818863, + 472.68124519809453 + ], + [ + 145.50656247046686, + 485.2958632207889 + ], + [ + 164.98924964689553, + 470.5694650738775 + ], + [ + 145.65261396231227, + 458.32064203219954 + ], + [ + 101.66633667214694, + 428.00148373266035 + ], + [ + 121.65031706708373, + 440.62754474585654 + ], + [ + 142.42571511981254, + 425.8892855657058 + ], + [ + 122.47555507025663, + 413.6464974483228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3187, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 402.0459011976129, + "ymin": 38.378043458593254, + "xmax": 507.00209557894925, + "ymax": 104.77776434316146 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 488.0987645048994, + 104.77776434316146 + ], + [ + 507.00209557894925, + 86.3266323554339 + ], + [ + 428.8797542795113, + 72.2770505682621 + ], + [ + 408.0972255167336, + 89.86596023321533 + ], + [ + 484.0349715523868, + 69.827684415043 + ], + [ + 503.55239235298984, + 51.96247265290947 + ], + [ + 423.5345193858841, + 38.378043458593254 + ], + [ + 402.0459011976129, + 55.387210022108604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3580, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 56.78022459788326, + "ymin": 19.229877703718614, + "xmax": 185.7676237814439, + "ymax": 84.7019424297037 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 100.28836479188215, + 50.662856522362574 + ], + [ + 70.33548663182114, + 67.25074584561821 + ], + [ + 157.49335799118285, + 84.7019424297037 + ], + [ + 185.7676237814439, + 67.12275836930826 + ], + [ + 87.81905686739572, + 19.229877703718614 + ], + [ + 56.78022459788326, + 35.27165428134009 + ], + [ + 145.6605174713049, + 52.171740268417295 + ], + [ + 174.96151389756335, + 35.14779744388102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3517, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 22.061022358019613, + "ymin": 48.34829949474198, + "xmax": 143.54705362967633, + "ymax": 123.01311658174154 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 74.11786469562082, + 88.5262824243153 + ], + [ + 40.85531238178419, + 107.68684644697291 + ], + [ + 111.719946489721, + 123.01311658174154 + ], + [ + 143.54705362967633, + 102.91555142644569 + ], + [ + 56.92821695244186, + 48.34829949474198 + ], + [ + 22.061022358019613, + 66.79808460651054 + ], + [ + 94.72874838705081, + 81.58140011038529 + ], + [ + 128.0967533556847, + 62.20046491483333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7140, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1093.4629110978215, + "ymin": 262.63427440245795, + "xmax": 1280.0, + "ymax": 374.74017932332936 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1094.6916250174213, + 300.99809483519596 + ], + [ + 1093.4629110978215, + 334.3443619077533 + ], + [ + 1280.46102065984, + 374.74017932332936 + ], + [ + 1274.0852715860563, + 338.22116644673685 + ], + [ + 1110.4040599788536, + 262.63427440245795 + ], + [ + 1109.794912250267, + 295.56074989803 + ], + [ + 1304.6642204802238, + 335.5727179529591 + ], + [ + 1297.030393090838, + 299.39478084871973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 104, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 345.95655032556226, + "ymin": 687.5675297791786, + "xmax": 583.689313518753, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 362.0902784782814, + 983.8367532237539 + ], + [ + 461.67455771665084, + 1031.8596248506324 + ], + [ + 583.689313518753, + 752.7516368047118 + ], + [ + 498.4757412817861, + 720.2982175097782 + ], + [ + 345.95655032556226, + 959.027661031377 + ], + [ + 450.9708807654411, + 1009.0913948302555 + ], + [ + 580.948198250017, + 720.7002389272159 + ], + [ + 491.77102502794935, + 687.5675297791786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1142.9284636036632, + "ymin": 155.92760369316238, + "xmax": 1165.4775501981144, + "ymax": 192.23154564404143 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1153.5852330940702, + 185.27648502582875 + ], + [ + 1142.9284636036632, + 183.39403020490516 + ], + [ + 1143.0716212843158, + 190.31165639312928 + ], + [ + 1153.8343609297167, + 192.23154564404143 + ], + [ + 1165.1060489575038, + 157.77677880027736 + ], + [ + 1154.1792959653112, + 155.92760369316238 + ], + [ + 1154.4393657134365, + 162.7240274404968 + ], + [ + 1165.4775501981144, + 164.61081146154433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 591.6702935260602, + "ymin": 132.44864278723904, + "xmax": 606.639978218625, + "ymax": 167.71308115403122 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 601.6491420637352, + 167.71308115403122 + ], + [ + 606.639978218625, + 161.22867163137298 + ], + [ + 597.7638760445448, + 159.47280922493542 + ], + [ + 592.7014142526784, + 165.92351400089063 + ], + [ + 600.8108443552499, + 140.53251660882862 + ], + [ + 605.9178314814815, + 134.170822759695 + ], + [ + 596.8520067738958, + 132.44864278723904 + ], + [ + 591.6702935260602, + 138.776553294211 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.00123723314, + "ymin": 19.26035379359206, + "xmax": 1157.76690619733, + "ymax": 43.9971974214198 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1143.00123723314, + 39.36771821230923 + ], + [ + 1143.0961006637785, + 42.99048960654682 + ], + [ + 1150.22510860074, + 43.9971974214198 + ], + [ + 1150.0838506583864, + 40.36142478972175 + ], + [ + 1150.3739713306923, + 19.26035379359206 + ], + [ + 1150.5189740219134, + 22.803651353391786 + ], + [ + 1157.76690619733, + 23.78839487550414 + ], + [ + 1157.573954386661, + 20.2321937768275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.889375111679, + "ymin": 106.68668801458563, + "xmax": 1162.7338299931835, + "ymax": 140.7919702687149 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1151.7773728199018, + 134.80529715769194 + ], + [ + 1141.889375111679, + 133.1834810310136 + ], + [ + 1142.0126482229844, + 139.14025051191823 + ], + [ + 1151.991813354175, + 140.7919702687149 + ], + [ + 1162.4150936369322, + 108.27471920939101 + ], + [ + 1152.2950590468852, + 106.68668801458563 + ], + [ + 1152.5182813903646, + 112.52017555818998 + ], + [ + 1162.7338299931835, + 114.13810385212525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 304.7793852893652, + "ymin": 154.49186023522773, + "xmax": 324.47306928760577, + "ymax": 184.3658820089324 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 317.9125469387857, + 184.3658820089324 + ], + [ + 324.47306928760577, + 178.69114034881613 + ], + [ + 317.47364628201115, + 177.14342895735786 + ], + [ + 310.870855332668, + 182.79283688139765 + ], + [ + 311.9377496095633, + 161.6081388236753 + ], + [ + 318.66821857403784, + 156.01659039012014 + ], + [ + 311.55347310724795, + 154.49186023522773 + ], + [ + 304.7793852893652, + 160.05798674930895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.1303860883652, + "ymin": 70.84296670712229, + "xmax": 1160.739334921848, + "ymax": 103.30256835132201 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1150.4576608767256, + 97.97634734030419 + ], + [ + 1141.1303860883652, + 96.5324973592181 + ], + [ + 1141.2400863937505, + 101.83361873629008 + ], + [ + 1150.6484398129664, + 103.30256835132201 + ], + [ + 1160.4564375127889, + 72.25343075807297 + ], + [ + 1150.9229541908717, + 70.84296670712229 + ], + [ + 1151.1211344601656, + 76.02214763147896 + ], + [ + 1160.739334921848, + 77.4576170055924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 511.3773473890477, + "ymin": 117.31676080300485, + "xmax": 528.2063477248785, + "ymax": 151.90266796651906 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 522.5979372585425, + 151.90266796651906 + ], + [ + 528.2063477248785, + 145.71302080205987 + ], + [ + 519.7313705540656, + 144.0365085306168 + ], + [ + 514.0583007194018, + 150.19472000516933 + ], + [ + 520.0922325378765, + 125.02592869145755 + ], + [ + 525.8428976817986, + 118.95948894756944 + ], + [ + 517.1953200638934, + 117.31676080300485 + ], + [ + 511.3773473890477, + 123.35173866377013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 419.8768356645597, + "ymin": 100.0643300857949, + "xmax": 438.6982034595859, + "ymax": 133.86833699382925 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 432.4272826804906, + 133.86833699382925 + ], + [ + 438.6982034595859, + 128.006618826222 + ], + [ + 430.66968526132615, + 126.41842461891707 + ], + [ + 424.3415405436333, + 132.25116896589725 + ], + [ + 428.1190436246616, + 107.35725732661058 + ], + [ + 434.55853714817187, + 101.61876705980166 + ], + [ + 426.37573827610265, + 100.0643300857949 + ], + [ + 419.8768356645597, + 105.77387182834687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.8390281318086, + "ymin": 345.766321159161, + "xmax": 1124.5016562840294, + "ymax": 382.15485158431176 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1113.3054977575785, + 372.8475497454489 + ], + [ + 1102.1130613653638, + 370.3165677281892 + ], + [ + 1101.8390281318086, + 379.5707078763367 + ], + [ + 1113.1477769905584, + 382.15485158431176 + ], + [ + 1124.5016562840294, + 348.2854684422176 + ], + [ + 1113.0126248732918, + 345.766321159161 + ], + [ + 1112.8484802913613, + 354.97883646409383 + ], + [ + 1124.4601068047432, + 357.5521668003796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 695.6167259541111, + "ymin": 156.8938112744208, + "xmax": 1215.8694182668087, + "ymax": 656.4242007131187 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1022.3900671998591, + 656.4242007131187 + ], + [ + 1024.7774437348855, + 630.0143810281411 + ], + [ + 704.5489479732626, + 534.5158388475021 + ], + [ + 695.6167259541111, + 556.6676065332118 + ], + [ + 1215.8694182668087, + 274.53603994747857 + ], + [ + 1212.9387333710943, + 248.01254071412842 + ], + [ + 732.3532346593881, + 156.8938112744208 + ], + [ + 720.3023625923215, + 177.38860854101475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 399.73366464296873, + "ymin": 0.0, + "xmax": 561.0457498233562, + "ymax": 123.60995102426145 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 561.0457498233562, + 14.89044044502026 + ], + [ + 553.3238379108471, + 13.64278930739664 + ], + [ + 433.34169821325, + 121.80067594204877 + ], + [ + 442.30282217760373, + 123.60995102426145 + ], + [ + 550.6389318556805, + -169.15237283129295 + ], + [ + 541.9295457605974, + -170.07532738955774 + ], + [ + 399.73366464296873, + -87.88653959390149 + ], + [ + 410.0461377795011, + -86.47315384150329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.3408514752124, + "ymin": 170.7249591806032, + "xmax": 769.3600327507892, + "ymax": 193.2044107853178 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 762.0735627904986, + 193.2044107853178 + ], + [ + 769.1801210378704, + 179.4335827077289 + ], + [ + 733.0812988734131, + 172.4328177741203 + ], + [ + 725.3408514752124, + 185.92538850227783 + ], + [ + 762.2469449086246, + 191.47450547331198 + ], + [ + 769.3600327507892, + 177.7181009233923 + ], + [ + 733.2096295898132, + 170.7249591806032 + ], + [ + 725.4608172777066, + 184.20301278097267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.33775859367, + "ymin": 170.76911281232165, + "xmax": 769.355381391523, + "ymax": 193.24900943072464 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 762.0690928304653, + 193.24900943072464 + ], + [ + 769.1754826074365, + 179.47781075040743 + ], + [ + 733.0779902414031, + 172.4768499105384 + ], + [ + 725.33775859367, + 185.96979369081376 + ], + [ + 762.2424622423629, + 191.5192308940303 + ], + [ + 769.355381391523, + 177.7624522441825 + ], + [ + 733.2063118284882, + 170.76911281232165 + ], + [ + 725.4577156947262, + 184.24754289799014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 254.83616551879072, + "ymin": 10.972834736675907, + "xmax": 643.8649977811148, + "ymax": 331.4187615122585 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 326.80213928612153, + 244.45385480296162 + ], + [ + 319.626676597132, + 251.15660846968294 + ], + [ + 638.3052185383671, + 331.4187615122585 + ], + [ + 643.1538060878391, + 323.24903630553223 + ], + [ + 264.12627543830155, + 10.972834736675907 + ], + [ + 254.83616551879072, + 16.559355214328093 + ], + [ + 637.9184754443411, + 85.02041140735787 + ], + [ + 643.8649977811148, + 77.91702655212515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.2168070927361, + "ymin": 0.0, + "xmax": 1208.7827044742526, + "ymax": 99.97265077062099 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1131.9421438083, + 99.97265077062099 + ], + [ + 1132.0104174367575, + 95.64196426133759 + ], + [ + 861.06107597482, + 52.671198710172575 + ], + [ + 859.2168070927361, + 56.413571638165536 + ], + [ + 1208.7827044742526, + -104.83626500757288 + ], + [ + 1208.2383519584985, + -108.17683937058507 + ], + [ + 892.5645869976038, + -140.93091233636392 + ], + [ + 890.6923018594395, + -138.1063563313669 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.8778928673344, + "ymin": 0.0, + "xmax": 1218.5750500894733, + "ymax": 456.12323632990746 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1078.8778928673344, + 451.9532037450376 + ], + [ + 1095.271308729991, + 456.12323632990746 + ], + [ + 1106.270073758754, + 225.50801046675866 + ], + [ + 1093.7140094484216, + 223.07820726447164 + ], + [ + 1197.0949725726634, + 193.57303663518198 + ], + [ + 1218.5750500894733, + 197.45892395311546 + ], + [ + 1196.804728099446, + -4.711941151241433 + ], + [ + 1181.4665052451007, + -6.712271296557503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1107.4799408019824, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 98.2170213957196 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1107.4799408019824, + 23.109487599993997 + ], + [ + 1129.7483362530168, + 83.56986878134956 + ], + [ + 1295.212908204273, + 98.2170213957196 + ], + [ + 1255.4271256977445, + 34.92573230358897 + ], + [ + 1200.0381602286184, + -251.72072430298203 + ], + [ + 1240.0209494894673, + -215.3578797433521 + ], + [ + 1447.1763818937334, + -206.299061699724 + ], + [ + 1380.4871276115205, + -244.7413919599286 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00096/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00096/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f15b27b303a166e859d7582ab66fe8263ceb4a8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00096/meta.json @@ -0,0 +1,3108 @@ +{ + "frame_id": 96, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 48.0, + "sim_timestamp": 1284.3913013187703 + }, + "drone_pose": { + "x": -134.09038290178594, + "y": -31.157440423586188, + "z": 20.0, + "pitch": -42.4438279940333, + "yaw": 69.12966161188554, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.26289403438568115, + -0.6895224452018738, + 0.6748670935630798, + 43.237979888916016 + ], + [ + 0.934389054775238, + 0.3562542796134949, + -2.9802322387695312e-08, + -114.1926040649414 + ], + [ + -0.2404242753982544, + 0.6305884122848511, + 0.7379392981529236, + -66.64488983154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.1786998331685, + "y": -30.57224076577269, + "z": 20.0 + }, + "t1_image_uv": [ + 1374.6024936240547, + -517.9480432741233 + ], + "t1_depth": 0.3802902789489655 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -11.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 28.23646775084472, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 598, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -11.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39039549231529236, + "y": 0.4000408947467804, + "z": 0.8701444864273071 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.0864529515657, + "ymin": 326.2750940658722, + "xmax": 657.702270299721, + "ymax": 393.2201971744047 + }, + "corners_3d": [ + [ + -126.26714324951172, + -12.078158378601074, + 0.07399338483810425 + ], + [ + -127.06722259521484, + -12.078158378601074, + 0.07399338483810425 + ], + [ + -127.06722259521484, + -11.297368049621582, + 0.07399338483810425 + ], + [ + -126.26714324951172, + -11.297368049621582, + 0.07399338483810425 + ], + [ + -126.26714324951172, + -12.078158378601074, + 1.8142824172973633 + ], + [ + -127.06722259521484, + -12.078158378601074, + 1.8142824172973633 + ], + [ + -127.06722259521484, + -11.297368049621582, + 1.8142824172973633 + ], + [ + -126.26714324951172, + -11.297368049621582, + 1.8142824172973633 + ] + ], + "corners_2d": [ + [ + 622.8205438646286, + 386.53304714443067 + ], + [ + 647.920189602928, + 393.2201971744047 + ], + [ + 656.9850467151626, + 376.29758666229435 + ], + [ + 632.2829031666608, + 369.85564521398766 + ], + [ + 622.0864529515657, + 342.81149063625287 + ], + [ + 648.2612351026498, + 349.4494229604902 + ], + [ + 657.702270299721, + 332.65948247968845 + ], + [ + 631.959480989796, + 326.2750940658722 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 96, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 72, + "semantic_pixel_counts": { + "1": 590003, + "2": 157345, + "3": 26550, + "4": 33453, + "6": 23930, + "7": 2732, + "9": 10809, + "10": 9, + "12": 3379, + "14": 17786, + "24": 29878, + "25": 25726 + }, + "instance_pixel_counts": { + "3662": 2075, + "11605": 11205, + "15970": 64, + "16482": 1179, + "16994": 1547, + "17496": 12462, + "17503": 6509, + "17506": 1117, + "18018": 167, + "18059": 2225, + "19083": 3004, + "19554": 1685, + "19595": 4268, + "20066": 1207, + "20107": 239, + "20565": 15201, + "21395": 3494, + "21397": 75, + "21643": 3042, + "21907": 157796, + "21909": 14874, + "22155": 3650, + "22421": 5126, + "22931": 257292, + "23443": 1993, + "23445": 138, + "23955": 3906, + "23957": 613, + "24467": 18406, + "25344": 109, + "25600": 6466, + "25856": 6983, + "26112": 642, + "36096": 598, + "36352": 596, + "36608": 580, + "36864": 642, + "37120": 209, + "37376": 754, + "37888": 3237, + "40448": 3652, + "40704": 3793, + "41216": 7104, + "45409": 117, + "45971": 11893, + "46483": 94500, + "46995": 17226, + "47201": 21302, + "47713": 4271, + "48225": 2103, + "48468": 144, + "48531": 8057, + "48737": 32039, + "49043": 15440, + "49249": 6310, + "49761": 11283, + "51526": 31378, + "52321": 41, + "52833": 3643, + "53345": 490, + "53857": 1733, + "54366": 19217, + "56458": 16, + "56970": 6231, + "57482": 38331, + "58506": 6041, + "60307": 454, + "60819": 6536, + "61254": 10809, + "61331": 665, + "62355": 453, + "62867": 944 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 598, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -11.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3993164002895355, + "y": 0.5456011891365051, + "z": 0.9102866053581238 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.2290352803474, + "ymin": 323.8910782284144, + "xmax": 662.5545242056565, + "ymax": 395.6122199086006 + }, + "corners_3d": [ + [ + -126.12158203125, + -12.087080001831055, + 0.0338512659072876 + ], + [ + -127.21278381347656, + -12.087079048156738, + 0.0338512659072876 + ], + [ + -127.21278381347656, + -11.288446426391602, + 0.0338512659072876 + ], + [ + -126.12158203125, + -11.288447380065918, + 0.0338512659072876 + ], + [ + -126.12158203125, + -12.087080001831055, + 1.8544244766235352 + ], + [ + -127.21278381347656, + -12.087079048156738, + 1.8544244766235352 + ], + [ + -127.21278381347656, + -11.288446426391602, + 1.8544244766235352 + ], + [ + -126.12158203125, + -11.288447380065918, + 1.8544244766235352 + ] + ], + "corners_2d": [ + [ + 618.2032175031638, + 386.4867665050105 + ], + [ + 652.4100821707419, + 395.6122199086006 + ], + [ + 661.5983845759633, + 378.25445121483284 + ], + [ + 627.9450307935363, + 369.4708061256819 + ], + [ + 617.2290352803474, + 340.7545100272884 + ], + [ + 652.9705856159044, + 349.8098521807014 + ], + [ + 662.5545242056565, + 332.59244819571154 + ], + [ + 627.4168285215737, + 323.8910782284144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 596, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -8.690058708190918, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.45050784945487976, + "y": 0.46830204129219055, + "z": 0.8990204930305481 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 535.5388155780884, + "ymin": 240.0165708600306, + "xmax": 572.911356950557, + "ymax": 303.2208382705611 + }, + "corners_3d": [ + [ + -122.17679595947266, + -9.228087425231934, + 0.04512214660644531 + ], + [ + -123.09293365478516, + -9.033355712890625, + 0.04512214660644531 + ], + [ + -122.90560150146484, + -8.152029991149902, + 0.04512214660644531 + ], + [ + -121.98946380615234, + -8.346761703491211, + 0.04512214660644531 + ], + [ + -122.17679595947266, + -9.228087425231934, + 1.8431631326675415 + ], + [ + -123.09293365478516, + -9.033355712890625, + 1.8431631326675415 + ], + [ + -122.90560150146484, + -8.152029991149902, + 1.8431631326675415 + ], + [ + -121.98946380615234, + -8.346761703491211, + 1.8431631326675415 + ] + ], + "corners_2d": [ + [ + 539.5349855283439, + 300.46178434890675 + ], + [ + 567.2981483974625, + 303.2208382705611 + ], + [ + 572.911356950557, + 286.5037698134318 + ], + [ + 545.6930491620544, + 283.8557270271132 + ], + [ + 535.5388155780884, + 256.3391004326403 + ], + [ + 564.3961681017495, + 259.0535997493142 + ], + [ + 570.2900807608264, + 242.61763706604495 + ], + [ + 542.0209053209102, + 240.0165708600306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 580, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -4.745050430297852, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4330175817012787, + "y": 0.5515896677970886, + "z": 0.9309830069541931 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 755.0363509689871, + "ymin": 213.9649779318816, + "xmax": 796.7303916733208, + "ymax": 278.5237408875863 + }, + "corners_3d": [ + [ + -128.41969299316406, + -5.2333526611328125, + 0.013164520263671875 + ], + [ + -129.51683044433594, + -5.118039131164551, + 0.013164520263671875 + ], + [ + -129.4263153076172, + -4.256748199462891, + 0.013164520263671875 + ], + [ + -128.3291778564453, + -4.372061729431152, + 0.013164520263671875 + ], + [ + -128.41969299316406, + -5.2333526611328125, + 1.875130534172058 + ], + [ + -129.51683044433594, + -5.118039131164551, + 1.875130534172058 + ], + [ + -129.4263153076172, + -4.256748199462891, + 1.875130534172058 + ], + [ + -128.3291778564453, + -4.372061729431152, + 1.875130534172058 + ] + ], + "corners_2d": [ + [ + 755.0363509689871, + 273.45902565789834 + ], + [ + 787.1270209266182, + 278.5237408875863 + ], + [ + 790.8096158522413, + 263.7338136815822 + ], + [ + 759.2881426817047, + 258.8548724110105 + ], + [ + 759.6110945502872, + 228.27239955739125 + ], + [ + 793.0168828320855, + 233.23911362074296 + ], + [ + 796.7303916733208, + 218.74245270189718 + ], + [ + 763.9410164157833, + 213.9649779318816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 642, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -11.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3860400319099426, + "y": 0.5890637040138245, + "z": 0.8899505138397217 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 731.8009446898154, + "ymin": 353.5873876901904, + "xmax": 784.42651397174, + "ymax": 426.47327773356636 + }, + "corners_3d": [ + [ + -129.65786743164062, + -12.073802947998047, + 0.0541873574256897 + ], + [ + -130.83599853515625, + -12.073802947998047, + 0.0541873574256897 + ], + [ + -130.83599853515625, + -11.30172348022461, + 0.0541873574256897 + ], + [ + -129.65786743164062, + -11.30172348022461, + 0.0541873574256897 + ], + [ + -129.65786743164062, + -12.073802947998047, + 1.8340883255004883 + ], + [ + -130.83599853515625, + -12.073802947998047, + 1.8340883255004883 + ], + [ + -130.83599853515625, + -11.30172348022461, + 1.8340883255004883 + ], + [ + -129.65786743164062, + -11.30172348022461, + 1.8340883255004883 + ] + ], + "corners_2d": [ + [ + 731.8009446898154, + 415.9455348123649 + ], + [ + 771.2999552293172, + 426.47327773356636 + ], + [ + 778.2322475446748, + 408.5215997937965 + ], + [ + 739.400003549955, + 398.38813122813855 + ], + [ + 735.9490505324407, + 371.0409483213787 + ], + [ + 777.3027974371967, + 381.5206536967638 + ], + [ + 784.42651397174, + 363.6573048949261 + ], + [ + 743.8032981541112, + 353.5873876901904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 209, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.56414794921875, + "y": -22.31865119934082, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.40534183382987976, + "y": 0.45203861594200134, + "z": 0.8825502395629883 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 603.320282570162, + "ymin": 681.9274922748939, + "xmax": 661.791239606019, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.0722198486328, + -22.674522399902344, + 0.061587631702423096 + ], + [ + -130.97134399414062, + -22.769023895263672, + 0.061587631702423096 + ], + [ + -131.0560760498047, + -21.962779998779297, + 0.061587631702423096 + ], + [ + -130.15695190429688, + -21.86827850341797, + 0.061587631702423096 + ], + [ + -130.0722198486328, + -22.674522399902344, + 1.8266880512237549 + ], + [ + -130.97134399414062, + -22.769023895263672, + 1.8266880512237549 + ], + [ + -131.0560760498047, + -21.962779998779297, + 1.8266880512237549 + ], + [ + -130.15695190429688, + -21.86827850341797, + 1.8266880512237549 + ] + ], + "corners_2d": [ + [ + 605.4661768406351, + 755.9534298567623 + ], + [ + 643.5420838263935, + 775.1025298506675 + ], + [ + 660.5307436419216, + 741.5950315151231 + ], + [ + 623.1821150986115, + 723.4185386513386 + ], + [ + 603.320282570162, + 715.3290582237713 + ], + [ + 643.7657024724683, + 735.0378664498021 + ], + [ + 661.791239606019, + 700.5751158913172 + ], + [ + 622.1653735621214, + 681.9274922748939 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 754, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -19.85797882080078, + "z": 1.095705270767212 + }, + "extent": { + "x": 0.3223828077316284, + "y": 0.49712705612182617, + "z": 0.9035850167274475 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 98.66430784371596, + "ymin": 409.62095118132015, + "xmax": 167.6619156388325, + "ymax": 485.9718893208885 + }, + "corners_3d": [ + [ + -114.8685531616211, + -20.069957733154297, + 0.1921202540397644 + ], + [ + -115.84107971191406, + -20.276676177978516, + 0.1921202540397644 + ], + [ + -115.97513580322266, + -19.645999908447266, + 0.1921202540397644 + ], + [ + -115.00260925292969, + -19.439281463623047, + 0.1921202540397644 + ], + [ + -114.8685531616211, + -20.069957733154297, + 1.9992902278900146 + ], + [ + -115.84107971191406, + -20.276676177978516, + 1.9992902278900146 + ], + [ + -115.97513580322266, + -19.645999908447266, + 1.9992902278900146 + ], + [ + -115.00260925292969, + -19.439281463623047, + 1.9992902278900146 + ] + ], + "corners_2d": [ + [ + 123.99275318099194, + 470.63510895676916 + ], + [ + 147.21995739430997, + 485.9718893208885 + ], + [ + 167.6619156388325, + 470.58146910666846 + ], + [ + 144.47786017874864, + 455.70783660426446 + ], + [ + 98.66430784371596, + 424.5396879336387 + ], + [ + 122.6376548224456, + 439.890749189637 + ], + [ + 144.47831031808062, + 424.4860391646457 + ], + [ + 120.53994555110728, + 409.62095118132015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3237, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 398.1199526412051, + "ymin": 41.94673096323879, + "xmax": 504.0170350099693, + "ymax": 109.19829230891264 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 484.67698984552084, + 109.19829230891264 + ], + [ + 504.0170350099693, + 90.47208753298577 + ], + [ + 425.5470375843054, + 76.00985090217648 + ], + [ + 404.3246119075545, + 93.8433687649154 + ], + [ + 480.4823750990978, + 74.07671345648583 + ], + [ + 500.4572365567643, + 55.936451254025144 + ], + [ + 420.06988453555914, + 41.94673096323879 + ], + [ + 398.1199526412051, + 59.20008723646566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3652, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 51.32415690236371, + "ymin": 21.77838257190649, + "xmax": 181.06927097746888, + "ymax": 88.02082624048978 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 95.53317982876172, + 53.34009622181651 + ], + [ + 65.10348002714181, + 70.10653592329146 + ], + [ + 152.29940037702738, + 88.02082624048978 + ], + [ + 181.06927097746888, + 70.23274293581028 + ], + [ + 82.86394141078256, + 21.77838257190649 + ], + [ + 51.32415690236371, + 37.99819623638376 + ], + [ + 140.24511708875855, + 55.352952769952196 + ], + [ + 170.06703959353416, + 38.12037266222296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3793, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 15.4810615045767, + "ymin": 51.37194014079108, + "xmax": 137.90866375462122, + "ymax": 126.84286015563819 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 68.44469416188815, + 91.71447096220766 + ], + [ + 34.618783747819634, + 111.09764915489714 + ], + [ + 105.49984759842971, + 126.84286015563819 + ], + [ + 137.90866375462122, + 106.49289942936238 + ], + [ + 50.95009382715057, + 51.37194014079108 + ], + [ + 15.4810615045767, + 70.04470356328693 + ], + [ + 88.16621326145469, + 85.23963395604238 + ], + [ + 122.15604646581971, + 65.6054291781889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7104, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1094.4321215580878, + "ymin": 272.77852691098144, + "xmax": 1280.0, + "ymax": 387.61748495034374 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1095.9348016784138, + 311.2943729317837 + ], + [ + 1094.4321215580878, + 345.4957858281535 + ], + [ + 1284.2785802937638, + 387.61748495034374 + ], + [ + 1277.9799847809074, + 350.0703170040526 + ], + [ + 1111.9219629975642, + 272.77852691098144 + ], + [ + 1111.0478257845791, + 306.5838314867125 + ], + [ + 1309.0291134260779, + 348.35249360927475 + ], + [ + 1301.4350013194655, + 311.1128080147393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1144.8540295431326, + "ymin": 166.0930897552457, + "xmax": 1167.7752370299872, + "ymax": 202.89390961685413 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1155.6859529126023, + 195.72703002129535 + ], + [ + 1144.8540295431326, + 193.75887431171884 + ], + [ + 1144.942680948146, + 200.8860817400958 + ], + [ + 1155.8836284558736, + 202.89390961685413 + ], + [ + 1167.4521227879343, + 168.02789933048558 + ], + [ + 1156.3405627446177, + 166.0930897552457 + ], + [ + 1156.5489247552155, + 173.10069791212456 + ], + [ + 1167.7752370299872, + 175.07540978574414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 585.1374614998078, + "ymin": 140.5045943613981, + "xmax": 600.5354949459426, + "ymax": 176.18044398272292 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 595.3575883566818, + 176.18044398272292 + ], + [ + 600.5354949459426, + 169.53257022667276 + ], + [ + 591.5750298044193, + 167.70604688866945 + ], + [ + 586.3245982950802, + 174.31847306590225 + ], + [ + 594.3675192973174, + 148.8232799876895 + ], + [ + 599.6688267628698, + 142.29717578574645 + ], + [ + 590.5144708102521, + 140.5045943613981 + ], + [ + 585.1374614998078, + 146.99513543227786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.5300690493452, + "ymin": 24.519793536505233, + "xmax": 1161.5039303533224, + "ymax": 49.512297484159205 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1146.5300690493452, + 44.7709686041959 + ], + [ + 1146.5992645780939, + 48.46925251789105 + ], + [ + 1153.815475707994, + 49.512297484159205 + ], + [ + 1153.6989508995084, + 45.80042504243136 + ], + [ + 1154.0452403975262, + 24.519793536505233 + ], + [ + 1154.1655980486917, + 28.138231358261805 + ], + [ + 1161.5039303533224, + 29.158884534678748 + ], + [ + 1161.334634232428, + 25.52695309399246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1144.2112690068363, + "ymin": 115.38029169174777, + "xmax": 1165.3910148439743, + "ymax": 149.93291892331436 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1154.2530482284824, + 143.77596327299713 + ], + [ + 1144.2112690068363, + 142.083577476372 + ], + [ + 1144.2874589445228, + 148.20893431377635 + ], + [ + 1154.4228682368762, + 149.93291892331436 + ], + [ + 1165.1143611921598, + 117.03850566139937 + ], + [ + 1154.8326844028222, + 115.38029169174777 + ], + [ + 1155.0111616151635, + 121.38281761013351 + ], + [ + 1165.3910148439743, + 123.0726547328272 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 296.8259417184624, + "ymin": 160.74583526166032, + "xmax": 316.94128613459924, + "ymax": 190.8899883978285 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 310.2047586637006, + 190.8899883978285 + ], + [ + 316.94128613459924, + 185.10756442240992 + ], + [ + 309.91006275992567, + 183.50726660454734 + ], + [ + 303.1312978082963, + 189.2632888298369 + ], + [ + 304.0173352325829, + 168.02301184605378 + ], + [ + 310.93061294548625, + 162.32301344345237 + ], + [ + 303.7828088286118, + 160.74583526166032 + ], + [ + 296.8259417184624, + 166.41932370240886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.742347826296, + "ymin": 78.52932485714075, + "xmax": 1163.6608675340183, + "ymax": 111.40044659802686 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1153.2086821863631, + 105.93052294894363 + ], + [ + 1143.742347826296, + 104.42596342861196 + ], + [ + 1143.8100514561047, + 109.8694209584369 + ], + [ + 1153.3595480452827, + 111.40044659802686 + ], + [ + 1163.415687521052, + 79.99995897462486 + ], + [ + 1153.7364402096396, + 78.52932485714075 + ], + [ + 1153.8946598567886, + 83.8507093503427 + ], + [ + 1163.6608675340183, + 85.3477335865457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 504.11401995218523, + "ymin": 124.76481547378162, + "xmax": 521.3979860406383, + "ymax": 159.73911812909674 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 515.5955984444312, + 159.73911812909674 + ], + [ + 521.3979860406383, + 153.40100372201601 + ], + [ + 512.8525651115854, + 151.65908397250774 + ], + [ + 506.9849096255123, + 157.9641961490059 + ], + [ + 512.9033514663465, + 132.68815871670364 + ], + [ + 518.855828610474, + 126.47260963508296 + ], + [ + 510.1344645548187, + 124.76481547378162 + ], + [ + 504.11401995218523, + 130.94730623574884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 411.90293244095153, + "ymin": 106.84267114844351, + "xmax": 431.2010489030725, + "ymax": 141.00921492887406 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 424.73102539944995, + 141.00921492887406 + ], + [ + 431.2010489030725, + 135.01505503616173 + ], + [ + 423.11670402537266, + 133.36712212407647 + ], + [ + 416.58913417131373, + 139.33092618666805 + ], + [ + 420.2038335308661, + 114.3277150983341 + ], + [ + 426.8506999894129, + 108.45642949494993 + ], + [ + 418.60955831328977, + 106.84267114844351 + ], + [ + 411.90293244095153, + 112.68360318271306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.0671041304822, + "ymin": 359.58728912854235, + "xmax": 1125.2030541412366, + "ymax": 396.4492848699882 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1113.7973851136571, + 386.8492290879617 + ], + [ + 1102.4217044670556, + 384.20050592834843 + ], + [ + 1102.0671041304822, + 393.7441407282771 + ], + [ + 1113.5624305602794, + 396.4492848699882 + ], + [ + 1125.2030541412366, + 362.22577025422135 + ], + [ + 1113.5201583988269, + 359.58728912854235 + ], + [ + 1113.2772117440236, + 369.0957650581398 + ], + [ + 1125.0863430753207, + 371.7918219681073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.9824462487712, + "ymin": 171.1466265199287, + "xmax": 1216.9470889255442, + "ymax": 677.3001071448731 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1019.4297799805454, + 677.3001071448731 + ], + [ + 1022.0942083607356, + 649.980847313278 + ], + [ + 697.346149141201, + 550.0161562315097 + ], + [ + 687.9824462487712, + 572.8133236586527 + ], + [ + 1216.9470889255442, + 296.0287906022678 + ], + [ + 1214.1669163926817, + 268.07178824130676 + ], + [ + 722.6184539871354, + 171.1466265199287 + ], + [ + 709.7846756578755, + 192.54007343789783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 394.56963716621914, + "ymin": 0.0, + "xmax": 559.5458638061178, + "ymax": 128.25551657173057 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 559.5458638061178, + 17.996071942138542 + ], + [ + 551.7872965487924, + 16.71370387087552 + ], + [ + 429.21687247005116, + 126.39214425899297 + ], + [ + 438.2171386510659, + 128.25551657173057 + ], + [ + 548.8420335876415, + -167.16260323285735 + ], + [ + 540.0830531386217, + -168.11330165131335 + ], + [ + 394.56963716621914, + -84.55347414844431 + ], + [ + 404.93757393166436, + -83.09342719693245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.1104358218787, + "ymin": 185.26615543027805, + "xmax": 760.2814580596129, + "ymax": 208.78379765871162 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 752.5223997530617, + 208.78379765871162 + ], + [ + 760.1102603826455, + 194.40403112551297 + ], + [ + 723.3518947131848, + 186.990795616701 + ], + [ + 715.1104358218787, + 201.069869956866 + ], + [ + 752.6860244050404, + 207.03745346936014 + ], + [ + 760.2814580596129, + 192.67179489447355 + ], + [ + 723.4694611995611, + 185.26615543027805 + ], + [ + 715.2184967890488, + 199.33099109979312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.1076499572646, + "ymin": 185.3107442989232, + "xmax": 760.2770318488057, + "ymax": 208.8288185536812 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 752.5181814962506, + 208.8288185536812 + ], + [ + 760.1058467623716, + 194.44868963422653 + ], + [ + 723.3488637040484, + 187.03525896950882 + ], + [ + 715.1076499572646, + 201.1146991047359 + ], + [ + 752.6817938715685, + 207.08260539150004 + ], + [ + 760.2770318488057, + 192.7165807984773 + ], + [ + 723.4664216341727, + 185.3107442989232 + ], + [ + 715.2157029028015, + 199.37594932894572 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 245.22606944803488, + "ymin": 16.34261842436581, + "xmax": 638.0283244769139, + "ymax": 341.0076201192148 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 319.69212888367156, + 251.1219292546077 + ], + [ + 312.33408243574354, + 257.94317642413375 + ], + [ + 633.0082962936881, + 341.0076201192148 + ], + [ + 638.0283244769139, + 332.6555324235054 + ], + [ + 254.78469028329857, + 16.34261842436581 + ], + [ + 245.22606944803488, + 22.0520478706282 + ], + [ + 631.3875155178313, + 93.26411516889794 + ], + [ + 637.5767230156578, + 85.95972613988107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.7502407972598, + "ymin": 0.0, + "xmax": 1213.5708225177696, + "ymax": 105.82931411808948 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1135.1842394094947, + 105.82931411808948 + ], + [ + 1135.2840689012764, + 101.41289266713864 + ], + [ + 861.6532736181887, + 57.027897379623596 + ], + [ + 859.7502407972598, + 60.83207133629975 + ], + [ + 1213.5708225177696, + -100.57380094068014 + ], + [ + 1213.044205041344, + -103.99281049406159 + ], + [ + 893.5998010809993, + -137.93348770409403 + ], + [ + 891.6624692144653, + -135.05410082698097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.6943819422404, + "ymin": 0.019586924365796676, + "xmax": 1221.2323348938316, + "ymax": 470.6808835726953 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1078.6943819422404, + 466.3261555278953 + ], + [ + 1095.3374290555864, + 470.6808835726953 + ], + [ + 1108.2533596498351, + 234.00599029220254 + ], + [ + 1095.53792861387, + 231.48405121108624 + ], + [ + 1199.3065355022468, + 206.9546656549584 + ], + [ + 1221.2323348938316, + 211.0486019061901 + ], + [ + 1200.6123129301886, + 2.10641491733611 + ], + [ + 1185.0283265107569, + 0.019586924365796676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.9629800044504, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 104.47908896520696 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1110.9629800044504, + 27.510240482425047 + ], + [ + 1133.0584245419457, + 89.15148227694885 + ], + [ + 1300.633052384595, + 104.47908896520696 + ], + [ + 1260.638191114267, + 39.85167870642982 + ], + [ + 1205.3908354600967, + -249.62225144375338 + ], + [ + 1245.6390264874196, + -212.3755578571379 + ], + [ + 1456.1812351294484, + -202.84419489246534 + ], + [ + 1388.4712697333614, + -242.30069711027318 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00097/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00097/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78fb8e47d9d40b129b45ec3992a5fe10b4298bb5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00097/meta.json @@ -0,0 +1,3108 @@ +{ + "frame_id": 97, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 48.5, + "sim_timestamp": 1298.0805508082267 + }, + "drone_pose": { + "x": -134.1786998331685, + "y": -30.57224076577269, + "z": 20.0, + "pitch": -42.509421965104146, + "yaw": 68.81856862481156, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.26635468006134033, + -0.6873639822006226, + 0.6757113933563232, + 43.23915100097656 + ], + [ + 0.932440996170044, + 0.36132240295410156, + -2.9802322387695312e-08, + -114.06727600097656 + ], + [ + -0.24414965510368347, + 0.6300610303878784, + 0.7371662855148315, + -66.76538848876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.2680434929741, + "y": -29.973097029687896, + "z": 20.0 + }, + "t1_image_uv": [ + 1381.6902091429515, + -519.9683920334419 + ], + "t1_depth": 0.3880327211783833 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -11.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.201183285830837, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 613, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -11.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4133642613887787, + "y": 0.3607202172279358, + "z": 0.8787885308265686 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.9945614472892, + "ymin": 325.8250599688673, + "xmax": 656.7753343312281, + "ymax": 393.6611457208486 + }, + "corners_3d": [ + [ + -126.30646514892578, + -11.601127624511719, + 0.06534934043884277 + ], + [ + -127.02790069580078, + -11.601127624511719, + 0.06534934043884277 + ], + [ + -127.02790069580078, + -10.774398803710938, + 0.06534934043884277 + ], + [ + -126.30646514892578, + -10.774398803710938, + 0.06534934043884277 + ], + [ + -126.30646514892578, + -11.601127624511719, + 1.82292640209198 + ], + [ + -127.02790069580078, + -11.601127624511719, + 1.82292640209198 + ], + [ + -127.02790069580078, + -10.774398803710938, + 1.82292640209198 + ], + [ + -126.30646514892578, + -10.774398803710938, + 1.82292640209198 + ] + ], + "corners_2d": [ + [ + 623.7005409828995, + 387.52413876097216 + ], + [ + 646.3175077738051, + 393.6611457208486 + ], + [ + 656.087944915799, + 375.7478296891563 + ], + [ + 633.8471515085619, + 369.8483401933896 + ], + [ + 622.9945614472892, + 343.3540720522041 + ], + [ + 646.5930695700071, + 349.44703408142595 + ], + [ + 656.7753343312281, + 331.6722713817208 + ], + [ + 633.586063804013, + 325.8250599688673 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 97, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 72, + "semantic_pixel_counts": { + "1": 594964, + "2": 156259, + "3": 22554, + "4": 32323, + "6": 25060, + "7": 2819, + "9": 11374, + "10": 10, + "12": 3012, + "14": 18105, + "24": 30837, + "25": 24283 + }, + "instance_pixel_counts": { + "3662": 1607, + "11605": 9279, + "15970": 133, + "16479": 11, + "16482": 1203, + "16994": 1600, + "17496": 12971, + "17503": 6531, + "17506": 1198, + "18018": 213, + "18059": 2310, + "19083": 3075, + "19554": 1745, + "19595": 4592, + "20066": 1191, + "20107": 423, + "20565": 13190, + "21395": 4374, + "21397": 112, + "21643": 3599, + "21907": 163510, + "21909": 15489, + "22155": 3631, + "22421": 5110, + "22931": 251091, + "23443": 302, + "23445": 134, + "23955": 3758, + "23957": 635, + "24467": 18741, + "25344": 131, + "25600": 6589, + "25856": 7481, + "26112": 707, + "36096": 613, + "36352": 582, + "36608": 545, + "36864": 644, + "37120": 15, + "37376": 613, + "37888": 3289, + "40448": 3718, + "40704": 3857, + "41216": 7241, + "45409": 179, + "45971": 12520, + "46483": 97943, + "46995": 18985, + "47201": 22267, + "47713": 4428, + "48225": 2181, + "48468": 85, + "48531": 7795, + "48737": 29062, + "49043": 15945, + "49249": 5884, + "49761": 11042, + "51526": 30716, + "52833": 3600, + "53345": 476, + "53857": 1797, + "54366": 17752, + "56458": 63, + "56970": 6445, + "57482": 37310, + "58506": 6601, + "60307": 479, + "60819": 6769, + "61254": 11374, + "61331": 710, + "62355": 435, + "62867": 964 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 613, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -11.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3892236351966858, + "y": 0.3235394358634949, + "z": 0.8605464100837708 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.5244142464488, + "ymin": 327.10274883940167, + "xmax": 655.2736735266453, + "ymax": 392.37011807670586 + }, + "corners_3d": [ + [ + -126.34364318847656, + -11.576987266540527, + 0.08359146118164062 + ], + [ + -126.99072265625, + -11.576986312866211, + 0.08359146118164062 + ], + [ + -126.99072265625, + -10.798539161682129, + 0.08359146118164062 + ], + [ + -126.34364318847656, + -10.798540115356445, + 0.08359146118164062 + ], + [ + -126.34364318847656, + -11.576987266540527, + 1.8046842813491821 + ], + [ + -126.99072265625, + -11.576986312866211, + 1.8046842813491821 + ], + [ + -126.99072265625, + -10.798539161682129, + 1.8046842813491821 + ], + [ + -126.34364318847656, + -10.798540115356445, + 1.8046842813491821 + ] + ], + "corners_2d": [ + [ + 625.1536695085535, + 386.87234907158484 + ], + [ + 645.438287554202, + 392.37011807670586 + ], + [ + 654.6604057722718, + 375.5157306652214 + ], + [ + 634.6937535529906, + 370.2186253855104 + ], + [ + 624.5244142464488, + 343.62152835322615 + ], + [ + 645.6702440255032, + 349.0803965960889 + ], + [ + 655.2736735266453, + 332.35414456979106 + ], + [ + 634.473152556504, + 327.10274883940167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 582, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -8.190058708190918, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4434228837490082, + "y": 0.4391418695449829, + "z": 0.8800495862960815 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 537.109946476745, + "ymin": 240.14087360772942, + "xmax": 572.6811977908466, + "ymax": 302.11540417371475 + }, + "corners_3d": [ + [ + -122.20384979248047, + -8.715094566345215, + 0.06409305334091187 + ], + [ + -123.06293487548828, + -8.532488822937012, + 0.06409305334091187 + ], + [ + -122.87854766845703, + -7.665022850036621, + 0.06409305334091187 + ], + [ + -122.01946258544922, + -7.847629070281982, + 0.06409305334091187 + ], + [ + -122.20384979248047, + -8.715094566345215, + 1.8241922855377197 + ], + [ + -123.06293487548828, + -8.532488822937012, + 1.8241922855377197 + ], + [ + -122.87854766845703, + -7.665022850036621, + 1.8241922855377197 + ], + [ + -122.01946258544922, + -7.847629070281982, + 1.8241922855377197 + ] + ], + "corners_2d": [ + [ + 540.972084609598, + 299.43504980646225 + ], + [ + 567.0040308375153, + 302.11540417371475 + ], + [ + 572.6811977908466, + 285.65204621747716 + ], + [ + 547.1507646363112, + 283.07781249627635 + ], + [ + 537.109946476745, + 256.2273602772135 + ], + [ + 564.1474747380618, + 258.86573731245505 + ], + [ + 570.1015855709086, + 242.67083801931506 + ], + [ + 543.6046459905658, + 240.14087360772942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 545, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -4.245050430297852, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.473945289850235, + "y": 0.5493621826171875, + "z": 0.9444214701652527 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 755.9067017295334, + "ymin": 213.0337320718889, + "xmax": 798.1591050047433, + "ymax": 279.78921156573904 + }, + "corners_3d": [ + [ + -128.4261932373047, + -4.773823261260986, + -0.0002739429473876953 + ], + [ + -129.51889038085938, + -4.658975601196289, + -0.0002739429473876953 + ], + [ + -129.41981506347656, + -3.716277599334717, + -0.0002739429473876953 + ], + [ + -128.32711791992188, + -3.831125497817993, + -0.0002739429473876953 + ], + [ + -128.4261932373047, + -4.773823261260986, + 1.8885689973831177 + ], + [ + -129.51889038085938, + -4.658975601196289, + 1.8885689973831177 + ], + [ + -129.41981506347656, + -3.716277599334717, + 1.8885689973831177 + ], + [ + -128.32711791992188, + -3.831125497817993, + 1.8885689973831177 + ] + ], + "corners_2d": [ + [ + 755.9067017295334, + 274.6143083739913 + ], + [ + 787.9185037115665, + 279.78921156573904 + ], + [ + 792.086612913433, + 263.56477699887387 + ], + [ + 760.6936787127726, + 258.59705910710403 + ], + [ + 760.6025152724255, + 228.7245599119216 + ], + [ + 793.9518559322701, + 233.799480991874 + ], + [ + 798.1591050047433, + 217.89747084097664 + ], + [ + 765.4809529814399, + 213.0337320718889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 644, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -11.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.38814452290534973, + "y": 0.49937865138053894, + "z": 0.8936492800712585 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 734.6231650940604, + "ymin": 354.630775953526, + "xmax": 781.3880142452566, + "ymax": 426.41716757107883 + }, + "corners_3d": [ + [ + -129.74755859375, + -11.575907707214355, + 0.05049335956573486 + ], + [ + -130.74630737304688, + -11.575907707214355, + 0.05049335956573486 + ], + [ + -130.74630737304688, + -10.7996187210083, + 0.05049335956573486 + ], + [ + -129.74755859375, + -10.7996187210083, + 0.05049335956573486 + ], + [ + -129.74755859375, + -11.575907707214355, + 1.837791919708252 + ], + [ + -130.74630737304688, + -11.575907707214355, + 1.837791919708252 + ], + [ + -130.74630737304688, + -10.7996187210083, + 1.837791919708252 + ], + [ + -129.74755859375, + -10.7996187210083, + 1.837791919708252 + ] + ], + "corners_2d": [ + [ + 734.6231650940604, + 417.334225315466 + ], + [ + 768.107203629498, + 426.41716757107883 + ], + [ + 775.286459505199, + 408.3725434947626 + ], + [ + 742.3672440294189, + 399.6310663485711 + ], + [ + 738.9338383410761, + 372.2346604378427 + ], + [ + 774.0024400585105, + 381.27843198833676 + ], + [ + 781.3880142452566, + 363.3194487626044 + ], + [ + 746.9386942985225, + 354.630775953526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 15, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.33897399902344, + "y": -22.19993782043457, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.40125003457069397, + "y": 0.4209533929824829, + "z": 0.8840563893318176 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 583.5726743363697, + "ymin": 696.0258659615565, + "xmax": 640.1271793104307, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -129.87838745117188, + -22.554988861083984, + 0.06008148193359375 + ], + [ + -130.71568298339844, + -22.64299201965332, + 0.06008148193359375 + ], + [ + -130.799560546875, + -21.844886779785156, + 0.06008148193359375 + ], + [ + -129.96226501464844, + -21.75688362121582, + 0.06008148193359375 + ], + [ + -129.87838745117188, + -22.554988861083984, + 1.828194260597229 + ], + [ + -130.71568298339844, + -22.64299201965332, + 1.828194260597229 + ], + [ + -130.799560546875, + -21.844886779785156, + 1.828194260597229 + ], + [ + -129.96226501464844, + -21.75688362121582, + 1.828194260597229 + ] + ], + "corners_2d": [ + [ + 586.921719751962, + 770.0310296390621 + ], + [ + 622.3905837887307, + 788.4588896122661 + ], + [ + 640.1197209679495, + 754.66062895502 + ], + [ + 605.3111502607074, + 737.1661362245973 + ], + [ + 583.5726743363697, + 729.8210349173489 + ], + [ + 621.2626052105697, + 748.8180987963628 + ], + [ + 640.1271793104307, + 714.0020443831819 + ], + [ + 603.1815957031883, + 696.0258659615565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 613, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -19.35797882080078, + "z": 1.0957003831863403 + }, + "extent": { + "x": 0.3112548887729645, + "y": 0.4249218702316284, + "z": 0.8947903513908386 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 100.62087364314209, + "ymin": 409.3633331656588, + "xmax": 165.1468307285295, + "ymax": 482.55042960580533 + }, + "corners_3d": [ + [ + -114.94149780273438, + -19.574085235595703, + 0.2009100317955017 + ], + [ + -115.77276611328125, + -19.750778198242188, + 0.2009100317955017 + ], + [ + -115.90219116210938, + -19.14187240600586, + 0.2009100317955017 + ], + [ + -115.0709228515625, + -18.965179443359375, + 0.2009100317955017 + ], + [ + -114.94149780273438, + -19.574085235595703, + 1.9904906749725342 + ], + [ + -115.77276611328125, + -19.750778198242188, + 1.9904906749725342 + ], + [ + -115.90219116210938, + -19.14187240600586, + 1.9904906749725342 + ], + [ + -115.0709228515625, + -18.965179443359375, + 1.9904906749725342 + ] + ], + "corners_2d": [ + [ + 125.64718467950274, + 469.3616288040143 + ], + [ + 145.33909947416316, + 482.55042960580533 + ], + [ + 165.1468307285295, + 467.8000372369586 + ], + [ + 145.48409382416207, + 454.99400492556197 + ], + [ + 100.62087364314209, + 423.72486819651226 + ], + [ + 120.93423292609157, + 436.9259577842264 + ], + [ + 142.08065170661132, + 422.16295540279066 + ], + [ + 121.78913863761238, + 409.3633331656588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3289, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 394.1793185367337, + "ymin": 45.225320227569625, + "xmax": 501.06280173694734, + "ymax": 113.4013048870604 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 481.2539055405522, + 113.4013048870604 + ], + [ + 501.06280173694734, + 94.38430114194983 + ], + [ + 422.23764165005946, + 79.46648729183477 + ], + [ + 400.5454555657758, + 97.5575875521651 + ], + [ + 476.9222458079432, + 78.09477527086943 + ], + [ + 497.3885015015187, + 59.662969984313406 + ], + [ + 416.6221942833552, + 45.225320227569625 + ], + [ + 394.1793185367337, + 62.7365088961991 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3718, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 45.8485147699289, + "ymin": 23.913792346347975, + "xmax": 176.36148695987794, + "ymax": 90.98688168312384 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 90.79210147729691, + 55.61507612375988 + ], + [ + 59.86477636531595, + 72.56544800800941 + ], + [ + 147.07093230985328, + 90.98688168312384 + ], + [ + 176.36148695987794, + 72.98219041115271 + ], + [ + 77.91153893601268, + 23.913792346347975 + ], + [ + 45.8485147699289, + 40.317563595543334 + ], + [ + 134.78211802834488, + 58.17069040552781 + ], + [ + 165.1517561057015, + 40.72115285662932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3857, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 8.819642374840441, + "ymin": 54.00661637363322, + "xmax": 132.2098145449795, + "ymax": 130.3412567203737 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 62.73452254129154, + 94.52606278724676 + ], + [ + 28.321049443269885, + 114.13812375114205 + ], + [ + 99.19100091729115, + 130.3412567203737 + ], + [ + 132.2098145449795, + 109.73039704607476 + ], + [ + 44.91706547519516, + 54.00661637363322 + ], + [ + 8.819642374840441, + 72.90950558850386 + ], + [ + 81.49405789453556, + 88.55487884867699 + ], + [ + 116.13665992362985, + 68.65791528123401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7241, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1095.5656802876435, + "ymin": 283.2948883917818, + "xmax": 1280.0, + "ymax": 401.14028947793577 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1097.3847088801172, + 321.9633263636524 + ], + [ + 1095.5656802876435, + 357.08886812944286 + ], + [ + 1288.4715375569315, + 401.14028947793577 + ], + [ + 1282.2805997374453, + 362.4754588919153 + ], + [ + 1113.6802825036182, + 283.2948883917818 + ], + [ + 1112.4987657719068, + 318.0528063496654 + ], + [ + 1313.8327774911218, + 361.78972633427964 + ], + [ + 1306.3058650198154, + 323.3921745478648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1147.0684320390744, + "ymin": 176.67083030110786, + "xmax": 1170.3975456241235, + "ymax": 214.00887026138383 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1158.0896451633334, + 206.61046609352724 + ], + [ + 1147.0684320390744, + 204.54598059512057 + ], + [ + 1147.0931160119592, + 211.9021883286789 + ], + [ + 1158.226623918113, + 214.00887026138383 + ], + [ + 1170.1318500090179, + 178.70202586209732 + ], + [ + 1158.820200859367, + 176.67083030110786 + ], + [ + 1158.9675760829605, + 183.90964421131923 + ], + [ + 1170.3975456241235, + 185.98333443026328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.2702905760594, + "ymin": 148.65421862586086, + "xmax": 594.1303934453875, + "ymax": 184.77072415353598 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 588.748231575299, + 184.77072415353598 + ], + [ + 594.1303934453875, + 177.94738439536988 + ], + [ + 585.0821599702138, + 176.04234938876596 + ], + [ + 579.6266141290677, + 182.82830883480912 + ], + [ + 587.5935765341926, + 157.2280348137709 + ], + [ + 593.1072221859241, + 150.5251119380801 + ], + [ + 583.8605762129328, + 148.65421862586086 + ], + [ + 578.2702905760594, + 155.31960112290483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.589852525566, + "ymin": 29.738529366713976, + "xmax": 1165.7963207513571, + "ymax": 55.01131300549309 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1150.589852525566, + 50.147015879237756 + ], + [ + 1150.6293247412827, + 53.92753324957215 + ], + [ + 1157.9402781429749, + 55.01131300549309 + ], + [ + 1157.852480903522, + 51.216550645167445 + ], + [ + 1158.2679012152757, + 29.738529366713976 + ], + [ + 1158.3596560229626, + 33.43889897681504 + ], + [ + 1165.7963207513571, + 34.4998384963377 + ], + [ + 1165.6545711116528, + 30.785314912610886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.8896657471405, + "ymin": 124.34738981782951, + "xmax": 1168.438838430735, + "ymax": 159.3854618681721 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1157.0978540040942, + 153.04251055199674 + ], + [ + 1146.8896657471405, + 151.27084594157893 + ], + [ + 1146.9108372725968, + 157.5802897259888 + ], + [ + 1157.2152914342755, + 159.3854618681721 + ], + [ + 1168.2118332823961, + 126.08454387238189 + ], + [ + 1157.75494640801, + 124.34738981782951 + ], + [ + 1157.8809166330652, + 130.53482753747028 + ], + [ + 1168.438838430735, + 132.30555181397173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 288.5572352410053, + "ymin": 166.87664514184806, + "xmax": 309.1213591803701, + "ymax": 197.30743323557581 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 302.1967168889249, + 197.30743323557581 + ], + [ + 309.1213591803701, + 191.41161268930568 + ], + [ + 302.0591038997197, + 189.75345716222617 + ], + [ + 295.09234226138074, + 195.62171124291888 + ], + [ + 295.78085529344395, + 174.32597746435783 + ], + [ + 302.88964510904265, + 168.5115753254179 + ], + [ + 295.7094947495346, + 166.87664514184806 + ], + [ + 288.5572352410053, + 172.66334914960194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.7590889593525, + "ymin": 86.39485250099852, + "xmax": 1167.0200121617381, + "ymax": 119.7138251266303 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1156.3760774794023, + 114.08698422141163 + ], + [ + 1146.7590889593525, + 112.51424039502564 + ], + [ + 1146.7778713534747, + 118.11307840490565 + ], + [ + 1156.4802516905236, + 119.7138251266303 + ], + [ + 1166.8191452268193, + 87.93314062719662 + ], + [ + 1156.98173109519, + 86.39485250099852 + ], + [ + 1157.0932302293565, + 91.87173438510655 + ], + [ + 1167.0200121617381, + 93.43797265090723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 496.48970099330325, + "ymin": 132.238944253847, + "xmax": 514.2633663639459, + "ymax": 167.62899547356741 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 508.2502712988653, + 167.62899547356741 + ], + [ + 514.2633663639459, + 161.1320238915397 + ], + [ + 505.6453243202718, + 159.31756228509295 + ], + [ + 499.566414776427, + 165.77979970124568 + ], + [ + 505.35585464294815, + 140.39437130657922 + ], + [ + 511.5277201399783, + 134.018978797441 + ], + [ + 502.7301320253646, + 132.238944253847 + ], + [ + 496.48970099330325, + 138.57951044041354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 403.55046961445555, + "ymin": 113.57410907324802, + "xmax": 423.3603132164345, + "ymax": 148.1284405829032 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 416.6752257506506, + 148.1284405829032 + ], + [ + 423.3603132164345, + 141.99311306565124 + ], + [ + 415.21919077255427, + 140.27906311653499 + ], + [ + 408.4763153181181, + 146.3825122727226 + ], + [ + 411.91110331669415, + 121.26667937401933 + ], + [ + 418.78213937646217, + 115.25358839584052 + ], + [ + 410.4815325415336, + 113.57410907324802 + ], + [ + 403.55046961445555, + 119.55529606542615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.3403703833767, + "ymin": 374.11583686717313, + "xmax": 1125.9987696731896, + "ymax": 411.48167427238036 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1114.3607465623975, + 401.56329639581816 + ], + [ + 1102.7887639983587, + 398.78268860894525 + ], + [ + 1102.3403703833767, + 408.6409816772748 + ], + [ + 1114.035529672779, + 411.48167427238036 + ], + [ + 1125.9987696731896, + 376.88817840431494 + ], + [ + 1114.10778114199, + 374.11583686717313 + ], + [ + 1113.7727574396893, + 383.94667542390533 + ], + [ + 1125.7938520750931, + 386.7804149118631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.7668584446806, + "ymin": 186.19649267056798, + "xmax": 1218.0145943841292, + "ymax": 699.3875573930121 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1016.099765958458, + 699.3875573930121 + ], + [ + 1019.0833515214107, + 671.0841302256374 + ], + [ + 689.6066901431959, + 566.1523905004291 + ], + [ + 679.7668584446806, + 589.6392623979555 + ], + [ + 1218.0145943841292, + 319.3285382741467 + ], + [ + 1215.4291965235607, + 289.75649445173997 + ], + [ + 712.0143181008915, + 186.19649267056798 + ], + [ + 698.2992407907435, + 208.58343542276873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 389.29853750855114, + "ymin": 0.0, + "xmax": 558.1918812345639, + "ymax": 132.6899361175571 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 558.1918812345639, + 20.80168150384617 + ], + [ + 550.3949840886681, + 19.480865131110193 + ], + [ + 425.04838313662924, + 130.7669751420409 + ], + [ + 434.08809001092385, + 132.6899361175571 + ], + [ + 547.1942134162036, + -165.5901086436577 + ], + [ + 538.3825259600774, + -166.57170506917885 + ], + [ + 389.29853750855114, + -81.54232992745494 + ], + [ + 399.72360095255874, + -80.03053783261106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9464568083672, + "ymin": 200.62871497825796, + "xmax": 750.3732243728065, + "ymax": 225.30504716082794 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 742.0811113412717, + 225.30504716082794 + ], + [ + 750.212156188165, + 210.25161638826543 + ], + [ + 712.7516972848807, + 202.37062645745638 + ], + [ + 703.9464568083672, + 217.09760203849112 + ], + [ + 742.2333765400392, + 223.5419563283352 + ], + [ + 750.3732243728065, + 208.5021898009487 + ], + [ + 712.8568701949536, + 200.62871497825796 + ], + [ + 704.0407880057413, + 215.3418488857702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9440249947678, + "ymin": 200.6737519193791, + "xmax": 750.3690599075668, + "ymax": 225.35049804175833 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 742.0771860826909, + 225.35049804175833 + ], + [ + 750.2080038682769, + 210.29671641113598 + ], + [ + 712.7489858950872, + 202.41553346823088 + ], + [ + 703.9440249947678, + 217.14286452336202 + ], + [ + 742.2294395630415, + 223.58754289774473 + ], + [ + 750.3690599075668, + 208.54742173938814 + ], + [ + 712.8541509602421, + 200.6737519193791 + ], + [ + 704.0383490123629, + 215.38724500532234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 235.17343956335037, + "ymin": 21.53114997083219, + "xmax": 632.6631935236259, + "ymax": 350.7769333597306 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 312.32918355286665, + 257.68341433928185 + ], + [ + 304.77653691347945, + 264.62866608110585 + ], + [ + 627.4563192762353, + 350.7769333597306 + ], + [ + 632.6631935236259, + 342.2310878064682 + ], + [ + 245.0202129409205, + 21.53114997083219 + ], + [ + 235.17343956335037, + 27.37145447080968 + ], + [ + 624.4984483756245, + 101.64037593332915 + ], + [ + 630.9540679628692, + 94.11848076440845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 860.5568646309476, + "ymin": 0.0, + "xmax": 1219.0640431755924, + "ymax": 111.70076052203694 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1138.909312471827, + 111.70076052203694 + ], + [ + 1139.0455306259787, + 107.19130670948655 + ], + [ + 862.5246104256996, + 61.228231454434535 + ], + [ + 860.5568646309476, + 65.09889148173926 + ], + [ + 1219.0640431755924, + -96.45177285881454 + ], + [ + 1218.558572440988, + -99.95696552101714 + ], + [ + 895.0018668847747, + -135.23118004053225 + ], + [ + 892.9928377721338, + -132.29208394655535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.5074140437214, + "ymin": 6.847573472998647, + "xmax": 1224.192277872979, + "ymax": 485.95779613776443 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1078.5074140437214, + 481.39705422534763 + ], + [ + 1095.4163111275652, + 485.95779613776443 + ], + [ + 1110.5474263213512, + 242.73324765884178 + ], + [ + 1097.660817051864, + 240.1084950041843 + ], + [ + 1201.781913055459, + 221.1015760690713 + ], + [ + 1224.192277872979, + 225.43119167163962 + ], + [ + 1204.9744707098148, + 9.031888164988402 + ], + [ + 1189.122618590786, + 6.847573472998647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1114.9837100267391, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 110.8207696256145 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1114.9837100267391, + 31.795585606997122 + ], + [ + 1136.8647010271484, + 94.72366666423807 + ], + [ + 1306.738974240982, + 110.8207696256145 + ], + [ + 1266.546721059351, + 44.730884613561386 + ], + [ + 1211.5659645638502, + -247.89888344409894 + ], + [ + 1252.090875493501, + -209.6737704142597 + ], + [ + 1466.3786998873802, + -199.60242155877688 + ], + [ + 1397.5587548415058, + -240.1869040487485 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00098/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00098/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c0e7be96e21c0f8c8f62ca17add782da45ac533 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00098/meta.json @@ -0,0 +1,3002 @@ +{ + "frame_id": 98, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 49.0, + "sim_timestamp": 1311.5975151795428 + }, + "drone_pose": { + "x": -134.2680434929741, + "y": -29.973097029687896, + "z": 20.0, + "pitch": -42.59167522750192, + "yaw": 68.4892874675744, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.26994460821151733, + -0.6849187016487122, + 0.6767690181732178, + 43.23869323730469 + ], + [ + 0.9303490519523621, + 0.3666751980781555, + 2.9802322387695312e-08, + -113.92573547363281 + ], + [ + -0.2481544315814972, + 0.6296314001083374, + 0.73619544506073, + -66.91511535644531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.35653180591117, + "y": -29.370997738408978, + "z": 20.0 + }, + "t1_image_uv": [ + 1388.9685904125117, + -522.5078617452642 + ], + "t1_depth": 0.3885021215259851 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -10.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999998, + 360.0 + ], + "depth": 28.15711391923781, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 603, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -10.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3675878942012787, + "y": 0.5493426322937012, + "z": 0.8785343170166016 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.4199152226184, + "ymin": 325.16929707614946, + "xmax": 662.411176248483, + "ymax": 394.3527925011476 + }, + "corners_3d": [ + [ + -126.11784362792969, + -11.055351257324219, + 0.06560355424880981 + ], + [ + -127.21652221679688, + -11.055351257324219, + 0.06560355424880981 + ], + [ + -127.21652221679688, + -10.320175170898438, + 0.06560355424880981 + ], + [ + -126.11784362792969, + -10.320175170898438, + 0.06560355424880981 + ], + [ + -126.11784362792969, + -11.055351257324219, + 1.8226721286773682 + ], + [ + -127.21652221679688, + -11.055351257324219, + 1.8226721286773682 + ], + [ + -127.21652221679688, + -10.320175170898438, + 1.8226721286773682 + ], + [ + -126.11784362792969, + -10.320175170898438, + 1.8226721286773682 + ] + ], + "corners_2d": [ + [ + 618.3571693782585, + 384.86093399581296 + ], + [ + 652.741430537847, + 394.3527925011476 + ], + [ + 661.4876049912127, + 378.353148766499 + ], + [ + 627.6082793285849, + 369.188018735665 + ], + [ + 617.4199152226184, + 340.71373467202096 + ], + [ + 653.2992296090405, + 350.1390959535353 + ], + [ + 662.411176248483, + 334.25647415234573 + ], + [ + 627.0813127003457, + 325.16929707614946 + ] + ], + "center_offset_px": [ + -2.2737367544323206e-13, + 0.0 + ] + }, + "trace_timestep_index": 98, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 70, + "semantic_pixel_counts": { + "1": 599742, + "2": 154875, + "3": 18853, + "4": 31276, + "6": 26387, + "7": 2901, + "9": 11868, + "10": 10, + "12": 2882, + "14": 18512, + "24": 31599, + "25": 22695 + }, + "instance_pixel_counts": { + "3662": 1196, + "11605": 7613, + "15970": 210, + "16479": 70, + "16482": 1218, + "16994": 1641, + "17496": 13526, + "17503": 6511, + "17506": 1285, + "18018": 263, + "18059": 2376, + "19083": 3168, + "19554": 1787, + "19595": 4926, + "20066": 1163, + "20107": 617, + "20565": 11217, + "21395": 4922, + "21397": 145, + "21643": 4106, + "21907": 169335, + "21909": 15884, + "22155": 3578, + "22421": 5081, + "22931": 242968, + "23445": 129, + "23955": 3600, + "23957": 644, + "24467": 19100, + "25344": 142, + "25600": 6747, + "25856": 8097, + "26112": 776, + "36096": 603, + "36352": 583, + "36608": 463, + "36864": 626, + "37376": 607, + "37888": 3349, + "40448": 3788, + "40704": 3916, + "41216": 7459, + "45409": 246, + "45971": 12948, + "46483": 102182, + "46995": 20748, + "47201": 23228, + "47713": 4662, + "48225": 2259, + "48468": 23, + "48531": 7472, + "48737": 25906, + "49043": 16467, + "49249": 5437, + "49761": 10725, + "51526": 30080, + "52833": 3519, + "53345": 461, + "53857": 1861, + "54366": 16184, + "56458": 150, + "56970": 6662, + "57482": 36150, + "58506": 7201, + "60307": 492, + "60819": 7043, + "61254": 11868, + "61331": 756, + "62355": 430, + "62867": 995 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 603, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -10.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3882812559604645, + "y": 0.3877508342266083, + "z": 0.883817195892334 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.3711370599237, + "ymin": 325.92490675755687, + "xmax": 657.4237405779149, + "ymax": 393.5288080567452 + }, + "corners_3d": [ + [ + -126.27943420410156, + -11.076045036315918, + 0.06032067537307739 + ], + [ + -127.054931640625, + -11.076044082641602, + 0.06032067537307739 + ], + [ + -127.054931640625, + -10.299481391906738, + 0.06032067537307739 + ], + [ + -126.27943420410156, + -10.299482345581055, + 0.06032067537307739 + ], + [ + -126.27943420410156, + -11.076045036315918, + 1.8279550075531006 + ], + [ + -127.054931640625, + -11.076044082641602, + 1.8279550075531006 + ], + [ + -127.054931640625, + -10.299481391906738, + 1.8279550075531006 + ], + [ + -126.27943420410156, + -10.299482345581055, + 1.8279550075531006 + ] + ], + "corners_2d": [ + [ + 623.1086718933502, + 386.82237117808245 + ], + [ + 647.3854704467662, + 393.5288080567452 + ], + [ + 656.7029183160573, + 376.67949089759696 + ], + [ + 632.80248209671, + 370.21662730290615 + ], + [ + 622.3711370599237, + 342.3958633875838 + ], + [ + 647.7104290265638, + 349.0553133135559 + ], + [ + 657.4237405779149, + 332.3321913433853 + ], + [ + 632.4941979737604, + 325.92490675755687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 583, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -7.690057754516602, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4310010075569153, + "y": 0.4902118444442749, + "z": 0.8632797002792358 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 536.2706429546522, + "ymin": 239.99011031193777, + "xmax": 574.7875119731308, + "ymax": 301.1472899992169 + }, + "corners_3d": [ + [ + -122.15130615234375, + -8.213561058044434, + 0.08086293935775757 + ], + [ + -123.11030578613281, + -8.009718894958496, + 0.08086293935775757 + ], + [ + -122.93109130859375, + -7.166553974151611, + 0.08086293935775757 + ], + [ + -121.97209167480469, + -7.370396614074707, + 0.08086293935775757 + ], + [ + -122.15130615234375, + -8.213561058044434, + 1.807422399520874 + ], + [ + -123.11030578613281, + -8.009718894958496, + 1.807422399520874 + ], + [ + -122.93109130859375, + -7.166553974151611, + 1.807422399520874 + ], + [ + -121.97209167480469, + -7.370396614074707, + 1.807422399520874 + ] + ], + "corners_2d": [ + [ + 540.0996058713674, + 298.0441384290591 + ], + [ + 569.1572920363224, + 301.1472899992169 + ], + [ + 574.7875119731308, + 285.11865210024376 + ], + [ + 546.2724031909262, + 282.13489170995484 + ], + [ + 536.2706429546522, + 255.6439070328626 + ], + [ + 566.4313828853718, + 258.699944174238 + ], + [ + 572.3289165797327, + 242.92418991667773 + ], + [ + 542.7522965184842, + 239.99011031193777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 463, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -3.7450506687164307, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4643603265285492, + "y": 0.411234587430954, + "z": 0.9329717755317688 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 761.1218217694585, + "ymin": 214.10553300758266, + "xmax": 795.3321388165444, + "ymax": 278.904795056907 + }, + "corners_3d": [ + [ + -128.56256103515625, + -4.249853134155273, + 0.011175751686096191 + ], + [ + -129.38052368164062, + -4.163881301879883, + 0.011175751686096191 + ], + [ + -129.283447265625, + -3.240248441696167, + 0.011175751686096191 + ], + [ + -128.46548461914062, + -3.3262197971343994, + 0.011175751686096191 + ], + [ + -128.56256103515625, + -4.249853134155273, + 1.8771193027496338 + ], + [ + -129.38052368164062, + -4.163881301879883, + 1.8771193027496338 + ], + [ + -129.283447265625, + -3.240248441696167, + 1.8771193027496338 + ], + [ + -128.46548461914062, + -3.3262197971343994, + 1.8771193027496338 + ] + ], + "corners_2d": [ + [ + 761.1218217694585, + 274.93477113720496 + ], + [ + 785.1169233603936, + 278.904795056907 + ], + [ + 789.420853801549, + 262.99356679325774 + ], + [ + 765.8789413661153, + 259.1792366897978 + ], + [ + 765.989331400968, + 229.54922687644054 + ], + [ + 790.9789276448228, + 233.4445434299207 + ], + [ + 795.3321388165444, + 217.84211960606845 + ], + [ + 770.8337434303735, + 214.10553300758266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 626, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -10.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.41056638956069946, + "y": 0.33528319001197815, + "z": 0.8795133829116821 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 739.7715211852186, + "ymin": 356.40915511872817, + "xmax": 775.9344676957154, + "ymax": 425.747821035016 + }, + "corners_3d": [ + [ + -129.91165161132812, + -11.098329544067383, + 0.06462448835372925 + ], + [ + -130.58221435546875, + -11.098329544067383, + 0.06462448835372925 + ], + [ + -130.58221435546875, + -10.277196884155273, + 0.06462448835372925 + ], + [ + -129.91165161132812, + -10.277196884155273, + 0.06462448835372925 + ], + [ + -129.91165161132812, + -11.098329544067383, + 1.8236513137817383 + ], + [ + -130.58221435546875, + -11.098329544067383, + 1.8236513137817383 + ], + [ + -130.58221435546875, + -10.277196884155273, + 1.8236513137817383 + ], + [ + -129.91165161132812, + -10.277196884155273, + 1.8236513137817383 + ] + ], + "corners_2d": [ + [ + 739.7715211852186, + 419.5276227958679 + ], + [ + 762.2766856271645, + 425.747821035016 + ], + [ + 770.1502322108332, + 406.68525986767867 + ], + [ + 748.0439594967647, + 400.7118465886575 + ], + [ + 744.2696898093096, + 375.12961152894997 + ], + [ + 767.8275458757042, + 381.32571599240475 + ], + [ + 775.9344676957154, + 362.3486568422092 + ], + [ + 752.8134998545546, + 356.40915511872817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 607, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -18.85797882080078, + "z": 1.0957247018814087 + }, + "extent": { + "x": 0.30470213294029236, + "y": 0.32656675577163696, + "z": 0.8811496496200562 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.94044885559072, + "ymin": 409.4660651526017, + "xmax": 162.0205398229233, + "ymax": 478.63482718854016 + }, + "corners_3d": [ + [ + -115.0390625, + -19.088125228881836, + 0.21457505226135254 + ], + [ + -115.67792510986328, + -19.223918914794922, + 0.21457505226135254 + ], + [ + -115.80462646484375, + -18.627832412719727, + 0.21457505226135254 + ], + [ + -115.16576385498047, + -18.49203872680664, + 0.21457505226135254 + ], + [ + -115.0390625, + -19.088125228881836, + 1.9768743515014648 + ], + [ + -115.67792510986328, + -19.223918914794922, + 1.9768743515014648 + ], + [ + -115.80462646484375, + -18.627832412719727, + 1.9768743515014648 + ], + [ + -115.16576385498047, + -18.49203872680664, + 1.9768743515014648 + ] + ], + "corners_2d": [ + [ + 127.54210070714146, + 468.42719131364987 + ], + [ + 142.54942460453856, + 478.63482718854016 + ], + [ + 162.0205398229233, + 464.31093745708586 + ], + [ + 147.03006025579487, + 454.3918573613015 + ], + [ + 102.94044885559072, + 423.49875030029443 + ], + [ + 118.41029401010621, + 433.71645211104465 + ], + [ + 139.17397356999123, + 419.38129601021404 + ], + [ + 123.71502348018373, + 409.4660651526017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3349, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 390.14031516533726, + "ymin": 48.348585549661095, + "xmax": 498.04528797629877, + "ymax": 117.50215341027643 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 477.74298375734816, + 117.50215341027643 + ], + [ + 498.04528797629877, + 98.1817919239108 + ], + [ + 418.8614836438276, + 82.77658403485293 + ], + [ + 396.6767630653728, + 101.13565071755937 + ], + [ + 473.26669243900824, + 82.00250508320221 + ], + [ + 494.2504706540812, + 63.265957133992174 + ], + [ + 413.10042353900496, + 48.348585549661095 + ], + [ + 390.14031516533726, + 66.12853813073343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3788, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 40.27356355959273, + "ymin": 25.80546170439129, + "xmax": 171.56484884157896, + "ymax": 93.75277853027671 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 85.97985071966241, + 57.653409481845074 + ], + [ + 54.53865797495598, + 74.7924366682692 + ], + [ + 141.73420148677985, + 93.75277853027671 + ], + [ + 171.56484884157896, + 75.52498213833866 + ], + [ + 72.87734197437453, + 25.80546170439129 + ], + [ + 40.27356355959273, + 42.398319911219744 + ], + [ + 129.19859828722906, + 60.78150507350114 + ], + [ + 160.13682373689215, + 43.10803841774083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3916, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 2.0098611917765083, + "ymin": 56.4168740548493, + "xmax": 126.38250242925619, + "ymax": 133.65717188077707 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 56.91365008866819, + 97.12114987423132 + ], + [ + 21.893463684140556, + 116.96773093052846 + ], + [ + 92.7314803337714, + 133.65717188077707 + ], + [ + 126.38250242925619, + 112.77804702197346 + ], + [ + 38.75686265998206, + 56.4168740548493 + ], + [ + 2.0098611917765083, + 75.55620246696668 + ], + [ + 74.65199425489163, + 91.68050438344585 + ], + [ + 109.9718716860815, + 71.51264051936022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7459, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1096.7111557489723, + "ymin": 294.1823091540055, + "xmax": 1280.0, + "ymax": 415.2567691565325 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1098.8800902047897, + 332.9977876279447 + ], + [ + 1096.7111557489723, + 369.1059019884962 + ], + [ + 1292.836894827527, + 415.2567691565325 + ], + [ + 1286.7770825761172, + 375.3974834562181 + ], + [ + 1115.5063099808572, + 294.1823091540055 + ], + [ + 1113.983626019619, + 329.9557714879197 + ], + [ + 1318.8555952924094, + 375.83875754494545 + ], + [ + 1311.4168817873474, + 336.2002554557853 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1149.3300689070147, + "ymin": 187.67936621638083, + "xmax": 1173.1394877403268, + "ymax": 225.58425327502007 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1160.5985614120723, + 217.93708795896947 + ], + [ + 1149.3770702815941, + 215.76721113873276 + ], + [ + 1149.3300689070147, + 223.36939194685294 + ], + [ + 1160.667313753495, + 225.58425327502007 + ], + [ + 1172.9385903224143, + 189.81616652704963 + ], + [ + 1161.4148909182854, + 187.67936621638083 + ], + [ + 1161.4936834317905, + 195.1669653167119 + ], + [ + 1173.1394877403268, + 197.3491295157436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 571.0156461352772, + "ymin": 156.97091008246483, + "xmax": 587.3691308851469, + "ymax": 193.54929780957696 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 581.7683490642136, + 193.54929780957696 + ], + [ + 587.3691308851469, + 186.54009156248273 + ], + [ + 578.2309553609675, + 184.55007539210368 + ], + [ + 572.5559693836924, + 191.51979936084743 + ], + [ + 580.4345564615978, + 165.81719970542315 + ], + [ + 586.1756916863021, + 158.92666941998215 + ], + [ + 576.834322048516, + 156.97091008246483 + ], + [ + 571.0156461352772, + 163.8217458075267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1154.9397145934895, + "ymin": 34.99347002037206, + "xmax": 1170.395858427556, + "ymax": 60.563869288241676 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1154.9397145934895, + 55.5677630346334 + ], + [ + 1154.9463937509367, + 59.43589180068966 + ], + [ + 1162.3575853072894, + 60.563869288241676 + ], + [ + 1162.301536906352, + 56.68078088450062 + ], + [ + 1162.7949038070747, + 34.99347002037206 + ], + [ + 1162.8550549305007, + 38.78122139823944 + ], + [ + 1170.395858427556, + 39.88590583396001 + ], + [ + 1170.2846025826407, + 36.083280788023956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1149.6768350533398, + "ymin": 133.62460842151333, + "xmax": 1171.6599049330885, + "ymax": 169.17598186040442 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1160.1013510829594, + 162.63352294709821 + ], + [ + 1149.7170644127107, + 160.77526927358466 + ], + [ + 1149.6768350533398, + 167.28211862577422 + ], + [ + 1160.1601714890003, + 169.17598186040442 + ], + [ + 1171.4886421649926, + 135.4480919201691 + ], + [ + 1160.846069033395, + 133.62460842151333 + ], + [ + 1160.9132698391481, + 140.01065539879076 + ], + [ + 1171.6599049330885, + 141.86985735058377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.9447319558186, + "ymin": 172.99096241306557, + "xmax": 300.9817475863933, + "ymax": 203.7199841643987 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 293.85915992889755, + 203.7199841643987 + ], + [ + 300.9817475863933, + 197.70588412408853 + ], + [ + 293.88934023177137, + 195.98575224443528 + ], + [ + 286.7248235316028, + 201.97103951270037 + ], + [ + 287.199645597591, + 180.62170577860977 + ], + [ + 294.5143119528068, + 174.68780756832166 + ], + [ + 287.30267290835076, + 172.99096241306557 + ], + [ + 279.9447319558186, + 178.8958894364877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1149.9277766143096, + "ymin": 94.4897178784584, + "xmax": 1170.590062934912, + "ymax": 128.28299564378656 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1159.739881526787, + 122.48802165000933 + ], + [ + 1149.963425963432, + 120.84089260405787 + ], + [ + 1149.9277766143096, + 126.60617474960614 + ], + [ + 1159.7919767798294, + 128.28299564378656 + ], + [ + 1170.4387643372197, + 96.10189900736219 + ], + [ + 1160.4337014729147, + 94.4897178784584 + ], + [ + 1160.4930854857228, + 100.13341705952206 + ], + [ + 1170.590062934912, + 101.77526573253289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 488.4616914228974, + "ymin": 139.82442034452015, + "xmax": 506.75691540915716, + "ymax": 175.65002604483522 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 500.5191737817454, + 175.65002604483522 + ], + [ + 506.75691540915716, + 168.9852273976915 + ], + [ + 498.0650271482741, + 167.0923989393748 + ], + [ + 491.7609809818799, + 173.7205854620398 + ], + [ + 497.4060163447533, + 148.2271144824341 + ], + [ + 503.81199934369596, + 141.68258386190868 + ], + [ + 494.93678069172216, + 139.82442034452015 + ], + [ + 488.4616914228974, + 146.33220435546357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 394.7859235639544, + "ymin": 120.35735115378225, + "xmax": 415.1392165515957, + "ymax": 155.3177061823284 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 408.22581566719964, + 155.3177061823284 + ], + [ + 415.1392165515957, + 149.03370316074862 + ], + [ + 406.94101611379983, + 147.24838481822837 + ], + [ + 399.96965683875766, + 153.49886424421527 + ], + [ + 403.20662460607934, + 128.2704146653767 + ], + [ + 410.31585124157544, + 122.10774639716539 + ], + [ + 401.9553706334127, + 120.35735115378225 + ], + [ + 394.7859235639544, + 126.48643741758696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.5200961377627, + "ymin": 389.3177392442207, + "xmax": 1126.7369711540327, + "ymax": 427.20881915266153 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1114.851619933519, + 416.94941937364223 + ], + [ + 1103.0732000421888, + 414.0247713507409 + ], + [ + 1102.5200961377627, + 424.22004636024326 + ], + [ + 1114.425396850949, + 427.20881915266153 + ], + [ + 1126.7369711540327, + 392.23650259872284 + ], + [ + 1114.6267589336112, + 389.3177392442207 + ], + [ + 1114.1886485411744, + 399.4944717169563 + ], + [ + 1126.4330402018857, + 402.4788569204818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.9693624832969, + "ymin": 202.08920227872377, + "xmax": 1218.8798788908084, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1012.3435784105384, + 722.5861787471431 + ], + [ + 1015.6821023603833, + 693.2299920239639 + ], + [ + 681.3232017753643, + 582.8979832596879 + ], + [ + 670.9693624832969, + 607.114551862765 + ], + [ + 1218.8798788908084, + 344.4462938450267 + ], + [ + 1216.530244797774, + 313.0776885667344 + ], + [ + 700.4810587455048, + 202.08920227872377 + ], + [ + 685.7921619794181, + 225.56099717887636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 383.8407419093761, + "ymin": 0.0, + "xmax": 556.8618943142442, + "ymax": 137.02807071206058 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 556.8618943142442, + 23.440619453754152 + ], + [ + 549.0256315108059, + 22.0786231021616 + ], + [ + 420.7604383938839, + 135.04140340132338 + ], + [ + 429.8395425015788, + 137.02807071206058 + ], + [ + 545.5607045002677, + -164.26291230116556 + ], + [ + 536.6942697173797, + -165.2777806801348 + ], + [ + 383.8407419093761, + -78.6997570493184 + ], + [ + 394.32376008575517, + -77.13226903256117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.7952764915408, + "ymin": 216.85442428216243, + "xmax": 739.5683325144736, + "ymax": 242.80350439700953 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 730.6867829353055, + 242.80350439700953 + ], + [ + 739.4191545352805, + 227.01399916992025 + ], + [ + 701.2231744371327, + 218.61356685511635 + ], + [ + 691.7952764915408, + 234.04748269939347 + ], + [ + 730.8257289956206, + 241.0239187631275 + ], + [ + 739.5683325144736, + 225.2474920315412 + ], + [ + 701.3140083998562, + 216.85442428216243 + ], + [ + 691.8737254757398, + 232.2750265155244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.7932541955676, + "ymin": 216.89990841314332, + "xmax": 739.5644753274513, + "ymax": 242.84937859394086 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 730.6832011807597, + 242.84937859394086 + ], + [ + 739.4153088974161, + 227.0595377056726 + ], + [ + 701.2208328009594, + 218.65891632308134 + ], + [ + 691.7932541955676, + 234.09317393478773 + ], + [ + 730.8221362572895, + 241.0699336375747 + ], + [ + 739.5644753274513, + 225.29316732789422 + ], + [ + 701.3116598103095, + 216.89990841314332 + ], + [ + 691.8716970493193, + 232.3208562606648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.65671655399433, + "ymin": 26.669005977026245, + "xmax": 627.010085089779, + "ymax": 360.76344866017524 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 304.6817973293587, + 264.23511985503626 + ], + [ + 296.92493244569204, + 271.30909725875557 + ], + [ + 621.6039090424358, + 360.76344866017524 + ], + [ + 627.010085089779, + 352.0141091912481 + ], + [ + 234.80816287960056, + 26.669005977026245 + ], + [ + 224.65671655399433, + 32.64707686938141 + ], + [ + 617.1872795080643, + 110.22655200895585 + ], + [ + 623.9296169439542, + 102.47261048712119 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 861.4727298057558, + "ymin": 0.0, + "xmax": 1224.97157159373, + "ymax": 117.64382784098333 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1142.8915569161804, + 117.64382784098333 + ], + [ + 1143.0677930643228, + 113.03555126875258 + ], + [ + 863.5096618219083, + 65.36859602508218 + ], + [ + 861.4727298057558, + 69.30939344456675 + ], + [ + 1224.97157159373, + -92.3586682015337 + ], + [ + 1224.4898270528056, + -95.95637026644198 + ], + [ + 896.5703862166021, + -132.6807002799453 + ], + [ + 894.4844925332774, + -129.67800541461088 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.197814240406, + "ymin": 13.844815641009745, + "xmax": 1227.2442345381965, + "ymax": 501.898656653195 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1078.197814240406, + 497.11382737464896 + ], + [ + 1095.3849049090368, + 501.898656653195 + ], + [ + 1112.9679766129666, + 251.70617195993262 + ], + [ + 1099.9015419066864, + 248.97002778445574 + ], + [ + 1204.3173025415326, + 236.01386486985223 + ], + [ + 1227.2442345381965, + 240.60410639925078 + ], + [ + 1209.6347661657455, + 16.1358452272828 + ], + [ + 1193.4979724835111, + 13.844815641009745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1119.303016338015, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 117.28484222287449 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1119.303016338015, + 36.05101306551995 + ], + [ + 1140.9379234773048, + 100.34876780462554 + ], + [ + 1313.2499514841365, + 117.28484222287449 + ], + [ + 1272.8686054910877, + 49.63280756644383 + ], + [ + 1218.2408062720938, + -246.38242545893957 + ], + [ + 1259.051353175634, + -207.10201364245472 + ], + [ + 1477.360391185399, + -196.43530367002313 + ], + [ + 1407.3569931032505, + -238.24141117832346 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00099/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00099/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a7d342937576863efddcceb94e8fa48966d81d01 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00099/meta.json @@ -0,0 +1,3003 @@ +{ + "frame_id": 99, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 49.5, + "sim_timestamp": 1323.421370896278 + }, + "drone_pose": { + "x": -134.35653180591117, + "y": -29.370997738408978, + "z": 20.0, + "pitch": -42.67745727037936, + "yaw": 68.15726390949173, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2735317349433899, + -0.6824016571044922, + 0.677870512008667, + 43.23619079589844 + ], + [ + 0.928208589553833, + 0.37206023931503296, + 2.9802322387695312e-08, + -113.78311157226562 + ], + [ + -0.2522086799144745, + 0.6292052268981934, + 0.7351813316345215, + -67.06989288330078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.4429498486243, + "y": -28.77400318467657, + "z": 20.0 + }, + "t1_image_uv": [ + 1396.3183124088764, + -525.1634284994178 + ], + "t1_depth": 0.38375197941683925 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -10.187763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999994 + ], + "depth": 28.111354813377407, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 594, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -10.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3663671910762787, + "y": 0.538966953754425, + "z": 0.9031298756599426 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.693630970562, + "ymin": 324.5404956502761, + "xmax": 662.1405589579535, + "ymax": 394.921793028901 + }, + "corners_3d": [ + [ + -126.12821960449219, + -10.554130554199219, + 0.04101276397705078 + ], + [ + -127.20614624023438, + -10.554130554199219, + 0.04101276397705078 + ], + [ + -127.20614624023438, + -9.821395874023438, + 0.04101276397705078 + ], + [ + -126.12821960449219, + -9.821395874023438, + 0.04101276397705078 + ], + [ + -126.12821960449219, + -10.554130554199219, + 1.847272515296936 + ], + [ + -127.20614624023438, + -10.554130554199219, + 1.847272515296936 + ], + [ + -127.20614624023438, + -9.821395874023438, + 1.847272515296936 + ], + [ + -126.12821960449219, + -9.821395874023438, + 1.847272515296936 + ] + ], + "corners_2d": [ + [ + 618.6479012430932, + 385.443270622439 + ], + [ + 652.3349463084995, + 394.921793028901 + ], + [ + 661.2001236677809, + 378.96196235230633 + ], + [ + 628.0017398737535, + 369.80778176074375 + ], + [ + 617.693630970562, + 340.0485865071061 + ], + [ + 652.8922185158549, + 349.4614711501154 + ], + [ + 662.1405589579535, + 333.61720066083814 + ], + [ + 627.4751237149701, + 324.5404956502761 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 99, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 603517, + "2": 154152, + "3": 15598, + "4": 30291, + "6": 26867, + "7": 3001, + "9": 12323, + "10": 13, + "12": 3011, + "14": 19428, + "24": 32405, + "25": 20994 + }, + "instance_pixel_counts": { + "3662": 860, + "11605": 6276, + "15970": 294, + "16479": 165, + "16482": 1252, + "16994": 1696, + "17496": 13292, + "17503": 6486, + "17506": 1372, + "17547": 15, + "18018": 314, + "18059": 2433, + "19083": 3279, + "19554": 1813, + "19595": 5279, + "20066": 1138, + "20107": 807, + "20565": 9319, + "21395": 4984, + "21397": 157, + "21643": 4594, + "21907": 175225, + "21909": 16427, + "22155": 3523, + "22421": 5070, + "22931": 234074, + "23445": 124, + "23955": 3447, + "23957": 635, + "24467": 19587, + "25344": 169, + "25600": 6901, + "25856": 8669, + "26112": 837, + "36096": 594, + "36352": 603, + "36608": 534, + "36864": 636, + "37376": 644, + "37888": 3408, + "40448": 3855, + "40704": 3963, + "41216": 8202, + "45409": 329, + "45971": 13355, + "46483": 106138, + "46995": 22589, + "47201": 24272, + "47713": 4887, + "48225": 2346, + "48468": 3, + "48531": 7140, + "48737": 23263, + "49043": 16978, + "49249": 5019, + "49761": 10447, + "51526": 29431, + "52833": 3422, + "53345": 445, + "53857": 1908, + "54366": 14508, + "56458": 278, + "56970": 6891, + "57482": 34862, + "58506": 7809, + "60307": 499, + "60819": 7296, + "61254": 12323, + "61331": 783, + "62355": 420, + "62867": 994 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 594, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -10.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.36646971106529236, + "y": 0.503663957118988, + "z": 0.8776031136512756 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.8463198306075, + "ymin": 325.5000354704915, + "xmax": 660.9816985581459, + "ymax": 393.9954655023794 + }, + "corners_3d": [ + [ + -126.16352081298828, + -10.55423355102539, + 0.06653952598571777 + ], + [ + -127.17084503173828, + -10.554232597351074, + 0.06653952598571777 + ], + [ + -127.17084503173828, + -9.821292877197266, + 0.06653952598571777 + ], + [ + -126.16352081298828, + -9.821293830871582, + 0.06653952598571777 + ], + [ + -126.16352081298828, + -10.55423355102539, + 1.821745753288269 + ], + [ + -127.17084503173828, + -10.554232597351074, + 1.821745753288269 + ], + [ + -127.17084503173828, + -9.821292877197266, + 1.821745753288269 + ], + [ + -126.16352081298828, + -9.821293830871582, + 1.821745753288269 + ] + ], + "corners_2d": [ + [ + 619.7265307280857, + 385.1383445589506 + ], + [ + 651.2262165893815, + 393.9954655023794 + ], + [ + 660.1154488427118, + 378.04304799409766 + ], + [ + 629.0730917134362, + 369.4892673195019 + ], + [ + 618.8463198306075, + 341.0256893529281 + ], + [ + 651.7185743554311, + 349.8232298110753 + ], + [ + 660.9816985581459, + 333.9834820897146 + ], + [ + 628.6071827961033, + 325.5000354704915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 603, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -7.190057754516602, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.451103538274765, + "y": 0.45851564407348633, + "z": 0.8982257843017578 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 537.604634959722, + "ymin": 238.1788163148601, + "xmax": 574.7664993289493, + "ymax": 301.748139564311 + }, + "corners_3d": [ + [ + -122.18649291992188, + -7.726634502410889, + 0.045916855335235596 + ], + [ + -123.08348846435547, + -7.5359721183776855, + 0.045916855335235596 + ], + [ + -122.89590454101562, + -6.6534810066223145, + 0.045916855335235596 + ], + [ + -121.99890899658203, + -6.844143390655518, + 0.045916855335235596 + ], + [ + -122.18649291992188, + -7.726634502410889, + 1.8423683643341064 + ], + [ + -123.08348846435547, + -7.5359721183776855, + 1.8423683643341064 + ], + [ + -122.89590454101562, + -6.6534810066223145, + 1.8423683643341064 + ], + [ + -121.99890899658203, + -6.844143390655518, + 1.8423683643341064 + ] + ], + "corners_2d": [ + [ + 541.5474600833662, + 298.73472268786975 + ], + [ + 568.7149242195653, + 301.748139564311 + ], + [ + 574.7664993289493, + 284.94634571142706 + ], + [ + 548.1274661456221, + 282.05392818859303 + ], + [ + 537.604634959722, + 254.58467295426897 + ], + [ + 565.8492397920477, + 257.551259386311 + ], + [ + 572.1994711147138, + 241.02165480462088 + ], + [ + 544.5255694185101, + 238.1788163148601 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 534, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -3.2450506687164307, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.44703611731529236, + "y": 0.4152999818325043, + "z": 0.9490211009979248 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 762.2084838324233, + "ymin": 213.98030605673299, + "xmax": 796.831158040671, + "ymax": 279.20008177761383 + }, + "corners_3d": [ + [ + -128.55670166015625, + -3.733048439025879, + -0.0048735737800598145 + ], + [ + -129.38275146484375, + -3.6462273597717285, + -0.0048735737800598145 + ], + [ + -129.289306640625, + -2.7570528984069824, + -0.0048735737800598145 + ], + [ + -128.4632568359375, + -2.843873977661133, + -0.0048735737800598145 + ], + [ + -128.55670166015625, + -3.733048439025879, + 1.8931686878204346 + ], + [ + -129.38275146484375, + -3.6462273597717285, + 1.8931686878204346 + ], + [ + -129.289306640625, + -2.7570528984069824, + 1.8931686878204346 + ], + [ + -128.4632568359375, + -2.843873977661133, + 1.8931686878204346 + ] + ], + "corners_2d": [ + [ + 762.2084838324233, + 275.09223114007864 + ], + [ + 786.4560542058744, + 279.20008177761383 + ], + [ + 790.7364921689735, + 263.83750676909114 + ], + [ + 766.9282625182133, + 259.8846841955843 + ], + [ + 767.2230647244915, + 228.88614035167313 + ], + [ + 792.4977062018061, + 232.91648112214605 + ], + [ + 796.831158040671, + 217.8524713847601 + ], + [ + 772.0335549605857, + 213.98030605673299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 636, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -10.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3816308379173279, + "y": 0.39107513427734375, + "z": 0.8664834499359131 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 738.130064081363, + "ymin": 357.39822688144625, + "xmax": 777.6353912826665, + "ymax": 425.93560496690543 + }, + "corners_3d": [ + [ + -129.85586547851562, + -10.5693941116333, + 0.07765918970108032 + ], + [ + -130.6380157470703, + -10.5693941116333, + 0.07765918970108032 + ], + [ + -130.63800048828125, + -9.806132316589355, + 0.07765918970108032 + ], + [ + -129.85585021972656, + -9.806132316589355, + 0.07765918970108032 + ], + [ + -129.85586547851562, + -10.5693941116333, + 1.8106260299682617 + ], + [ + -130.6380157470703, + -10.5693941116333, + 1.8106260299682617 + ], + [ + -130.63800048828125, + -9.806132316589355, + 1.8106260299682617 + ], + [ + -129.85585021972656, + -9.806132316589355, + 1.8106260299682617 + ] + ], + "corners_2d": [ + [ + 738.130064081363, + 418.55403724614774 + ], + [ + 764.3785686943608, + 425.93560496690543 + ], + [ + 771.8346514534599, + 408.1626720158696 + ], + [ + 746.0161151714426, + 401.05337039675686 + ], + [ + 742.4980102960262, + 374.81630969574877 + ], + [ + 769.9601304366945, + 382.1716696585152 + ], + [ + 777.6353912826665, + 364.4705140645078 + ], + [ + 750.6437534872073, + 357.39822688144625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 644, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -18.35797882080078, + "z": 1.0958516597747803 + }, + "extent": { + "x": 0.2847558557987213, + "y": 0.5471130013465881, + "z": 0.8979924321174622 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 97.83884949483866, + "ymin": 404.2458515692707, + "xmax": 166.2243794677363, + "ymax": 480.19026330001486 + }, + "corners_3d": [ + [ + -114.82748413085938, + -18.52276039123535, + 0.19785922765731812 + ], + [ + -115.89779663085938, + -18.750263214111328, + 0.19785922765731812 + ], + [ + -116.01620483398438, + -18.19319725036621, + 0.19785922765731812 + ], + [ + -114.94589233398438, + -17.965694427490234, + 0.19785922765731812 + ], + [ + -114.82748413085938, + -18.52276039123535, + 1.9938440322875977 + ], + [ + -115.89779663085938, + -18.750263214111328, + 1.9938440322875977 + ], + [ + -116.01620483398438, + -18.19319725036621, + 1.9938440322875977 + ], + [ + -114.94589233398438, + -17.965694427490234, + 1.9938440322875977 + ] + ], + "corners_2d": [ + [ + 123.06250098618386, + 462.977940949065 + ], + [ + 147.9801576550953, + 480.19026330001486 + ], + [ + 166.2243794677363, + 466.7784120693888 + ], + [ + 141.32526192764078, + 450.0184381495136 + ], + [ + 97.83884949483866, + 417.19973797180535 + ], + [ + 123.53338039520168, + 434.43025588942004 + ], + [ + 143.01351759810348, + 421.0017065653686 + ], + [ + 117.32720993562577, + 404.2458515692707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3408, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 385.92894275683483, + "ymin": 51.49532395530372, + "xmax": 494.8731113206883, + "ymax": 121.6515189652803 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 474.06311377799784, + 121.6515189652803 + ], + [ + 494.8731113206883, + 102.02069346054748 + ], + [ + 415.3343645928436, + 86.11161671933274 + ], + [ + 392.6439893716847, + 104.74440515043716 + ], + [ + 469.4340932945242, + 85.95790031816841 + ], + [ + 490.9508049096385, + 66.90909659911398 + ], + [ + 409.4204607173035, + 51.49532395530372 + ], + [ + 385.92894275683483, + 69.55012891203262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3855, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 34.54169183414865, + "ymin": 27.67763056976844, + "xmax": 166.616012754464, + "ymax": 96.51826879604567 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 81.02871633262089, + 59.67361423789214 + ], + [ + 49.06407173146101, + 77.00392224259076 + ], + [ + 136.23386821632351, + 96.51826879604567 + ], + [ + 166.616012754464, + 78.06373098673248 + ], + [ + 67.6966487238625, + 27.67763056976844 + ], + [ + 34.54169183414865, + 44.46240645387195 + ], + [ + 123.44231582521854, + 63.39091287833054 + ], + [ + 154.9615186039075, + 45.489624414248226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3963, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 58.8181912769561, + "xmax": 120.37902490156159, + "ymax": 136.9826718890362 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 50.929558499346854, + 99.70846797689774 + ], + [ + 15.290860726846745, + 119.79295863601234 + ], + [ + 86.08218952385903, + 136.9826718890362 + ], + [ + 120.37902490156159, + 115.83086510360712 + ], + [ + 32.421619547607634, + 58.8181912769561 + ], + [ + -4.988153489204819, + 78.19770549831736 + ], + [ + 67.60594533080746, + 94.81519450349697 + ], + [ + 103.6182971574757, + 74.3715819635928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 8202, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1097.6913578101748, + "ymin": 305.41715895543337, + "xmax": 1280.0, + "ymax": 429.86719981867856 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1100.2316123670844, + 344.36804792087986 + ], + [ + 1097.6913578101748, + 381.49984853124084 + ], + [ + 1297.126589281177, + 429.86719981867856 + ], + [ + 1291.2118208712795, + 388.75784098050684 + ], + [ + 1117.1946183914713, + 305.41715895543337 + ], + [ + 1115.3088419983346, + 342.25088551181017 + ], + [ + 1323.824925504549, + 390.4044843497393 + ], + [ + 1316.486756300688, + 349.46418716591927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1151.4185137440695, + "ymin": 199.11101724816487, + "xmax": 1175.7481065363454, + "ymax": 237.59743274998533 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1162.970620821615, + 229.6887285103631 + ], + [ + 1151.5425025940397, + 227.40698038642233 + ], + [ + 1151.4185137440695, + 235.26769547496733 + ], + [ + 1162.9659862903036, + 237.59743274998533 + ], + [ + 1175.6171165333244, + 201.36007642118946 + ], + [ + 1163.8743495412023, + 199.11101724816487 + ], + [ + 1163.8792861731943, + 206.86050259645407 + ], + [ + 1175.7481065363454, + 209.15802388923058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 563.3441941303709, + "ymin": 165.53090272509615, + "xmax": 580.2171295803828, + "ymax": 202.5809580130718 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 574.3874964125465, + 202.5809580130718 + ], + [ + 580.2171295803828, + 195.37841241125778 + ], + [ + 570.9886589394894, + 193.29908038238895 + ], + [ + 565.0840374880822, + 200.45990934142415 + ], + [ + 572.8591580991972, + 174.66189116168633 + ], + [ + 578.8386831734575, + 167.57596100142942 + ], + [ + 569.402124155575, + 165.53090272509615 + ], + [ + 563.3441941303709, + 172.57484472884946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1159.2538836710883, + "ymin": 40.38427606529564, + "xmax": 1174.994052903284, + "ymax": 66.25941443039312 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1159.28178002706, + 61.12615868919181 + ], + [ + 1159.2538836710883, + 65.08515224314175 + ], + [ + 1166.7679276592917, + 66.25941443039312 + ], + [ + 1166.745380355883, + 62.28470591095328 + ], + [ + 1167.319526488137, + 40.38427606529564 + ], + [ + 1167.3463171354738, + 44.26272449880014 + ], + [ + 1174.994052903284, + 45.41325242343936 + ], + [ + 1174.915014069703, + 41.51916890406858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1152.3324237486113, + "ymin": 143.23677087480453, + "xmax": 1174.784341737954, + "ymax": 179.31488614563867 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1163.0040965687995, + 172.56325758243472 + ], + [ + 1152.4383214581346, + 170.61335044882884 + ], + [ + 1152.3324237486113, + 177.3271132048552 + ], + [ + 1163.0001400883154, + 179.31488614563867 + ], + [ + 1174.672928451515, + 145.15174836493324 + ], + [ + 1163.8387561334123, + 143.23677087480453 + ], + [ + 1163.8429570087148, + 149.83127126716502 + ], + [ + 1174.784341737954, + 151.7842770682989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 270.99244746018235, + "ymin": 179.21787395050188, + "xmax": 292.52053904346786, + "ymax": 210.24966851074387 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 285.1933967277653, + 210.24966851074387 + ], + [ + 292.52053904346786, + 204.11398604094083 + ], + [ + 285.3991572642631, + 202.3294166126679 + ], + [ + 278.03032822831204, + 208.4349816281631 + ], + [ + 278.27739199322525, + 187.03598881216274 + ], + [ + 285.8049593322327, + 180.97914371030964 + ], + [ + 278.56303916798964, + 179.21787395050188 + ], + [ + 270.99244746018235, + 185.2444136823539 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1152.9934296907018, + "ymin": 102.86241171793347, + "xmax": 1174.0886475086022, + "ymax": 137.14247498333287 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1163.0278034816915, + 131.17157623906667 + ], + [ + 1153.0871181545492, + 129.4458713928076 + ], + [ + 1152.9934296907018, + 135.38527066145488 + ], + [ + 1163.0242995195367, + 137.14247498333287 + ], + [ + 1173.99038557507, + 104.55273791637569 + ], + [ + 1163.8124778025244, + 102.86241171793347 + ], + [ + 1163.8161791159657, + 108.68083039959183 + ], + [ + 1174.0886475086022, + 110.40266512557014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 480.0162897335214, + "ymin": 147.615916113576, + "xmax": 498.85890864411533, + "ymax": 183.88602340000375 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 492.3866660398272, + 183.88602340000375 + ], + [ + 498.85890864411533, + 177.0470365170459 + ], + [ + 490.0933864534955, + 175.07201462172273 + ], + [ + 483.55439735703175, + 181.87239895492473 + ], + [ + 489.03858203852513, + 156.27640514845632 + ], + [ + 495.68919521643795, + 149.55611321871342 + ], + [ + 486.736499760087, + 147.615916113576 + ], + [ + 480.0162897335214, + 154.29742303083137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 385.6097636632551, + "ymin": 127.30763496744757, + "xmax": 406.53154951084156, + "ymax": 162.6820482306869 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 399.3805511867621, + 162.6820482306869 + ], + [ + 406.53154951084156, + 156.2441252462459 + ], + [ + 398.2770021991436, + 154.38423466574824 + ], + [ + 391.06793240903284, + 160.7868960934367 + ], + [ + 394.08975089299423, + 135.45000635672542 + ], + [ + 401.44708135600695, + 129.13230887133068 + ], + [ + 393.0274474774551, + 127.30763496744757 + ], + [ + 385.6097636632551, + 133.5899753326039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.4485019948224, + "ymin": 405.103532361593, + "xmax": 1127.2411707306646, + "ymax": 443.5297163124868 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1115.1047154804278, + 432.9118020586418 + ], + [ + 1103.113926214876, + 429.8342163007345 + ], + [ + 1102.4485019948224, + 440.38364957600174 + ], + [ + 1114.5700115832515, + 443.5297163124868 + ], + [ + 1127.2411707306646, + 408.1780012107448 + ], + [ + 1114.9051100851746, + 405.103532361593 + ], + [ + 1114.3561575865, + 415.6443813492514 + ], + [ + 1126.8306303945592, + 418.7890362691144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.6259325826164, + "ymin": 218.8090818045206, + "xmax": 1219.305892248441, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1008.1214009298956, + 746.7005594580779 + ], + [ + 1011.8411954710815, + 716.2348179117266 + ], + [ + 672.5218493915589, + 600.1782089104106 + ], + [ + 661.6259325826164, + 625.156515545649 + ], + [ + 1219.305892248441, + 371.24708720990606 + ], + [ + 1217.227548073748, + 337.91461143047763 + ], + [ + 688.0063119476463, + 218.8090818045206 + ], + [ + 672.2635441445917, + 243.44522510293504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 378.13499713316213, + "ymin": 0.0, + "xmax": 555.4273352168293, + "ymax": 141.4185762963075 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 555.4273352168293, + 26.09338365867933 + ], + [ + 547.5516988060318, + 24.688852002114402 + ], + [ + 416.28715136620497, + 139.3659954048315 + ], + [ + 425.4049526948516, + 141.4185762963075 + ], + [ + 543.8007236464185, + -162.9441510202081 + ], + [ + 534.879206036732, + -163.99354560823895 + ], + [ + 378.13499713316213, + -75.82191008968465 + ], + [ + 388.67536683142947, + -74.19644376117395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.655125041114, + "ymin": 233.92117033350183, + "xmax": 727.8422756527289, + "ymax": 261.2400071574895 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 718.3230829602405, + 261.2400071574895 + ], + [ + 727.7070679298678, + 244.65998976530759 + ], + [ + 688.7564475175172, + 235.69688353525981 + ], + [ + 678.655125041114, + 251.8890036350253 + ], + [ + 718.4464290491098, + 259.44481320467094 + ], + [ + 727.8422756527289, + 242.87714338587307 + ], + [ + 688.8307331761471, + 233.92117033350183 + ], + [ + 678.7152755742633, + 250.10063835131788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.6535745173701, + "ymin": 233.9670846965126, + "xmax": 727.8387795447945, + "ymax": 261.2862816830228 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 718.319903481093, + 261.2862816830228 + ], + [ + 727.7035825759269, + 244.70594757395307 + ], + [ + 688.7545325634412, + 235.74265830923696 + ], + [ + 678.6535745173701, + 251.93510302417346 + ], + [ + 718.443239547958, + 259.4912335916723 + ], + [ + 727.8387795447945, + 242.92324299646305 + ], + [ + 688.8288123824663, + 233.9670846965126 + ], + [ + 678.7137202213788, + 250.146881318037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.70115339683696, + "ymin": 31.91824158355098, + "xmax": 621.0365665175178, + "ymax": 370.99689435467945 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 296.74421855255434, + 270.8934009357653 + ], + [ + 288.77681464200737, + 278.09930596961675 + ], + [ + 615.4227143824116, + 370.99689435467945 + ], + [ + 621.0365665175178, + 362.03717548443933 + ], + [ + 224.16900568184684, + 31.91824158355098 + ], + [ + 213.70115339683696, + 38.03884599430961 + ], + [ + 609.4130662728069, + 119.1000866033011 + ], + [ + 616.4571747783783, + 111.10333115626145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.3078512269957, + "ymin": 0.0, + "xmax": 1230.9228607732302, + "ymax": 123.73135755651123 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1146.8545220671272, + 123.73135755651123 + ], + [ + 1147.0728210154991, + 119.02081184284691 + ], + [ + 864.4164752608174, + 69.57848389192168 + ], + [ + 862.3078512269957, + 73.59144032979816 + ], + [ + 1230.9228607732302, + -88.14721367718658 + ], + [ + 1230.46641377606, + -91.84140476158836 + ], + [ + 898.0666940604849, + -130.08659269249654 + ], + [ + 895.9007966990573, + -127.01803492019621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1077.6348984774838, + "ymin": 21.092689803173357, + "xmax": 1230.1234346606404, + "ymax": 518.393106833347 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1077.6348984774838, + 513.3712286591215 + ], + [ + 1095.1071252179893, + 518.393106833347 + ], + [ + 1115.2942541118239, + 260.93337411732216 + ], + [ + 1102.0437550056624, + 258.0803751763734 + ], + [ + 1206.658742463014, + 251.63160667599232 + ], + [ + 1230.1234346606404, + 256.50218853183975 + ], + [ + 1214.2674570547897, + 23.496790193361676 + ], + [ + 1197.8361447145953, + 21.092689803173357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.627494067994, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 123.92432129997974 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1123.627494067994, + 40.39304222652322 + ], + [ + 1144.9970778610175, + 106.1078982261069 + ], + [ + 1319.8135604709514, + 123.92432129997974 + ], + [ + 1279.2481708932328, + 54.65129318596439 + ], + [ + 1225.0010705775471, + -244.8392628165476 + ], + [ + 1266.099058641973, + -204.4559159897051 + ], + [ + 1488.5810908050883, + -193.15751163414643 + ], + [ + 1417.3494364465441, + -236.24521806064092 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00100/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00100/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a4419725fa1e122e77e3d8c8d6becfeb9da1f58 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00100/meta.json @@ -0,0 +1,3106 @@ +{ + "frame_id": 100, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 50.0, + "sim_timestamp": 1334.6170611388516 + }, + "drone_pose": { + "x": -134.4429498486243, + "y": -28.77400318467657, + "z": 20.0, + "pitch": -42.75710416172067, + "yaw": 67.83393382528288, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2770225405693054, + -0.6799739003181458, + 0.6788917779922485, + 43.231468200683594 + ], + [ + 0.9260942339897156, + 0.3772923946380615, + 0.0, + -113.6506118774414 + ], + [ + -0.25614073872566223, + 0.6287177205085754, + 0.73423832654953, + -67.2118148803711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.53236559251224, + "y": -28.185097763533452, + "z": 20.0 + }, + "t1_image_uv": [ + 1419.3993405246529, + -527.6356407121273 + ], + "t1_depth": 0.37567012215363543 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -9.687763214111328, + "z": 0.9441329622273043 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.069078646560683, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 602, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -9.687763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3892871141433716, + "y": 0.4876330494880676, + "z": 0.8910895586013794 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.9815067584485, + "ymin": 324.7225003829901, + "xmax": 660.8210273733266, + "ymax": 394.7655399104111 + }, + "corners_3d": [ + [ + -126.17955017089844, + -10.07705020904541, + 0.0530434250831604 + ], + [ + -127.15481567382812, + -10.07705020904541, + 0.0530434250831604 + ], + [ + -127.15481567382812, + -9.298476219177246, + 0.0530434250831604 + ], + [ + -126.17955017089844, + -9.298476219177246, + 0.0530434250831604 + ], + [ + -126.17955017089844, + -10.07705020904541, + 1.8352224826812744 + ], + [ + -127.15481567382812, + -10.07705020904541, + 1.8352224826812744 + ], + [ + -127.15481567382812, + -9.298476219177246, + 1.8352224826812744 + ], + [ + -126.17955017089844, + -9.298476219177246, + 1.8352224826812744 + ] + ], + "corners_2d": [ + [ + 619.8724137482607, + 386.03508880845527 + ], + [ + 650.3461694862011, + 394.7655399104111 + ], + [ + 659.9464333681705, + 377.81184309905905 + ], + [ + 629.9383680969046, + 369.39790960644274 + ], + [ + 618.9815067584485, + 341.23082516547055 + ], + [ + 650.8086933231274, + 349.90430981582136 + ], + [ + 660.8210273733266, + 333.0679435980682 + ], + [ + 629.5014719922149, + 324.7225003829901 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 100, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 70, + "semantic_pixel_counts": { + "1": 607022, + "2": 153578, + "3": 12748, + "4": 29360, + "6": 27122, + "7": 3084, + "9": 12860, + "10": 10, + "12": 3192, + "14": 20056, + "24": 33431, + "25": 19137 + }, + "instance_pixel_counts": { + "3662": 596, + "11605": 5311, + "15970": 378, + "16479": 294, + "16482": 1279, + "16994": 1764, + "17496": 12971, + "17503": 6410, + "17506": 1464, + "17547": 54, + "18018": 360, + "18059": 2497, + "19083": 3384, + "19554": 1853, + "19595": 5651, + "20066": 1110, + "20107": 1032, + "20565": 7437, + "21395": 4591, + "21397": 149, + "21643": 5079, + "21907": 181883, + "21909": 17300, + "22155": 3425, + "22421": 4858, + "22931": 224904, + "23445": 119, + "23955": 3298, + "23957": 638, + "24467": 20072, + "25344": 187, + "25600": 7062, + "25856": 9066, + "26112": 920, + "36096": 602, + "36352": 610, + "36608": 594, + "36864": 644, + "37376": 742, + "37888": 3466, + "40448": 3927, + "40704": 4023, + "41216": 8640, + "45409": 364, + "45971": 13746, + "46483": 109812, + "46995": 24515, + "47201": 25460, + "47713": 5126, + "48225": 2432, + "48531": 6816, + "48737": 20571, + "49043": 17385, + "49249": 4595, + "49761": 10127, + "51526": 28764, + "52833": 3325, + "53345": 435, + "53857": 1977, + "54366": 12727, + "56458": 458, + "56970": 7119, + "57482": 33529, + "58506": 8436, + "60307": 519, + "60819": 7555, + "61254": 12860, + "61331": 828, + "62355": 410, + "62867": 1055 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 602, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -9.687763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4168652296066284, + "y": 0.48743560910224915, + "z": 0.8962879180908203 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.6050435538809, + "ymin": 324.01495181618674, + "xmax": 661.1649161208414, + "ymax": 395.50116791824814 + }, + "corners_3d": [ + [ + -126.17974853515625, + -10.104628562927246, + 0.04784506559371948 + ], + [ + -127.15461730957031, + -10.104628562927246, + 0.04784506559371948 + ], + [ + -127.15461730957031, + -9.27089786529541, + 0.04784506559371948 + ], + [ + -126.17974853515625, + -9.27089786529541, + 0.04784506559371948 + ], + [ + -126.17974853515625, + -10.104628562927246, + 1.8404209613800049 + ], + [ + -127.15461730957031, + -10.104628562927246, + 1.8404209613800049 + ], + [ + -127.15461730957031, + -9.27089786529541, + 1.8404209613800049 + ], + [ + -126.17974853515625, + -9.27089786529541, + 1.8404209613800049 + ] + ], + "corners_2d": [ + [ + 619.5176865561275, + 386.7626311536868 + ], + [ + 649.992006476932, + 395.50116791824814 + ], + [ + 660.2713834157299, + 377.34601648529286 + ], + [ + 630.2954231512172, + 368.9462542231845 + ], + [ + 618.6050435538809, + 341.6925508614994 + ], + [ + 650.4416727025148, + 350.37424445183467 + ], + [ + 661.1649161208414, + 332.3454628940039 + ], + [ + 629.8718033881557, + 324.01495181618674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 610, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -6.690057754516602, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.44983401894569397, + "y": 0.4615075886249542, + "z": 0.8815975785255432 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 538.1542680268251, + "ymin": 237.9849921210137, + "xmax": 575.5386482733294, + "ymax": 300.8588681129232 + }, + "corners_3d": [ + [ + -122.18330383300781, + -7.226015090942383, + 0.0625450611114502 + ], + [ + -123.08615112304688, + -7.034108638763428, + 0.0625450611114502 + ], + [ + -122.89909362792969, + -6.15410041809082, + 0.0625450611114502 + ], + [ + -121.99624633789062, + -6.346006870269775, + 0.0625450611114502 + ], + [ + -122.18330383300781, + -7.226015090942383, + 1.8257402181625366 + ], + [ + -123.08615112304688, + -7.034108638763428, + 1.8257402181625366 + ], + [ + -122.89909362792969, + -6.15410041809082, + 1.8257402181625366 + ], + [ + -121.99624633789062, + -6.346006870269775, + 1.8257402181625366 + ] + ], + "corners_2d": [ + [ + 542.0142171084951, + 297.7210863329967 + ], + [ + 569.3617871377626, + 300.8588681129232 + ], + [ + 575.5386482733294, + 284.0847264884333 + ], + [ + 548.7197950870294, + 281.0724858891938 + ], + [ + 538.1542680268251, + 254.36745977106415 + ], + [ + 566.5681422756047, + 257.4579994853341 + ], + [ + 573.0429039042614, + 240.94715326734791 + ], + [ + 545.1993281574937, + 237.9849921210137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 594, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -2.7450506687164307, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.43208006024360657, + "y": 0.5600671172142029, + "z": 0.9330453872680664 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 759.2426939970322, + "ymin": 213.97882134329745, + "xmax": 802.4149421398788, + "ymax": 279.5178518026296 + }, + "corners_3d": [ + [ + -128.41116333007812, + -3.233306646347046, + 0.011102139949798584 + ], + [ + -129.52516174316406, + -3.1162209510803223, + 0.011102139949798584 + ], + [ + -129.43484497070312, + -2.2567946910858154, + 0.011102139949798584 + ], + [ + -128.3208465576172, + -2.373880386352539, + 0.011102139949798584 + ], + [ + -128.41116333007812, + -3.233306646347046, + 1.8771929740905762 + ], + [ + -129.52516174316406, + -3.1162209510803223, + 1.8771929740905762 + ], + [ + -129.43484497070312, + -2.2567946910858154, + 1.8771929740905762 + ], + [ + -128.3208465576172, + -2.373880386352539, + 1.8771929740905762 + ] + ], + "corners_2d": [ + [ + 759.2426939970322, + 273.8497146418359 + ], + [ + 791.9832331410137, + 279.5178518026296 + ], + [ + 796.1776717229023, + 264.6071202647935 + ], + [ + 764.0088721290375, + 259.14575790847493 + ], + [ + 764.0626948364168, + 228.39890413983895 + ], + [ + 798.1718802593847, + 233.96332535440703 + ], + [ + 802.4149421398788, + 219.33225144788994 + ], + [ + 768.925922334143, + 213.97882134329745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 644, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -9.687763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.37935057282447815, + "y": 0.5855615139007568, + "z": 0.8926640152931213 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 731.5114003189119, + "ymin": 355.4663142180984, + "xmax": 784.5609483214166, + "ymax": 429.0454081781232 + }, + "corners_3d": [ + [ + -129.661376953125, + -10.067113876342773, + 0.05146896839141846 + ], + [ + -130.83248901367188, + -10.067113876342773, + 0.05146896839141846 + ], + [ + -130.83248901367188, + -9.308412551879883, + 0.05146896839141846 + ], + [ + -129.661376953125, + -9.308412551879883, + 0.05146896839141846 + ], + [ + -129.661376953125, + -10.067113876342773, + 1.8367969989776611 + ], + [ + -130.83248901367188, + -10.067113876342773, + 1.8367969989776611 + ], + [ + -130.83248901367188, + -9.308412551879883, + 1.8367969989776611 + ], + [ + -129.661376953125, + -9.308412551879883, + 1.8367969989776611 + ] + ], + "corners_2d": [ + [ + 731.5114003189119, + 417.79507681527366 + ], + [ + 770.7901172714554, + 429.0454081781232 + ], + [ + 778.2535484032669, + 411.27853365632586 + ], + [ + 739.6097131758282, + 400.4398230437967 + ], + [ + 735.7166388238891, + 372.73943309937727 + ], + [ + 776.8751843827707, + 383.95209835732453 + ], + [ + 784.5609483214166, + 366.2503141885495 + ], + [ + 744.0992806567666, + 355.4663142180984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 742, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -17.85797882080078, + "z": 1.0958516597747803 + }, + "extent": { + "x": 0.3121581971645355, + "y": 0.48240476846694946, + "z": 0.8946199417114258 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 98.09607594661009, + "ymin": 402.8216948083002, + "xmax": 165.1289096502445, + "ymax": 477.875874940491 + }, + "corners_3d": [ + [ + -114.88507843017578, + -18.063018798828125, + 0.2012317180633545 + ], + [ + -115.82880401611328, + -18.263612747192383, + 0.2012317180633545 + ], + [ + -115.95861053466797, + -17.652938842773438, + 0.2012317180633545 + ], + [ + -115.01488494873047, + -17.45234489440918, + 0.2012317180633545 + ], + [ + -114.88507843017578, + -18.063018798828125, + 1.990471601486206 + ], + [ + -115.82880401611328, + -18.263612747192383, + 1.990471601486206 + ], + [ + -115.95861053466797, + -17.652938842773438, + 1.990471601486206 + ], + [ + -115.01488494873047, + -17.45234489440918, + 1.990471601486206 + ] + ], + "corners_2d": [ + [ + 123.27552792685299, + 462.5741114206467 + ], + [ + 145.05858162172922, + 477.875874940491 + ], + [ + 165.1289096502445, + 463.2771980556679 + ], + [ + 143.3563124952742, + 448.4132470793703 + ], + [ + 98.09607594661009, + 416.9789128595432 + ], + [ + 120.54944326820487, + 432.29893301383 + ], + [ + 141.97169841458566, + 417.68233262586614 + ], + [ + 119.51808308509635, + 402.8216948083002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3466, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 381.49525444147423, + "ymin": 54.794030616827115, + "xmax": 491.4835731842375, + "ymax": 125.95638613029519 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 470.15955822739295, + 125.95638613029519 + ], + [ + 491.4835731842375, + 106.01204378649425 + ], + [ + 411.5983345446268, + 89.59477013989368 + ], + [ + 388.3966031158465, + 108.50363134915088 + ], + [ + 465.36950802541867, + 90.07319733872464 + ], + [ + 487.4262374072148, + 70.70888164413742 + ], + [ + 405.5245707697419, + 54.794030616827115 + ], + [ + 381.49525444147423, + 73.12618770896722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3927, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 28.612300134001543, + "ymin": 29.694841954405547, + "xmax": 161.47093993275814, + "ymax": 99.42939517008796 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 75.8905508608866, + 61.83606714030327 + ], + [ + 43.39773906918083, + 79.35887144323584 + ], + [ + 130.53184498995643, + 99.42939517008796 + ], + [ + 161.47093993275814, + 80.74646886086214 + ], + [ + 62.32366080366751, + 29.694841954405547 + ], + [ + 28.612300134001543, + 46.672791726979995 + ], + [ + 117.47764623939236, + 66.1491145790796 + ], + [ + 149.58389460691734, + 48.01828124467704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4023, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 61.36865323458079, + "xmax": 114.16708244778931, + "ymax": 140.45833853145186 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 44.74556186060204, + 102.44124205848215 + ], + [ + 8.481886519929958, + 122.76556250490756 + ], + [ + 79.21716955595946, + 140.45833853145186 + ], + [ + 114.16708244778931, + 119.03143283317962 + ], + [ + 25.87828744736987, + 61.36865323458079 + ], + [ + -12.20163030657909, + 80.99037065923568 + ], + [ + 60.33392535289124, + 98.1042445898471 + ], + [ + 97.0470691318393, + 77.3823170608988 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 8640, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1098.3849107130948, + "ymin": 316.96488843535343, + "xmax": 1280.0, + "ymax": 444.87581569305956 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1101.3077723667982, + 356.0359362868737 + ], + [ + 1098.3849107130948, + 394.21890121231917 + ], + [ + 1301.1649568490352, + 444.87581569305956 + ], + [ + 1295.40091905199, + 402.477667403407 + ], + [ + 1118.6012815569773, + 316.96488843535343 + ], + [ + 1116.3404411679358, + 354.8891604623434 + ], + [ + 1328.5457427306487, + 405.3932124043168 + ], + [ + 1321.31291489598, + 363.10816586419804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 409.3114494120191, + "ymin": 0.0, + "xmax": 424.90477432219194, + "ymax": 0.22535633234565466 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 413.11304111081137, + -0.9042967613958126 + ], + [ + 419.509243774231, + 0.22535633234565466 + ], + [ + 424.90477432219194, + -3.556168015940841 + ], + [ + 418.54283246610294, + -4.669711380818171 + ], + [ + 409.3114494120191, + -24.347980116914755 + ], + [ + 415.8067670133614, + -23.25048062203075 + ], + [ + 421.31920552142515, + -26.924060605129 + ], + [ + 414.85918640438865, + -28.005649229322046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1153.1923321075487, + "ymin": 210.9396487350522, + "xmax": 1178.0431790065736, + "ymax": 250.01102796235895 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1165.0340299611998, + 241.83161326874722 + ], + [ + 1153.396547423733, + 239.43370082626853 + ], + [ + 1153.1923321075487, + 247.56194621407116 + ], + [ + 1164.9528755709375, + 250.01102796235895 + ], + [ + 1177.9852529604927, + 213.30543980184345 + ], + [ + 1166.0202679437677, + 210.9396487350522 + ], + [ + 1165.9480687661844, + 218.96048517951735 + ], + [ + 1178.0431790065736, + 221.37802375501872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 555.2474737776577, + "ymin": 174.37997579599462, + "xmax": 572.661523102905, + "ymax": 211.90304757491865 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 566.5961168421281, + 211.90304757491865 + ], + [ + 572.661523102905, + 204.50194734418673 + ], + [ + 563.3436858380203, + 202.33071681517845 + ], + [ + 557.2025376019684, + 209.6877641080628 + ], + [ + 564.85752899792, + 183.8038192280337 + ], + [ + 571.0829315767083, + 176.51701933997614 + ], + [ + 561.5521134494161, + 174.37997579599462 + ], + [ + 555.2474737776577, + 181.62238570537173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.3329959635191, + "ymin": 45.97311398748127, + "xmax": 1179.3627364941804, + "ymax": 72.15235572387047 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1163.3961838589464, + 66.8794356861822 + ], + [ + 1163.3329959635191, + 70.93085950523704 + ], + [ + 1170.9502691510893, + 72.15235572387047 + ], + [ + 1170.9619227686876, + 68.08443571897328 + ], + [ + 1171.6149138192068, + 45.97311398748127 + ], + [ + 1171.6076203277296, + 49.94387414695012 + ], + [ + 1179.3627364941804, + 51.141217188594226 + ], + [ + 1179.316620144155, + 47.154033732938444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1154.6961490373333, + "ymin": 153.18411480021643, + "xmax": 1177.6174187914928, + "ymax": 189.79150043983108 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1165.6194892925917, + 182.8241505519565 + ], + [ + 1154.870186776396, + 180.7794211406102 + ], + [ + 1154.6961490373333, + 187.7065286478756 + ], + [ + 1165.550360748182, + 189.79150043983108 + ], + [ + 1177.5682645832942, + 155.19386633570485 + ], + [ + 1166.5401516341847, + 153.18411480021643 + ], + [ + 1166.4788546800287, + 159.99378854285354 + ], + [ + 1177.6174187914928, + 162.04400542132566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.7117981868604, + "ymin": 185.6480266734712, + "xmax": 283.74448227690954, + "ymax": 216.98204389881317 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 276.20864549492677, + 216.98204389881317 + ], + [ + 283.74448227690954, + 210.7226255950615 + ], + [ + 276.59542083422093, + 208.8724774784633 + ], + [ + 269.0181738357903, + 215.10043359484524 + ], + [ + 269.02537477960954, + 193.6569513212976 + ], + [ + 276.770301927648, + 187.47491074700417 + ], + [ + 269.49946239032465, + 185.6480266734712 + ], + [ + 261.7117981868604, + 191.79838539897582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1155.7820969940367, + "ymin": 111.53234367639439, + "xmax": 1177.3103784360214, + "ymax": 146.30105684425834 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1166.0423420109282, + 140.1492043678289 + ], + [ + 1155.9358231576598, + 138.34242487427653 + ], + [ + 1155.7820969940367, + 144.4608805332818 + ], + [ + 1165.9812995073312, + 146.30105684425834 + ], + [ + 1177.267102307004, + 113.30338945298203 + ], + [ + 1166.914508818323, + 111.53234367639439 + ], + [ + 1166.860510299574, + 117.5306175233155 + ], + [ + 1177.3103784360214, + 119.33510702476434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 471.15592603944094, + "ymin": 155.67434517641783, + "xmax": 490.5668070773721, + "ymax": 192.389904431562 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 483.8534503228451, + 192.389904431562 + ], + [ + 490.5668070773721, + 185.37236288539347 + ], + [ + 481.72884440492874, + 183.31295205890413 + ], + [ + 474.9483374378706, + 190.2898156967405 + ], + [ + 480.2549157870586, + 164.59947898100728 + ], + [ + 487.1573178472406, + 157.69885614634651 + ], + [ + 478.1283744200874, + 155.67434517641783 + ], + [ + 471.15592603944094, + 162.5340546500878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 376.03390370364116, + "ymin": 134.50265162901286, + "xmax": 397.543806729827, + "ymax": 170.29165706802988 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 390.1490404743306, + 170.29165706802988 + ], + [ + 397.543806729827, + 163.69628228582607 + ], + [ + 389.23431042173024, + 161.76001396180163 + ], + [ + 381.78140302842235, + 168.31832086260397 + ], + [ + 384.5716696911661, + 142.87989023428676 + ], + [ + 392.18378439050787, + 136.40347665836626 + ], + [ + 383.7064575772244, + 134.50265162901286 + ], + [ + 376.03390370364116, + 140.94186077844995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.022236194016, + "ymin": 421.3846133829277, + "xmax": 1127.393389917829, + "ymax": 460.34745599995955 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1115.0106740767324, + 449.35766765270864 + ], + [ + 1102.8047849561267, + 446.1209845179512 + ], + [ + 1102.022236194016, + 457.03767048175985 + ], + [ + 1114.3627938632112, + 460.34745599995955 + ], + [ + 1127.393389917829, + 424.62130636889253 + ], + [ + 1114.8283071689411, + 421.3846133829277 + ], + [ + 1114.1635308133782, + 432.30357007509855 + ], + [ + 1126.8713864888766, + 435.61530104737176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.7818352198094, + "ymin": 236.32171834087688, + "xmax": 1219.1325205853482, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1003.4257127618607, + 771.564560985314 + ], + [ + 1007.5451631249907, + 739.9414102894876 + ], + [ + 663.2400294505951, + 617.9253989353481 + ], + [ + 651.7818352198094, + 643.6916471599188 + ], + [ + 1219.1325205853482, + 399.5949977295344 + ], + [ + 1217.35596573571, + 364.1422600132106 + ], + [ + 674.6049451922421, + 236.32171834087688 + ], + [ + 657.7385374310691, + 262.19234415356357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 372.1428855299639, + "ymin": 0.0, + "xmax": 553.7964574016867, + "ymax": 145.9671808303647 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 553.7964574016867, + 28.88938796136017 + ], + [ + 545.8821701767066, + 27.4420565431854 + ], + [ + 411.5852026238554, + 143.84799142793628 + ], + [ + 420.74059863204633, + 145.9671808303647 + ], + [ + 541.813617291806, + -161.46236285198427 + ], + [ + 532.8379338062838, + -162.54663701903928 + ], + [ + 372.1428855299639, + -72.76261668913799 + ], + [ + 382.7390217940113, + -71.07823614168217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.549488242708, + "ymin": 251.7896449298755, + "xmax": 715.2007572178588, + "ymax": 280.5612710433623 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 705.0024515609658, + 280.5612710433623 + ], + [ + 715.0818303067855, + 263.1425970049216 + ], + [ + 675.368311960454, + 253.58082353302012 + ], + [ + 664.549488242708, + 270.57627840091055 + ], + [ + 705.107684731372, + 278.75181027072546 + ], + [ + 715.2007572178588, + 261.34460587889356 + ], + [ + 675.4236556337733, + 251.7896449298755 + ], + [ + 664.5887398727959, + 268.7732438497148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.5484764824827, + "ymin": 251.83596103439103, + "xmax": 715.1976819611522, + "ymax": 280.6079112179269 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 704.9997390990479, + 280.6079112179269 + ], + [ + 715.0787647689738, + 263.18894319967427 + ], + [ + 675.3668853577209, + 253.62699503081305 + ], + [ + 664.5484764824827, + 270.6227538884194 + ], + [ + 705.1049634800612, + 278.79860157693105 + ], + [ + 715.1976819611522, + 261.391099008321 + ], + [ + 675.4222245629949, + 251.83596103439103 + ], + [ + 664.5877248746891, + 268.819868070206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 202.3361416956484, + "ymin": 37.393029322794746, + "xmax": 614.7300725977044, + "ymax": 381.4903757525198 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 288.51946305767154, + 277.74042872835867 + ], + [ + 280.33770620540975, + 285.08038890867294 + ], + [ + 608.9034029180298, + 381.4903757525198 + ], + [ + 614.7300725977044, + 372.31552125993846 + ], + [ + 213.12841705303532, + 37.393029322794746 + ], + [ + 202.3361416956484, + 43.6593301829605 + ], + [ + 601.1601057156967, + 128.30578460073042 + ], + [ + 608.5167785110624, + 120.05841744568573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.925141996029, + "ymin": 0.0, + "xmax": 1236.6402400254306, + "ymax": 130.00574292507147 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1150.5952718207677, + 130.00574292507147 + ], + [ + 1150.8563749310306, + 125.19132951956985 + ], + [ + 865.1063927954531, + 73.94636335961195 + ], + [ + 862.925141996029, + 78.03224270917286 + ], + [ + 1236.6402400254306, + -83.7197550219629 + ], + [ + 1236.2098111367482, + -87.51251389571877 + ], + [ + 899.3159878159986, + -127.3112038811251 + ], + [ + 897.0685888475253, + -124.17580524438472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1076.7359625735758, + "ymin": 28.635451995446715, + "xmax": 1232.6427298264016, + "ymax": 535.3395787271871 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1076.7359625735758, + 530.0719401490356 + ], + [ + 1094.4962240241448, + 535.3395787271871 + ], + [ + 1117.368853071168, + 270.4067813532006 + ], + [ + 1103.9334155315792, + 267.43403533876244 + ], + [ + 1208.6276379444816, + 267.88312199611124 + ], + [ + 1232.6427298264016, + 273.0492297619436 + ], + [ + 1218.632228741203, + 31.156537920949347 + ], + [ + 1201.9027480579234, + 28.635451995446715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1127.7398711559485, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 130.76468575245872 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1127.7398711559485, + 44.89855497056175 + ], + [ + 1148.8354670783087, + 112.04991816010417 + ], + [ + 1326.1674209599341, + 130.76468575245872 + ], + [ + 1285.4196477325283, + 59.8444680303968 + ], + [ + 1231.5331018014676, + -243.10364617811956 + ], + [ + 1272.9151178483455, + -201.59365844220224 + ], + [ + 1499.622168395274, + -189.6436302623797 + ], + [ + 1427.1405860090244, + -234.04502177691882 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00101/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00101/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b232a2d7ce8f6b4509a0b4b3e59807258d2f33c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00101/meta.json @@ -0,0 +1,3107 @@ +{ + "frame_id": 101, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 50.5, + "sim_timestamp": 1346.221063715173 + }, + "drone_pose": { + "x": -134.53236559251224, + "y": -28.185097763533452, + "z": 20.0, + "pitch": -42.82408001626786, + "yaw": 67.50970826911207, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2805621027946472, + -0.6776617169380188, + 0.679749608039856, + 43.249656677246094 + ], + [ + 0.9239444136619568, + 0.38252687454223633, + -2.9802322387695312e-08, + -113.51885986328125 + ], + [ + -0.26002252101898193, + 0.6280508041381836, + 0.7334442138671875, + -67.35200500488281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.62931319984102, + "y": -27.568122464428406, + "z": 20.0 + }, + "t1_image_uv": [ + 1439.590510806884, + -529.7194722235631 + ], + "t1_depth": 0.3909006872845246 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -9.187763214111328, + "z": 0.9441329622273043 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.033656325544673, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 603, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -9.187763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4155322313308716, + "y": 0.4404605031013489, + "z": 0.890783965587616 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.3035560986968, + "ymin": 324.51213708830005, + "xmax": 659.9244972794336, + "ymax": 394.98438671460485 + }, + "corners_3d": [ + [ + -126.6495590209961, + -9.793041229248047, + 0.05334901809692383 + ], + [ + -127.2724609375, + -9.170136451721191, + 0.05334901809692383 + ], + [ + -126.68480682373047, + -8.58248519897461, + 0.05334901809692383 + ], + [ + -126.06190490722656, + -9.205389976501465, + 0.05334901809692383 + ], + [ + -126.6495590209961, + -9.793041229248047, + 1.8349169492721558 + ], + [ + -127.2724609375, + -9.170136451721191, + 1.8349169492721558 + ], + [ + -126.68480682373047, + -8.58248519897461, + 1.8349169492721558 + ], + [ + -126.06190490722656, + -9.205389976501465, + 1.8349169492721558 + ] + ], + "corners_2d": [ + [ + 631.5737620895928, + 394.98438671460485 + ], + [ + 659.0773107873014, + 386.95346460549644 + ], + [ + 648.1911111759538, + 369.18134139351423 + ], + [ + 621.1318631095181, + 376.90256946396636 + ], + [ + 631.1961439544835, + 350.13183738372015 + ], + [ + 659.9244972794336, + 342.15111422174175 + ], + [ + 648.5475034654074, + 324.51213708830005 + ], + [ + 620.3035560986968, + 332.1717892860643 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 101, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 70, + "semantic_pixel_counts": { + "1": 610985, + "2": 152387, + "3": 10351, + "4": 28486, + "6": 27738, + "7": 3162, + "9": 13377, + "10": 12, + "12": 3101, + "14": 20448, + "20": 21, + "24": 34382, + "25": 17150 + }, + "instance_pixel_counts": { + "3662": 413, + "11605": 4695, + "15970": 472, + "16479": 446, + "16482": 1306, + "16994": 1822, + "17496": 12977, + "17503": 6303, + "17506": 1564, + "17547": 121, + "18018": 417, + "18059": 2553, + "19083": 3458, + "19554": 1882, + "19595": 6042, + "20066": 1074, + "20107": 1282, + "20565": 5656, + "21395": 4103, + "21397": 129, + "21643": 5560, + "21907": 189201, + "21909": 18245, + "22155": 3332, + "22421": 4574, + "22931": 215321, + "23445": 114, + "23955": 3153, + "23957": 664, + "24467": 20540, + "25344": 224, + "25600": 7207, + "25856": 9396, + "26112": 1096, + "36096": 603, + "36352": 621, + "36608": 582, + "36864": 627, + "37376": 668, + "37888": 3525, + "40448": 3990, + "40704": 4086, + "41216": 8847, + "45409": 314, + "45971": 14159, + "46483": 113551, + "46995": 26561, + "47201": 26729, + "47713": 5400, + "48225": 2518, + "48531": 6512, + "48737": 17413, + "49043": 17884, + "49249": 4078, + "49761": 9820, + "51526": 28073, + "52833": 3237, + "53345": 422, + "53857": 2031, + "54366": 10847, + "56458": 374, + "56970": 7356, + "57482": 32312, + "58506": 9052, + "60307": 528, + "60819": 7790, + "61254": 13398, + "61331": 879, + "62355": 388, + "62867": 1071 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 603, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -9.187763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.48637694120407104, + "y": 0.4554235637187958, + "z": 0.8842281103134155 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.9154824038274, + "ymin": 323.0844051811954, + "xmax": 661.3968234035444, + "ymax": 396.53927319737056 + }, + "corners_3d": [ + [ + -126.68907165527344, + -9.853716850280762, + 0.05990487337112427 + ], + [ + -127.33313751220703, + -9.209650039672852, + 0.05990487337112427 + ], + [ + -126.64529418945312, + -8.521809577941895, + 0.05990487337112427 + ], + [ + -126.00122833251953, + -9.165876388549805, + 0.05990487337112427 + ], + [ + -126.68907165527344, + -9.853716850280762, + 1.8283610343933105 + ], + [ + -127.33313751220703, + -9.209650039672852, + 1.8283610343933105 + ], + [ + -126.64529418945312, + -8.521809577941895, + 1.8283610343933105 + ], + [ + -126.00122833251953, + -9.165876388549805, + 1.8283610343933105 + ] + ], + "corners_2d": [ + [ + 632.0098615338637, + 396.53927319737056 + ], + [ + 660.4921968596253, + 388.2074541137591 + ], + [ + 647.7388714250146, + 367.41108033046334 + ], + [ + 619.7944363963456, + 375.3680115961057 + ], + [ + 631.653793178252, + 352.00730927777363 + ], + [ + 661.3968234035444, + 343.7259366818055 + ], + [ + 648.0724297917878, + 323.0844051811954 + ], + [ + 618.9154824038274, + 330.9772184034533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 621, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -6.190057754516602, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.46775877475738525, + "y": 0.46884885430336, + "z": 0.9183056950569153 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 536.2353286515915, + "ymin": 234.2183476784408, + "xmax": 579.1178409622516, + "ymax": 303.7064381750946 + }, + "corners_3d": [ + [ + -122.67813873291016, + -6.838027000427246, + 0.025832176208496094 + ], + [ + -123.18885040283203, + -6.051608085632324, + 0.025832176208496094 + ], + [ + -122.40425872802734, + -5.542088508605957, + 0.025832176208496094 + ], + [ + -121.89354705810547, + -6.328507423400879, + 0.025832176208496094 + ], + [ + -122.67813873291016, + -6.838027000427246, + 1.8624435663223267 + ], + [ + -123.18885040283203, + -6.051608085632324, + 1.8624435663223267 + ], + [ + -122.40425872802734, + -5.542088508605957, + 1.8624435663223267 + ], + [ + -121.89354705810547, + -6.328507423400879, + 1.8624435663223267 + ] + ], + "corners_2d": [ + [ + 554.7147440374547, + 303.7064381750946 + ], + [ + 579.1178409622516, + 293.48144302276114 + ], + [ + 564.4419317001779, + 279.08227096568027 + ], + [ + 540.291831840353, + 288.9505457091353 + ], + [ + 551.1798879602161, + 258.440617821337 + ], + [ + 576.6266565002711, + 248.37530845705265 + ], + [ + 561.4064879012349, + 234.2183476784408 + ], + [ + 536.2353286515915, + 243.91844165877353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 582, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -2.2450506687164307, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.47337889671325684, + "y": 0.43753883242607117, + "z": 0.9488899111747742 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 760.4898851124274, + "ymin": 212.79159818398526, + "xmax": 804.0581486267355, + "ymax": 281.12604153147583 + }, + "corners_3d": [ + [ + -129.01553344726562, + -2.8829891681671143, + -0.00474238395690918 + ], + [ + -129.5662384033203, + -2.202925682067871, + -0.00474238395690918 + ], + [ + -128.83047485351562, + -1.607112169265747, + -0.00474238395690918 + ], + [ + -128.27976989746094, + -2.2871756553649902, + -0.00474238395690918 + ], + [ + -129.01553344726562, + -2.8829891681671143, + 1.8930374383926392 + ], + [ + -129.5662384033203, + -2.202925682067871, + 1.8930374383926392 + ], + [ + -128.83047485351562, + -1.607112169265747, + 1.8930374383926392 + ], + [ + -128.27976989746094, + -2.2871756553649902, + 1.8930374383926392 + ] + ], + "corners_2d": [ + [ + 776.2006185384328, + 281.12604153147583 + ], + [ + 797.565931361219, + 273.5061151130859 + ], + [ + 781.6075552678805, + 258.7474477364976 + ], + [ + 760.4898851124274, + 266.0886462365879 + ], + [ + 781.8679704148611, + 234.74276069235233 + ], + [ + 804.0581486267355, + 227.2627162287357 + ], + [ + 787.330695953812, + 212.79159818398526 + ], + [ + 765.4067347777313, + 219.9870271975267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 627, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -9.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.37374022603034973, + "y": 0.3971722424030304, + "z": 0.8702908158302307 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 736.7341354706907, + "ymin": 358.36849520376705, + "xmax": 779.3666946249381, + "ymax": 427.1734046863836 + }, + "corners_3d": [ + [ + -130.23036193847656, + -9.732880592346191, + 0.07384705543518066 + ], + [ + -130.79205322265625, + -9.171194076538086, + 0.07384705543518066 + ], + [ + -130.2635040283203, + -8.642645835876465, + 0.07384705543518066 + ], + [ + -129.70181274414062, + -9.20433235168457, + 0.07384705543518066 + ], + [ + -130.23036193847656, + -9.732880592346191, + 1.814428687095642 + ], + [ + -130.79205322265625, + -9.171194076538086, + 1.814428687095642 + ], + [ + -130.2635040283203, + -8.642645835876465, + 1.814428687095642 + ], + [ + -129.70181274414062, + -9.20433235168457, + 1.814428687095642 + ] + ], + "corners_2d": [ + [ + 748.6108090923992, + 427.1734046863836 + ], + [ + 773.3660401897873, + 419.40645762146795 + ], + [ + 761.136017403282, + 402.2297343748445 + ], + [ + 736.7341354706907, + 409.71699312337074 + ], + [ + 753.5394346908095, + 383.21685799568957 + ], + [ + 779.3666946249381, + 375.47328748911826 + ], + [ + 766.4834037936624, + 358.36849520376705 + ], + [ + 741.0401674433692, + 365.82097637645035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 668, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -17.35797882080078, + "z": 1.0958467721939087 + }, + "extent": { + "x": 0.34669432044029236, + "y": 0.4201074242591858, + "z": 0.8950961232185364 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 99.6706349089227, + "ymin": 403.94495687407823, + "xmax": 162.40173506243548, + "ymax": 472.7551656850392 + }, + "corners_3d": [ + [ + -115.25833892822266, + -17.877548217773438, + 0.20075064897537231 + ], + [ + -115.96299743652344, + -17.419933319091797, + 0.20075064897537231 + ], + [ + -115.5853500366211, + -16.838409423828125, + 0.20075064897537231 + ], + [ + -114.88069152832031, + -17.296024322509766, + 0.20075064897537231 + ], + [ + -115.25833892822266, + -17.877548217773438, + 1.9909429550170898 + ], + [ + -115.96299743652344, + -17.419933319091797, + 1.9909429550170898 + ], + [ + -115.5853500366211, + -16.838409423828125, + 1.9909429550170898 + ], + [ + -114.88069152832031, + -17.296024322509766, + 1.9909429550170898 + ] + ], + "corners_2d": [ + [ + 125.10540217948324, + 472.7551656850392 + ], + [ + 157.88016729762148, + 468.415011120967 + ], + [ + 162.40173506243548, + 449.5552225400251 + ], + [ + 130.26817996299434, + 453.7325686559434 + ], + [ + 99.6706349089227, + 427.15700365013595 + ], + [ + 134.17258728232673, + 422.8105500819367 + ], + [ + 139.38164021699203, + 403.94495687407823 + ], + [ + 105.58937811175497, + 408.1205683052116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3525, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 376.9463515053926, + "ymin": 58.29704766730879, + "xmax": 487.96241091394967, + "ymax": 130.4598539252249 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 466.1165879201999, + 130.4598539252249 + ], + [ + 487.96241091394967, + 110.20570629169865 + ], + [ + 407.7562504238716, + 93.27386435936984 + ], + [ + 384.03704365952586, + 112.45434971239854 + ], + [ + 461.16075740813613, + 94.39562922043677 + ], + [ + 483.7658168437001, + 74.71940199563346 + ], + [ + 401.5199480769163, + 58.29704766730879 + ], + [ + 376.9463515053926, + 76.90218716536833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3990, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 22.681426736993444, + "ymin": 31.892698960226767, + "xmax": 156.286126835525, + "ymax": 102.50936029813198 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 70.74751716019125, + 64.17115647532637 + ], + [ + 37.72626688571847, + 81.87987396679625 + ], + [ + 124.78769239831911, + 102.50936029813198 + ], + [ + 156.286126835525, + 83.60431461931091 + ], + [ + 56.94926618159775, + 31.892698960226767 + ], + [ + 22.681426736993444, + 49.05725478658462 + ], + [ + 111.47232191199055, + 69.08416578470951 + ], + [ + 144.16799748284006, + 50.730032794796614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4086, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 64.09007618462005, + "xmax": 107.90565175793029, + "ymax": 144.09083580722995 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 38.54249410805835, + 105.33502138073206 + ], + [ + 1.6524602034538702, + 125.89186042671653 + ], + [ + 72.29922111201654, + 144.09083580722995 + ], + [ + 107.90565175793029, + 122.39577385972404 + ], + [ + 19.31960546410346, + 64.09007618462005 + ], + [ + -19.431679655816993, + 83.94668760502384 + ], + [ + 53.01030810306395, + 101.56010573940432 + ], + [ + 90.42777142225714, + 80.56678618746395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 8847, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1098.7574602295554, + "ymin": 328.8837313571066, + "xmax": 1280.0, + "ymax": 460.3523108479076 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1102.0840258384237, + 368.058760375878 + ], + [ + 1098.7574602295554, + 407.3140623066217 + ], + [ + 1304.910299555509, + 460.3523108479076 + ], + [ + 1299.3131942076302, + 416.6310412174769 + ], + [ + 1119.6970093748641, + 328.8837313571066 + ], + [ + 1117.0386977522478, + 367.92215083154036 + ], + [ + 1332.969658840027, + 420.8748597368986 + ], + [ + 1325.8582241540066, + 377.2068009993527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 404.0255235893246, + "ymin": 0.0, + "xmax": 419.9192165466751, + "ymax": 4.020013054938204 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 407.958047331358, + 2.8516245032024585 + ], + [ + 414.3847587906346, + 4.020013054938204 + ], + [ + 419.9192165466751, + 0.17129044351770517 + ], + [ + 413.52671928179564, + -0.9803274546669059 + ], + [ + 404.0255235893246, + -20.75586878094981 + ], + [ + 410.5526205853839, + -19.62030614647756 + ], + [ + 416.2084923175738, + -23.360579740195135 + ], + [ + 409.71665125718664, + -24.47956937433787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1154.592482619917, + "ymin": 223.2227774229737, + "xmax": 1179.9810634271917, + "ymax": 262.87948150273894 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1166.7314989208976, + 254.42185775269996 + ], + [ + 1154.8829529909294, + 251.90276663822019 + ], + [ + 1154.592482619917, + 260.30584547521056 + ], + [ + 1166.5678788285227, + 262.87948150273894 + ], + [ + 1179.9810634271917, + 225.71047667379176 + ], + [ + 1167.7918250281587, + 223.2227774229737 + ], + [ + 1167.6362905982137, + 231.52270721512642 + ], + [ + 1179.9598242633251, + 234.0656468237667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 546.7390447935607, + "ymin": 183.5271672808168, + "xmax": 564.7144020633947, + "ymax": 221.51911689393128 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 558.4050016667924, + 221.51911689393128 + ], + [ + 564.7144020633947, + 213.91704397150048 + ], + [ + 555.3104472883632, + 211.65109317544582 + ], + [ + 548.9246291841453, + 219.206672445525 + ], + [ + 556.4407313785865, + 193.24939237087474 + ], + [ + 562.9207977153148, + 185.75909526449476 + ], + [ + 553.2990971090828, + 183.5271672808168 + ], + [ + 546.7390447935607, + 190.97056238397505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1167.2127020743524, + "ymin": 51.86472085030266, + "xmax": 1183.5292683657672, + "ymax": 78.3451850529757 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1167.313032218478, + 72.93047434881959 + ], + [ + 1167.2127020743524, + 77.07514467245164 + ], + [ + 1174.933279567962, + 78.3451850529757 + ], + [ + 1174.9809737568885, + 74.18320622049373 + ], + [ + 1175.7099122563627, + 51.86472085030266 + ], + [ + 1175.6666480933104, + 55.92865072411075 + ], + [ + 1183.5292683657672, + 57.17412821682319 + ], + [ + 1183.51794837255, + 53.092954953771994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1156.7293950085304, + "ymin": 163.53672441617186, + "xmax": 1180.133751920493, + "ymax": 200.6727197530086 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1167.910384078758, + 193.48455497416984 + ], + [ + 1156.976391413269, + 191.34124347152837 + ], + [ + 1156.7293950085304, + 198.4866547375323 + ], + [ + 1167.7713227750305, + 200.6727197530086 + ], + [ + 1180.133751920493, + 165.6451017139857 + ], + [ + 1168.9102966854548, + 163.53672441617186 + ], + [ + 1168.7785584181636, + 170.56679724212583 + ], + [ + 1180.1157717859412, + 172.7182183604024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 252.19684079989491, + "ymin": 192.2766949548989, + "xmax": 274.7415606604252, + "ymax": 223.90750611077834 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 266.99293839582344, + 223.90750611077834 + ], + [ + 274.7415606604252, + 217.52482297046376 + ], + [ + 267.568215861437, + 215.60785211519405 + ], + [ + 259.7785276448262, + 221.95769001430202 + ], + [ + 259.53542912039643, + 200.4772831521923 + ], + [ + 267.50204273708954, + 194.17046392117473 + ], + [ + 260.20583162432507, + 192.2766949548989 + ], + [ + 252.19684079989491, + 198.55041580741727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1158.2697605197873, + "ymin": 120.57878595644533, + "xmax": 1180.243015639358, + "ymax": 155.83477990606679 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1168.7607683506017, + 149.4982449488177 + ], + [ + 1158.4875781651567, + 147.60738206615682 + ], + [ + 1158.2697605197873, + 153.90852207224947 + ], + [ + 1168.638177257014, + 155.83477990606679 + ], + [ + 1180.243015639358, + 122.43361662840911 + ], + [ + 1169.7147161973298, + 120.57878595644533 + ], + [ + 1169.59886583649, + 126.76072334390565 + ], + [ + 1180.2272051705293, + 128.65103814743168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.91688920591025, + "ymin": 164.00716058617041, + "xmax": 481.9138229534473, + "ymax": 201.1633204241231 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 474.9518632984849, + 201.1633204241231 + ], + [ + 481.9138229534473, + 193.96566870532249 + ], + [ + 473.00697741850536, + 191.81949990418937 + ], + [ + 465.97754827721616, + 198.97431301671122 + ], + [ + 471.08877187692485, + 173.20108557208795 + ], + [ + 478.2509649477588, + 166.11841345611506 + ], + [ + 469.149487421206, + 164.00716058617041 + ], + [ + 461.91688920591025, + 171.04670120347916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 366.12220551985985, + "ymin": 141.94864544047135, + "xmax": 388.2349525354269, + "ymax": 178.14664214361738 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 380.5898629902346, + 178.14664214361738 + ], + [ + 388.2349525354269, + 171.39308923518544 + ], + [ + 379.8742982194435, + 169.37852909415923 + ], + [ + 372.17108548049055, + 176.09314091760095 + ], + [ + 374.7136883598, + 150.56355480442107 + ], + [ + 382.58758615014904, + 143.92757784821632 + ], + [ + 374.05653402956307, + 141.94864544047135 + ], + [ + 366.12220551985985, + 148.54550054198577 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.1592283497655, + "ymin": 438.18965124667886, + "xmax": 1127.1085341921762, + "ymax": 477.6896113504382 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1114.489564471651, + 466.316482206065 + ], + [ + 1102.0669586328372, + 462.91345077642876 + ], + [ + 1101.1592283497655, + 474.2085577419236 + ], + [ + 1113.7205328795105, + 477.6896113504382 + ], + [ + 1127.1085341921762, + 441.5961712332128 + ], + [ + 1114.3124536898104, + 438.18965124667886 + ], + [ + 1113.5234626671236, + 449.4987202786068 + ], + [ + 1126.4667758022338, + 452.985452381842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 641.3605070944918, + "ymin": 254.59127094187696, + "xmax": 1218.05046335897, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 998.1196606634346, + 797.1616786694905 + ], + [ + 1002.6659938502827, + 764.3377213835618 + ], + [ + 653.4070271389506, + 636.0900917436866 + ], + [ + 641.3605070944918, + 662.6635977703532 + ], + [ + 1218.05046335897, + 429.5022524644816 + ], + [ + 1216.6286408247847, + 391.77394739648065 + ], + [ + 660.139266382804, + 254.59127094187696 + ], + [ + 642.0673380968932, + 281.75692117934824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 365.9813484758879, + "ymin": 0.0, + "xmax": 552.0644193899369, + "ymax": 150.70769164513 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 552.0644193899369, + 31.902192074200116 + ], + [ + 544.1136520266593, + 30.41159974108757 + ], + [ + 406.7443427491286, + 148.52097950051308 + ], + [ + 415.9341200306254, + 150.70769164513 + ], + [ + 539.710603175818, + -159.71239035980807 + ], + [ + 530.6836156720457, + -160.83196627790244 + ], + [ + 365.9813484758879, + -69.455026527511 + ], + [ + 376.6287092002233, + -67.7107792245344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.3320993779294, + "ymin": 270.42089689577296, + "xmax": 701.4909686595032, + "ymax": 300.7240152752145 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 690.5641122960305, + 300.7240152752145 + ], + [ + 701.3910777210718, + 282.42460418720066 + ], + [ + 660.9202730096007, + 272.2261489037553 + ], + [ + 649.3320993779294, + 290.0638107713013 + ], + [ + 690.6482433148376, + 298.9019213889045 + ], + [ + 701.4909686595032, + 280.61295133892924 + ], + [ + 660.9538847614946, + 270.42089689577296 + ], + [ + 649.3474269305063, + 288.24763617986196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.3317043085794, + "ymin": 270.4675788102247, + "xmax": 701.488385533692, + "ymax": 300.7709789161879 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 690.5619438572954, + 300.7709789161879 + ], + [ + 701.3885029807482, + 282.47130047130855 + ], + [ + 660.9194066312469, + 272.2726811781708 + ], + [ + 649.3317043085794, + 290.1106228707233 + ], + [ + 690.6460676543479, + 298.94904143728996 + ], + [ + 701.488385533692, + 280.6597997048239 + ], + [ + 660.9530155970125, + 270.4675788102247 + ], + [ + 649.347030562351, + 288.2946021758278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.68510759771988, + "ymin": 43.10908672115437, + "xmax": 608.0925746586231, + "ymax": 392.23881809624345 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 280.08813709480916, + 284.76225419385077 + ], + [ + 271.6881102683412, + 292.2355243858041 + ], + [ + 602.046322819425, + 392.23881809624345 + ], + [ + 608.0925746586231, + 382.8468413963727 + ], + [ + 201.80877322668385, + 43.10908672115437 + ], + [ + 190.68510759771988, + 49.521021199785935 + ], + [ + 592.4261787783383, + 137.85735197166912 + ], + [ + 600.1079833999474, + 129.35495822858792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.3770930190047, + "ymin": 0.0, + "xmax": 1242.1422323032898, + "ymax": 136.56562680479453 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1154.1465316546207, + 136.56562680479453 + ], + [ + 1154.4523790309145, + 131.6465536455876 + ], + [ + 865.6327757534309, + 78.5583486882669 + ], + [ + 863.3770930190047, + 82.71692112867845 + ], + [ + 1242.1422323032898, + -78.95666080346012 + ], + [ + 1241.7400872213884, + -82.84921819636992 + ], + [ + 900.3700071012508, + -124.24216782243599 + ], + [ + 898.0386452865991, + -121.03991985524783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1075.4312462676326, + "ymin": 36.56393801915402, + "xmax": 1234.6701357379654, + "ymax": 552.7677669365027 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1075.4312462676326, + 547.2438542739109 + ], + [ + 1093.48103280729, + 552.7677669365027 + ], + [ + 1119.189055254637, + 280.1991223698893 + ], + [ + 1105.5685211248733, + 277.1028311399371 + ], + [ + 1210.0948762411767, + 284.80523481858256 + ], + [ + 1234.6701357379654, + 290.2838040343544 + ], + [ + 1222.7006898477898, + 39.2065681864612 + ], + [ + 1205.6707877404924, + 36.56393801915402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1131.6925442879756, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 137.9186914908694 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1131.6925442879756, + 49.67805032399997 + ], + [ + 1152.4889414262198, + 118.2757133879303 + ], + [ + 1332.3488004814267, + 137.9186914908694 + ], + [ + 1291.4358958181137, + 65.33206048394686 + ], + [ + 1237.8753777120633, + -241.02892531458622 + ], + [ + 1279.513795476444, + -198.3777828277889 + ], + [ + 1510.493907181123, + -185.74926367794808 + ], + [ + 1436.7646880674235, + -231.4891107404277 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00102/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00102/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..420bbff5225404b3bdb5430b47bdbda617c499cb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00102/meta.json @@ -0,0 +1,3108 @@ +{ + "frame_id": 102, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 51.0, + "sim_timestamp": 1360.7110294352751 + }, + "drone_pose": { + "x": -134.62931319984102, + "y": -27.568122464428406, + "z": 20.0, + "pitch": -42.6456380727748, + "yaw": 65.85819553007904, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.30084049701690674, + -0.6712229251861572, + 0.677462100982666, + 45.457054138183594 + ], + [ + 0.9125360250473022, + 0.4089964032173157, + -2.9802322387695312e-08, + -111.5788345336914 + ], + [ + -0.2770795524120331, + 0.6182085275650024, + 0.7355576753616333, + -69.0570297241211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.74055930775836, + "y": -26.870554206831923, + "z": 20.0 + }, + "t1_image_uv": [ + 1494.1476756358493, + -524.177542790188 + ], + "t1_depth": 0.4347564503571484 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.16718292236328, + "y": -8.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.128300884172006, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 599, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.16718292236328, + "y": -8.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.49904292821884155, + "y": 0.4056035876274109, + "z": 0.9024764895439148 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.2281033863945, + "ymin": 323.8239701599989, + "xmax": 661.5795078990446, + "ymax": 395.6931048168534 + }, + "corners_3d": [ + [ + -126.66622924804688, + -9.093366622924805, + 0.04166615009307861 + ], + [ + -126.66622924804688, + -8.282159805297852, + 0.04166615009307861 + ], + [ + -125.66813659667969, + -8.282159805297852, + 0.04166615009307861 + ], + [ + -125.66813659667969, + -9.093366622924805, + 0.04166615009307861 + ], + [ + -126.66622924804688, + -9.093366622924805, + 1.8466191291809082 + ], + [ + -126.66622924804688, + -8.282159805297852, + 1.8466191291809082 + ], + [ + -125.66813659667969, + -8.282159805297852, + 1.8466191291809082 + ], + [ + -125.66813659667969, + -9.093366622924805, + 1.8466191291809082 + ] + ], + "corners_2d": [ + [ + 649.8147426253372, + 395.6931048168534 + ], + [ + 660.6652497597705, + 378.33902776297464 + ], + [ + 630.4695708819856, + 369.04628787136505 + ], + [ + 619.1583846616528, + 386.04146828467105 + ], + [ + 650.2576860701034, + 350.26340408042194 + ], + [ + 661.5795078990446, + 333.03654407373585 + ], + [ + 630.0524634191189, + 323.8239701599989 + ], + [ + 618.2281033863945, + 340.67890167738426 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 102, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 616918, + "2": 149929, + "3": 12641, + "4": 28832, + "6": 28872, + "7": 3205, + "9": 11993, + "10": 17, + "12": 3098, + "14": 19227, + "20": 115, + "24": 35499, + "25": 11254 + }, + "instance_pixel_counts": { + "11605": 5449, + "15970": 599, + "16479": 934, + "16482": 1325, + "16994": 1918, + "17496": 12938, + "17503": 5076, + "17506": 1824, + "17547": 302, + "18018": 545, + "18059": 2593, + "19083": 3687, + "19554": 1883, + "19595": 6984, + "20066": 754, + "20107": 1921, + "20565": 7130, + "21131": 77, + "21395": 6044, + "21397": 207, + "21643": 6216, + "21907": 198773, + "21909": 19227, + "22155": 2326, + "22421": 4223, + "22931": 203398, + "23445": 43, + "23955": 1321, + "23957": 676, + "24467": 20520, + "25344": 341, + "25600": 7273, + "25856": 9922, + "26112": 1603, + "36096": 599, + "36352": 649, + "36608": 479, + "36864": 696, + "37376": 675, + "37888": 3534, + "40448": 3931, + "40704": 3997, + "41216": 7765, + "45409": 473, + "45971": 15413, + "46483": 118496, + "46995": 31893, + "47201": 29038, + "47713": 5696, + "48225": 2571, + "48468": 62, + "48531": 3052, + "48737": 11657, + "49043": 18008, + "49249": 3198, + "49761": 9886, + "51526": 28832, + "52833": 730, + "53345": 145, + "53857": 2030, + "54366": 6178, + "56458": 882, + "56970": 7462, + "57482": 32813, + "58506": 9460, + "60307": 619, + "60819": 8216, + "61254": 12108, + "61331": 1040, + "62355": 174, + "62867": 1074 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 599, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.16718292236328, + "y": -8.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5349657535552979, + "y": 0.36933407187461853, + "z": 0.8993268609046936 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.6297493961587, + "ymin": 324.3174607048477, + "xmax": 662.229306033149, + "ymax": 395.1776626097982 + }, + "corners_3d": [ + [ + -126.7021484375, + -9.057097434997559, + 0.044815778732299805 + ], + [ + -126.7021484375, + -8.318428993225098, + 0.044815778732299805 + ], + [ + -125.63221740722656, + -8.318428993225098, + 0.044815778732299805 + ], + [ + -125.63221740722656, + -9.057097434997559, + 0.044815778732299805 + ], + [ + -126.7021484375, + -9.057097434997559, + 1.843469500541687 + ], + [ + -126.7021484375, + -8.318428993225098, + 1.843469500541687 + ], + [ + -125.63221740722656, + -8.318428993225098, + 1.843469500541687 + ], + [ + -125.63221740722656, + -9.057097434997559, + 1.843469500541687 + ] + ], + "corners_2d": [ + [ + 651.4242445255702, + 395.1776626097982 + ], + [ + 661.2895908005953, + 379.36381869439407 + ], + [ + 628.8962576644564, + 369.38555389894043 + ], + [ + 618.5811638935171, + 384.8490570318074 + ], + [ + 651.9377290765115, + 349.90951471440553 + ], + [ + 662.229306033149, + 334.21068101050463 + ], + [ + 628.4117910366793, + 324.3174607048477 + ], + [ + 617.6297493961587, + 339.6532782517588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 649, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.04119873046875, + "y": -5.690057754516602, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5495361089706421, + "y": 0.4447540044784546, + "z": 0.901700496673584 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 540.3453650297711, + "ymin": 235.82470370206457, + "xmax": 583.1558921810846, + "ymax": 300.42317393891875 + }, + "corners_3d": [ + [ + -122.67119598388672, + -6.010837554931641, + 0.04243737459182739 + ], + [ + -122.48625946044922, + -5.1407670974731445, + 0.04243737459182739 + ], + [ + -121.41120147705078, + -5.3692779541015625, + 0.04243737459182739 + ], + [ + -121.59613800048828, + -6.239348411560059, + 0.04243737459182739 + ], + [ + -122.67119598388672, + -6.010837554931641, + 1.8458383083343506 + ], + [ + -122.48625946044922, + -5.1407670974731445, + 1.8458383083343506 + ], + [ + -121.41120147705078, + -5.3692779541015625, + 1.8458383083343506 + ], + [ + -121.59613800048828, + -6.239348411560059, + 1.8458383083343506 + ] + ], + "corners_2d": [ + [ + 576.3187146726651, + 300.42317393891875 + ], + [ + 583.1558921810846, + 284.05652979474564 + ], + [ + 551.6149747097522, + 279.81447820341975 + ], + [ + 544.1791251284495, + 296.0080500280055 + ], + [ + 573.7565812626032, + 256.08960822474296 + ], + [ + 580.91602559919, + 239.99266166496375 + ], + [ + 548.151275567544, + 235.82470370206457 + ], + [ + 540.3453650297711, + 251.74470724607724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 479, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.42300415039062, + "y": -1.7450506687164307, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5087109208106995, + "y": 0.4645284116268158, + "z": 0.9374219179153442 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 765.9872047451332, + "ymin": 216.736688934874, + "xmax": 807.4430312894309, + "ymax": 283.5916283877051 + }, + "corners_3d": [ + [ + -128.97747802734375, + -2.1538596153259277, + 0.00672072172164917 + ], + [ + -128.88037109375, + -1.2298922538757324, + 0.00672072172164917 + ], + [ + -127.86852264404297, + -1.3362417221069336, + 0.00672072172164917 + ], + [ + -127.96563720703125, + -2.260209083557129, + 0.00672072172164917 + ], + [ + -128.97747802734375, + -2.1538596153259277, + 1.8815646171569824 + ], + [ + -128.88037109375, + -1.2298922538757324, + 1.8815646171569824 + ], + [ + -127.86852264404297, + -1.3362417221069336, + 1.8815646171569824 + ], + [ + -127.96563720703125, + -2.260209083557129, + 1.8815646171569824 + ] + ], + "corners_2d": [ + [ + 795.628509432181, + 283.5916283877051 + ], + [ + 800.9891364310201, + 267.67300829866537 + ], + [ + 771.8900175859646, + 262.11291258983226 + ], + [ + 765.9872047451332, + 277.806608947781 + ], + [ + 801.9980582145554, + 237.8042322539763 + ], + [ + 807.4430312894309, + 222.18595116112124 + ], + [ + 777.1387543103764, + 216.736688934874 + ], + [ + 771.1051682337303, + 232.12544623624004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 696, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -129.74693298339844, + "y": -8.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.31657713651657104, + "y": 0.4038766026496887, + "z": 0.8832484483718872 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 738.2780064437782, + "ymin": 360.1717925024615, + "xmax": 774.1361291507432, + "ymax": 429.631838218795 + }, + "corners_3d": [ + [ + -130.06350708007812, + -9.091639518737793, + 0.0608941912651062 + ], + [ + -130.06350708007812, + -8.283886909484863, + 0.0608941912651062 + ], + [ + -129.43035888671875, + -8.283886909484863, + 0.0608941912651062 + ], + [ + -129.43035888671875, + -9.091639518737793, + 0.0608941912651062 + ], + [ + -130.06350708007812, + -9.091639518737793, + 1.8273911476135254 + ], + [ + -130.06350708007812, + -8.283886909484863, + 1.8273911476135254 + ], + [ + -129.43035888671875, + -8.283886909484863, + 1.8273911476135254 + ], + [ + -129.43035888671875, + -9.091639518737793, + 1.8273911476135254 + ] + ], + "corners_2d": [ + [ + 759.2936880443566, + 429.631838218795 + ], + [ + 768.367145428447, + 411.04684649270854 + ], + [ + 747.6964817405595, + 404.688410803304 + ], + [ + 738.2780064437782, + 423.0190724263549 + ], + [ + 764.7663257094022, + 385.0092340432119 + ], + [ + 774.1361291507432, + 366.49755639541667 + ], + [ + 752.5021245606257, + 360.1717925024615 + ], + [ + 742.7538614463484, + 378.41876270366146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 675, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -114.92184448242188, + "y": -16.85797882080078, + "z": 1.0953878164291382 + }, + "extent": { + "x": 0.3346240222454071, + "y": 0.30634763836860657, + "z": 0.8828389048576355 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 106.50354340643878, + "ymin": 392.67294873111115, + "xmax": 164.6055962561029, + "ymax": 461.67645649257753 + }, + "corners_3d": [ + [ + -115.18546295166016, + -17.227205276489258, + 0.21254891157150269 + ], + [ + -115.31285095214844, + -16.627897262573242, + 0.21254891157150269 + ], + [ + -114.6582260131836, + -16.488752365112305, + 0.21254891157150269 + ], + [ + -114.53083801269531, + -17.08806037902832, + 0.21254891157150269 + ], + [ + -115.18546295166016, + -17.227205276489258, + 1.978226661682129 + ], + [ + -115.31285095214844, + -16.627897262573242, + 1.978226661682129 + ], + [ + -114.6582260131836, + -16.488752365112305, + 1.978226661682129 + ], + [ + -114.53083801269531, + -17.08806037902832, + 1.978226661682129 + ] + ], + "corners_2d": [ + [ + 144.75797901570627, + 461.67645649257753 + ], + [ + 164.6055962561029, + 448.1673906442891 + ], + [ + 150.42250815005139, + 437.6532466890045 + ], + [ + 130.59756618679046, + 450.86975455009963 + ], + [ + 121.06168473535377, + 416.6684115743363 + ], + [ + 142.18536379461312, + 403.16806760145903 + ], + [ + 127.59469070247201, + 392.67294873111115 + ], + [ + 106.50354340643878, + 405.8672710508412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3534, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 393.8454264656163, + "ymin": 64.1812066771405, + "xmax": 504.46841174434894, + "ymax": 137.67822180177865 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 481.8765712924545, + 137.67822180177865 + ], + [ + 504.46841174434894, + 117.45221086989397 + ], + [ + 424.8447613379386, + 99.1769405833295 + ], + [ + 400.4799461977467, + 118.2500935262143 + ], + [ + 477.3604362280413, + 101.55888211335798 + ], + [ + 500.7190833883471, + 81.90766712868606 + ], + [ + 419.06681633686946, + 64.1812066771405 + ], + [ + 393.8454264656163, + 82.68222566570887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3931, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 44.540372364812015, + "ymin": 33.204018754088736, + "xmax": 175.58417620145372, + "ymax": 104.58036166375874 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 92.11789200065459, + 65.35125219724131 + ], + [ + 58.93284152615422, + 82.67908925931613 + ], + [ + 143.74332470118088, + 104.58036166375874 + ], + [ + 175.58417620145372, + 85.99839130900193 + ], + [ + 78.94418580222532, + 33.204018754088736 + ], + [ + 44.540372364812015, + 49.9927517484611 + ], + [ + 130.99652719145405, + 71.24663781335352 + ], + [ + 164.0165618901422, + 53.21149417415637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3997, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1.4032519901689966, + "ymin": 65.13559161646373, + "xmax": 126.28412503220727, + "ymax": 145.653000116547 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 58.742404171455746, + 106.22562305098026 + ], + [ + 21.652612051322876, + 126.34044342069404 + ], + [ + 90.31230552462694, + 145.653000116547 + ], + [ + 126.28412503220727, + 124.34567466357532 + ], + [ + 40.314881748926155, + 65.13559161646373 + ], + [ + 1.4032519901689966, + 84.55509259748857 + ], + [ + 71.75893342509005, + 103.23710476728672 + ], + [ + 109.51446069768701, + 82.62752153620602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7765, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1117.8238704802957, + "ymin": 353.4010109015217, + "xmax": 1280.0, + "ymax": 493.3468638056618 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1122.2150839887186, + 392.7147812637387 + ], + [ + 1117.8238704802957, + 433.41657820948797 + ], + [ + 1331.166150139859, + 493.3468638056618 + ], + [ + 1326.2099100138876, + 447.5129940647028 + ], + [ + 1140.9923312006063, + 353.4010109015217 + ], + [ + 1137.2897246608522, + 393.9446653309213 + ], + [ + 1361.1619284712851, + 453.8983251947406 + ], + [ + 1354.5936510293286, + 408.0190654143292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 421.4416824420638, + "ymin": 0.0, + "xmax": 437.16230574623046, + "ymax": 10.718513313726248 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 425.0894363072997, + 9.456830512936222 + ], + [ + 431.4660845689509, + 10.718513313726248 + ], + [ + 437.16230574623046, + 6.878663116199448 + ], + [ + 430.81798742404703, + 5.635008089095379 + ], + [ + 421.4416824420638, + -14.1848122601412 + ], + [ + 427.9180528890904, + -12.958510429516423 + ], + [ + 433.73638345536057, + -16.690374899363462 + ], + [ + 427.29332315452734, + -17.898859977161578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1177.6761109673157, + "ymin": 248.04794367078398, + "xmax": 1204.6470511358193, + "ymax": 288.6514325268754 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1190.4484748267255, + 279.8174505304045 + ], + [ + 1178.188149211685, + 276.970527833517 + ], + [ + 1177.6761109673157, + 285.74171759327777 + ], + [ + 1190.0693086888855, + 288.6514325268754 + ], + [ + 1204.6470511358193, + 250.86287241813238 + ], + [ + 1192.0200555268143, + 248.04794367078398 + ], + [ + 1191.650080893824, + 256.72221078655434 + ], + [ + 1204.4180722385502, + 259.6008517354177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 556.0056679045222, + "ymin": 196.5502205484664, + "xmax": 574.1676207001069, + "ymax": 234.99475182428344 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 567.4891394823961, + 234.99475182428344 + ], + [ + 574.1676207001069, + 227.2831689059807 + ], + [ + 564.745874235011, + 224.795550839895 + ], + [ + 557.9933636405005, + 232.45590154318364 + ], + [ + 565.7255637844637, + 206.60349388302546 + ], + [ + 572.5831316380481, + 199.00164075294677 + ], + [ + 562.9407572853045, + 196.5502205484664 + ], + [ + 556.0056679045222, + 204.10035474023587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1195.9291872401823, + "ymin": 68.47870271805152, + "xmax": 1213.1984201319997, + "ymax": 95.45832869938982 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1196.129833074121, + 89.76713604614508 + ], + [ + 1195.9291872401823, + 94.04037763782378 + ], + [ + 1203.8832295380175, + 95.45832869938982 + ], + [ + 1204.0292272826684, + 91.16553038234008 + ], + [ + 1205.1497299054608, + 68.47870271805152 + ], + [ + 1205.0096134448372, + 72.67114829821134 + ], + [ + 1213.1150461360135, + 74.06249873852147 + ], + [ + 1213.1984201319997, + 69.850552813045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1181.438367432378, + "ymin": 185.77566509377752, + "xmax": 1206.2903327632503, + "ymax": 223.75881848951127 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1193.1759053069159, + 216.2725572657404 + ], + [ + 1181.8725341849624, + 213.85719576505858 + ], + [ + 1181.438367432378, + 221.29445072828324 + ], + [ + 1192.8545851190083, + 223.75881848951127 + ], + [ + 1206.2903327632503, + 188.15420780222672 + ], + [ + 1194.6760912592292, + 185.77566509377752 + ], + [ + 1194.3636628796107, + 193.10072734859142 + ], + [ + 1206.0970843516297, + 195.5286892237788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 263.1997155682965, + "ymin": 198.7917649538008, + "xmax": 285.65658598869436, + "ymax": 230.56874665517097 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 277.67492629884015, + 230.56874665517097 + ], + [ + 285.65658598869436, + 224.2093652083978 + ], + [ + 278.5914182287179, + 222.14201695056096 + ], + [ + 270.572125284453, + 228.46616409268591 + ], + [ + 270.42365832547955, + 207.1182148564933 + ], + [ + 278.625993953344, + 200.83416693980635 + ], + [ + 271.440845420226, + 198.7917649538008 + ], + [ + 263.1997155682965, + 205.0403050809005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1184.1440612010167, + "ymin": 141.07086007102336, + "xmax": 1207.4688327208773, + "ymax": 177.1028105072136 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1195.139190559487, + 170.51728846668883 + ], + [ + 1184.5261505583844, + 168.39078381454385 + ], + [ + 1184.1440612010167, + 174.93586017603624 + ], + [ + 1194.8565256795093, + 177.1028105072136 + ], + [ + 1207.4688327208773, + 143.1588465284886 + ], + [ + 1196.5822371683826, + 141.07086007102336 + ], + [ + 1196.308088721771, + 147.49829092799865 + ], + [ + 1207.29933183423, + 149.6268839086813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 471.2507229378821, + "ymin": 175.1670957442896, + "xmax": 491.38100649622, + "ymax": 212.69240934119867 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 484.0741116133183, + 212.69240934119867 + ], + [ + 491.38100649622, + 205.4250916878747 + ], + [ + 482.4985426553458, + 203.0798600160162 + ], + [ + 475.1271803037263, + 210.3003015061811 + ], + [ + 480.39579101950244, + 184.6287656692486 + ], + [ + 487.9104414865167, + 177.47497951480918 + ], + [ + 478.8326511823733, + 175.1670957442896 + ], + [ + 471.2507229378821, + 182.27366033626106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 376.01793323702185, + "ymin": 151.12461034990594, + "xmax": 398.17991425591333, + "ymax": 187.6003708162167 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 390.22510370219345, + 187.6003708162167 + ], + [ + 398.17991425591333, + 180.81728454067053 + ], + [ + 389.8856170181109, + 178.62734608037462 + ], + [ + 381.87620058574595, + 185.36815548995824 + ], + [ + 384.5380795636376, + 159.94280357394751 + ], + [ + 392.72766307803045, + 153.27629406957712 + ], + [ + 384.2642676373655, + 151.12461034990594 + ], + [ + 376.01793323702185, + 157.7486326257341 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1117.8332755036881, + "ymin": 468.9650557256782, + "xmax": 1145.304688087189, + "ymax": 509.40025385038905 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1131.883822123786, + 497.51072259855266 + ], + [ + 1119.0601855180018, + 493.6616429938203 + ], + [ + 1117.8332755036881, + 505.461241112911 + ], + [ + 1130.8014488887948, + 509.40025385038905 + ], + [ + 1145.304688087189, + 472.82321475760125 + ], + [ + 1132.0805817390535, + 468.9650557256782 + ], + [ + 1130.9750223730603, + 480.7949991633249 + ], + [ + 1144.3529223514468, + 484.7458023345052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 640.7182360721946, + "ymin": 279.009373194814, + "xmax": 1236.578261823403, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1003.5758462822198, + 838.5814478910805 + ], + [ + 1009.1602005553984, + 804.2057618029916 + ], + [ + 653.8598312626449, + 660.3599386091719 + ], + [ + 640.7182360721946, + 687.6174929496799 + ], + [ + 1236.578261823403, + 477.2991554176465 + ], + [ + 1236.1048997258436, + 436.50659306813577 + ], + [ + 660.9834245990133, + 279.009373194814 + ], + [ + 641.1004053952952, + 307.32591427936586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 383.6651130008702, + "ymin": 0.0, + "xmax": 571.4211094216996, + "ymax": 157.46658831643018 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 571.4211094216996, + 38.95736246901163 + ], + [ + 563.4929078556015, + 37.34868954447211 + ], + [ + 421.837554502482, + 155.11100700709727 + ], + [ + 430.94298533302333, + 157.46658831643018 + ], + [ + 561.7624813658547, + -153.0588235654011 + ], + [ + 552.7527765414361, + -154.2678006934608 + ], + [ + 383.6651130008702, + -63.11714703552542 + ], + [ + 394.2146127248056, + -61.237428001760804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7563221571925, + "ymin": 295.233214894267, + "xmax": 702.7489398883262, + "ymax": 327.6861526495044 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 690.6522961071971, + 327.6861526495044 + ], + [ + 702.6444714053116, + 308.56654033668684 + ], + [ + 661.5099915252381, + 297.05088382276034 + ], + [ + 648.7563221571925, + 315.63945683821817 + ], + [ + 690.7387086648488, + 325.8528249710064 + ], + [ + 702.7489398883262, + 306.7425446625717 + ], + [ + 661.5453656075312, + 295.233214894267 + ], + [ + 648.771048792367, + 313.8118384265964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7559425918596, + "ymin": 295.28021962896344, + "xmax": 702.7462382832293, + "ymax": 327.7334037969567 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 690.6500689589622, + 327.7334037969567 + ], + [ + 702.6417787881464, + 308.6135528127903 + ], + [ + 661.5090797563333, + 297.0977343387524 + ], + [ + 648.7559425918596, + 315.68656200396055 + ], + [ + 690.7364739112926, + 325.9002374728538 + ], + [ + 702.7462382832293, + 306.7897140658934 + ], + [ + 661.5444508373399, + 295.28021962896344 + ], + [ + 648.7706679492604, + 313.85910216778524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 202.91690621296226, + "ymin": 49.40022464763814, + "xmax": 616.2361374529313, + "ymax": 407.2839796003798 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 290.41546788911313, + 291.2508986621525 + ], + [ + 281.76321931596027, + 298.6890957580963 + ], + [ + 609.8063486488937, + 407.2839796003798 + ], + [ + 616.2361374529313, + 397.7643328595059 + ], + [ + 214.32037633432316, + 49.40022464763814 + ], + [ + 202.91690621296226, + 55.78385852848476 + ], + [ + 602.0588090397578, + 151.96154449971897 + ], + [ + 610.2165544585846, + 143.30090696365977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 884.6149922787706, + "ymin": 0.0, + "xmax": 1276.0888121907706, + "ymax": 154.23917050504855 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1181.4863973667127, + 154.23917050504855 + ], + [ + 1181.9152312035656, + 149.175195645236 + ], + [ + 887.0294497815587, + 90.53086633210353 + ], + [ + 884.6149922787706, + 94.74841617928979 + ], + [ + 1276.0888121907706, + -63.81228143179379 + ], + [ + 1275.7634702438838, + -67.84373590965981 + ], + [ + 925.503562467739, + -113.77716178911777 + ], + [ + 923.0154876990666, + -110.51935025487205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1090.2326221823375, + "ymin": 55.64513562032187, + "xmax": 1259.4153447830513, + "ymax": 584.8608739889934 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1090.2326221823375, + 578.6388317104229 + ], + [ + 1108.8182905420676, + 584.8608739889934 + ], + [ + 1142.0082020865302, + 301.9855130958148 + ], + [ + 1128.0043106311118, + 298.5277700968715 + ], + [ + 1233.7893438658818, + 316.00653413832845 + ], + [ + 1259.4153447830513, + 322.2695225987136 + ], + [ + 1253.0384818786981, + 58.62105067638885 + ], + [ + 1235.3861854746651, + 55.64513562032187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1160.30310426702, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 158.44603723907997 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1160.30310426702, + 64.59705732044097 + ], + [ + 1180.1641015683126, + 135.4382462022855 + ], + [ + 1366.2598254100299, + 158.44603723907997 + ], + [ + 1325.1765899559148, + 82.85984638532312 + ], + [ + 1274.8144569201363, + -229.81784943054424 + ], + [ + 1316.9732820936147, + -185.4303246982107 + ], + [ + 1558.3147883277857, + -170.4900295804498 + ], + [ + 1481.720428588683, + -218.60123658052225 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00103/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00103/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24b7c8cf2b7566797d7e8fa4244e4faeb55140ba --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00103/meta.json @@ -0,0 +1,3310 @@ +{ + "frame_id": 103, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 51.5, + "sim_timestamp": 1372.4020122035872 + }, + "drone_pose": { + "x": -134.74055930775836, + "y": -26.870554206831923, + "z": 20.0, + "pitch": -43.15987520938601, + "yaw": 63.4803908325731, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.32570141553878784, + -0.6526965498924255, + 0.684036374092102, + 47.74277114868164 + ], + [ + 0.8947816491127014, + 0.44650405645370483, + 2.9802322387695312e-08, + -108.56555938720703 + ], + [ + -0.3054250180721283, + 0.6120631694793701, + 0.7294478416442871, + -72.1885757446289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.88538785799955, + "y": -26.09117664701681, + "z": 20.0 + }, + "t1_image_uv": [ + 1633.4036760382642, + -540.2356819357154 + ], + "t1_depth": 0.4615261460117005 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -125.66718292236328, + "y": -8.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 27.8579565598857, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 600, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -125.66718292236328, + "y": -8.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.39830076694488525, + "y": 0.4034472703933716, + "z": 0.8740009665489197 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.1974971317339, + "ymin": 325.8299920268218, + "xmax": 658.0421760538034, + "ymax": 393.61280389674073 + }, + "corners_3d": [ + [ + -125.66354370117188, + -9.254684448242188, + 0.07014167308807373 + ], + [ + -126.2341079711914, + -8.684123992919922, + 0.07014167308807373 + ], + [ + -125.67082214355469, + -8.120841979980469, + 0.07014167308807373 + ], + [ + -125.10025787353516, + -8.691402435302734, + 0.07014167308807373 + ], + [ + -125.66354370117188, + -9.254684448242188, + 1.818143606185913 + ], + [ + -126.2341079711914, + -8.684123992919922, + 1.818143606185913 + ], + [ + -125.67082214355469, + -8.120841979980469, + 1.818143606185913 + ], + [ + -125.10025787353516, + -8.691402435302734, + 1.818143606185913 + ] + ], + "corners_2d": [ + [ + 631.2367388637771, + 393.61280389674073 + ], + [ + 657.279166471131, + 387.4505960869701 + ], + [ + 648.5389905268621, + 369.713622334905 + ], + [ + 622.9407872139849, + 375.6416922360057 + ], + [ + 630.8470879945727, + 349.5880091476546 + ], + [ + 658.0421760538034, + 343.4570275425458 + ], + [ + 648.9085320880241, + 325.8299920268218 + ], + [ + 622.1974971317339, + 331.71800858579724 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 103, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 65, + "semantic_pixel_counts": { + "1": 628318, + "2": 142490, + "3": 17468, + "4": 30252, + "6": 29101, + "7": 3365, + "9": 7853, + "10": 13, + "12": 3082, + "14": 17423, + "20": 17, + "24": 37052, + "25": 5166 + }, + "instance_pixel_counts": { + "11605": 7559, + "15970": 132, + "16479": 421, + "16482": 1366, + "16994": 2105, + "17496": 13033, + "17503": 2936, + "17506": 2007, + "18018": 493, + "18059": 2683, + "19042": 17, + "19083": 4019, + "19554": 1899, + "19595": 7653, + "20066": 330, + "20107": 1527, + "20565": 9909, + "21131": 230, + "21395": 9046, + "21397": 292, + "21643": 4989, + "21907": 209056, + "21909": 20374, + "22155": 1023, + "22421": 4238, + "22931": 201081, + "23957": 688, + "24467": 20525, + "25344": 240, + "25600": 7309, + "25856": 10310, + "26112": 1574, + "36096": 600, + "36352": 612, + "36608": 568, + "36864": 659, + "37376": 643, + "37888": 3574, + "40448": 3856, + "40704": 3915, + "41216": 6078, + "45409": 700, + "45971": 12874, + "46483": 123698, + "46995": 33699, + "47201": 28584, + "47507": 3, + "47713": 5827, + "48225": 2629, + "48737": 6292, + "49043": 18336, + "49249": 2457, + "49761": 10101, + "51526": 30252, + "53857": 2027, + "54366": 2230, + "56458": 1399, + "56970": 7549, + "57482": 34173, + "58506": 9858, + "60307": 600, + "60819": 8703, + "61254": 7870, + "61331": 1110, + "62867": 1047 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 600, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -125.66718292236328, + "y": -8.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3601318299770355, + "y": 0.3933495879173279, + "z": 0.8907465934753418 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.9337993843839, + "ymin": 326.29302035614984, + "xmax": 657.2655230024594, + "ymax": 393.06177239768175 + }, + "corners_3d": [ + [ + -125.64369201660156, + -9.220555305480957, + 0.05339604616165161 + ], + [ + -126.1999740600586, + -8.664274215698242, + 0.05339604616165161 + ], + [ + -125.690673828125, + -8.1549711227417, + 0.05339604616165161 + ], + [ + -125.13439178466797, + -8.711252212524414, + 0.05339604616165161 + ], + [ + -125.64369201660156, + -9.220555305480957, + 1.8348891735076904 + ], + [ + -126.1999740600586, + -8.664274215698242, + 1.8348891735076904 + ], + [ + -125.690673828125, + -8.1549711227417, + 1.8348891735076904 + ], + [ + -125.13439178466797, + -8.711252212524414, + 1.8348891735076904 + ] + ], + "corners_2d": [ + [ + 631.1631123312554, + 393.06177239768175 + ], + [ + 656.5223025133093, + 387.0648366142393 + ], + [ + 648.6282305733446, + 371.02469970133205 + ], + [ + 623.6603197069552, + 376.81531603963924 + ], + [ + 630.7629166703655, + 348.1973463782527 + ], + [ + 657.2655230024594, + 342.2318967706098 + ], + [ + 649.0093429391973, + 326.29302035614984 + ], + [ + 622.9337993843839, + 332.04422136254965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 612, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -121.54119873046875, + "y": -5.690057754516602, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.38994139432907104, + "y": 0.4455438256263733, + "z": 0.8647541403770447 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 548.0590072175078, + "ymin": 232.62072343657405, + "xmax": 586.2975923652907, + "ymax": 296.29484004704045 + }, + "corners_3d": [ + [ + -121.62557220458984, + -6.276099681854248, + 0.0793837308883667 + ], + [ + -122.11089324951172, + -5.528770923614502, + 0.0793837308883667 + ], + [ + -121.45682525634766, + -5.104015827178955, + 0.0793837308883667 + ], + [ + -120.97150421142578, + -5.851344585418701, + 0.0793837308883667 + ], + [ + -121.62557220458984, + -6.276099681854248, + 1.808892011642456 + ], + [ + -122.11089324951172, + -5.528770923614502, + 1.808892011642456 + ], + [ + -121.45682525634766, + -5.104015827178955, + 1.808892011642456 + ], + [ + -120.97150421142578, + -5.851344585418701, + 1.808892011642456 + ] + ], + "corners_2d": [ + [ + 562.2091442233242, + 296.29484004704045 + ], + [ + 586.2975923652907, + 287.585812164848 + ], + [ + 575.307481848122, + 274.965947802062 + ], + [ + 551.4762182246991, + 283.41011289576227 + ], + [ + 559.157428808751, + 253.63496112477367 + ], + [ + 584.2136446951404, + 245.049337154607 + ], + [ + 572.8367898597636, + 232.62072343657405 + ], + [ + 548.0590072175078, + 240.9352919669858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 568, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -127.92300415039062, + "y": -1.7450506687164307, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4324120879173279, + "y": 0.4324500262737274, + "z": 0.9353200793266296 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 774.4750072854696, + "ymin": 218.45767888555915, + "xmax": 817.0506532222514, + "ymax": 285.1209391697591 + }, + "corners_3d": [ + [ + -127.98690032958984, + -2.353253126144409, + 0.00882256031036377 + ], + [ + -128.5312042236328, + -1.6810991764068604, + 0.00882256031036377 + ], + [ + -127.8591079711914, + -1.1368482112884521, + 0.00882256031036377 + ], + [ + -127.31480407714844, + -1.809002161026001, + 0.00882256031036377 + ], + [ + -127.98690032958984, + -2.353253126144409, + 1.879462718963623 + ], + [ + -128.5312042236328, + -1.6810991764068604, + 1.879462718963623 + ], + [ + -127.8591079711914, + -1.1368482112884521, + 1.879462718963623 + ], + [ + -127.31480407714844, + -1.809002161026001, + 1.879462718963623 + ] + ], + "corners_2d": [ + [ + 787.689692720613, + 285.1209391697591 + ], + [ + 810.0013526763028, + 278.406969825336 + ], + [ + 796.5006851971084, + 264.0389732822874 + ], + [ + 774.4750072854696, + 270.51840437930565 + ], + [ + 793.8661412665756, + 239.1765401482662 + ], + [ + 817.0506532222514, + 232.57340657647364 + ], + [ + 802.8716316679729, + 218.45767888555915 + ], + [ + 779.9952288170855, + 224.82080358992798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 659, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -129.24693298339844, + "y": -8.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4143701195716858, + "y": 0.31361478567123413, + "z": 0.8803014159202576 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 736.8188375403805, + "ymin": 364.15172321857176, + "xmax": 774.744735151073, + "ymax": 433.85982013506543 + }, + "corners_3d": [ + [ + -129.31817626953125, + -9.202526092529297, + 0.06384122371673584 + ], + [ + -129.76170349121094, + -8.759007453918457, + 0.06384122371673584 + ], + [ + -129.17568969726562, + -8.17300033569336, + 0.06384122371673584 + ], + [ + -128.73216247558594, + -8.6165189743042, + 0.06384122371673584 + ], + [ + -129.31817626953125, + -9.202526092529297, + 1.824444055557251 + ], + [ + -129.76170349121094, + -8.759007453918457, + 1.824444055557251 + ], + [ + -129.17568969726562, + -8.17300033569336, + 1.824444055557251 + ], + [ + -128.73216247558594, + -8.6165189743042, + 1.824444055557251 + ] + ], + "corners_2d": [ + [ + 748.2427450391381, + 433.85982013506543 + ], + [ + 768.7522990692844, + 428.6431037165523 + ], + [ + 756.9630690335564, + 408.55488618905406 + ], + [ + 736.8188375403805, + 413.5569654978045 + ], + [ + 753.3090129579912, + 389.4013529439604 + ], + [ + 774.744735151073, + 384.1910146695224 + ], + [ + 762.2887997001101, + 364.15172321857176 + ], + [ + 741.2516380452114, + 369.13800610953325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 643, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -114.42184448242188, + "y": -16.85797882080078, + "z": 1.094923973083496 + }, + "extent": { + "x": 0.33063963055610657, + "y": 0.3726782202720642, + "z": 0.8949585556983948 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 105.07129405176534, + "ymin": 380.50201788142346, + "xmax": 163.78995333432005, + "ymax": 445.81940653413545 + }, + "corners_3d": [ + [ + -114.28936767578125, + -17.3382511138916, + 0.19996541738510132 + ], + [ + -114.91447448730469, + -16.932300567626953, + 0.19996541738510132 + ], + [ + -114.5543212890625, + -16.37770652770996, + 0.19996541738510132 + ], + [ + -113.92921447753906, + -16.78365707397461, + 0.19996541738510132 + ], + [ + -114.28936767578125, + -17.3382511138916, + 1.989882469177246 + ], + [ + -114.91447448730469, + -16.932300567626953, + 1.989882469177246 + ], + [ + -114.5543212890625, + -16.37770652770996, + 1.989882469177246 + ], + [ + -113.92921447753906, + -16.78365707397461, + 1.989882469177246 + ] + ], + "corners_2d": [ + [ + 129.8550021590238, + 445.81940653413545 + ], + [ + 157.87802555343853, + 443.53502808756997 + ], + [ + 163.78995333432005, + 426.05066836945826 + ], + [ + 136.27959675197593, + 428.2544778370066 + ], + [ + 105.07129405176534, + 400.2540281096678 + ], + [ + 134.51261521259033, + 397.96961671019324 + ], + [ + 141.14074200639004, + 380.50201788142346 + ], + [ + 112.26470947770622, + 382.70205860710905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3574, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 419.8395797690139, + "ymin": 57.057033981625125, + "xmax": 530.0247168655732, + "ymax": 132.7606397338892 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 506.4465392727202, + 132.7606397338892 + ], + [ + 530.0247168655732, + 112.57971297037358 + ], + [ + 451.05230587614426, + 92.31084648959381 + ], + [ + 425.86498852450575, + 111.23992875773678 + ], + [ + 502.5608114228612, + 96.36372494662959 + ], + [ + 526.9236489330381, + 76.73593768294847 + ], + [ + 445.894323915831, + 57.057033981625125 + ], + [ + 419.8395797690139, + 75.434086865714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3856, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 76.62128172425764, + "ymin": 19.41172389518107, + "xmax": 204.48219984163524, + "ymax": 92.17772604486015 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 123.54024687952551, + 51.614767016953635 + ], + [ + 90.29721222234775, + 68.4426228098556 + ], + [ + 172.33400278754215, + 92.17772604486015 + ], + [ + 204.48219984163524, + 74.03145765021549 + ], + [ + 111.0551769992727, + 19.41172389518107 + ], + [ + 76.62128172425764, + 35.719839942827605 + ], + [ + 160.23360867487207, + 58.760041594979725 + ], + [ + 193.5450657774054, + 41.141023556402615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3915, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 32.56812999569354, + "ymin": 51.01441135115982, + "xmax": 154.28606824948088, + "ymax": 132.53269301374738 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 89.01543990621906, + 92.14994398536783 + ], + [ + 51.89524487821427, + 111.65146906548631 + ], + [ + 118.05413246931607, + 132.53269301374738 + ], + [ + 154.28606824948088, + 111.78169894994838 + ], + [ + 71.4671589341915, + 51.01441135115982 + ], + [ + 32.56812999569354, + 69.84659547126819 + ], + [ + 100.33312692983372, + 90.0522180252409 + ], + [ + 138.32056910013785, + 69.97248000567993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 6078, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1145.4451096661787, + "ymin": 373.6211164396261, + "xmax": 1280.0, + "ymax": 525.5899351267951 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1151.721896558494, + 413.03407912113704 + ], + [ + 1145.4451096661787, + 455.47028295137505 + ], + [ + 1367.9050051826653, + 525.5899351267951 + ], + [ + 1364.4853386821296, + 477.11189509325976 + ], + [ + 1172.4991922678712, + 373.6211164396261 + ], + [ + 1166.9199529841192, + 416.03123653860075 + ], + [ + 1401.1087541740271, + 486.44536166362514 + ], + [ + 1395.9646402328174, + 437.71873760200225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 448.30419922939916, + "ymin": 0.0, + "xmax": 463.80180459664734, + "ymax": 4.165871881304668 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 451.56404845202815, + 2.7630068234335567 + ], + [ + 457.89092409660657, + 4.165871881304668 + ], + [ + 463.80180459664734, + 0.32973542991146587 + ], + [ + 457.50427360046245, + -1.0534543622713386 + ], + [ + 448.30419922939916, + -21.127075667791644 + ], + [ + 454.73224632057907, + -19.762669758855623 + ], + [ + 460.7675570074947, + -23.493350403818965 + ], + [ + 454.369758024438, + -24.838292507034282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4021541042808224586, + "instance_id": 19195, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -135.394287109375, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1127.6713210740431, + "ymin": 0.0, + "xmax": 1145.3808486964215, + "ymax": 2.5093743188738813 + }, + "corners_3d": [ + [ + -135.25570678710938, + 12.45591926574707, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.076004981994629, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.076005935668945, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.455920219421387, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.45591926574707, + 6.416468620300293 + ], + [ + -135.25570678710938, + 12.076004981994629, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.076005935668945, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1128.8559284502433, + -2.6782236770169447 + ], + [ + 1127.6713210740431, + 1.1151141227451262 + ], + [ + 1135.719949894591, + 2.5093743188738813 + ], + [ + 1136.8510444626713, + -1.3034594728717934 + ], + [ + 1137.2266995361824, + -26.417982652056764 + ], + [ + 1136.0817503527683, + -22.72963608861295 + ], + [ + 1144.2915861145718, + -21.37374189062973 + ], + [ + 1145.3808486964215, + -25.08137187905419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1212.36005850698, + "ymin": 268.5907396702162, + "xmax": 1241.9646110767226, + "ymax": 310.53810666296937 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1226.1017586047049, + 301.20633041770014 + ], + [ + 1213.2817715214298, + 297.8598492332809 + ], + [ + 1212.36005850698, + 307.1171383536186 + ], + [ + 1225.3185008769842, + 310.53810666296937 + ], + [ + 1241.9646110767226, + 271.90775996020596 + ], + [ + 1228.7342796818848, + 268.5907396702162 + ], + [ + 1227.9627759531268, + 277.7682766840835 + ], + [ + 1241.340651035558, + 281.1611566003341 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 572.4261345041858, + "ymin": 198.8797456563894, + "xmax": 590.7250187047063, + "ymax": 237.98409433698635 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 583.5631297633815, + 237.98409433698635 + ], + [ + 590.7250187047063, + 230.16889509231774 + ], + [ + 581.2977929226872, + 227.3626535695565 + ], + [ + 574.0669746814032, + 235.12073524239443 + ], + [ + 582.1532989697504, + 209.3625468504552 + ], + [ + 589.5067637284048, + 201.64866323416024 + ], + [ + 579.8518797425004, + 198.8797456563894 + ], + [ + 572.4261345041858, + 206.53585892045066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1240.7181221565015, + "ymin": 77.59802663912075, + "xmax": 1259.702953051558, + "ymax": 105.46810765545507 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1241.1070467840004, + 99.34317341220077 + ], + [ + 1240.7181221565015, + 103.81539237009764 + ], + [ + 1249.0274793738918, + 105.46810765545507 + ], + [ + 1249.3595487984212, + 100.97298680416134 + ], + [ + 1251.2839975153531, + 77.59802663912075 + ], + [ + 1250.9608165447432, + 81.99185597934405 + ], + [ + 1259.4389576805381, + 83.61586556945252 + ], + [ + 1259.702953051558, + 79.19915197105468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1219.1283080548367, + "ymin": 202.76615157782047, + "xmax": 1246.4381750347127, + "ymax": 242.03291619657927 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1231.731232811887, + 234.1364607940449 + ], + [ + 1219.908752371471, + 231.30130361006042 + ], + [ + 1219.1283080548367, + 239.13975068430858 + ], + [ + 1231.0684479836746, + 242.03291619657927 + ], + [ + 1246.4381750347127, + 205.56431011198026 + ], + [ + 1234.267781217266, + 202.76615157782047 + ], + [ + 1233.6173418233802, + 210.50354984324937 + ], + [ + 1245.9124815894309, + 213.36040223229242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 282.2490182662636, + "ymin": 192.11679728559835, + "xmax": 304.5254764919891, + "ymax": 224.12811339992615 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 296.2914915484793, + 224.12811339992615 + ], + [ + 304.5254764919891, + 217.83709793304348 + ], + [ + 297.6117702708489, + 215.5602237330681 + ], + [ + 289.3455197468534, + 221.8133499180709 + ], + [ + 289.3140038468705, + 200.58746463462117 + ], + [ + 297.7723236504325, + 194.3674590917484 + ], + [ + 290.740560045842, + 192.11679728559835 + ], + [ + 282.2490182662636, + 198.29858740210554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1223.9903428166638, + "ymin": 155.5767085446711, + "xmax": 1249.6427830053071, + "ymax": 192.8425933233913 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1235.7790081072085, + 185.90359503514807 + ], + [ + 1224.6764790077389, + 183.41005296857716 + ], + [ + 1223.9903428166638, + 190.30125022516606 + ], + [ + 1235.1965809663457, + 192.8425933233913 + ], + [ + 1249.6427830053071, + 158.03013526257132 + ], + [ + 1238.2340941031148, + 155.5767085446711 + ], + [ + 1237.6640231708893, + 162.35799798348395 + ], + [ + 1249.1822656987147, + 164.85956526479433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 487.89287873360445, + "ymin": 174.80762876707007, + "xmax": 508.1046732036578, + "ymax": 212.89679450050025 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 500.3625550513196, + 212.89679450050025 + ], + [ + 508.1046732036578, + 205.57497701497311 + ], + [ + 499.26871075144095, + 202.94473922329422 + ], + [ + 491.46772766146916, + 210.21475260991923 + ], + [ + 496.98948405823387, + 184.61419459137593 + ], + [ + 504.9503351928896, + 177.39880650733753 + ], + [ + 495.9152090312974, + 174.80762876707007 + ], + [ + 487.89287873360445, + 181.97074537005142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 393.51532015455655, + "ymin": 147.91299726288324, + "xmax": 415.66641760011635, + "ymax": 184.8475716045352 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 407.3389499505847, + 184.8475716045352 + ], + [ + 415.66641760011635, + 178.05851902190105 + ], + [ + 407.4693614746824, + 175.6184670626502 + ], + [ + 399.09323886906066, + 182.36125654885703 + ], + [ + 401.93298489017633, + 156.99105295312899 + ], + [ + 410.50387254757356, + 150.3125918775138 + ], + [ + 402.136774054184, + 147.91299726288324 + ], + [ + 393.51532015455655, + 154.54490197281024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.333493705965, + "ymin": 496.7869001265667, + "xmax": 1171.167323547356, + "ymax": 538.2749972960637 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1156.4279040724812, + 525.7919962276038 + ], + [ + 1143.1237246213782, + 521.29500898291 + ], + [ + 1141.333493705965, + 533.6723028881024 + ], + [ + 1154.7857900097213, + 538.2749972960637 + ], + [ + 1171.167323547356, + 501.3054487929859 + ], + [ + 1157.4211310789105, + 496.7869001265667 + ], + [ + 1155.750916271233, + 509.2261631239323 + ], + [ + 1169.6553585827776, + 513.8540053414677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 642.3864015461538, + "ymin": 295.56534069981876, + "xmax": 1263.249930877692, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1009.174812747528, + 875.4544473135527 + ], + [ + 1016.4409206233818, + 839.6817048800629 + ], + [ + 656.9485396135756, + 675.0820492572013 + ], + [ + 642.3864015461538, + 702.7441306144055 + ], + [ + 1261.78820230814, + 527.657983677829 + ], + [ + 1263.249930877692, + 482.9816573812363 + ], + [ + 666.0253125955843, + 295.56534069981876 + ], + [ + 643.7096561630937, + 325.1378416604142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 410.86118412290386, + "ymin": 0.0, + "xmax": 600.8761381124208, + "ymax": 151.85076911503222 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 600.8761381124208, + 33.656218597634506 + ], + [ + 592.95313803077, + 31.866482935130136 + ], + [ + 445.54152220547695, + 149.2495837157199 + ], + [ + 454.54014819250636, + 151.85076911503222 + ], + [ + 595.2370561911339, + -160.93570288689887 + ], + [ + 586.196266308944, + -162.28847103331464 + ], + [ + 410.86118412290386, + -70.91188800127208 + ], + [ + 421.3175181851151, + -68.82411644591224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.8178434400813, + "ymin": 312.2748380261388, + "xmax": 708.041094169266, + "ymax": 347.53244452274726 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 694.3369365991136, + 347.53244452274726 + ], + [ + 707.9228981204616, + 327.51025408326063 + ], + [ + 666.1380993829221, + 314.1073471259867 + ], + [ + 651.8178434400813, + 333.5088879010233 + ], + [ + 694.4336766472235, + 345.6876223254027 + ], + [ + 708.041094169266, + 325.67226968303873 + ], + [ + 666.1828798660391, + 312.2748380261388 + ], + [ + 651.8385506749097, + 331.6686862613354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.8173097688103, + "ymin": 312.322229691642, + "xmax": 708.0380373471899, + "ymax": 347.5799883021973 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 694.3344434658903, + 347.5799883021973 + ], + [ + 707.9198519091021, + 327.55762359362 + ], + [ + 666.136945244703, + 314.1545768261064 + ], + [ + 651.8173097688103, + 333.556313970035 + ], + [ + 694.4311746288848, + 345.73533554303685 + ], + [ + 708.0380373471899, + 325.7198041932606 + ], + [ + 666.1817217699198, + 312.322229691642 + ], + [ + 651.8380151318441, + 331.7162786721821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.5402234409047, + "ymin": 41.6758239290873, + "xmax": 630.419761208292, + "ymax": 412.4043853612969 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 308.54335400542016, + 284.700750491368 + ], + [ + 299.625088928452, + 292.0368220756874 + ], + [ + 623.4880798555398, + 412.4043853612969 + ], + [ + 630.419761208292, + 402.8051449655135 + ], + [ + 235.24950252940494, + 41.6758239290873 + ], + [ + 223.5402234409047, + 48.00745412445451 + ], + [ + 619.1221813815977, + 155.5767512071878 + ], + [ + 627.9188487870588, + 146.73512409523025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 917.5593914048409, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 165.36962663064975 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1223.6336991363905, + 165.36962663064975 + ], + [ + 1224.2904298378792, + 160.0895630679571 + ], + [ + 920.2232621803018, + 92.7867406579017 + ], + [ + 917.5593914048409, + 97.09759368947635 + ], + [ + 1330.600321968459, + -57.92813655490295 + ], + [ + 1330.430513901507, + -62.1928766712964 + ], + [ + 965.4461026468998, + -115.54788254760695 + ], + [ + 962.706987551554, + -112.18535113273907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.565419582197, + "ymin": 67.77069324486706, + "xmax": 1280.0, + "ymax": 613.7322563937219 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1110.565419582197, + 606.5187323382387 + ], + [ + 1129.752794825949, + 613.7322563937219 + ], + [ + 1176.1861018235254, + 318.7542389743287 + ], + [ + 1161.6641486671633, + 314.75082795143095 + ], + [ + 1268.8687750171816, + 345.05571396413507 + ], + [ + 1295.8989761551513, + 352.5137304177897 + ], + [ + 1300.7827761894491, + 71.27919915782536 + ], + [ + 1282.1907726510217, + 67.77069324486706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17573842364388610194, + "instance_id": 37392, + "pixel_count": null, + "type_id": "BP_StreetLight_doble16_SM_2", + "bbox_3d": { + "center_world": { + "x": -141.83102416992188, + "y": 32.528778076171875, + "z": 4.309665679931641 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1264.7232126984322, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 1.6509689564522319 + }, + "corners_3d": [ + [ + -142.07260131835938, + 35.362831115722656, + 0.20679092407226562 + ], + [ + -141.5894317626953, + 35.36282730102539, + 0.20679092407226562 + ], + [ + -141.58944702148438, + 29.694726943969727, + 0.20679092407226562 + ], + [ + -142.07261657714844, + 29.694726943969727, + 0.20679092407226562 + ], + [ + -142.07260131835938, + 35.362831115722656, + 8.412540435791016 + ], + [ + -141.5894317626953, + 35.36282730102539, + 8.412540435791016 + ], + [ + -141.58944702148438, + 29.694726943969727, + 8.412540435791016 + ], + [ + -142.07261657714844, + 29.694726943969727, + 8.412540435791016 + ] + ], + "corners_2d": [ + [ + 1276.9257885022957, + -37.072462566861304 + ], + [ + 1267.0030218448076, + -38.597283410266186 + ], + [ + 1264.7232126984322, + -0.11719902907924507 + ], + [ + 1275.4021704085724, + 1.6509689564522319 + ], + [ + 1354.3794853469585, + -209.8501293546792 + ], + [ + 1342.9909878661533, + -210.97269333812312 + ], + [ + 1347.0075938593397, + -182.38858862944141 + ], + [ + 1359.4033091082842, + -181.06224604092063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1205.0460589251882, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 174.13844268309919 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1205.0460589251882, + 71.42001281871688 + ], + [ + 1222.973584084657, + 145.77845469084292 + ], + [ + 1418.5442456553787, + 174.13844268309919 + ], + [ + 1377.9827095803857, + 93.86463266627453 + ], + [ + 1335.5633775260633, + -231.70471150319224 + ], + [ + 1378.3657047091438, + -184.19912735040248 + ], + [ + 1637.0526975217103, + -165.34951684346845 + ], + [ + 1556.2116320891819, + -217.64897490014073 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00104/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00104/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a245611b02ed1253217c1e8fa2d2d1216bd2a35 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00104/meta.json @@ -0,0 +1,3311 @@ +{ + "frame_id": 104, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 52.0, + "sim_timestamp": 1385.2236587449443 + }, + "drone_pose": { + "x": -134.88538785799955, + "y": -26.09117664701681, + "z": 20.0, + "pitch": -43.089586751355164, + "yaw": 61.50631646232673, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3483917713165283, + -0.6418266296386719, + 0.6831410527229309, + 50.07615661621094 + ], + [ + 0.8788697719573975, + 0.47706180810928345, + 0.0, + -106.09957885742188 + ], + [ + -0.32590049505233765, + 0.6003919839859009, + 0.7302864789962769, + -74.2298812866211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.00724564658873, + "y": -25.244756884438235, + "z": 20.0 + }, + "t1_image_uv": [ + 1619.3441797238243, + -538.0249045048599 + ], + "t1_depth": 0.5008004937223839 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -125.16718292236328, + "y": -8.187763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 27.894469274338924, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 517, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -125.16718292236328, + "y": -8.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.35018065571784973, + "y": 0.32697081565856934, + "z": 0.8812820315361023 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 625.5669759771079, + "ymin": 327.4354814382883, + "xmax": 654.6218273042074, + "ymax": 391.89665476997845 + }, + "corners_3d": [ + [ + -125.18359375, + -8.666581153869629, + 0.06286060810089111 + ], + [ + -125.64600372314453, + -8.204174995422363, + 0.06286060810089111 + ], + [ + -125.15077209472656, + -7.708944797515869, + 0.06286060810089111 + ], + [ + -124.68836212158203, + -8.171351432800293, + 0.06286060810089111 + ], + [ + -125.18359375, + -8.666581153869629, + 1.8254246711730957 + ], + [ + -125.64600372314453, + -8.204174995422363, + 1.8254246711730957 + ], + [ + -125.15077209472656, + -7.708944797515869, + 1.8254246711730957 + ], + [ + -124.68836212158203, + -8.171351432800293, + 1.8254246711730957 + ] + ], + "corners_2d": [ + [ + 632.7105262550143, + 391.89665476997845 + ], + [ + 654.0001334052323, + 387.44114939973497 + ], + [ + 647.1310709639363, + 371.6881712394959 + ], + [ + 626.1730511204037, + 375.99294423636 + ], + [ + 632.3851998703963, + 347.51895432278513 + ], + [ + 654.6218273042074, + 343.08766397620843 + ], + [ + 647.4421100645887, + 327.4354814382883 + ], + [ + 625.5669759771079, + 331.71036203737896 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 104, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 638418, + "2": 137050, + "3": 20184, + "4": 30658, + "6": 26785, + "7": 3727, + "9": 7001, + "10": 13, + "12": 2899, + "14": 15930, + "20": 95, + "24": 38784, + "25": 56 + }, + "instance_pixel_counts": { + "11605": 8994, + "15970": 210, + "16479": 801, + "16482": 1405, + "16994": 2318, + "17496": 12630, + "17503": 56, + "17506": 2152, + "17547": 7, + "18018": 641, + "18059": 2749, + "19042": 225, + "19083": 4274, + "19554": 1915, + "19595": 8241, + "20066": 10, + "20107": 2186, + "20565": 11190, + "21131": 790, + "21395": 11238, + "21397": 357, + "21643": 5630, + "21907": 220849, + "21909": 21616, + "22155": 26, + "22421": 4123, + "22931": 186435, + "23957": 661, + "24467": 20639, + "25344": 343, + "25600": 7364, + "25856": 9248, + "26112": 927, + "36096": 517, + "36352": 605, + "36608": 607, + "36864": 550, + "37376": 620, + "37888": 3608, + "40448": 3790, + "40704": 3835, + "41216": 4697, + "45409": 848, + "45971": 13030, + "46483": 127322, + "46995": 39722, + "47201": 24395, + "47507": 521, + "47713": 6220, + "48225": 2698, + "48737": 1437, + "49043": 18662, + "49249": 1247, + "49761": 10065, + "51526": 30658, + "53857": 2023, + "56458": 1929, + "56970": 7700, + "57482": 34534, + "58506": 10374, + "60307": 655, + "60819": 9114, + "61254": 7096, + "61331": 1224, + "61843": 8, + "62867": 1026 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 517, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -125.16718292236328, + "y": -8.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3187939524650574, + "y": 0.4175207316875458, + "z": 0.8725553750991821 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.8228587317348, + "ymin": 327.7640369333982, + "xmax": 657.3498937385258, + "ymax": 391.58111725643573 + }, + "corners_3d": [ + [ + -125.09737396240234, + -8.708415985107422, + 0.07158726453781128 + ], + [ + -125.68783569335938, + -8.117952346801758, + 0.07158726453781128 + ], + [ + -125.23699188232422, + -7.667109966278076, + 0.07158726453781128 + ], + [ + -124.64653015136719, + -8.257574081420898, + 0.07158726453781128 + ], + [ + -125.09737396240234, + -8.708415985107422, + 1.8166980743408203 + ], + [ + -125.68783569335938, + -8.117952346801758, + 1.8166980743408203 + ], + [ + -125.23699188232422, + -7.667109966278076, + 1.8166980743408203 + ], + [ + -124.64653015136719, + -8.257574081420898, + 1.8166980743408203 + ] + ], + "corners_2d": [ + [ + 629.4485549845572, + 391.58111725643573 + ], + [ + 656.620408602073, + 385.9005510384283 + ], + [ + 650.3244178592936, + 371.57884648005665 + ], + [ + 623.5381887289242, + 377.0841545948899 + ], + [ + 628.9824691555394, + 347.6438102879621 + ], + [ + 657.3498937385258, + 341.9941917499746 + ], + [ + 650.7702385930763, + 327.7640369333982 + ], + [ + 622.8228587317348, + 333.2318629976703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 605, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -121.04119873046875, + "y": -5.190057754516602, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.44435545802116394, + "y": 0.43645766377449036, + "z": 0.8874094486236572 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 552.9363427072591, + "ymin": 230.2506335008789, + "xmax": 591.5752236156071, + "ymax": 296.2336226121526 + }, + "corners_3d": [ + [ + -121.17615509033203, + -5.798115253448486, + 0.056738078594207764 + ], + [ + -121.65158081054688, + -5.0660271644592285, + 0.056738078594207764 + ], + [ + -120.90624237060547, + -4.582000255584717, + 0.056738078594207764 + ], + [ + -120.43081665039062, + -5.314088344573975, + 0.056738078594207764 + ], + [ + -121.17615509033203, + -5.798115253448486, + 1.831557035446167 + ], + [ + -121.65158081054688, + -5.0660271644592285, + 1.831557035446167 + ], + [ + -120.90624237060547, + -4.582000255584717, + 1.831557035446167 + ], + [ + -120.43081665039062, + -5.314088344573975, + 1.831557035446167 + ] + ], + "corners_2d": [ + [ + 567.6725732174797, + 296.2336226121526 + ], + [ + 591.5752236156071, + 288.23421345272493 + ], + [ + 579.8239173505264, + 273.64444693763716 + ], + [ + 556.2356021469104, + 281.36252982785555 + ], + [ + 564.7700083818846, + 252.49019603063226 + ], + [ + 589.6512679288346, + 244.6090687542258 + ], + [ + 577.4769358691698, + 230.2506335008789 + ], + [ + 552.9363427072591, + 237.84383163431067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 607, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -127.42300415039062, + "y": -1.2450506687164307, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5452001690864563, + "y": 0.494639128446579, + "z": 0.9375725388526917 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 777.0096371033796, + "ymin": 219.76373627296908, + "xmax": 826.4150918488168, + "ymax": 291.10019304250653 + }, + "corners_3d": [ + [ + -127.53541564941406, + -1.9725630283355713, + 0.00657498836517334 + ], + [ + -128.15798950195312, + -1.2037489414215088, + 0.00657498836517334 + ], + [ + -127.31059265136719, + -0.5175383687019348, + 0.00657498836517334 + ], + [ + -126.68801879882812, + -1.2863523960113525, + 0.00657498836517334 + ], + [ + -127.53541564941406, + -1.9725630283355713, + 1.8817200660705566 + ], + [ + -128.15798950195312, + -1.2037489414215088, + 1.8817200660705566 + ], + [ + -127.31059265136719, + -0.5175383687019348, + 1.8817200660705566 + ], + [ + -126.68801879882812, + -1.2863523960113525, + 1.8817200660705566 + ] + ], + "corners_2d": [ + [ + 792.8297978748052, + 291.10019304250653 + ], + [ + 818.9470147050243, + 283.92936231644376 + ], + [ + 802.6732391811622, + 265.44410896469003 + ], + [ + 777.0096371033796, + 272.29468618631853 + ], + [ + 799.2659001062602, + 244.98019464693851 + ], + [ + 826.4150918488168, + 237.92562360744898 + ], + [ + 809.3032541699032, + 219.76373627296908 + ], + [ + 782.6432585645214, + 226.49050133762108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 550, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -128.74693298339844, + "y": -8.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.37660643458366394, + "y": 0.4579479992389679, + "z": 0.8995057344436646 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 730.9956830364137, + "ymin": 366.33604542719877, + "xmax": 777.0438295442377, + "ymax": 437.0445372733084 + }, + "corners_3d": [ + [ + -128.68942260742188, + -8.77788257598877, + 0.04463690519332886 + ], + [ + -129.33705139160156, + -8.13024616241455, + 0.04463690519332886 + ], + [ + -128.804443359375, + -7.597643852233887, + 0.04463690519332886 + ], + [ + -128.1568145751953, + -8.245280265808105, + 0.04463690519332886 + ], + [ + -128.68942260742188, + -8.77788257598877, + 1.8436484336853027 + ], + [ + -129.33705139160156, + -8.13024616241455, + 1.8436484336853027 + ], + [ + -128.804443359375, + -7.597643852233887, + 1.8436484336853027 + ], + [ + -128.1568145751953, + -8.245280265808105, + 1.8436484336853027 + ] + ], + "corners_2d": [ + [ + 740.41613036519, + 437.0445372733084 + ], + [ + 770.8273473299474, + 430.20502083593544 + ], + [ + 760.8910359311404, + 411.7173441521872 + ], + [ + 730.9956830364137, + 418.29727510382804 + ], + [ + 745.2228908625457, + 391.6074775208521 + ], + [ + 777.0438295442377, + 384.77682732821575 + ], + [ + 766.5205856536309, + 366.33604542719877 + ], + [ + 735.2638259813525, + 372.895452899504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 620, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -113.92184448242188, + "y": -16.35797882080078, + "z": 1.0944650173187256 + }, + "extent": { + "x": 0.37034177780151367, + "y": 0.5113604664802551, + "z": 0.8881067633628845 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 104.35510185066187, + "ymin": 367.4302320214161, + "xmax": 173.51985637013559, + "ymax": 433.8257054074751 + }, + "corners_3d": [ + [ + -113.69468688964844, + -16.947080612182617, + 0.20635825395584106 + ], + [ + -114.55240631103516, + -16.390066146850586, + 0.20635825395584106 + ], + [ + -114.14900207519531, + -15.768877029418945, + 0.20635825395584106 + ], + [ + -113.2912826538086, + -16.325891494750977, + 0.20635825395584106 + ], + [ + -113.69468688964844, + -16.947080612182617, + 1.9825718402862549 + ], + [ + -114.55240631103516, + -16.390066146850586, + 1.9825718402862549 + ], + [ + -114.14900207519531, + -15.768877029418945, + 1.9825718402862549 + ], + [ + -113.2912826538086, + -16.325891494750977, + 1.9825718402862549 + ] + ], + "corners_2d": [ + [ + 128.631170806952, + 433.8257054074751 + ], + [ + 166.22719210762813, + 431.7001799837281 + ], + [ + 173.51985637013559, + 412.5957951603406 + ], + [ + 136.68176823710422, + 414.6383081371331 + ], + [ + 104.35510185066187, + 388.61143143906867 + ], + [ + 143.78742885593533, + 386.4888041162181 + ], + [ + 151.88097114083752, + 367.4302320214161 + ], + [ + 113.28155582662589, + 369.46615038018757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3608, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 437.45264943586113, + "ymin": 62.205220324654135, + "xmax": 547.3905431246098, + "ymax": 139.6830155255998 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 522.8081597905289, + 139.6830155255998 + ], + [ + 547.3905431246098, + 119.52890933404115 + ], + [ + 469.07403342026095, + 97.55207704874238 + ], + [ + 443.0198980069686, + 116.36228513826595 + ], + [ + 519.3744700389792, + 103.15887104552814 + ], + [ + 544.760096433143, + 83.54934415730992 + ], + [ + 464.3858241770764, + 62.205220324654135 + ], + [ + 437.45264943586113, + 80.47138787368328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3790, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 99.58103216294842, + "ymin": 19.020757804946243, + "xmax": 224.7848600905038, + "ymax": 92.78419067363978 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 146.14354216438335, + 51.14096831359507 + ], + [ + 112.63063570700956, + 67.55012504813368 + ], + [ + 192.15703159248733, + 92.78419067363978 + ], + [ + 224.7848600905038, + 74.99909740593898 + ], + [ + 134.26230451255987, + 19.020757804946243 + ], + [ + 99.58103216294842, + 34.91922165604012 + ], + [ + 180.60159921189802, + 59.40958676922759 + ], + [ + 214.38093228200103, + 42.143401854325475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3835, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 54.19337547398777, + "ymin": 50.35194165431204, + "xmax": 173.37963146476056, + "ymax": 132.57358526678752 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 110.1572034654223, + 91.38508988468453 + ], + [ + 72.73027378965082, + 110.39390775610781 + ], + [ + 136.64717721075073, + 132.57358526678752 + ], + [ + 173.37963146476056, + 112.26247041432103 + ], + [ + 93.36697188641529, + 50.35194165431204 + ], + [ + 54.19337547398777, + 68.70218045964367 + ], + [ + 119.61725592251946, + 90.1579147468301 + ], + [ + 158.0863117665553, + 70.5079029688846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 4697, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1164.9934671435947, + "ymin": 404.21324335880325, + "xmax": 1280.0, + "ymax": 568.3590505105075 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1172.962630322438, + 443.6669950900008 + ], + [ + 1164.9934671435947, + 488.0050524359986 + ], + [ + 1396.874735758988, + 568.3590505105075 + ], + [ + 1394.670384696853, + 516.9782369460029 + ], + [ + 1195.270827004722, + 404.21324335880325 + ], + [ + 1188.0040826379272, + 448.6346218376517 + ], + [ + 1432.770027863446, + 529.5699209901857 + ], + [ + 1428.723998671559, + 477.75327292097717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 466.2202372045576, + "ymin": 0.0, + "xmax": 481.60041587316636, + "ymax": 10.17630154955333 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 469.1949647625768, + 8.653242988746797 + ], + [ + 475.46609706900034, + 10.17630154955333 + ], + [ + 481.60041587316636, + 6.346579720355578 + ], + [ + 475.3560495071113, + 4.844697193602656 + ], + [ + 466.2202372045576, + -15.338915458570341 + ], + [ + 472.5924642639708, + -13.8572663964311 + ], + [ + 478.85358256524955, + -17.58259052816129 + ], + [ + 472.50894489541633, + -19.0432838261072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2663665510550050633, + "instance_id": 18839, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1072.4806730444022, + "ymin": 0.0, + "xmax": 1089.7442465210875, + "ymax": 1.922608905214929 + }, + "corners_3d": [ + [ + -132.25570678710938, + 12.455914497375488, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.076000213623047, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.076001167297363, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.455915451049805, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.455914497375488, + 6.416468620300293 + ], + [ + -132.25570678710938, + 12.076000213623047, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.076001167297363, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1074.4096062712088, + -3.2502491880523507 + ], + [ + 1072.4806730444022, + 0.4451012038799149 + ], + [ + 1080.3124269558448, + 1.922608905214929 + ], + [ + 1082.1927232336968, + -1.7929786843648685 + ], + [ + 1081.807709538007, + -26.913819654414738 + ], + [ + 1079.8976936323613, + -23.32141633861039 + ], + [ + 1087.8848381535759, + -21.8848331957293 + ], + [ + 1089.7442465210875, + -25.497247558447953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4021541042808224586, + "instance_id": 19195, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -135.394287109375, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1159.6003457088007, + "ymin": 0.0, + "xmax": 1178.551955137141, + "ymax": 18.45002703452201 + }, + "corners_3d": [ + [ + -135.25570678710938, + 12.45591926574707, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.076004981994629, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.076005935668945, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.455920219421387, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.45591926574707, + 6.416468620300293 + ], + [ + -135.25570678710938, + 12.076004981994629, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.076005935668945, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1160.9717446182494, + 12.957257889325433 + ], + [ + 1159.6003457088007, + 16.880815480424758 + ], + [ + 1167.918188892806, + 18.45002703452201 + ], + [ + 1169.234460570994, + 14.504326194025225 + ], + [ + 1170.1176367517055, + -11.151548763683763 + ], + [ + 1168.788267609721, + -7.333327353311233 + ], + [ + 1177.2800589640678, + -5.805977290527721 + ], + [ + 1178.551955137141, + -9.64612877589542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1237.1240797437185, + "ymin": 300.0478535484078, + "xmax": 1268.9568597103334, + "ymax": 343.25307938037514 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1251.7949361398616, + 333.3977030915995 + ], + [ + 1238.420405769697, + 329.55570867876963 + ], + [ + 1237.1240797437185, + 339.3238872060525 + ], + [ + 1250.6440641326426, + 343.25307938037514 + ], + [ + 1268.9568597103334, + 303.86328446292214 + ], + [ + 1255.1310728499857, + 300.0478535484078 + ], + [ + 1253.9915901830605, + 309.75034594796284 + ], + [ + 1267.9729294358644, + 313.65483765496595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 579.143955605649, + "ymin": 213.14711486179857, + "xmax": 597.8096111498397, + "ymax": 252.84045474321712 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 590.13947364192, + 252.84045474321712 + ], + [ + 597.8096111498397, + 244.89453795456808 + ], + [ + 588.3797114180514, + 241.7919141544965 + ], + [ + 580.644955316795, + 249.67466109612985 + ], + [ + 588.8733797295095, + 224.06005934947672 + ], + [ + 596.7493170858966, + 216.21087926225775 + ], + [ + 587.0877025358511, + 213.14711486179857 + ], + [ + 579.143955605649, + 220.9323273984934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1275.1056864906393, + "ymin": 97.44523149751757, + "xmax": 1280.0, + "ymax": 126.02558140763799 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1275.6570303859025, + 119.50043423005664 + ], + [ + 1275.1056864906393, + 124.15417346002201 + ], + [ + 1283.7448073225437, + 126.02558140763799 + ], + [ + 1284.236813010115, + 121.34559376387759 + ], + [ + 1286.7243487589108, + 97.44523149751757 + ], + [ + 1286.2430406894762, + 102.02174316730344 + ], + [ + 1295.066123969355, + 103.86241363350871 + ], + [ + 1295.4855386478403, + 99.2596361487814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1246.6304283958352, + "ymin": 230.5874263126089, + "xmax": 1275.9978173557693, + "ymax": 271.0034555782507 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1260.0518855788287, + 262.6901498554896 + ], + [ + 1247.7247096159426, + 259.44518152676864 + ], + [ + 1246.6304283958352, + 267.69089603287955 + ], + [ + 1259.081090495674, + 271.0034555782507 + ], + [ + 1275.9978173557693, + 233.7954015070735 + ], + [ + 1263.2886626334143, + 230.5874263126089 + ], + [ + 1262.3311533267486, + 238.74044788993473 + ], + [ + 1275.1716495618898, + 242.01698601283277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 291.9624251523963, + "ymin": 198.0385719131538, + "xmax": 314.23610726887244, + "ymax": 230.24805481068037 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 305.701568189795, + 230.24805481068037 + ], + [ + 314.23610726887244, + 223.99064545192357 + ], + [ + 307.4610145436304, + 221.52748647203603 + ], + [ + 298.8988351086865, + 227.74434296714534 + ], + [ + 298.88081410359354, + 206.6618845233478 + ], + [ + 307.64471558372287, + 200.47385593437824 + ], + [ + 300.7547259422636, + 198.0385719131538 + ], + [ + 291.9624251523963, + 204.1856864769066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1253.4414759711317, + "ymin": 180.9307316275636, + "xmax": 1280.0, + "ymax": 219.26595465366734 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1265.9732935391987, + 211.9771366490478 + ], + [ + 1254.4014077787665, + 209.1294582856336 + ], + [ + 1253.4414759711317, + 216.3627646492619 + ], + [ + 1265.1221277011286, + 219.26595465366734 + ], + [ + 1281.0274120099941, + 183.7368338516171 + ], + [ + 1269.1197861585038, + 180.9307316275636 + ], + [ + 1268.282568549772, + 188.0594341171431 + ], + [ + 1280.3054279683276, + 190.9215700727961 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 494.8643418840858, + "ymin": 186.59691583595483, + "xmax": 515.3716095295332, + "ymax": 225.17311685838266 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 507.1624006343865, + 225.17311685838266 + ], + [ + 515.3716095295332, + 217.77082759760765 + ], + [ + 506.5825702865344, + 214.87905949647555 + ], + [ + 498.3193296938176, + 222.22453771107672 + ], + [ + 503.9101864666228, + 196.7468449343155 + ], + [ + 512.3506897677175, + 189.44751906549217 + ], + [ + 503.36128160821954, + 186.59691583595483 + ], + [ + 494.8643418840858, + 193.8388641800829 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 401.34533485239393, + "ymin": 157.11329417084596, + "xmax": 423.68492919671223, + "ymax": 194.42462484460077 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 414.94465753340035, + 194.42462484460077 + ], + [ + 423.68492919671223, + 187.60411674064164 + ], + [ + 415.5822595073761, + 184.93817773724874 + ], + [ + 406.7985219036221, + 191.70842742637257 + ], + [ + 409.6619113410977, + 166.44873981965497 + ], + [ + 418.6557255835074, + 159.73622450808966 + ], + [ + 410.38428663770253, + 157.11329417084596 + ], + [ + 401.34533485239393, + 163.77519784298707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1156.4962019316672, + "ymin": 535.9395289738419, + "xmax": 1188.365087169149, + "ymax": 578.571541661552 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1172.6171364733807, + 565.4019570051184 + ], + [ + 1158.8087412611071, + 560.2446777983741 + ], + [ + 1156.4962019316672, + 573.290716407741 + ], + [ + 1170.458413774831, + 578.571541661552 + ], + [ + 1188.365087169149, + 541.1317867917523 + ], + [ + 1174.0746122189626, + 535.9395289738419 + ], + [ + 1171.8799345601803, + 549.0768277609095 + ], + [ + 1186.3353326998033, + 554.3972060353967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 632.9688715896752, + "ymin": 325.3713107976671, + "xmax": 1277.9915530763938, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1007.7863658496572, + 927.1283441226171 + ], + [ + 1016.6842018716211, + 889.4249623626548 + ], + [ + 651.5969588677531, + 703.1974915733617 + ], + [ + 635.5302791883696, + 731.6070066906506 + ], + [ + 1274.5479970919268, + 594.1181239580828 + ], + [ + 1277.9915530763938, + 544.7739285171326 + ], + [ + 658.0117231109916, + 325.3713107976671 + ], + [ + 632.9688715896752, + 356.45760775546705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 428.8416696600881, + "ymin": 0.0, + "xmax": 622.1076271583947, + "ymax": 158.19704733641706 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 622.1076271583947, + 40.28665045703633 + ], + [ + 614.2008337240719, + 38.34361522278897 + ], + [ + 460.97729290430516, + 155.38284278859038 + ], + [ + 469.87431667072065, + 158.19704733641706 + ], + [ + 619.5064571896122, + -155.38807079315416 + ], + [ + 610.4646109195066, + -156.85984980391402 + ], + [ + 428.8416696600881, + -65.56540089898834 + ], + [ + 439.18946537054916, + -63.30206938729998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 641.7373859125511, + "ymin": 342.58895109342075, + "xmax": 700.3226820392715, + "ymax": 380.88049778067216 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 684.852689786115, + 380.88049778067216 + ], + [ + 700.2142824593801, + 359.77121757746727 + ], + [ + 657.810057259953, + 344.4323668366738 + ], + [ + 641.7373859125511, + 364.81831528647376 + ], + [ + 684.9353369659464, + 379.027963782225 + ], + [ + 700.3226820392715, + 357.92331540834556 + ], + [ + 657.8415707137057, + 342.58895109342075 + ], + [ + 641.7405312220772, + 362.96914315615567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 641.7373048557913, + "ymin": 342.63662742762045, + "xmax": 700.3198784126558, + "ymax": 380.92823726101443 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 684.8505599826025, + 380.92823726101443 + ], + [ + 700.2114888996857, + 359.8188397640485 + ], + [ + 657.8092451028231, + 344.4798749026307 + ], + [ + 641.7373048557913, + 364.86596970644683 + ], + [ + 684.9331993064844, + 379.075879353433 + ], + [ + 700.3198784126558, + 357.97110920708343 + ], + [ + 657.8407556800062, + 342.63662742762045 + ], + [ + 641.7404498715733, + 363.01697027243887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.0854818841347, + "ymin": 47.089126776146884, + "xmax": 636.3129967307528, + "ymax": 429.20324306547826 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 317.79835053163765, + 290.6499489865188 + ], + [ + 308.56029339660506, + 297.9341571136986 + ], + [ + 628.8637564904778, + 429.20324306547826 + ], + [ + 636.3129967307528, + 419.46509553684075 + ], + [ + 246.17043876565788, + 47.089126776146884 + ], + [ + 234.0854818841347, + 53.3880852849008 + ], + [ + 625.8626030781322, + 171.28407785252134 + ], + [ + 635.3320361691722, + 162.24265372360048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 941.6074311985342, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 186.68464296518349 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1256.0809840467118, + 186.68464296518349 + ], + [ + 1256.9330674740384, + 181.20383993128743 + ], + [ + 944.5000443246158, + 106.00347576524084 + ], + [ + 941.6074311985342, + 110.39458500949902 + ], + [ + 1372.6076275660366, + -40.20367255884315 + ], + [ + 1372.5729786914662, + -44.67427935301146 + ], + [ + 994.6263671878635, + -104.74906828178933 + ], + [ + 991.6522711640514, + -101.30473558723588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.4278499262762, + "ymin": 91.2103714442581, + "xmax": 1280.0, + "ymax": 654.0951042520351 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1123.4278499262762, + 645.8679583540472 + ], + [ + 1143.2655147104804, + 654.0951042520351 + ], + [ + 1201.6157288462591, + 345.60891299805667 + ], + [ + 1186.5861506878493, + 341.08066975327307 + ], + [ + 1293.1376595319648, + 385.95231158909934 + ], + [ + 1321.6022493809712, + 394.64855929268856 + ], + [ + 1336.7398171636232, + 95.23136284060547 + ], + [ + 1317.259102930407, + 91.2103714442581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1239.6172549740197, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 199.77981600117116 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1239.6172549740197, + 88.85224627451424 + ], + [ + 1255.9540291471592, + 166.38044081369628 + ], + [ + 1460.4144229502258, + 199.77981600117116 + ], + [ + 1419.943944944108, + 115.16688597943173 + ], + [ + 1382.3589911363138, + -219.99996731094734 + ], + [ + 1425.7171931519783, + -169.8285509471002 + ], + [ + 1700.3861218381567, + -147.2640396984459 + ], + [ + 1615.3599878730242, + -203.30530234080322 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00105/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00105/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51e04a03c63b2508d380279958f0d1fae28919a5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00105/meta.json @@ -0,0 +1,3414 @@ +{ + "frame_id": 105, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 52.5, + "sim_timestamp": 1396.8941467634868 + }, + "drone_pose": { + "x": -135.00724564658873, + "y": -25.244756884438235, + "z": 20.0, + "pitch": -43.08307193809978, + "yaw": 59.504353682457264, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.37063997983932495, + -0.6293311715126038, + 0.6830580234527588, + 52.26523971557617 + ], + [ + 0.8616676926612854, + 0.5074728727340698, + 0.0, + -103.5203628540039 + ], + [ + -0.3466334342956543, + 0.5885690450668335, + 0.7303640842437744, + -76.26358795166016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.112274504593, + "y": -24.356381246753642, + "z": 20.0 + }, + "t1_image_uv": [ + 1639.0750207354513, + -537.8202516055393 + ], + "t1_depth": 0.5201546000323486 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -124.66718292236328, + "y": -7.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 27.897860496053962, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 515, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -124.66718292236328, + "y": -7.68776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.32457518577575684, + "y": 0.42705902457237244, + "z": 0.8716585636138916 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.7000542753591, + "ymin": 327.86128592032213, + "xmax": 657.4928787887602, + "ymax": 391.4824480746676 + }, + "corners_3d": [ + [ + -124.59471893310547, + -8.21924877166748, + 0.0724840760231018 + ], + [ + -125.19866943359375, + -7.61529541015625, + 0.0724840760231018 + ], + [ + -124.7396469116211, + -7.156277179718018, + 0.0724840760231018 + ], + [ + -124.13569641113281, + -7.76023006439209, + 0.0724840760231018 + ], + [ + -124.59471893310547, + -8.21924877166748, + 1.8158011436462402 + ], + [ + -125.19866943359375, + -7.61529541015625, + 1.8158011436462402 + ], + [ + -124.7396469116211, + -7.156277179718018, + 1.8158011436462402 + ], + [ + -124.13569641113281, + -7.76023006439209, + 1.8158011436462402 + ] + ], + "corners_2d": [ + [ + 628.6868521564865, + 391.4824480746676 + ], + [ + 656.7579136159959, + 386.35953839686016 + ], + [ + 651.0714841530662, + 371.6306598154398 + ], + [ + 623.4192305818789, + 376.59113276516274 + ], + [ + 628.1878107261956, + 347.59121216885467 + ], + [ + 657.4928787887602, + 342.4961911472169 + ], + [ + 651.548982636929, + 327.86128592032213 + ], + [ + 622.7000542753591, + 332.78782621600936 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 105, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 650585, + "2": 130226, + "3": 22666, + "4": 31064, + "6": 23914, + "7": 2761, + "9": 1481, + "10": 16, + "12": 2946, + "14": 14947, + "20": 206, + "24": 40788 + }, + "instance_pixel_counts": { + "11605": 10470, + "12117": 2, + "15701": 9, + "15970": 262, + "16479": 1239, + "16482": 1435, + "16994": 2188, + "17496": 11568, + "17506": 2326, + "17547": 33, + "18018": 794, + "18059": 2844, + "19042": 360, + "19083": 3680, + "19554": 1936, + "19595": 8752, + "20107": 2848, + "20565": 12185, + "21131": 1203, + "21395": 13397, + "21397": 428, + "21643": 6137, + "21907": 234320, + "21909": 23144, + "22421": 3861, + "22931": 169960, + "23957": 627, + "24467": 20857, + "25344": 465, + "25600": 7457, + "25856": 6169, + "26112": 1016, + "36096": 515, + "36352": 572, + "36608": 600, + "36864": 632, + "37120": 8, + "37376": 619, + "37888": 3653, + "38912": 12, + "40448": 3739, + "40704": 3773, + "41216": 3770, + "45409": 1015, + "45971": 12768, + "46483": 133121, + "46995": 45317, + "47201": 15850, + "47507": 1751, + "47713": 6360, + "48225": 2779, + "49043": 19094, + "49249": 3, + "49761": 10005, + "51526": 31064, + "53857": 2041, + "56458": 2601, + "56970": 7884, + "57482": 34684, + "58506": 10967, + "60307": 623, + "60819": 9622, + "61254": 1687, + "61331": 1371, + "61843": 52, + "62867": 1060 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 515, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -124.66718292236328, + "y": -7.68776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4712499976158142, + "y": 0.36946624517440796, + "z": 0.9049451351165771 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.4205446252313, + "ymin": 324.077713089176, + "xmax": 656.905524924661, + "ymax": 395.36691487915965 + }, + "corners_3d": [ + [ + -124.7391586303711, + -8.282238960266113, + 0.03919750452041626 + ], + [ + -125.26165771484375, + -7.759734630584717, + 0.03919750452041626 + ], + [ + -124.59520721435547, + -7.093286514282227, + 0.03919750452041626 + ], + [ + -124.07270812988281, + -7.615790843963623, + 0.03919750452041626 + ], + [ + -124.7391586303711, + -8.282238960266113, + 1.8490877151489258 + ], + [ + -125.26165771484375, + -7.759734630584717, + 1.8490877151489258 + ], + [ + -124.59520721435547, + -7.093286514282227, + 1.8490877151489258 + ], + [ + -124.07270812988281, + -7.615790843963623, + 1.8490877151489258 + ] + ], + "corners_2d": [ + [ + 631.8167111188543, + 395.36691487915965 + ], + [ + 656.1657246490851, + 390.9019036712175 + ], + [ + 647.9564569423906, + 369.49814124017496 + ], + [ + 624.1326837255227, + 373.7592464132521 + ], + [ + 631.4403318377703, + 349.78173168582015 + ], + [ + 656.905524924661, + 345.34047838851035 + ], + [ + 648.3118059720109, + 324.077713089176 + ], + [ + 623.4205446252313, + 328.3071755601968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 572, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -120.54119873046875, + "y": -4.69005823135376, + "z": 0.9443771243095398 + }, + "extent": { + "x": 0.3929833769798279, + "y": 0.44548797607421875, + "z": 0.8819289207458496 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 558.7712409323198, + "ymin": 229.949526953282, + "xmax": 595.9324677373884, + "ymax": 293.75597798287714 + }, + "corners_3d": [ + [ + -120.6281509399414, + -5.2777099609375, + 0.062448203563690186 + ], + [ + -121.11341094970703, + -4.53047513961792, + 0.062448203563690186 + ], + [ + -120.4542465209961, + -4.1024065017700195, + 0.062448203563690186 + ], + [ + -119.96898651123047, + -4.8496413230896, + 0.062448203563690186 + ], + [ + -120.6281509399414, + -5.2777099609375, + 1.8263061046600342 + ], + [ + -121.11341094970703, + -4.53047513961792, + 1.8263061046600342 + ], + [ + -120.4542465209961, + -4.1024065017700195, + 1.8263061046600342 + ], + [ + -119.96898651123047, + -4.8496413230896, + 1.8263061046600342 + ] + ], + "corners_2d": [ + [ + 571.2373568741368, + 293.75597798287714 + ], + [ + 595.9324677373884, + 286.1629410709692 + ], + [ + 586.2140453487137, + 273.0653322262744 + ], + [ + 561.8269151984977, + 280.4178207271707 + ], + [ + 568.5039670933596, + 250.31876866697218 + ], + [ + 594.1973601139323, + 242.83900195451307 + ], + [ + 584.131252541024, + 229.949526953282 + ], + [ + 558.7712409323198, + 237.18319135289525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 600, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -126.92300415039062, + "y": -0.7450506687164307, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5253955125808716, + "y": 0.4911482632160187, + "z": 0.9320554733276367 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 783.3379205659082, + "ymin": 223.77095280081852, + "xmax": 831.967100749232, + "ymax": 294.0416312200492 + }, + "corners_3d": [ + [ + -127.02222442626953, + -1.4573866128921509, + 0.012092053890228271 + ], + [ + -127.6404037475586, + -0.6939983367919922, + 0.012092053890228271 + ], + [ + -126.82378387451172, + -0.03271472454071045, + 0.012092053890228271 + ], + [ + -126.20560455322266, + -0.7961030006408691, + 0.012092053890228271 + ], + [ + -127.02222442626953, + -1.4573866128921509, + 1.8762030601501465 + ], + [ + -127.6404037475586, + -0.6939983367919922, + 1.8762030601501465 + ], + [ + -126.82378387451172, + -0.03271472454071045, + 1.8762030601501465 + ], + [ + -126.20560455322266, + -0.7961030006408691, + 1.8762030601501465 + ] + ], + "corners_2d": [ + [ + 797.7884527890471, + 294.0416312200492 + ], + [ + 824.288779936857, + 287.47477693076235 + ], + [ + 809.3646162471344, + 269.25039147331063 + ], + [ + 783.3379205659082, + 275.5293226117887 + ], + [ + 804.4171560102492, + 248.14796804063727 + ], + [ + 831.967100749232, + 241.68489517809235 + ], + [ + 816.2589606410138, + 223.77095280081852 + ], + [ + 789.220050943199, + 229.9392057315171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 632, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -128.24693298339844, + "y": -7.68776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5073339939117432, + "y": 0.4457513391971588, + "z": 0.9030670523643494 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 728.2905018445299, + "ymin": 366.16643495273104, + "xmax": 776.2088820625678, + "ymax": 442.9865010609609 + }, + "corners_3d": [ + [ + -128.2904815673828, + -8.361696243286133, + 0.04107558727264404 + ], + [ + -128.92086791992188, + -7.7313079833984375, + 0.04107558727264404 + ], + [ + -128.20338439941406, + -7.013829708099365, + 0.04107558727264404 + ], + [ + -127.572998046875, + -7.644217491149902, + 0.04107558727264404 + ], + [ + -128.2904815673828, + -8.361696243286133, + 1.8472096920013428 + ], + [ + -128.92086791992188, + -7.7313079833984375, + 1.8472096920013428 + ], + [ + -128.20338439941406, + -7.013829708099365, + 1.8472096920013428 + ], + [ + -127.572998046875, + -7.644217491149902, + 1.8472096920013428 + ] + ], + "corners_2d": [ + [ + 739.7797769977003, + 442.9865010609609 + ], + [ + 769.9645249647918, + 437.0428977732716 + ], + [ + 757.7592087594719, + 411.7272623975459 + ], + [ + 728.2905018445299, + 417.36527899418166 + ], + [ + 744.604500923179, + 397.3647811134062 + ], + [ + 776.2088820625678, + 391.4253545186784 + ], + [ + 763.2633466404614, + 366.16643495273104 + ], + [ + 732.4429095650889, + 371.7863701015618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 8, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -128.28268432617188, + "y": -18.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3356884717941284, + "y": 0.449531227350235, + "z": 0.8811022639274597 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 488.29674070960766, + "ymin": 703.5474143242824, + "xmax": 542.0308885352694, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -128.14459228515625, + -19.358901977539062, + 0.06303560733795166 + ], + [ + -128.84329223632812, + -18.79310417175293, + 0.06303560733795166 + ], + [ + -128.4207763671875, + -18.271347045898438, + 0.06303560733795166 + ], + [ + -127.72207641601562, + -18.83714485168457, + 0.06303560733795166 + ], + [ + -128.14459228515625, + -19.358901977539062, + 1.825240135192871 + ], + [ + -128.84329223632812, + -18.79310417175293, + 1.825240135192871 + ], + [ + -128.4207763671875, + -18.271347045898438, + 1.825240135192871 + ], + [ + -127.72207641601562, + -18.83714485168457, + 1.825240135192871 + ] + ], + "corners_2d": [ + [ + 498.5833759017311, + 781.299248424952 + ], + [ + 542.0308885352694, + 774.8825003824586 + ], + [ + 539.6928470400592, + 743.7493509480503 + ], + [ + 497.26953221672784, + 749.8646295163098 + ], + [ + 489.46215657260103, + 742.2653515515221 + ], + [ + 535.7446968548139, + 735.6389332809897 + ], + [ + 533.4188291438475, + 703.5474143242824 + ], + [ + 488.29674070960766, + 709.8432400634571 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 619, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -113.42184448242188, + "y": -15.857976913452148, + "z": 1.094006061553955 + }, + "extent": { + "x": 0.2797509729862213, + "y": 0.3860272169113159, + "z": 0.8743341565132141 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 115.50939355336516, + "ymin": 358.5572425876272, + "xmax": 172.339282342711, + "ymax": 417.957452682194 + }, + "corners_3d": [ + [ + -113.25045776367188, + -16.302841186523438, + 0.21967190504074097 + ], + [ + -113.89795684814453, + -15.882349967956543, + 0.21967190504074097 + ], + [ + -113.59323120117188, + -15.41311264038086, + 0.21967190504074097 + ], + [ + -112.94573211669922, + -15.833603858947754, + 0.21967190504074097 + ], + [ + -113.25045776367188, + -16.302841186523438, + 1.9683401584625244 + ], + [ + -113.89795684814453, + -15.882349967956543, + 1.9683401584625244 + ], + [ + -113.59323120117188, + -15.41311264038086, + 1.9683401584625244 + ], + [ + -112.94573211669922, + -15.833603858947754, + 1.9683401584625244 + ] + ], + "corners_2d": [ + [ + 138.5394145186516, + 417.957452682194 + ], + [ + 166.18905402982716, + 417.092521365539 + ], + [ + 172.339282342711, + 402.9858717313565 + ], + [ + 145.10395576740984, + 403.8254258114173 + ], + [ + 115.50939355336516, + 373.4769182610716 + ], + [ + 144.44946261603405, + 372.61440136777037 + ], + [ + 151.21318171317063, + 358.5572425876272 + ], + [ + 122.72667431533614, + 359.3933182590893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3653, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 454.2219067411595, + "ymin": 67.07728388590169, + "xmax": 564.080703138027, + "ymax": 146.533680278891 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 538.4086571867537, + 146.533680278891 + ], + [ + 564.080703138027, + 126.37227530338245 + ], + [ + 486.3619646614568, + 102.56632351693645 + ], + [ + 459.36499453992207, + 121.28805882670142 + ], + [ + 535.4020507260681, + 109.83715846772625 + ], + [ + 561.9019561972068, + 90.20928073780158 + ], + [ + 482.115230196128, + 67.07728388590169 + ], + [ + 454.2219067411595, + 85.26500480734546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 12, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 18.75794756607263, + "ymax": 14.259726860666035 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + -26.599179863022073, + -14.80621313603126 + ], + [ + -62.98079772338701, + -1.5592065931639354 + ], + [ + -17.51417297252408, + 14.259726860666035 + ], + [ + 18.75794756607263, + 0.22988115466534964 + ], + [ + -40.23340538463094, + -43.46741744887203 + ], + [ + -77.73097052818457, + -30.68362657536113 + ], + [ + -31.72611414764242, + -15.400470835383032 + ], + [ + 5.678440190414449, + -28.9560830649678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3739, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 121.32812912418285, + "ymin": 18.131509172624305, + "xmax": 244.08434241620427, + "ymax": 93.03044397217343 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 167.6654424054974, + 50.21598182523462 + ], + [ + 133.82104348292455, + 66.23810867319094 + ], + [ + 210.9133386152842, + 93.03044397217343 + ], + [ + 244.08434241620427, + 75.57604436655942 + ], + [ + 156.32446792872236, + 18.131509172624305 + ], + [ + 121.32812912418285, + 33.65329898025948 + ], + [ + 199.84128816119153, + 59.65442120849855 + ], + [ + 234.15797530298602, + 42.70900786370345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3773, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 74.48831204175792, + "ymin": 49.2618404763208, + "xmax": 191.35938035162116, + "ymax": 132.324307903693 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 130.13131830893695, + 90.24743803997183 + ], + [ + 92.33307155382101, + 108.79886301605364 + ], + [ + 154.06025856045505, + 132.324307903693 + ], + [ + 191.35938035162116, + 112.4192195988334 + ], + [ + 114.00984827006755, + 49.2618404763208 + ], + [ + 74.48831204175792, + 67.16768150591173 + ], + [ + 137.63123701636374, + 89.92264945065568 + ], + [ + 176.65669033732684, + 70.66595554010757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 3770, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1184.1929055706732, + "ymin": 437.51851983537154, + "xmax": 1280.0, + "ymax": 615.6411182259723 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1194.0763392544673, + 476.92675097955896 + ], + [ + 1184.1929055706732, + 523.4177088631525 + ], + [ + 1426.517509555425, + 615.6411182259723 + ], + [ + 1425.7245050607817, + 560.9270798062773 + ], + [ + 1218.0826547319252, + 437.51851983537154 + ], + [ + 1208.900287152122, + 484.232780841242 + ], + [ + 1465.4838319189384, + 577.4512580955017 + ], + [ + 1462.718112629379, + 522.0579776364043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 483.1774541258734, + "ymin": 0.0, + "xmax": 498.4897762000393, + "ymax": 15.908346749391512 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 485.8883743242285, + 14.255354546628098 + ], + [ + 492.10929068895774, + 15.908346749391512 + ], + [ + 498.4897762000393, + 12.076416256019797 + ], + [ + 492.29286776777724, + 10.446188800740288 + ], + [ + 483.1774541258734, + -9.883045152031741 + ], + [ + 489.4998736491024, + -8.274436168665147 + ], + [ + 496.0105193095503, + -12.003219572442504 + ], + [ + 489.7128470338388, + -13.589288859252235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2663665510550050633, + "instance_id": 18839, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.6393162020227, + "ymin": 0.0, + "xmax": 1121.1079955412424, + "ymax": 16.454695081581235 + }, + "corners_3d": [ + [ + -132.25570678710938, + 12.455914497375488, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.076000213623047, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.076001167297363, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.455915451049805, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.455914497375488, + 6.416468620300293 + ], + [ + -132.25570678710938, + 12.076000213623047, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.076001167297363, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1104.7904597005497, + 10.981986408947137 + ], + [ + 1102.6393162020227, + 14.798550205712843 + ], + [ + 1110.7143958288023, + 16.454695081581235 + ], + [ + 1112.8160063565783, + 12.615300730763522 + ], + [ + 1112.9170910422085, + -13.068022641809591 + ], + [ + 1110.7855802832657, + -9.354453113453303 + ], + [ + 1119.0281262523572, + -7.742720153338553 + ], + [ + 1121.1079955412424, + -11.478895693099503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4021541042808224586, + "instance_id": 19195, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -135.394287109375, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1192.6957557603448, + "ymin": 4.660244339971655, + "xmax": 1213.0489231532433, + "ymax": 35.03746692656313 + }, + "corners_3d": [ + [ + -135.25570678710938, + 12.45591926574707, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.076004981994629, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.076005935668945, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.455920219421387, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.45591926574707, + 6.416468620300293 + ], + [ + -135.25570678710938, + 12.076004981994629, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.076005935668945, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1194.2756852833418, + 29.193582325235752 + ], + [ + 1192.6957557603448, + 33.268589000365694 + ], + [ + 1201.3205015130263, + 35.03746692656313 + ], + [ + 1202.8435584872327, + 30.937268105935175 + ], + [ + 1204.2943309640937, + 4.660244339971655 + ], + [ + 1202.7589477470046, + 8.629920483558976 + ], + [ + 1211.572962404442, + 10.35339762548881 + ], + [ + 1213.0489231532433, + 6.358733189743589 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1262.132766371365, + "ymin": 334.6860170899865, + "xmax": 1280.0, + "ymax": 379.2863531176501 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1277.857310539127, + 368.8224153911673 + ], + [ + 1263.8583699401975, + 364.39961613480733 + ], + [ + 1262.132766371365, + 374.76112879450295 + ], + [ + 1276.2847177656597, + 379.2863531176501 + ], + [ + 1296.4943454406907, + 339.08812667673914 + ], + [ + 1281.9948759315585, + 334.6860170899865 + ], + [ + 1280.4329282902445, + 345.0010331742238 + ], + [ + 1295.0967155361172, + 349.5081128360184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 584.0923177705647, + "ymin": 228.17589183785228, + "xmax": 603.2191738486658, + "ymax": 268.53407649664865 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 594.990640298924, + 268.53407649664865 + ], + [ + 603.2191738486658, + 260.433813011198 + ], + [ + 593.785897448718, + 257.0032783560073 + ], + [ + 585.4977752884628, + 265.0337187109314 + ], + [ + 593.8247853520865, + 239.5763242767988 + ], + [ + 602.2762743789839, + 231.56675899600725 + ], + [ + 592.6063914105852, + 228.17589183785228 + ], + [ + 584.0923177705647, + 236.11464843129758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1274.7693050947287, + "ymin": 260.9862321338961, + "xmax": 1280.0, + "ymax": 302.6865454394492 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1289.1187940910527, + 293.8891811913423 + ], + [ + 1276.2212582751627, + 290.1657501954812 + ], + [ + 1274.7693050947287, + 298.884109111792 + ], + [ + 1287.7966654809868, + 302.6865454394492 + ], + [ + 1306.4754255973735, + 264.6744948941259 + ], + [ + 1293.1548396521584, + 260.9862321338961 + ], + [ + 1291.8469244255311, + 269.6236321610396 + ], + [ + 1305.306112020179, + 273.39227579617557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 300.1573162481776, + "ymin": 204.02565779375922, + "xmax": 322.49823183496187, + "ymax": 236.47575806906377 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 313.63892704052705, + 236.47575806906377 + ], + [ + 322.49823183496187, + 230.24233616258405 + ], + [ + 315.8637968391804, + 227.58046602740765 + ], + [ + 306.98178854368865, + 233.77058242606165 + ], + [ + 306.9269477396492, + 212.8245135233812 + ], + [ + 316.02209381405817, + 206.65823399563286 + ], + [ + 309.2757141289761, + 204.02565779375922 + ], + [ + 300.1573162481776, + 210.14822551430748 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1031.9253020432284, + "ymin": 0.0, + "xmax": 1048.972451872994, + "ymax": 1.8657384478401582 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1034.496013236138, + -3.324018280730229 + ], + [ + 1031.9253020432284, + 0.2955048255724364 + ], + [ + 1039.5814941135816, + 1.8657384478401582 + ], + [ + 1042.1080090626956, + -1.7748677184922599 + ], + [ + 1041.2107168787925, + -26.979930347262552 + ], + [ + 1038.6421984986378, + -23.461314605531925 + ], + [ + 1046.4499303872228, + -21.934604638694395 + ], + [ + 1048.972451872994, + -25.474067282685837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 500.07072118571153, + "ymin": 198.88919902329502, + "xmax": 520.9656166222162, + "ymax": 238.02296626012003 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 512.2453535592254, + 238.02296626012003 + ], + [ + 520.9656166222162, + 230.521254921495 + ], + [ + 512.2246632923558, + 227.34249251894911 + ], + [ + 503.4558423515228, + 234.7819599852097 + ], + [ + 509.06451967406724, + 209.42854309774714 + ], + [ + 518.0312626746552, + 202.0252029226539 + ], + [ + 509.08818463403526, + 198.88919902329502 + ], + [ + 500.07072118571153, + 206.22959937205746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 407.43082796445333, + "ymin": 166.57158029050592, + "xmax": 430.0483219107947, + "ymax": 204.3251035731702 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 420.8576964435781, + 204.3251035731702 + ], + [ + 430.0483219107947, + 197.45801280999922 + ], + [ + 422.04203816918425, + 194.54642254514206 + ], + [ + 412.8136693234536, + 201.35898376643246 + ], + [ + 415.64411558018173, + 176.20049322351653 + ], + [ + 425.10070116437214, + 169.43794629485873 + ], + [ + 416.9265614680338, + 166.57158029050592 + ], + [ + 407.43082796445333, + 173.2791640583238 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1170.620044578153, + "ymin": 579.1972508679623, + "xmax": 1204.7497021326724, + "ymax": 623.051011058706 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1187.8922672574288, + 609.0951626222226 + ], + [ + 1173.5313228004372, + 603.1698383087796 + ], + [ + 1170.620044578153, + 616.9809904368136 + ], + [ + 1185.1404326324605, + 623.051011058706 + ], + [ + 1204.7497021326724, + 585.1765608793851 + ], + [ + 1189.8594996424715, + 579.1972508679623 + ], + [ + 1187.0617820168084, + 593.1371855495915 + ], + [ + 1202.1236516227937, + 599.2670750999594 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.418130249018, + "ymin": 358.50092621164083, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1003.2737562266577, + 984.0446976413405 + ], + [ + 1014.0374930453869, + 944.1728473993244 + ], + [ + 643.5606421369757, + 733.4765407214264 + ], + [ + 625.844645369463, + 762.7052692466161 + ], + [ + 1284.8592477272105, + 672.0990768729015 + ], + [ + 1290.7508828503153, + 616.9489751494062 + ], + [ + 645.6052584429868, + 358.50092621164083 + ], + [ + 617.418130249018, + 391.37592717565917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 445.71834863025623, + "ymin": 0.0, + "xmax": 643.4227471758245, + "ymax": 164.4756717039761 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 642.9836929887866, + 46.646877813926835 + ], + [ + 635.083189582445, + 44.538486474493595 + ], + [ + 475.5343858494447, + 161.43369237726913 + ], + [ + 484.33354009074094, + 164.4756717039761 + ], + [ + 643.4227471758245, + -150.5121524473514 + ], + [ + 634.3626671903098, + -152.11406174791205 + ], + [ + 445.71834863025623, + -60.65654870523366 + ], + [ + 455.96756394016217, + -58.20247241388029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 626.962518463695, + "ymin": 376.2934316389979, + "xmax": 688.1857044331898, + "ymax": 418.1544260986153 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 670.6805449259389, + 418.1544260986153 + ], + [ + 688.0956650087013, + 395.7604679547389 + ], + [ + 645.0777313374679, + 378.1454532302514 + ], + [ + 626.9869828059091, + 399.6925630690032 + ], + [ + 670.7393620605137, + 416.298054448342 + ], + [ + 688.1857044331898, + 393.90574019788875 + ], + [ + 645.0870576184134, + 376.2934316389979 + ], + [ + 626.962518463695, + 397.83740110399145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 626.963151253975, + "ymin": 376.34133368048003, + "xmax": 688.1833755075028, + "ymax": 418.202260828402 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 670.6790293340913, + 418.202260828402 + ], + [ + 688.0933447782969, + 395.8082625264803 + ], + [ + 645.0774909993628, + 378.1931797959054 + ], + [ + 626.9876132236604, + 399.7403684432168 + ], + [ + 670.737840652211, + 416.3460727556267 + ], + [ + 688.1833755075028, + 393.95371388430567 + ], + [ + 645.0868163966594, + 376.34133368048003 + ], + [ + 626.963151253975, + 397.8853863900474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 242.74941003339558, + "ymin": 52.36786040051061, + "xmax": 640.9052873363385, + "ymax": 446.98331208268064 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 325.7223320886595, + 296.7268994159795 + ], + [ + 316.14171803578853, + 303.96785125976373 + ], + [ + 632.7006038951064, + 446.98331208268064 + ], + [ + 640.7115857654874, + 437.08741671433694 + ], + [ + 255.25117704222623, + 52.36786040051061 + ], + [ + 242.74941003339558, + 58.649091624493394 + ], + [ + 630.6878966504227, + 187.92845038548376 + ], + [ + 640.9052873363385, + 178.6505235293984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.8677629439153, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 209.3561091014082 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1289.7928032253228, + 209.3561091014082 + ], + [ + 1290.8637538131363, + 203.64584209288444 + ], + [ + 969.0120917047138, + 119.55740937403999 + ], + [ + 965.8677629439153, + 124.04201815488767 + ], + [ + 1417.2509486332335, + -21.540268301347112 + ], + [ + 1417.3666303634686, + -26.25280111841056 + ], + [ + 1024.484495283301, + -94.0504818677461 + ], + [ + 1021.2485369350379, + -90.50859959492908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.0558544142682, + "ymin": 116.59351776082951, + "xmax": 1280.0, + "ymax": 698.3640978897139 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1135.0558544142682, + 688.9700555714898 + ], + [ + 1155.5944308543144, + 698.3640978897139 + ], + [ + 1227.447349042623, + 374.58809093128 + ], + [ + 1211.8540961083227, + 369.46031086942656 + ], + [ + 1317.461437036465, + 431.9670980336961 + ], + [ + 1347.5638727673518, + 442.15808212348554 + ], + [ + 1374.5387016308823, + 121.21824310822342 + ], + [ + 1354.036245579648, + 116.59351776082951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1275.6896837312825, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 227.4415070348766 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1275.6896837312825, + 107.08487846551944 + ], + [ + 1290.2632576824951, + 188.24030816244064 + ], + [ + 1504.7986962863442, + 227.4415070348766 + ], + [ + 1464.4076227796663, + 137.82688893873214 + ], + [ + 1432.440787160889, + -208.3953894083436 + ], + [ + 1476.5669728006665, + -155.06317427788326 + ], + [ + 1770.0484822397225, + -128.0589452463962 + ], + [ + 1679.9172525039648, + -188.58698052893817 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00106/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00106/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..079914ea1f1e8ea1f0637f165bb5b1db9d74e6d6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00106/meta.json @@ -0,0 +1,3310 @@ +{ + "frame_id": 106, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 53.0, + "sim_timestamp": 1408.9905013039242 + }, + "drone_pose": { + "x": -135.112274504593, + "y": -24.356381246753642, + "z": 20.0, + "pitch": -43.104033431558406, + "yaw": 57.48225782429688, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.392480731010437, + -0.6156505346298218, + 0.6833252310752869, + 54.35748291015625 + ], + [ + 0.8432250022888184, + 0.5375607013702393, + 0.0, + -100.8370132446289 + ], + [ + -0.36732882261276245, + 0.5761969089508057, + 0.7301141619682312, + -78.26698303222656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.209991451976, + "y": -23.403750690628275, + "z": 20.0 + }, + "t1_image_uv": [ + 1681.1921869190958, + -538.4788802337965 + ], + "t1_depth": 0.548135501705916 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -124.16718292236328, + "y": -7.187763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.88695342396941, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 621, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -124.16718292236328, + "y": -7.18776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3562109172344208, + "y": 0.4503222703933716, + "z": 0.885350227355957 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.9404938723977, + "ymin": 326.9449759018595, + "xmax": 658.3032543736573, + "ymax": 392.3978517180366 + }, + "corners_3d": [ + [ + -124.10063934326172, + -7.758068084716797, + 0.05879241228103638 + ], + [ + -124.73748779296875, + -7.1212158203125, + 0.05879241228103638 + ], + [ + -124.23372650146484, + -6.617457389831543, + 0.05879241228103638 + ], + [ + -123.59687805175781, + -7.25430965423584, + 0.05879241228103638 + ], + [ + -124.10063934326172, + -7.758068084716797, + 1.8294928073883057 + ], + [ + -124.73748779296875, + -7.1212158203125, + 1.8294928073883057 + ], + [ + -124.23372650146484, + -6.617457389831543, + 1.8294928073883057 + ], + [ + -123.59687805175781, + -7.25430965423584, + 1.8294928073883057 + ] + ], + "corners_2d": [ + [ + 627.6387962972445, + 392.3978517180366 + ], + [ + 657.5209510256793, + 387.72431902847404 + ], + [ + 652.0824062613871, + 371.4013569291273 + ], + [ + 622.7025342398397, + 375.91121190946046 + ], + [ + 627.0839636201424, + 347.811971544856 + ], + [ + 658.3032543736573, + 343.163608752634 + ], + [ + 652.6119566589127, + 326.9449759018595 + ], + [ + 621.9404938723977, + 331.42345547141076 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 106, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 666050, + "2": 119205, + "3": 25016, + "4": 31388, + "6": 20403, + "7": 2870, + "9": 49, + "10": 19, + "12": 2940, + "14": 14974, + "20": 315, + "24": 38371 + }, + "instance_pixel_counts": { + "11605": 11962, + "12117": 2, + "15701": 129, + "15970": 307, + "16479": 1779, + "16482": 1494, + "16994": 1861, + "17496": 9143, + "17506": 2529, + "17547": 77, + "18018": 957, + "18059": 2938, + "19042": 590, + "19083": 2382, + "19554": 1962, + "19595": 5125, + "20107": 3587, + "20565": 12923, + "21131": 156, + "21395": 15067, + "21397": 481, + "21643": 6550, + "21907": 250340, + "21909": 22099, + "22421": 3325, + "22931": 153470, + "23957": 743, + "24467": 20859, + "25344": 622, + "25600": 7542, + "25856": 4526, + "26112": 1440, + "36096": 621, + "36352": 416, + "36608": 611, + "36864": 649, + "37120": 37, + "37376": 606, + "37632": 15, + "37888": 3705, + "38912": 93, + "40448": 3698, + "40704": 3724, + "41216": 3739, + "45409": 1222, + "45971": 12456, + "46483": 139408, + "46995": 50834, + "47201": 7935, + "47507": 3820, + "47713": 4981, + "48225": 2893, + "49043": 19796, + "49761": 9920, + "51526": 31388, + "53857": 2071, + "56458": 3447, + "56970": 8096, + "57482": 34736, + "58506": 11610, + "60307": 601, + "60819": 8492, + "61254": 364, + "61331": 1497, + "61843": 89, + "62867": 1044 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 621, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -124.16718292236328, + "y": -7.18776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5042529106140137, + "y": 0.4527856409549713, + "z": 0.8977121710777283 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.8056004215881, + "ymin": 323.3134546817977, + "xmax": 659.6041289134192, + "ymax": 396.2094322659192 + }, + "corners_3d": [ + [ + -124.20357513427734, + -7.864490985870361, + 0.04643046855926514 + ], + [ + -124.84391021728516, + -7.224155426025391, + 0.04643046855926514 + ], + [ + -124.13079071044922, + -6.5110344886779785, + 0.04643046855926514 + ], + [ + -123.4904556274414, + -7.151370048522949, + 0.04643046855926514 + ], + [ + -124.20357513427734, + -7.864490985870361, + 1.8418548107147217 + ], + [ + -124.84391021728516, + -7.224155426025391, + 1.8418548107147217 + ], + [ + -124.13079071044922, + -6.5110344886779785, + 1.8418548107147217 + ], + [ + -123.4904556274414, + -7.151370048522949, + 1.8418548107147217 + ] + ], + "corners_2d": [ + [ + 628.607849594142, + 396.2094322659192 + ], + [ + 658.7516131403115, + 391.4749683174014 + ], + [ + 651.052811223764, + 368.36637751318176 + ], + [ + 621.6235973490897, + 372.8679003275349 + ], + [ + 628.0871641375064, + 350.98260164302343 + ], + [ + 659.6041289134192, + 346.2723938957134 + ], + [ + 651.5422720863138, + 323.3134546817977 + ], + [ + 620.8056004215881, + 327.7817609139664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 416, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -120.04119873046875, + "y": -4.19005823135376, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4255322217941284, + "y": 0.47901809215545654, + "z": 0.9217061996459961 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 562.8518165735934, + "ymin": 226.9827383203779, + "xmax": 602.1536847303761, + "ymax": 293.9909385489636 + }, + "corners_3d": [ + [ + -120.1371841430664, + -4.8235578536987305, + 0.022441327571868896 + ], + [ + -120.65897369384766, + -4.020081520080566, + 0.022441327571868896 + ], + [ + -119.9452133178711, + -3.55655837059021, + 0.022441327571868896 + ], + [ + -119.42342376708984, + -4.360034942626953, + 0.022441327571868896 + ], + [ + -120.1371841430664, + -4.8235578536987305, + 1.8658537864685059 + ], + [ + -120.65897369384766, + -4.020081520080566, + 1.8658537864685059 + ], + [ + -119.9452133178711, + -3.55655837059021, + 1.8658537864685059 + ], + [ + -119.42342376708984, + -4.360034942626953, + 1.8658537864685059 + ] + ], + "corners_2d": [ + [ + 575.2791915765241, + 293.9909385489636 + ], + [ + 602.1536847303761, + 286.41313302854746 + ], + [ + 592.3670424312281, + 272.01973566464306 + ], + [ + 565.8773840590048, + 279.33423199323664 + ], + [ + 572.5880763865645, + 248.59587315698354 + ], + [ + 600.5949356499073, + 241.1362072337616 + ], + [ + 590.4408337330054, + 226.9827383203779 + ], + [ + 562.8518165735934, + 234.17276553826946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 611, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -126.42300415039062, + "y": -0.24505065381526947, + "z": 0.9441621899604797 + }, + "extent": { + "x": 0.5120898485183716, + "y": 0.4683458209037781, + "z": 0.9414435625076294 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 790.057464328537, + "ymin": 227.48111408209186, + "xmax": 837.1672309886535, + "ymax": 297.40422249135037 + }, + "corners_3d": [ + [ + -126.52622985839844, + -0.9312922358512878, + 0.002718627452850342 + ], + [ + -127.11571502685547, + -0.2033456414937973, + 0.002718627452850342 + ], + [ + -126.31977844238281, + 0.4411908984184265, + 0.002718627452850342 + ], + [ + -125.73029327392578, + -0.28675568103790283, + 0.002718627452850342 + ], + [ + -126.52622985839844, + -0.9312922358512878, + 1.885605812072754 + ], + [ + -127.11571502685547, + -0.2033456414937973, + 1.885605812072754 + ], + [ + -126.31977844238281, + 0.4411908984184265, + 1.885605812072754 + ], + [ + -125.73029327392578, + -0.28675568103790283, + 1.885605812072754 + ] + ], + "corners_2d": [ + [ + 803.3492808897225, + 297.40422249135037 + ], + [ + 829.1578738746845, + 291.6826641885765 + ], + [ + 815.3898143336271, + 273.5013696108179 + ], + [ + 790.057464328537, + 278.97423124858733 + ], + [ + 810.3155484795086, + 250.9908326579019 + ], + [ + 837.1672309886535, + 245.3581592808434 + ], + [ + 822.6468274475999, + 227.48111408209186 + ], + [ + 796.3099061994856, + 232.85890593760914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 649, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -127.74694061279297, + "y": -7.18776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4775927662849426, + "y": 0.4542211890220642, + "z": 0.8758545517921448 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 726.7651147328467, + "ymin": 370.57827333346927, + "xmax": 773.6204130256882, + "ymax": 444.23991683941375 + }, + "corners_3d": [ + [ + -127.76346588134766, + -7.846654891967773, + 0.06828808784484863 + ], + [ + -128.4058380126953, + -7.204288959503174, + 0.06828808784484863 + ], + [ + -127.73041534423828, + -6.528870582580566, + 0.06828808784484863 + ], + [ + -127.08805084228516, + -7.171236515045166, + 0.06828808784484863 + ], + [ + -127.76346588134766, + -7.846654891967773, + 1.8199971914291382 + ], + [ + -128.4058380126953, + -7.204288959503174, + 1.8199971914291382 + ], + [ + -127.73041534423828, + -6.528870582580566, + 1.8199971914291382 + ], + [ + -127.08805084228516, + -7.171236515045166, + 1.8199971914291382 + ] + ], + "corners_2d": [ + [ + 736.4121263539939, + 444.23991683941375 + ], + [ + 767.6550325346615, + 438.985605608185 + ], + [ + 757.2842926609695, + 414.7766368060492 + ], + [ + 726.7651147328467, + 419.7733425887796 + ], + [ + 740.9428675322744, + 399.99585252946207 + ], + [ + 773.6204130256882, + 394.7436195260629 + ], + [ + 762.6231221380756, + 370.57827333346927 + ], + [ + 730.7363488183747, + 375.5613984697971 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 37, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -127.78268432617188, + "y": -18.31512451171875, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3625878691673279, + "y": 0.46747130155563354, + "z": 0.8997831344604492 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 467.69661656317135, + "ymin": 698.1886134615033, + "xmax": 523.523269888638, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.64757537841797, + -18.891098022460938, + 0.044349849224090576 + ], + [ + -128.37416076660156, + -18.302719116210938, + 0.044349849224090576 + ], + [ + -127.91779327392578, + -17.739151000976562, + 0.044349849224090576 + ], + [ + -127.19120788574219, + -18.327529907226562, + 0.044349849224090576 + ], + [ + -127.64757537841797, + -18.891098022460938, + 1.8439161777496338 + ], + [ + -128.37416076660156, + -18.302719116210938, + 1.8439161777496338 + ], + [ + -127.91779327392578, + -17.739151000976562, + 1.8439161777496338 + ], + [ + -127.19120788574219, + -18.327529907226562, + 1.8439161777496338 + ] + ], + "corners_2d": [ + [ + 478.32745584069926, + 778.0330615250211 + ], + [ + 523.523269888638, + 772.9621663933181 + ], + [ + 522.6798801188843, + 739.3630059317508 + ], + [ + 478.6431691327535, + 744.1769196604085 + ], + [ + 467.69661656317135, + 738.0734810850541 + ], + [ + 515.8957308752025, + 732.8345098863781 + ], + [ + 515.2064824918522, + 698.1886134615033 + ], + [ + 468.3233950650381, + 703.1453734355766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 606, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -112.92184448242188, + "y": -15.357976913452148, + "z": 1.093693494796753 + }, + "extent": { + "x": 0.3207470774650574, + "y": 0.44765806198120117, + "z": 0.8824354410171509 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 117.88347604348974, + "ymin": 345.7339320845982, + "xmax": 179.6993598255205, + "ymax": 406.50170874791013 + }, + "corners_3d": [ + [ + -112.72109985351562, + -15.870790481567383, + 0.21125805377960205 + ], + [ + -113.47197723388672, + -15.38316535949707, + 0.21125805377960205 + ], + [ + -113.12258911132812, + -14.845163345336914, + 0.21125805377960205 + ], + [ + -112.37171173095703, + -15.332788467407227, + 0.21125805377960205 + ], + [ + -112.72109985351562, + -15.870790481567383, + 1.9761289358139038 + ], + [ + -113.47197723388672, + -15.38316535949707, + 1.9761289358139038 + ], + [ + -113.12258911132812, + -14.845163345336914, + 1.9761289358139038 + ], + [ + -112.37171173095703, + -15.332788467407227, + 1.9761289358139038 + ] + ], + "corners_2d": [ + [ + 140.7516793907123, + 406.50170874791013 + ], + [ + 172.0597700633142, + 406.3129255817817 + ], + [ + 179.6993598255205, + 390.5142783042499 + ], + [ + 148.91640152953494, + 390.6968000482453 + ], + [ + 117.88347604348974, + 361.6477278913513 + ], + [ + 150.630120306266, + 361.45967031753094 + ], + [ + 158.98792362494606, + 345.7339320845982 + ], + [ + 126.81533540503074, + 345.9154740939933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 15, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 12.545354302077612, + "ymax": 50.07010388990847 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + -60.417881863697744, + 2.539309127806746 + ], + [ + -108.36637113185134, + 19.448322694351646 + ], + [ + -35.62922666068778, + 50.07010388990847 + ], + [ + 12.545354302077612, + 31.2853016445884 + ], + [ + -81.70139758041421, + -39.491653746868394 + ], + [ + -131.8399186325729, + -23.407107762579983 + ], + [ + -58.022948047537625, + 5.799554885009627 + ], + [ + -7.566564951354849, + -12.129079818234345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3705, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 470.2344062944619, + "ymin": 72.09433053021496, + "xmax": 580.0998642039555, + "ymax": 153.66495805246234 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 553.2672094225234, + 153.66495805246234 + ], + [ + 580.0998642039555, + 133.48835375854802 + ], + [ + 502.9752255800182, + 107.75240939989459 + ], + [ + 474.97552287705696, + 126.39172125980517 + ], + [ + 550.6701198033538, + 116.77242032625765 + ], + [ + 578.3600445163072, + 97.11646661631397 + ], + [ + 499.151976733593, + 72.09433053021496 + ], + [ + 470.2344062944619, + 90.21110797526518 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 93, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 44.84720895453927, + "ymax": 10.251058775986678 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 1.396013932656956, + -19.042318113041233 + ], + [ + -34.80111786213217, + -6.272087493886488 + ], + [ + 8.627686560528446, + 10.251058775986678 + ], + [ + 44.84720895453927, + -3.3143166102843793 + ], + [ + -11.575102146046788, + -47.57566935644331 + ], + [ + -48.851441712924725, + -35.255636221981604 + ], + [ + -4.935294343439182, + -19.296711058581195 + ], + [ + 32.384966136558546, + -32.40038158577852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3698, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 142.1834258952715, + "ymin": 17.205377365531774, + "xmax": 262.6016284301232, + "ymax": 93.30815372862713 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 188.3774771974297, + 49.280371561710695 + ], + [ + 154.16163212403762, + 64.9263751051119 + ], + [ + 228.84516969151684, + 93.30815372862713 + ], + [ + 262.6016284301232, + 76.17657788905217 + ], + [ + 177.53849742308256, + 17.205377365531774 + ], + [ + 142.1834258952715, + 32.36224948294824 + ], + [ + 218.21914256976896, + 59.90626443461343 + ], + [ + 253.11913974063248, + 43.27272658626015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3724, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 93.81184488094812, + "ymin": 48.15966140429373, + "xmax": 208.48006076889288, + "ymax": 132.12646289794077 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 149.2330797972819, + 89.12788942799352 + ], + [ + 111.02351272788951, + 107.23322031853681 + ], + [ + 170.5725137676534, + 132.12646289794077 + ], + [ + 208.48006076889288, + 112.6193304362705 + ], + [ + 133.7265533943933, + 48.15966140429373 + ], + [ + 93.81184488094812, + 65.63378280125158 + ], + [ + 154.6896686886878, + 89.71128920109737 + ], + [ + 194.31844131941057, + 70.838271127126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 3739, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1202.5368362518132, + "ymin": 473.79514471574487, + "xmax": 1280.0, + "ymax": 667.7874919779796 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1214.577377870593, + 513.0398926774346 + ], + [ + 1202.5368362518132, + 561.8953567226895 + ], + [ + 1456.2229593610464, + 667.7874919779796 + ], + [ + 1457.0712647924847, + 609.3263798865859 + ], + [ + 1240.415932118866, + 473.79514471574487 + ], + [ + 1229.0647067192979, + 523.0451455119446 + ], + [ + 1498.6105172835341, + 630.503581980217 + ], + [ + 1497.345086714736, + 571.0569063049777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 499.26425344453753, + "ymin": 0.0, + "xmax": 514.5412049047773, + "ymax": 21.795397558945012 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 501.72544504156485, + 20.004365241901098 + ], + [ + 507.89636408044066, + 21.795397558945012 + ], + [ + 514.5412049047773, + 17.958651594893013 + ], + [ + 508.3913144531163, + 16.192025920610774 + ], + [ + 499.26425344453753, + -4.304672543150446 + ], + [ + 505.5373352319996, + -2.561007219448811 + ], + [ + 512.3164497644084, + -6.29604018333157 + ], + [ + 506.06504413595155, + -8.015525122908059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2663665510550050633, + "instance_id": 18839, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1133.2667286611895, + "ymin": 1.6572797774925334, + "xmax": 1153.0575467196809, + "ymax": 31.934189781082182 + }, + "corners_3d": [ + [ + -132.25570678710938, + 12.455914497375488, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.076000213623047, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.076001167297363, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.455915451049805, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.455914497375488, + 6.416468620300293 + ], + [ + -132.25570678710938, + 12.076000213623047, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.076001167297363, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1135.6636795638556, + 26.12742956002114 + ], + [ + 1133.2667286611895, + 30.077974321733507 + ], + [ + 1141.610844464422, + 31.934189781082182 + ], + [ + 1143.957400353379, + 27.957897760603032 + ], + [ + 1144.5846189575805, + 1.6572797774925334 + ], + [ + 1142.2077716402687, + 5.5051119227131835 + ], + [ + 1150.7333586311022, + 7.313401225531948 + ], + [ + 1153.0575467196809, + 3.4400360248729953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4021541042808224586, + "instance_id": 19195, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -135.394287109375, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1226.5765727403648, + "ymin": 21.60063850381914, + "xmax": 1248.4806338647738, + "ymax": 52.83003117052414 + }, + "corners_3d": [ + [ + -135.25570678710938, + 12.45591926574707, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.076004981994629, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.076005935668945, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.455920219421387, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.45591926574707, + 6.416468620300293 + ], + [ + -135.25570678710938, + 12.076004981994629, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.076005935668945, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1228.3885525065093, + 46.592368586125076 + ], + [ + 1226.5765727403648, + 50.835565668590846 + ], + [ + 1235.5421532702035, + 52.83003117052414 + ], + [ + 1237.2954500636424, + 48.558168380439554 + ], + [ + 1239.3693566619827, + 21.60063850381914 + ], + [ + 1237.6044458536057, + 25.73895063796806 + ], + [ + 1246.7771907275524, + 27.684503290790303 + ], + [ + 1248.4806338647738, + 23.517707633759812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 587.1944784455166, + "ymin": 244.095583156217, + "xmax": 606.8628634747913, + "ymax": 285.1611056158091 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 598.0304719299626, + 285.1611056158091 + ], + [ + 606.8628634747913, + 276.8962865037732 + ], + [ + 597.4360492667356, + 273.1087201919895 + ], + [ + 588.5499958160595, + 281.29654893625013 + ], + [ + 596.9193794020223, + 256.0247783695878 + ], + [ + 605.9946314104631, + 247.84344025599341 + ], + [ + 596.3261390637558, + 244.095583156217 + ], + [ + 587.1944784455166, + 252.19871567423584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 307.0391390698119, + "ymin": 210.2701318449669, + "xmax": 329.49099754649455, + "ymax": 242.98004111885666 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 320.28951654079964, + 242.98004111885666 + ], + [ + 329.49099754649455, + 236.7702541978715 + ], + [ + 323.00489173848985, + 233.90019679583298 + ], + [ + 313.7859872899945, + 240.0639074207304 + ], + [ + 313.6518945178943, + 219.2549311948448 + ], + [ + 323.0966928056394, + 213.10967792014773 + ], + [ + 316.50168146061276, + 210.2701318449669 + ], + [ + 307.0391390698119, + 216.3688501799242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1060.3866699121857, + "ymin": 0.0, + "xmax": 1078.5960160324357, + "ymax": 15.616842611407549 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1063.207786381174, + 10.135953175235727 + ], + [ + 1060.3866699121857, + 13.865143640712006 + ], + [ + 1068.2609611404655, + 15.616842611407549 + ], + [ + 1071.0376325718196, + 11.864041549711487 + ], + [ + 1070.6051613006748, + -13.90852817447194 + ], + [ + 1067.7855610064644, + -10.280021336059917 + ], + [ + 1075.8227677424138, + -8.575318432052711 + ], + [ + 1078.5960160324357, + -12.227203302071587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 503.53197457504393, + "ymin": 211.8377509195916, + "xmax": 524.8865906064201, + "ymax": 251.56683678316773 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 515.6174131398952, + 251.56683678316773 + ], + [ + 524.8865906064201, + 243.95935817744032 + ], + [ + 516.2043542616524, + 240.47095304410539 + ], + [ + 506.8928667621982, + 248.01042202017754 + ], + [ + 512.4622499407195, + 222.79688267279755 + ], + [ + 521.9953786178608, + 215.28232159506877 + ], + [ + 513.1092863534304, + 211.8377509195916 + ], + [ + 503.53197457504393, + 219.28344897609583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 411.89410975773444, + "ymin": 176.47323237026848, + "xmax": 434.8530343066979, + "ymax": 214.7023211448781 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 425.18183747004025, + 214.7023211448781 + ], + [ + 434.8530343066979, + 207.7851198573859 + ], + [ + 426.9534185827898, + 204.61116099004417 + ], + [ + 417.25082615657084, + 211.46937750174635 + ], + [ + 419.9930396807905, + 186.4167954895633 + ], + [ + 429.9444355163481, + 179.60007410539032 + ], + [ + 421.878001192522, + 176.47323237026848 + ], + [ + 411.89410975773444, + 183.23043748813112 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.5132052606533, + "ymin": 0.0, + "xmax": 667.7707142347178, + "ymax": 1.387981825312579 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 657.5132052606533, + -0.005406309926001995 + ], + [ + 662.8955690620967, + 1.387981825312579 + ], + [ + 667.3826511651829, + -1.5830927500787197 + ], + [ + 662.0183148273951, + -2.9612060651076035 + ], + [ + 657.7621396302726, + -19.702433062713112 + ], + [ + 663.2218629942463, + -18.340882854717506 + ], + [ + 667.7707142347178, + -21.24394958875689 + ], + [ + 662.3295430068831, + -22.590363334304527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1183.0398021695146, + "ymin": 626.696366017298, + "xmax": 1219.6207949857417, + "ymax": 671.8212274542673 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1201.5861551146459, + 656.9899238558813 + ], + [ + 1186.635649393013, + 650.1789133427023 + ], + [ + 1183.0398021695146, + 664.8406636160261 + ], + [ + 1198.1549280072343, + 671.8212274542673 + ], + [ + 1219.6207949857417, + 633.5872275595241 + ], + [ + 1204.0869650871955, + 626.696366017298 + ], + [ + 1200.5970753562824, + 641.5331369224753 + ], + [ + 1216.308986576701, + 648.601137740346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 596.4521236986532, + "ymin": 394.81057814702854, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 994.9338157217926, + 1045.9281208133452 + ], + [ + 1007.8191844409416, + 1003.6857818097747 + ], + [ + 632.6275351475606, + 765.6081851869708 + ], + [ + 613.1233427482834, + 795.6874361185567 + ], + [ + 1290.8117069190037, + 762.6614047807254 + ], + [ + 1299.7748523285986, + 700.4361463116718 + ], + [ + 628.2192458823321, + 394.81057814702854 + ], + [ + 596.4521236986532, + 429.6899389510687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.6244040631741, + "ymin": 0.0, + "xmax": 666.9727141772944, + "ymax": 171.01230494067198 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 663.4698242246096, + 53.21551325657896 + ], + [ + 655.57092442622, + 50.931278521343756 + ], + [ + 489.2730161816105, + 167.73054525692794 + ], + [ + 497.9716665505198, + 171.01230494067198 + ], + [ + 666.9727141772944, + -145.6638760977238 + ], + [ + 657.8845925085835, + -147.4056669191201 + ], + [ + 461.6244040631741, + -55.69391328680382 + ], + [ + 471.7752930624826, + -53.0366059072789 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 606.9067292408236, + "ymin": 413.22391934254335, + "xmax": 670.9458403787128, + "ymax": 459.1675207077709 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 651.1214750396236, + 459.1675207077709 + ], + [ + 670.8855206834496, + 435.32848636324667 + ], + [ + 627.3575407311292, + 415.08012168946146 + ], + [ + 606.9714068030728, + 437.92646411885926 + ], + [ + 651.1437281617704, + 457.31354102864134 + ], + [ + 670.9458403787128, + 433.47233671284397 + ], + [ + 627.3333642742848, + 413.22391934254335 + ], + [ + 606.9067292408236, + 436.07044026799684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 606.9084023062923, + "ymin": 413.27193304828404, + "xmax": 670.9442800495431, + "ymax": 459.2152897016656 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 651.1209016734384, + 459.2152897016656 + ], + [ + 670.8839664309925, + 435.3763136134074 + ], + [ + 627.3581637097856, + 415.1279522897637 + ], + [ + 606.9730733354108, + 437.9742878719537 + ], + [ + 651.1431524988354, + 457.36150137219704 + ], + [ + 670.9442800495431, + 433.52035095479624 + ], + [ + 627.3339896378325, + 413.27193304828404 + ], + [ + 606.9084023062923, + 436.11845149949403 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 249.8502954866848, + "ymin": 57.8013431920337, + "xmax": 644.4833993264989, + "ymax": 465.76209695320983 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 332.4705368996128, + 303.0840381948472 + ], + [ + 322.5312064655446, + 310.28070246309636 + ], + [ + 634.892075031598, + 465.76209695320983 + ], + [ + 643.5050868157936, + 455.70289110261 + ], + [ + 262.79734224001487, + 57.8013431920337 + ], + [ + 249.8502954866848, + 64.06784685910657 + ], + [ + 633.4478871500157, + 205.65417791751497 + ], + [ + 644.4833993264989, + 196.11996165550374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 990.1023526956682, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 233.86056472551854 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1324.3828477134937, + 233.86056472551854 + ], + [ + 1325.6983774608575, + 227.8969445751109 + ], + [ + 993.521100020775, + 133.90049564921185 + ], + [ + 990.1023526956682, + 138.4865674281258 + ], + [ + 1464.0778410359967, + -1.2576884369065624 + ], + [ + 1464.3626172803538, + -6.244696396398581 + ], + [ + 1054.7249821359978, + -82.82503319023118 + ], + [ + 1051.1999191790167, + -79.17480935344241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1144.8692913066102, + "ymin": 144.47267927067034, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1144.8692913066102, + 735.8631114041132 + ], + [ + 1166.1428509838245, + 746.5890737388667 + ], + [ + 1253.2352925987188, + 406.012853959944 + ], + [ + 1237.0296544514563, + 400.2059881728718 + ], + [ + 1340.9139954820175, + 483.51329523573526 + ], + [ + 1372.843422254491, + 495.4946344675377 + ], + [ + 1413.6047586429502, + 149.80239276641066 + ], + [ + 1391.9521174395577, + 144.47267927067034 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00107/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00107/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fb3f5bf51017832ce7090ccfaea8921198eedf4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00107/meta.json @@ -0,0 +1,3411 @@ +{ + "frame_id": 107, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 53.5, + "sim_timestamp": 1421.782862708671 + }, + "drone_pose": { + "x": -135.209991451976, + "y": -23.403750690628275, + "z": 20.0, + "pitch": -43.16954969833073, + "yaw": 55.373948268549704, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4144197702407837, + -0.6001515984535217, + 0.6841595768928528, + 56.39630126953125 + ], + [ + 0.8228780627250671, + 0.5682179927825928, + 2.9802322387695312e-08, + -97.96290588378906 + ], + [ + -0.3887518048286438, + 0.5629799365997314, + 0.7293323278427124, + -80.32561492919922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.28681372411629, + "y": -22.406579779883625, + "z": 20.0 + }, + "t1_image_uv": [ + 1707.0924053258561, + -540.540371036778 + ], + "t1_depth": 0.5666170502431522 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -123.66718292236328, + "y": -6.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 27.852941719733025, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 607, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -123.66718292236328, + "y": -6.68776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4738427698612213, + "y": 0.4539593458175659, + "z": 0.8774737119674683 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.4554087074046, + "ymin": 324.76981943596, + "xmax": 658.9300723679002, + "ymax": 394.7259002512174 + }, + "corners_3d": [ + [ + -123.68124389648438, + -7.343817710876465, + 0.06666892766952515 + ], + [ + -124.32323455810547, + -6.701822280883789, + 0.06666892766952515 + ], + [ + -123.65312194824219, + -6.031707763671875, + 0.06666892766952515 + ], + [ + -123.0111312866211, + -6.673703193664551, + 0.06666892766952515 + ], + [ + -123.68124389648438, + -7.343817710876465, + 1.8216164112091064 + ], + [ + -124.32323455810547, + -6.701822280883789, + 1.8216164112091064 + ], + [ + -123.65312194824219, + -6.031707763671875, + 1.8216164112091064 + ], + [ + -123.0111312866211, + -6.673703193664551, + 1.8216164112091064 + ] + ], + "corners_2d": [ + [ + 627.6393188979065, + 394.7259002512174 + ], + [ + 658.1233178424601, + 390.7674204989027 + ], + [ + 652.018352957791, + 368.8224061504021 + ], + [ + 622.2303144517408, + 372.59615337508075 + ], + [ + 627.0866432601737, + 350.5205610691524 + ], + [ + 658.9300723679002, + 346.5812967238644 + ], + [ + 652.5401928656706, + 324.76981943596 + ], + [ + 621.4554087074046, + 328.5173482028137 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 107, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 63, + "semantic_pixel_counts": { + "1": 676188, + "2": 107125, + "3": 27101, + "4": 31804, + "6": 17317, + "7": 3202, + "9": 130, + "10": 21, + "12": 2990, + "14": 14652, + "20": 397, + "24": 40673 + }, + "instance_pixel_counts": { + "11605": 13463, + "15701": 227, + "15970": 335, + "16479": 2407, + "16482": 1548, + "16994": 1400, + "17496": 7806, + "17506": 1814, + "17547": 122, + "18018": 1146, + "18059": 3068, + "19083": 827, + "19554": 2000, + "19595": 868, + "20107": 4378, + "20565": 13411, + "21395": 16048, + "21397": 517, + "21643": 6907, + "21907": 260930, + "21909": 24367, + "22421": 2893, + "22931": 138586, + "23957": 756, + "24467": 21037, + "25344": 802, + "25600": 7641, + "25856": 2546, + "26112": 1724, + "36096": 607, + "36352": 441, + "36608": 628, + "36864": 646, + "37120": 115, + "37376": 553, + "37632": 565, + "37888": 3766, + "38912": 10, + "40448": 3663, + "40704": 3670, + "41216": 2978, + "45409": 1416, + "45971": 12093, + "46483": 144945, + "46995": 56368, + "47201": 817, + "47507": 5764, + "47713": 3412, + "48225": 3001, + "49043": 20417, + "49761": 9807, + "51526": 31804, + "53857": 2113, + "56458": 4557, + "56970": 8338, + "57482": 34533, + "58506": 12311, + "60307": 578, + "60819": 8558, + "61254": 527, + "61331": 1637, + "61843": 155, + "62867": 1212 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 607, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -123.66718292236328, + "y": -6.68776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4178515672683716, + "y": 0.44393065571784973, + "z": 0.8915044069290161 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.1192676678327, + "ymin": 325.7022571793462, + "xmax": 658.20055976998, + "ymax": 393.6830175158368 + }, + "corners_3d": [ + [ + -123.64874267578125, + -7.297134876251221, + 0.052638232707977295 + ], + [ + -124.27655792236328, + -6.6693220138549805, + 0.052638232707977295 + ], + [ + -123.68562316894531, + -6.078390598297119, + 0.052638232707977295 + ], + [ + -123.05780792236328, + -6.706203460693359, + 0.052638232707977295 + ], + [ + -123.64874267578125, + -7.297134876251221, + 1.8356471061706543 + ], + [ + -124.27655792236328, + -6.6693220138549805, + 1.8356471061706543 + ], + [ + -123.68562316894531, + -6.078390598297119, + 1.8356471061706543 + ], + [ + -123.05780792236328, + -6.706203460693359, + 1.8356471061706543 + ] + ], + "corners_2d": [ + [ + 627.65432240355, + 393.6830175158368 + ], + [ + 657.4138454391316, + 389.8230372289694 + ], + [ + 652.0389283518386, + 370.4692911519479 + ], + [ + 622.8791539669202, + 374.1700290707149 + ], + [ + 627.094156291091, + 348.77678908319456 + ], + [ + 658.20055976998, + 344.93634821015735 + ], + [ + 652.5710030535057, + 325.7022571793462 + ], + [ + 622.1192676678327, + 329.3773217919541 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 441, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -119.54119873046875, + "y": -3.690058469772339, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4965575933456421, + "y": 0.4475032091140747, + "z": 0.9020959138870239 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 568.8370160762183, + "ymin": 225.23960450297335, + "xmax": 607.0918371047029, + "ymax": 292.9029876936504 + }, + "corners_3d": [ + [ + -119.71392059326172, + -4.335811138153076, + 0.042051613330841064 + ], + [ + -120.20137786865234, + -3.585195779800415, + 0.042051613330841064 + ], + [ + -119.36847686767578, + -3.0443058013916016, + 0.042051613330841064 + ], + [ + -118.88101959228516, + -3.7949211597442627, + 0.042051613330841064 + ], + [ + -119.71392059326172, + -4.335811138153076, + 1.8462433815002441 + ], + [ + -120.20137786865234, + -3.585195779800415, + 1.8462433815002441 + ], + [ + -119.36847686767578, + -3.0443058013916016, + 1.8462433815002441 + ], + [ + -118.88101959228516, + -3.7949211597442627, + 1.8462433815002441 + ] + ], + "corners_2d": [ + [ + 581.6253490790469, + 292.9029876936504 + ], + [ + 607.0918371047029, + 286.3843584120037 + ], + [ + 596.583556185297, + 269.3099553608569 + ], + [ + 571.56584805031, + 275.5611520372242 + ], + [ + 579.2461638638806, + 248.45801130382569 + ], + [ + 605.7615080885485, + 242.03753430428995 + ], + [ + 594.8660982976332, + 225.23960450297335 + ], + [ + 568.8370160762183, + 231.38632786109991 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 628, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -125.92300415039062, + "y": 0.25494933128356934, + "z": 0.9444943070411682 + }, + "extent": { + "x": 0.4350244104862213, + "y": 0.47903791069984436, + "z": 0.9391429424285889 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 796.898421357263, + "ymin": 232.5555940281842, + "xmax": 842.6766679716617, + "ymax": 299.6549651408815 + }, + "corners_3d": [ + [ + -125.95960998535156, + -0.39110279083251953, + 0.005351364612579346 + ], + [ + -126.56255340576172, + 0.35346248745918274, + 0.005351364612579346 + ], + [ + -125.88639831542969, + 0.9010014533996582, + 0.005351364612579346 + ], + [ + -125.28345489501953, + 0.15643617510795593, + 0.005351364612579346 + ], + [ + -125.95960998535156, + -0.39110279083251953, + 1.8836371898651123 + ], + [ + -126.56255340576172, + 0.35346248745918274, + 1.8836371898651123 + ], + [ + -125.88639831542969, + 0.9010014533996582, + 1.8836371898651123 + ], + [ + -125.28345489501953, + 0.15643617510795593, + 1.8836371898651123 + ] + ], + "corners_2d": [ + [ + 807.4648222746434, + 299.6549651408815 + ], + [ + 834.4139849420975, + 294.4044550007273 + ], + [ + 823.4017142594145, + 278.583396814499 + ], + [ + 796.898421357263, + 283.6362101542362 + ], + [ + 814.6288252595783, + 253.29389052123332 + ], + [ + 842.6766679716617, + 248.12226193143528 + ], + [ + 831.0425193890576, + 232.5555940281842 + ], + [ + 803.4770697233926, + 237.5244385131998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 646, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -127.24694061279297, + "y": -6.68776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3553808629512787, + "y": 0.37889769673347473, + "z": 0.8892406821250916 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 728.6086327361769, + "ymin": 376.84027083944426, + "xmax": 767.0591717154964, + "ymax": 443.71691122449977 + }, + "corners_3d": [ + [ + -127.23030853271484, + -7.206975936889648, + 0.054901957511901855 + ], + [ + -127.76615142822266, + -6.671133518218994, + 0.054901957511901855 + ], + [ + -127.2635726928711, + -6.168549537658691, + 0.054901957511901855 + ], + [ + -126.72772979736328, + -6.704391956329346, + 0.054901957511901855 + ], + [ + -127.23030853271484, + -7.206975936889648, + 1.833383321762085 + ], + [ + -127.76615142822266, + -6.671133518218994, + 1.833383321762085 + ], + [ + -127.2635726928711, + -6.168549537658691, + 1.833383321762085 + ], + [ + -126.72772979736328, + -6.704391956329346, + 1.833383321762085 + ] + ], + "corners_2d": [ + [ + 734.9088567419672, + 443.71691122449977 + ], + [ + 761.2845701043825, + 440.05809527114695 + ], + [ + 754.5143712942398, + 421.7308935739091 + ], + [ + 728.6086327361769, + 425.2539767308326 + ], + [ + 739.4453242320427, + 398.80249161268705 + ], + [ + 767.0591717154964, + 395.14438352254876 + ], + [ + 759.8599716325427, + 376.84027083944426 + ], + [ + 732.76079102143, + 380.35638815459555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 115, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -127.28268432617188, + "y": -17.81512451171875, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4613281190395355, + "y": 0.47605466842651367, + "z": 0.8782182931900024 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 445.72253172127074, + "ymin": 690.408808531767, + "xmax": 504.7320363253574, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.20304107666016, + -18.473234176635742, + 0.06592434644699097 + ], + [ + -127.9429702758789, + -17.874053955078125, + 0.06592434644699097 + ], + [ + -127.3623275756836, + -17.157014846801758, + 0.06592434644699097 + ], + [ + -126.62239837646484, + -17.756195068359375, + 0.06592434644699097 + ], + [ + -127.20304107666016, + -18.473234176635742, + 1.8223609924316406 + ], + [ + -127.9429702758789, + -17.874053955078125, + 1.8223609924316406 + ], + [ + -127.3623275756836, + -17.157014846801758, + 1.8223609924316406 + ], + [ + -126.62239837646484, + -17.756195068359375, + 1.8223609924316406 + ] + ], + "corners_2d": [ + [ + 457.4451236444707, + 776.9673512036302 + ], + [ + 503.56966922720085, + 773.4732108033149 + ], + [ + 504.7320363253574, + 730.7560188778571 + ], + [ + 460.11379840554366, + 734.0263876675194 + ], + [ + 445.72253172127074, + 738.0267697011225 + ], + [ + 494.83364416866584, + 734.4187760576494 + ], + [ + 496.36942821426993, + 690.408808531767 + ], + [ + 448.9623958755741, + 693.7716860535762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 553, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -113.0880126953125, + "y": -14.37397575378418, + "z": 1.0941475629806519 + }, + "extent": { + "x": 0.3461083769798279, + "y": 0.4177654981613159, + "z": 0.8945097327232361 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 153.97900434859804, + "ymin": 332.0135082589794, + "xmax": 212.2082999083293, + "ymax": 394.5219990932005 + }, + "corners_3d": [ + [ + -112.9261474609375, + -14.891777992248535, + 0.19963783025741577 + ], + [ + -113.62688446044922, + -14.436715126037598, + 0.19963783025741577 + ], + [ + -113.2498779296875, + -13.856173515319824, + 0.19963783025741577 + ], + [ + -112.54914093017578, + -14.311236381530762, + 0.19963783025741577 + ], + [ + -112.9261474609375, + -14.891777992248535, + 1.9886572360992432 + ], + [ + -113.62688446044922, + -14.436715126037598, + 1.9886572360992432 + ], + [ + -113.2498779296875, + -13.856173515319824, + 1.9886572360992432 + ], + [ + -112.54914093017578, + -14.311236381530762, + 1.9886572360992432 + ] + ], + "corners_2d": [ + [ + 175.30846260417536, + 393.942234818388 + ], + [ + 203.78628499318273, + 394.5219990932005 + ], + [ + 212.2082999083293, + 377.89318222300716 + ], + [ + 184.2314794937637, + 377.3338490693258 + ], + [ + 153.97900434859804, + 348.52653833990945 + ], + [ + 183.7509733012633, + 349.10346061801914 + ], + [ + 192.92498407631632, + 332.56919200056706 + ], + [ + 163.70014424804788, + 332.0135082589794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 565, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 37.20148179560033, + "ymax": 45.03400145042798 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + -32.24763100302596, + -3.100241850970747 + ], + [ + -79.86636499691645, + 13.13395220622158 + ], + [ + -10.942132617297489, + 45.03400145042798 + ], + [ + 37.20148179560033, + 26.905869914652385 + ], + [ + -52.53907803620723, + -44.95059824425448 + ], + [ + -102.27193874069576, + -29.51462069885298 + ], + [ + -32.408262178313635, + 0.8991602250550841 + ], + [ + 17.95802640616114, + -16.39774706496695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3766, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 485.882177235359, + "ymin": 77.03748491533514, + "xmax": 595.8179106172934, + "ymax": 160.92574326105998 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 567.7111590349216, + 160.92574326105998 + ], + [ + 595.8179106172934, + 140.73509038244902 + ], + [ + 519.3301895364475, + 112.89848323072707 + ], + [ + 490.2330334943123, + 131.4504715833575 + ], + [ + 565.5161967815383, + 123.80724628208588 + ], + [ + 594.5161273126479, + 104.12157481010141 + ], + [ + 515.9241415774037, + 77.03748491533514 + ], + [ + 485.882177235359, + 95.08070537418018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 10, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 70.81426015229476, + "ymax": 5.6851725102700925 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 29.269360388590144, + -23.859136544333694 + ], + [ + -6.7827513129191175, + -11.563165340625801 + ], + [ + 34.607521557464224, + 5.6851725102700925 + ], + [ + 70.81426015229476, + -7.415810597397808 + ], + [ + 16.92965452172473, + -52.292269497727546 + ], + [ + -20.168315227045127, + -40.4324805858962 + ], + [ + 21.66128671339129, + -23.776760409332326 + ], + [ + 58.940330806800034, + -36.42967355080191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3663, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 162.77723428331888, + "ymin": 15.807308670907219, + "xmax": 280.870776766899, + "ymax": 93.21852708351128 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 208.90211738725526, + 47.90207415763945 + ], + [ + 174.2673477602783, + 63.16512642349676 + ], + [ + 246.4714899188229, + 93.21852708351128 + ], + [ + 280.870776766899, + 76.41915634524389 + ], + [ + 198.5418353410534, + 15.807308670907219 + ], + [ + 162.77723428331888, + 30.593902629319473 + ], + [ + 236.26687822231997, + 59.76312773570453 + ], + [ + 271.81125617899954, + 43.4491607121098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3670, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 112.75059035097672, + "ymin": 46.59338610570859, + "xmax": 225.2360819372107, + "ymax": 131.55052059230593 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 168.0363498053685, + 87.57708929792432 + ], + [ + 129.36932091885177, + 105.22581891299396 + ], + [ + 186.66549377732446, + 131.55052059230593 + ], + [ + 225.2360819372107, + 112.45483381933968 + ], + [ + 153.10912962434088, + 46.59338610570859 + ], + [ + 112.75059035097672, + 63.6274719861093 + ], + [ + 171.28964863856032, + 89.09175948423041 + ], + [ + 211.58129727935858, + 70.61347673741733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 2978, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1219.9294453331454, + "ymin": 514.1237001003121, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1234.5110833971155, + 553.0338163241006 + ], + [ + 1219.9294453331454, + 604.5273393848845 + ], + [ + 1486.167268836922, + 726.6629014936173 + ], + [ + 1489.0407267733449, + 663.8997655060423 + ], + [ + 1262.3697540100493, + 514.1237001003121 + ], + [ + 1248.4473650586542, + 566.227135774872 + ], + [ + 1532.4584149932805, + 690.7356740101361 + ], + [ + 1533.069238894981, + 626.5895547673679 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 514.8409248812034, + "ymin": 0.0, + "xmax": 530.1146376228797, + "ymax": 27.63607795813249 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 517.0604185089983, + 25.69372338926985 + ], + [ + 523.1774827561021, + 27.63607795813249 + ], + [ + 530.1146376228797, + 23.793464940075182 + ], + [ + 524.0152487249529, + 21.877249164058526 + ], + [ + 514.8409248812034, + 1.1825910594548077 + ], + [ + 521.061057961486, + 3.0745305889200267 + ], + [ + 528.1375961510528, + -0.6681182261712593 + ], + [ + 521.9356807183566, + -2.5341416893647306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2663665510550050633, + "instance_id": 18839, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1165.2013968824758, + "ymin": 17.520410904209882, + "xmax": 1186.492838859581, + "ymax": 48.64910985655416 + }, + "corners_3d": [ + [ + -132.25570678710938, + 12.455914497375488, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.076000213623047, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.076001167297363, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.455915451049805, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.455914497375488, + 6.416468620300293 + ], + [ + -132.25570678710938, + 12.076000213623047, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.076001167297363, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1167.8822846170535, + 42.45897407275726 + ], + [ + 1165.2013968824758, + 46.560824100538014 + ], + [ + 1173.8497704493175, + 48.64910985655416 + ], + [ + 1176.4794908214817, + 44.518130494486115 + ], + [ + 1177.6998435860137, + 17.520410904209882 + ], + [ + 1175.039107258662, + 21.520345298709344 + ], + [ + 1183.8857132398516, + 23.55714716823269 + ], + [ + 1186.492838859581, + 19.528274133924867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4021541042808224586, + "instance_id": 19195, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -135.394287109375, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1262.2012981242838, + "ymin": 40.050015171939606, + "xmax": 1280.0, + "ymax": 72.24160086067292 + }, + "corners_3d": [ + [ + -135.25570678710938, + 12.45591926574707, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.076004981994629, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.076005935668945, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.455920219421387, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.45591926574707, + 6.416468620300293 + ], + [ + -135.25570678710938, + 12.076004981994629, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.076005935668945, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1264.2838209600727, + 65.54862127351623 + ], + [ + 1262.2012981242838, + 69.9830478695336 + ], + [ + 1271.5548109782408, + 72.24160086067292 + ], + [ + 1273.5767946320466, + 67.774424426206 + ], + [ + 1276.362984123813, + 40.050015171939606 + ], + [ + 1274.3299658131755, + 44.380686545440255 + ], + [ + 1283.9122422408377, + 46.58686606129487 + ], + [ + 1285.8816602168936, + 42.2235864543934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 588.1331167689608, + "ymin": 260.98383926503993, + "xmax": 608.4490529239981, + "ymax": 302.8104624701305 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 598.9440320617034, + 302.8104624701305 + ], + [ + 608.4490529239981, + 294.37227530278744 + ], + [ + 599.0475032096873, + 290.1850850007567 + ], + [ + 589.4960934906426, + 298.538423894882 + ], + [ + 597.8302378108212, + 273.4958858817504 + ], + [ + 607.601911400699, + 265.1323174828335 + ], + [ + 597.9535922902462, + 260.98383926503993 + ], + [ + 588.1331167689608, + 269.26105750372346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 312.6761496459086, + "ymin": 216.5065820971142, + "xmax": 335.28424759742904, + "ymax": 249.4975296677066 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 325.7139244907565, + 249.4975296677066 + ], + [ + 335.28424759742904, + 243.31629511648464 + ], + [ + 328.96282718110274, + 240.22221736371418 + ], + [ + 319.38092691275307, + 246.35455959506785 + ], + [ + 319.1147806333603, + 225.6889974860077 + ], + [ + 328.93715622312146, + 219.56916797843698 + ], + [ + 322.5101673072313, + 216.5065820971142 + ], + [ + 312.6761496459086, + 222.57699876224942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1089.8773832749423, + "ymin": 0.03954647777948139, + "xmax": 1109.3964112984152, + "ymax": 30.333259980149023 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1092.9858470663778, + 24.52010318766395 + ], + [ + 1089.8773832749423, + 28.37257520244981 + ], + [ + 1097.997314558132, + 30.333259980149023 + ], + [ + 1101.0612450352796, + 26.454278642170095 + ], + [ + 1101.1465856959999, + 0.03954647777948139 + ], + [ + 1098.0383804707587, + 3.7919728597846074 + ], + [ + 1106.3347660211562, + 5.702094229952081 + ], + [ + 1109.3964112984152, + 1.9233777059837394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 505.01976706971004, + "ymin": 225.40935257561338, + "xmax": 526.9256684388605, + "ymax": 265.7808867831915 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 517.0502378108824, + 265.7808867831915 + ], + [ + 526.9256684388605, + 258.06404399012837 + ], + [ + 518.3221618960204, + 254.2322799072855 + ], + [ + 508.41183777935305, + 261.8748940315805 + ], + [ + 513.8650195613114, + 236.82747772077136 + ], + [ + 524.0250442535723, + 229.19688446668744 + ], + [ + 515.2161960466748, + 225.40935257561338 + ], + [ + 505.01976706971004, + 232.96466858652596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.61645325868824, + "ymin": 186.67753757655737, + "xmax": 437.99286084173775, + "ymax": 225.42288282983924 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 427.7953778664905, + 225.42288282983924 + ], + [ + 437.99286084173775, + 218.45585749661635 + ], + [ + 430.21975359193016, + 214.99393018279784 + ], + [ + 419.99818531044866, + 221.89725555373926 + ], + [ + 422.579788505799, + 196.96234465026387 + ], + [ + 433.07416606871095, + 190.0908521931501 + ], + [ + 425.13565359154956, + 186.67753757655737 + ], + [ + 414.61645325868824, + 193.48467735118192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.793539367609, + "ymin": 0.0, + "xmax": 689.5936412284034, + "ymax": 7.64697875140331 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 678.793539367609, + 6.131904968456922 + ], + [ + 684.183922946436, + 7.64697875140331 + ], + [ + 688.8897993834562, + 4.6637509866909 + ], + [ + 683.5157340993126, + 3.1650998140377737 + ], + [ + 679.3535560808884, + -13.749886443350306 + ], + [ + 684.823547595859, + -12.268778849660976 + ], + [ + 689.5936412284034, + -15.185013063257657 + ], + [ + 684.1404614625058, + -16.649836054510274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1193.1515290015814, + "ymin": 679.9149462861562, + "xmax": 1232.4428684188144, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1213.148831927843, + 710.5441854145697 + ], + [ + 1197.5655027164603, + 702.6808194813293 + ], + [ + 1193.1515290015814, + 718.302590826878 + ], + [ + 1208.9036542505223, + 726.3654543500072 + ], + [ + 1232.4428684188144, + 687.8941771524585 + ], + [ + 1216.2130381661482, + 679.9149462861562 + ], + [ + 1211.89177837434, + 695.7702108289378 + ], + [ + 1228.3052297724682, + 703.9588045645104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 559.8050468261454, + "ymin": 0.0, + "xmax": 573.5226983777408, + "ymax": 3.27009572678503 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 561.1663868211967, + 1.4905026039029394 + ], + [ + 567.1659331740054, + 3.27009572678503 + ], + [ + 573.5226983777408, + -0.2510291714909272 + ], + [ + 567.5412043081096, + -2.007688706852207 + ], + [ + 559.8050468261454, + -22.3727825701111 + ], + [ + 565.9039955362991, + -20.64206115180224 + ], + [ + 572.3784854895293, + -24.066297904668545 + ], + [ + 566.2981619583218, + -25.7743335476992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 567.9708283673658, + "ymin": 435.11834703698287, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 981.1468100790808, + 1114.2008195004578 + ], + [ + 996.534846189347, + 1069.3532309511788 + ], + [ + 617.8155357800268, + 799.9003858676981 + ], + [ + 596.3189187508174, + 830.8474719908179 + ], + [ + 1289.6567026122148, + 870.7685234119358 + ], + [ + 1302.7176620831988, + 799.6704782943639 + ], + [ + 603.9462985983231, + 435.11834703698287 + ], + [ + 567.9708283673658, + 472.262042414922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 476.90852891257043, + "ymin": 0.0, + "xmax": 690.8125376232261, + "ymax": 177.62223257278603 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 684.1155335794382, + 59.85951294526865 + ], + [ + 676.2155072309121, + 57.38203966762819 + ], + [ + 502.4929732702947, + 174.0804446518521 + ], + [ + 511.08150922919697, + 177.62223257278603 + ], + [ + 690.8125376232261, + -141.05972074387677 + ], + [ + 681.6871264764668, + -142.9571758750921 + ], + [ + 476.90852891257043, + -50.92186855659139 + ], + [ + 486.9539105247138, + -48.041077659472364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 579.5321812163377, + "ymin": 454.2076290654402, + "xmax": 646.5947996068919, + "ymax": 504.9212998829577 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 624.0401045049848, + 504.9212998829577 + ], + [ + 646.581333488555, + 479.4412192256411 + ], + [ + 602.7372531377429, + 456.06145540685253 + ], + [ + 579.655765044805, + 480.37290645633925 + ], + [ + 624.0066313573539, + 503.0788715641914 + ], + [ + 646.5947996068919, + 477.5916516105228 + ], + [ + 602.6627606681412, + 454.2076290654402 + ], + [ + 579.5321812163377, + 478.52355399828093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 579.5353783355645, + "ymin": 454.25558535836205, + "xmax": 646.5944512384364, + "ymax": 504.9687665635304 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 624.0409668773171, + 504.9687665635304 + ], + [ + 646.5809865412973, + 479.4888723351566 + ], + [ + 602.7391724882763, + 456.10922053796065 + ], + [ + 579.6589491092176, + 480.42055393110235 + ], + [ + 624.0074973507379, + 503.12653755462543 + ], + [ + 646.5944512384364, + 477.6394999211857 + ], + [ + 602.6646877001468, + 454.25558535836205 + ], + [ + 579.5353783355645, + 478.5713968299355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 255.44155572573425, + "ymin": 63.10159691594782, + "xmax": 645.6737156041839, + "ymax": 485.6516743354389 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 338.1220678608628, + 309.4505394120796 + ], + [ + 327.7986185085784, + 316.5951629082925 + ], + [ + 635.1310383197813, + 485.6516743354389 + ], + [ + 644.4083481661969, + 475.4275946780566 + ], + [ + 268.8745725878468, + 63.10159691594782 + ], + [ + 255.44155572573425, + 69.35148188319215 + ], + [ + 633.7153030081524, + 224.61993345905145 + ], + [ + 645.6737156041839, + 214.80833677878215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1014.9141010639887, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 260.9064681435283 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1360.7801171538938, + 260.9064681435283 + ], + [ + 1362.3827537792904, + 254.65668354714563 + ], + [ + 1018.6438083178682, + 149.23378576382132 + ], + [ + 1014.9141010639887, + 153.9313970840738 + ], + [ + 1514.660522950177, + 21.266761101401016 + ], + [ + 1515.1483324018, + 15.95923818908284 + ], + [ + 1086.207406567697, + -70.98302995602086 + ], + [ + 1082.3497348752387, + -67.20997794157967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1152.2446010550605, + "ymin": 175.80334344277568, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1152.2446010550605, + 787.8168449595142 + ], + [ + 1174.2890155220996, + 800.1068360075924 + ], + [ + 1279.355053464045, + 440.79134955328334 + ], + [ + 1262.472403977215, + 434.1901593895773 + ], + [ + 1363.0983498357896, + 542.6646399892511 + ], + [ + 1397.1001696926228, + 556.8658204299231 + ], + [ + 1454.9004637840085, + 181.98666158102532 + ], + [ + 1431.9197744734706, + 175.80334344277568 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00108/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00108/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e2767b780ec737330c35f3adbcff50179cd557c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00108/meta.json @@ -0,0 +1,3094 @@ +{ + "frame_id": 108, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 54.0, + "sim_timestamp": 1433.0353398739826 + }, + "drone_pose": { + "x": -135.28681372411629, + "y": -22.406579779883625, + "z": 20.0, + "pitch": -43.26427471489822, + "yaw": 53.230803803104344, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.43589556217193604, + -0.5833272337913513, + 0.6853644847869873, + 58.334007263183594 + ], + [ + 0.8010533452033997, + 0.59859299659729, + 2.9802322387695312e-08, + -94.95952606201172 + ], + [ + -0.4102543890476227, + 0.5490133762359619, + 0.7282002568244934, + -82.3675308227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.33463825169812, + "y": -21.46925310228807, + "z": 20.0 + }, + "t1_image_uv": [ + 1734.1015733289378, + -543.5287578258145 + ], + "t1_depth": 0.5259216561237273 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -123.16718292236328, + "y": -6.187763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 27.80397737629353, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 617, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -123.16718292236328, + "y": -6.18776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.49619626998901367, + "y": 0.4604949951171875, + "z": 0.8871041536331177 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.614065539806, + "ymin": 324.25442666583535, + "xmax": 658.8093900366732, + "ymax": 395.2289619237224 + }, + "corners_3d": [ + [ + -123.19242858886719, + -6.864245414733887, + 0.05703848600387573 + ], + [ + -123.84366607666016, + -6.21300745010376, + 0.05703848600387573 + ], + [ + -123.14193725585938, + -5.511280059814453, + 0.05703848600387573 + ], + [ + -122.4906997680664, + -6.16251802444458, + 0.05703848600387573 + ], + [ + -123.19242858886719, + -6.864245414733887, + 1.8312468528747559 + ], + [ + -123.84366607666016, + -6.21300745010376, + 1.8312468528747559 + ], + [ + -123.14193725585938, + -5.511280059814453, + 1.8312468528747559 + ], + [ + -122.4906997680664, + -6.16251802444458, + 1.8312468528747559 + ] + ], + "corners_2d": [ + [ + 626.8127837944867, + 395.2289619237224 + ], + [ + 657.9955144461144, + 392.0216443145283 + ], + [ + 652.8160079909327, + 368.80242700256736 + ], + [ + 622.3924671581159, + 371.8522573280854 + ], + [ + 626.2142336263088, + 350.53148346104103 + ], + [ + 658.8093900366732, + 347.33872786148623 + ], + [ + 653.3806128977576, + 324.25442666583535 + ], + [ + 621.614065539806, + 327.2835823136714 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 108, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 683064, + "2": 103456, + "3": 28869, + "4": 32116, + "6": 14628, + "7": 2442, + "9": 227, + "10": 33, + "12": 3290, + "14": 13964, + "20": 412, + "24": 39099 + }, + "instance_pixel_counts": { + "11605": 14932, + "15701": 295, + "15970": 361, + "16479": 3162, + "16482": 1611, + "16994": 470, + "17496": 6704, + "17506": 184, + "17547": 175, + "18018": 1357, + "18059": 3194, + "19554": 2043, + "20107": 5277, + "20565": 13642, + "21395": 16545, + "21397": 605, + "21643": 7297, + "21907": 269898, + "21909": 22554, + "22421": 2588, + "22931": 125039, + "23957": 739, + "24467": 21234, + "25344": 1021, + "25600": 7768, + "25856": 6, + "26112": 1571, + "36096": 617, + "36352": 566, + "36608": 614, + "36864": 696, + "37120": 238, + "37376": 559, + "37632": 1136, + "37888": 3841, + "40448": 3629, + "40704": 3642, + "41216": 1716, + "45409": 1598, + "45971": 11784, + "46483": 150894, + "46995": 59171, + "47507": 7134, + "48225": 3123, + "49043": 21365, + "49761": 9664, + "51526": 32116, + "53857": 2187, + "56458": 5855, + "56970": 8611, + "57482": 34214, + "58506": 13073, + "60307": 559, + "60819": 8801, + "61254": 639, + "61331": 1833, + "61843": 180, + "62867": 1240 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 617, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -123.16718292236328, + "y": -6.18776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4057324230670929, + "y": 0.46188750863075256, + "z": 0.9076664447784424 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.9658290186564, + "ymin": 325.7649884412227, + "xmax": 658.3612456545908, + "ymax": 393.54867606740527 + }, + "corners_3d": [ + [ + -123.12747192382812, + -6.801262855529785, + 0.036476194858551025 + ], + [ + -123.78068542480469, + -6.148055076599121, + 0.036476194858551025 + ], + [ + -123.20689392089844, + -5.574262619018555, + 0.036476194858551025 + ], + [ + -122.55368041992188, + -6.227470397949219, + 0.036476194858551025 + ], + [ + -123.12747192382812, + -6.801262855529785, + 1.851809024810791 + ], + [ + -123.78068542480469, + -6.148055076599121, + 1.851809024810791 + ], + [ + -123.20689392089844, + -5.574262619018555, + 1.851809024810791 + ], + [ + -122.55368041992188, + -6.227470397949219, + 1.851809024810791 + ] + ], + "corners_2d": [ + [ + 626.3600306798999, + 393.54867606740527 + ], + [ + 657.550636981317, + 390.3465565970213 + ], + [ + 653.317027405662, + 371.3609844760758 + ], + [ + 622.7484319349833, + 374.43401577731527 + ], + [ + 625.7277831750521, + 347.82409705100815 + ], + [ + 658.3612456545908, + 344.6375453496005 + ], + [ + 653.919029385577, + 325.7649884412227 + ], + [ + 621.9658290186564, + 328.81732478484327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 566, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -119.04119873046875, + "y": -3.190058469772339, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5122021436691284, + "y": 0.44946807622909546, + "z": 0.9217061996459961 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 574.5783225792424, + "ymin": 223.13629418548578, + "xmax": 612.42517140576, + "ymax": 292.0382041078167 + }, + "corners_3d": [ + [ + -119.22596740722656, + -3.8459794521331787, + 0.022441327571868896 + ], + [ + -119.71556854248047, + -3.0920684337615967, + 0.022441327571868896 + ], + [ + -118.85643005371094, + -2.534137487411499, + 0.022441327571868896 + ], + [ + -118.36682891845703, + -3.288048505783081, + 0.022441327571868896 + ], + [ + -119.22596740722656, + -3.8459794521331787, + 1.8658537864685059 + ], + [ + -119.71556854248047, + -3.0920684337615967, + 1.8658537864685059 + ], + [ + -118.85643005371094, + -2.534137487411499, + 1.8658537864685059 + ], + [ + -118.36682891845703, + -3.288048505783081, + 1.8658537864685059 + ] + ], + "corners_2d": [ + [ + 586.5370437285537, + 292.0382041078167 + ], + [ + 612.42517140576, + 286.0802778812058 + ], + [ + 602.5388470309807, + 268.1832774197609 + ], + [ + 577.1436654630951, + 273.886034414781 + ], + [ + 584.3045929334647, + 246.60819062315016 + ], + [ + 611.2822807766565, + 240.74068714353587 + ], + [ + 601.0210511794093, + 223.13629418548578 + ], + [ + 574.5783225792424, + 228.7423984538382 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 614, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -125.42300415039062, + "y": 0.7549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.47840818762779236, + "y": 0.5010063648223877, + "z": 0.9437564015388489 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 801.9772710226252, + "ymin": 235.48111894943457, + "xmax": 850.2864002641433, + "ymax": 304.52095717308146 + }, + "corners_3d": [ + [ + -125.47950744628906, + 0.06452226638793945, + 0.0003960132598876953 + ], + [ + -126.11009216308594, + 0.8432329297065735, + 0.0003960132598876953 + ], + [ + -125.36650085449219, + 1.4453763961791992, + 0.0003960132598876953 + ], + [ + -124.73591613769531, + 0.6666657328605652, + 0.0003960132598876953 + ], + [ + -125.47950744628906, + 0.06452226638793945, + 1.8879088163375854 + ], + [ + -126.11009216308594, + 0.8432329297065735, + 1.8879088163375854 + ], + [ + -125.36650085449219, + 1.4453763961791992, + 1.8879088163375854 + ], + [ + -124.73591613769531, + 0.6666657328605652, + 1.8879088163375854 + ] + ], + "corners_2d": [ + [ + 812.7590095612011, + 304.52095717308146 + ], + [ + 841.5867119716434, + 299.656191671036 + ], + [ + 830.2560397212326, + 281.82959422018007 + ], + [ + 801.9772710226252, + 286.4902641593312 + ], + [ + 820.2594904929599, + 257.82807782140463 + ], + [ + 850.2864002641433, + 253.0327773016336 + ], + [ + 838.2858239676857, + 235.48111894943457 + ], + [ + 808.8537878900747, + 240.06681738652975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 696, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -126.74694061279297, + "y": -6.18776273727417, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3621582090854645, + "y": 0.404579758644104, + "z": 0.8875352144241333 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 725.6536362122554, + "ymin": 379.87318479184654, + "xmax": 765.3929311325124, + "ymax": 446.7935100414398 + }, + "corners_3d": [ + [ + -126.7169418334961, + -6.729928493499756, + 0.05660742521286011 + ], + [ + -127.28910827636719, + -6.157765865325928, + 0.05660742521286011 + ], + [ + -126.77693939208984, + -5.645596981048584, + 0.05660742521286011 + ], + [ + -126.20477294921875, + -6.217759609222412, + 0.05660742521286011 + ], + [ + -126.7169418334961, + -6.729928493499756, + 1.8316779136657715 + ], + [ + -127.28910827636719, + -6.157765865325928, + 1.8316779136657715 + ], + [ + -126.77693939208984, + -5.645596981048584, + 1.8316779136657715 + ], + [ + -126.20477294921875, + -6.217759609222412, + 1.8316779136657715 + ] + ], + "corners_2d": [ + [ + 731.0873726106098, + 446.7935100414398 + ], + [ + 759.6651077740958, + 443.6569215987231 + ], + [ + 753.6988872672414, + 424.67978775289674 + ], + [ + 725.6536362122554, + 427.6967587983149 + ], + [ + 735.4618281488489, + 401.97639202934397 + ], + [ + 765.3929311325124, + 398.83841030326585 + ], + [ + 759.0316091093815, + 379.87318479184654 + ], + [ + 729.684082798875, + 382.88593122482337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 238, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -126.78268432617188, + "y": -17.31512451171875, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4864843785762787, + "y": 0.48822447657585144, + "z": 0.8814725875854492 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 423.42149343474375, + "ymin": 685.1199630153274, + "xmax": 487.225861048243, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -126.70941925048828, + -18.000442504882812, + 0.06266039609909058 + ], + [ + -127.46826171875, + -17.385944366455078, + 0.06266039609909058 + ], + [ + -126.85594940185547, + -16.629806518554688, + 0.06266039609909058 + ], + [ + -126.09710693359375, + -17.244304656982422, + 0.06266039609909058 + ], + [ + -126.70941925048828, + -18.000442504882812, + 1.8256056308746338 + ], + [ + -127.46826171875, + -17.385944366455078, + 1.8256056308746338 + ], + [ + -126.85594940185547, + -16.629806518554688, + 1.8256056308746338 + ], + [ + -126.09710693359375, + -17.244304656982422, + 1.8256056308746338 + ] + ], + "corners_2d": [ + [ + 436.5230678812545, + 772.4090654815454 + ], + [ + 483.63605128010397, + 770.5880772116119 + ], + [ + 487.225861048243, + 725.6624239600515 + ], + [ + 441.7304867473779, + 727.3609519528459 + ], + [ + 423.42149343474375, + 733.2871490520702 + ], + [ + 473.5828390161972, + 731.4067001247001 + ], + [ + 477.76005501689826, + 685.1199630153274 + ], + [ + 429.4283506692434, + 686.8662569836149 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 559, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -113.08964538574219, + "y": -13.509523391723633, + "z": 1.094401478767395 + }, + "extent": { + "x": 0.26182615756988525, + "y": 0.36200377345085144, + "z": 0.8669350743293762 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 184.62504004699605, + "ymin": 323.23575665076675, + "xmax": 234.475474924046, + "ymax": 380.5087183719483 + }, + "corners_3d": [ + [ + -112.92864227294922, + -13.926270484924316, + 0.2274664044380188 + ], + [ + -113.53585052490234, + -13.531947135925293, + 0.2274664044380188 + ], + [ + -113.25064849853516, + -13.09277629852295, + 0.2274664044380188 + ], + [ + -112.64344024658203, + -13.487099647521973, + 0.2274664044380188 + ], + [ + -112.92864227294922, + -13.926270484924316, + 1.961336612701416 + ], + [ + -113.53585052490234, + -13.531947135925293, + 1.961336612701416 + ], + [ + -113.25064849853516, + -13.09277629852295, + 1.961336612701416 + ], + [ + -112.64344024658203, + -13.487099647521973, + 1.961336612701416 + ] + ], + "corners_2d": [ + [ + 203.78439433942742, + 379.37477889625046 + ], + [ + 227.8341609423818, + 380.5087183719483 + ], + [ + 234.475474924046, + 368.21082500124714 + ], + [ + 210.73735434083568, + 367.1068495482018 + ], + [ + 184.62504004699605, + 335.42553219250834 + ], + [ + 209.70789379993607, + 336.55296648279176 + ], + [ + 216.88892643704958, + 324.3321166434031 + ], + [ + 192.14486245651335, + 323.23575665076675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1136, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 61.148053166756426, + "ymax": 39.89643241624509 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + -4.853166737300967, + -8.86221993407571 + ], + [ + -52.19957713592498, + 6.716143338949166 + ], + [ + 12.985622063119422, + 39.89643241624509 + ], + [ + 61.148053166756426, + 22.412491853497727 + ], + [ + -24.218368420820866, + -50.57033688699238 + ], + [ + -73.61100876184219, + -35.762919315541126 + ], + [ + -7.617443899173395, + -4.138056075087832 + ], + [ + 42.715708585473294, + -20.817101643982994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3841, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 500.8299018357742, + "ymin": 82.16024549460093, + "xmax": 610.8894960814239, + "ymax": 168.5259508044094 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 581.4203233184257, + 168.5259508044094 + ], + [ + 610.8894960814239, + 148.3244028522565 + ], + [ + 535.0749122163847, + 118.24984403615412 + ], + [ + 504.80781451127285, + 136.70988725825646 + ], + [ + 579.6135619919281, + 131.16067468899564 + ], + [ + 610.017881977266, + 111.44608330543707 + ], + [ + 532.0737617417116, + 82.16024549460093 + ], + [ + 500.8299018357742, + 100.12713347291162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3629, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 182.6858522860344, + "ymin": 14.305758883786439, + "xmax": 298.51073750427105, + "ymax": 93.10122213198298 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 228.81331460571187, + 46.44643375068233 + ], + [ + 193.71988740328356, + 61.32752470089656 + ], + [ + 263.4241626007537, + 93.10122213198298 + ], + [ + 298.51073750427105, + 76.63690849374052 + ], + [ + 218.9030938367476, + 14.305758883786439 + ], + [ + 182.6858522860344, + 28.724040620768506 + ], + [ + 253.61168683272427, + 59.56834757244542 + ], + [ + 289.84847644428606, + 43.57561202175407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3642, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 130.91392528932977, + "ymin": 44.935382819812276, + "xmax": 241.27666612862532, + "ymax": 130.94679260275524 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 186.1487426542816, + 85.96423454232587 + ], + [ + 146.9862868076857, + 103.15587113939023 + ], + [ + 202.00148518852927, + 130.94679260275524 + ], + [ + 241.27666612862532, + 112.26714435043752 + ], + [ + 171.75888897661554, + 44.935382819812276 + ], + [ + 130.91392528932977, + 61.53043201325278 + ], + [ + 187.08811263300618, + 88.41786566975821 + ], + [ + 228.0889974493778, + 70.33719144953494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 1716, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1235.8858935182102, + "ymin": 558.5622319062396, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1253.3754348423383, + 596.9154906844514 + ], + [ + 1235.8858935182102, + 651.3018816835204 + ], + [ + 1515.7364767900845, + 792.4425672107562 + ], + [ + 1521.0205958112306, + 724.8120253534576 + ], + [ + 1283.4167960533355, + 558.5622319062396 + ], + [ + 1266.5340371651637, + 613.822781282034 + ], + [ + 1566.4065964086667, + 758.4464466907327 + ], + [ + 1569.2745789694914, + 688.9269787753839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 529.574666760747, + "ymin": 3.117264216231831, + "xmax": 544.8754132145912, + "ymax": 33.6828007758823 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 531.5639758438299, + 31.57805281054118 + ], + [ + 537.6236695634236, + 33.6828007758823 + ], + [ + 544.8754132145912, + 29.83379735403497 + ], + [ + 538.829714830856, + 27.756974767408792 + ], + [ + 529.574666760747, + 6.84061415188097 + ], + [ + 535.7385282700741, + 8.891918673929638 + ], + [ + 543.1356981836938, + 5.140857277748864 + ], + [ + 536.9862553819819, + 3.117264216231831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2663665510550050633, + "instance_id": 18839, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1197.8515640604164, + "ymin": 34.74271717945123, + "xmax": 1220.8108932712928, + "ymax": 66.80417411883548 + }, + "corners_3d": [ + [ + -132.25570678710938, + 12.455914497375488, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.076000213623047, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.076001167297363, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.455915451049805, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.455914497375488, + 6.416468620300293 + ], + [ + -132.25570678710938, + 12.076000213623047, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.076001167297363, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1200.8514808754271, + 60.18289760668199 + ], + [ + 1197.8515640604164, + 64.45158611828612 + ], + [ + 1206.8368595981024, + 66.80417411883548 + ], + [ + 1209.7849737966512, + 62.50250306679169 + ], + [ + 1211.6621870404115, + 34.74271717945123 + ], + [ + 1208.6819521882867, + 38.910906775160186 + ], + [ + 1217.885105747552, + 41.208592890636965 + ], + [ + 1220.8108932712928, + 37.00757056240292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 586.7720503151701, + "ymin": 278.9492563631846, + "xmax": 607.83382024019, + "ymax": 321.5726679751159 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 597.5988145626528, + 321.5726679751159 + ], + [ + 607.83382024019, + 312.95553319357765 + ], + [ + 598.4793797150472, + 308.329822801221 + ], + [ + 588.2066023449368, + 316.8536667215801 + ], + [ + 596.4177833388563, + 292.091496960022 + ], + [ + 606.9470425409814, + 283.53855240987986 + ], + [ + 597.3410644680245, + 278.9492563631846 + ], + [ + 586.7720503151701, + 287.40706042749173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 316.93295213316543, + "ymin": 222.9666792235266, + "xmax": 339.7378718188522, + "ymax": 256.25292988955533 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 329.77987165202836, + 256.25292988955533 + ], + [ + 339.7378718188522, + 250.10457936263538 + ], + [ + 333.59513045507566, + 246.77448430034286 + ], + [ + 323.6318493510183, + 252.87114778867476 + ], + [ + 323.1826687912882, + 232.3550858152357 + ], + [ + 333.4025617476604, + 226.26460141378698 + ], + [ + 327.1579098352951, + 222.9666792235266 + ], + [ + 316.93295213316543, + 229.00488545436588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1119.8290471332793, + "ymin": 15.08503329787834, + "xmax": 1140.7929181158024, + "ymax": 46.22000324093517 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1123.2583713806441, + 40.03555269334544 + ], + [ + 1119.8290471332793, + 44.02314109160426 + ], + [ + 1128.2195764460166, + 46.22000324093517 + ], + [ + 1131.604479439523, + 42.20264177735618 + ], + [ + 1132.2567748453353, + 15.08503329787834 + ], + [ + 1128.8257915441357, + 18.973700979651994 + ], + [ + 1137.4085137430961, + 21.116488074373592 + ], + [ + 1140.7929181158024, + 17.198240302881857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 504.4191131418787, + "ymin": 239.74553310043552, + "xmax": 526.9594208835049, + "ymax": 280.7912226417256 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 516.4315758273138, + 280.7912226417256 + ], + [ + 526.9594208835049, + 272.96369771916915 + ], + [ + 518.4560154993267, + 268.7588185378372 + ], + [ + 507.9018088208394, + 276.50554618061983 + ], + [ + 513.1562854079896, + 251.65570182108746 + ], + [ + 523.9923786056269, + 243.90664822364113 + ], + [ + 515.2826378099085, + 239.74553310043552 + ], + [ + 504.4191131418787, + 247.4125063530437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 415.48863825186913, + "ymin": 197.3674164073182, + "xmax": 439.35053857029175, + "ymax": 236.65705720355868 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 428.591436703505, + 236.65705720355868 + ], + [ + 439.35053857029175, + 229.64170050134337 + ], + [ + 431.7234690576536, + 225.87016361321355 + ], + [ + 420.948460574466, + 232.81693775069584 + ], + [ + 423.2953971223624, + 208.01491851636635 + ], + [ + 434.3703472104569, + 201.0893779602619 + ], + [ + 426.57981075685035, + 197.3674164073182 + ], + [ + 415.48863825186913, + 204.22357685289805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.7929156270848, + "ymin": 0.0, + "xmax": 711.1644796238746, + "ymax": 14.16415915311552 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 699.7929156270848, + 12.517699241637615 + ], + [ + 705.1937707020766, + 14.16415915311552 + ], + [ + 710.1367046693969, + 11.167582981409964 + ], + [ + 704.7502693713715, + 9.538743098991574 + ], + [ + 700.671277895573, + -7.570725810949057 + ], + [ + 706.1543494704495, + -5.960365089084462 + ], + [ + 711.1644796238746, + -8.891135780202376 + ], + [ + 705.6962852017053, + -10.484011321298908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 576.5709541687464, + "ymin": 0.0, + "xmax": 590.2834067941461, + "ymax": 9.263850046179812 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 577.6654545910969, + 7.333120738020455 + ], + [ + 583.6303761091143, + 9.263850046179812 + ], + [ + 590.2834067941461, + 5.732625129229007 + ], + [ + 584.3333677987156, + 3.8264414041439068 + ], + [ + 576.5709541687464, + -16.76884835862319 + ], + [ + 582.6370805132473, + -14.890061584795205 + ], + [ + 589.413039245059, + -18.326110441022706 + ], + [ + 583.3622764764964, + -20.18059592986424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 531.6778165968216, + "ymin": 479.5944882346956, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 961.6507198090507, + 1188.6186420002475 + ], + [ + 979.9097157539702, + 1140.9493522088947 + ], + [ + 599.2249188203457, + 836.1875475551908 + ], + [ + 575.5665813378909, + 868.005309242484 + ], + [ + 1279.7165579653856, + 999.3695494331517 + ], + [ + 1298.1211879012462, + 917.1578865902236 + ], + [ + 572.4875921223942, + 479.5944882346956 + ], + [ + 531.6778165968216, + 519.2600866826283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 491.24783137769657, + "ymin": 0.0, + "xmax": 714.4603522382944, + "ymax": 184.52402182304718 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 704.4821200385245, + 66.80859229307447 + ], + [ + 696.5785891070992, + 64.12326944899814 + ], + [ + 514.9016557465922, + 180.7062103748733 + ], + [ + 523.3718188903504, + 184.52402182304718 + ], + [ + 714.4603522382944, + -136.4002374927066 + ], + [ + 705.2893447991253, + -138.46727464445672 + ], + [ + 491.24783137769657, + -46.05859852736353 + ], + [ + 501.1811813085841, + -42.93721695271694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 544.5534438640451, + "ymin": 499.40253825994, + "xmax": 614.8176551647211, + "ymax": 555.611157896327 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 589.0673262931624, + 555.611157896327 + ], + [ + 614.8176551647211, + 528.2929320640999 + ], + [ + 570.9320547425701, + 501.2447431346521 + ], + [ + 544.7580749396178, + 527.1848916211547 + ], + [ + 588.9549837344372, + 553.7927959667157 + ], + [ + 614.7634937803246, + 526.4611060691291 + ], + [ + 570.7872622106854, + 499.40253825994 + ], + [ + 544.5534438640451, + 525.352582752475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 544.5587381967256, + "ymin": 499.4501984255482, + "xmax": 614.8190504540164, + "ymax": 555.6579993554167 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 589.0702202656346, + 555.6579993554167 + ], + [ + 614.8190504540164, + 528.3401230144433 + ], + [ + 570.9357850519003, + 501.2922041047926 + ], + [ + 544.7633465958652, + 527.2320951188035 + ], + [ + 588.9578904871357, + 553.839844284875 + ], + [ + 614.7648950777947, + 526.5085002257036 + ], + [ + 570.7910081762635, + 499.4501984255482 + ], + [ + 544.5587381967256, + 525.3999892995836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 259.39103767061806, + "ymin": 68.53375549703622, + "xmax": 644.2916370249644, + "ymax": 506.67176774760844 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 342.5406413676518, + 316.04831979858807 + ], + [ + 331.81594121523403, + 323.1344161640845 + ], + [ + 633.3204740456148, + 506.67176774760844 + ], + [ + 643.3118381777412, + 496.284544026415 + ], + [ + 273.340626147592, + 68.53375549703622 + ], + [ + 259.39103767061806, + 74.76517299993344 + ], + [ + 631.3186969233594, + 244.9451174934337 + ], + [ + 644.2916370249644, + 234.8393701110022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1039.7864953549015, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 290.62374452278755 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1398.3518991968463, + 290.62374452278755 + ], + [ + 1400.2816860362882, + 284.0572965714743 + ], + [ + 1043.859234057011, + 165.6986229803872 + ], + [ + 1039.7864953549015, + 170.51568929872997 + ], + [ + 1568.3843619938211, + 46.37110488196288 + ], + [ + 1569.1069533239006, + 40.69625306696457 + ], + [ + 1118.3474411067298, + -58.26849168343301 + ], + [ + 1114.1174596219857, + -54.359815498743615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1156.7635798247884, + "ymin": 210.93005711164534, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1156.7635798247884, + 844.7466279608481 + ], + [ + 1179.596225468475, + 858.8430580082247 + ], + [ + 1305.2570348232607, + 478.9768266993714 + ], + [ + 1287.6402173092051, + 471.46236357706084 + ], + [ + 1383.3452443217918, + 610.0575516211799 + ], + [ + 1419.6602956434078, + 626.9822183408577 + ], + [ + 1497.8472531580594, + 218.13269764200567 + ], + [ + 1473.357413502076, + 210.93005711164534 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00109/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00109/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb9293c084a073bf410ff8c02cc5b9ce758c88bb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00109/meta.json @@ -0,0 +1,3091 @@ +{ + "frame_id": 109, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 54.5, + "sim_timestamp": 1444.8712962705176 + }, + "drone_pose": { + "x": -135.33463825169812, + "y": -21.46925310228807, + "z": 20.0, + "pitch": -43.278785332903844, + "yaw": 51.24675277456249, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4557211399078369, + -0.5677508115768433, + 0.6855489015579224, + 60.15306854248047 + ], + [ + 0.7798490524291992, + 0.6259676814079285, + 2.9802322387695312e-08, + -92.10152435302734 + ], + [ + -0.429131418466568, + 0.5346245765686035, + 0.7280266284942627, + -84.1148681640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.33912844693094, + "y": -20.534353093222297, + "z": 20.0 + }, + "t1_image_uv": [ + 1708.8917482101187, + -543.9873603221911 + ], + "t1_depth": 0.5287440026305313 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -122.66718292236328, + "y": -5.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 27.796505717089097, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 638, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -122.66718292236328, + "y": -5.68776273727417, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.41950681805610657, + "y": 0.40311676263809204, + "z": 0.876919150352478 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 624.3989828693449, + "ymin": 326.7209585806538, + "xmax": 655.9158717314524, + "ymax": 392.6489765702793 + }, + "corners_3d": [ + [ + -122.67877197265625, + -6.269445419311523, + 0.06721872091293335 + ], + [ + -123.24886322021484, + -5.699352264404297, + 0.06721872091293335 + ], + [ + -122.65559387207031, + -5.106080055236816, + 0.06721872091293335 + ], + [ + -122.08550262451172, + -5.676173210144043, + 0.06721872091293335 + ], + [ + -122.67877197265625, + -6.269445419311523, + 1.8210570812225342 + ], + [ + -123.24886322021484, + -5.699352264404297, + 1.8210570812225342 + ], + [ + -122.65559387207031, + -5.106080055236816, + 1.8210570812225342 + ], + [ + -122.08550262451172, + -5.676173210144043, + 1.8210570812225342 + ] + ], + "corners_2d": [ + [ + 627.85290689016, + 392.6489765702793 + ], + [ + 655.2354937948611, + 390.52207304416436 + ], + [ + 651.863417554971, + 370.7738240869221 + ], + [ + 625.0532621518391, + 372.8116870708182 + ], + [ + 627.3091591019214, + 348.4747066038644 + ], + [ + 655.9158717314524, + 346.3576110953352 + ], + [ + 652.3815226787608, + 326.7209585806538 + ], + [ + 624.3989828693449, + 328.745592193559 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 109, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 679750, + "2": 108742, + "3": 30390, + "4": 32351, + "6": 13925, + "7": 2662, + "9": 359, + "10": 37, + "12": 3484, + "14": 13126, + "20": 433, + "24": 36341 + }, + "instance_pixel_counts": { + "11605": 16328, + "15701": 363, + "15970": 435, + "16479": 4326, + "16482": 1663, + "17496": 5950, + "17547": 325, + "18018": 1609, + "18059": 3338, + "19554": 2081, + "20107": 6369, + "20565": 13699, + "21395": 16933, + "21397": 670, + "21643": 7735, + "21907": 270531, + "21909": 20607, + "22421": 2207, + "22931": 111797, + "23957": 741, + "24467": 21777, + "25344": 1294, + "25600": 7884, + "26112": 1459, + "36096": 638, + "36352": 585, + "36608": 606, + "36864": 677, + "37120": 422, + "37376": 556, + "37632": 1321, + "37888": 3907, + "40448": 3599, + "40704": 3596, + "41216": 703, + "45409": 2015, + "45971": 11995, + "46483": 156533, + "46995": 59317, + "47507": 8956, + "48225": 3244, + "49043": 21911, + "49761": 9515, + "51526": 32351, + "53857": 2294, + "56458": 7253, + "56970": 8874, + "57482": 33864, + "58506": 13802, + "60307": 562, + "60819": 8237, + "61254": 792, + "61331": 1899, + "61843": 147, + "62867": 1271 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 638, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -122.66718292236328, + "y": -5.68776273727417, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.36393553018569946, + "y": 0.40609800815582275, + "z": 0.8873888254165649 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 624.4798018907804, + "ymin": 327.7126829934159, + "xmax": 655.7864545334025, + "ymax": 391.5687158089665 + }, + "corners_3d": [ + [ + -122.63736724853516, + -6.2322587966918945, + 0.056749045848846436 + ], + [ + -123.21167755126953, + -5.657949447631836, + 0.056749045848846436 + ], + [ + -122.6969985961914, + -5.143266677856445, + 0.056749045848846436 + ], + [ + -122.12268829345703, + -5.717576026916504, + 0.056749045848846436 + ], + [ + -122.63736724853516, + -6.2322587966918945, + 1.831526756286621 + ], + [ + -123.21167755126953, + -5.657949447631836, + 1.831526756286621 + ], + [ + -122.6969985961914, + -5.143266677856445, + 1.831526756286621 + ], + [ + -122.12268829345703, + -5.717576026916504, + 1.831526756286621 + ] + ], + "corners_2d": [ + [ + 627.5655113107714, + 391.5687158089665 + ], + [ + 655.1047064000963, + 389.4322153512505 + ], + [ + 652.17841338582, + 372.3004134886988 + ], + [ + 625.1392282098009, + 374.3591213363399 + ], + [ + 627.0029402486159, + 346.8726965277205 + ], + [ + 655.7864545334025, + 344.7464433844198 + ], + [ + 652.7175486625139, + 327.7126829934159 + ], + [ + 624.4798018907804, + 329.75811850406353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 585, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -118.54119873046875, + "y": -2.690058469772339, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4233642518520355, + "y": 0.44797828793525696, + "z": 0.8685937523841858 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 581.1367167392417, + "ymin": 225.21611416401151, + "xmax": 616.3451071461667, + "ymax": 287.98088963826234 + }, + "corners_3d": [ + [ + -118.65227508544922, + -3.2963454723358154, + 0.0755537748336792 + ], + [ + -119.14025115966797, + -2.544933319091797, + 0.0755537748336792 + ], + [ + -118.43012237548828, + -2.0837714672088623, + 0.0755537748336792 + ], + [ + -117.94214630126953, + -2.835183620452881, + 0.0755537748336792 + ], + [ + -118.65227508544922, + -3.2963454723358154, + 1.8127412796020508 + ], + [ + -119.14025115966797, + -2.544933319091797, + 1.8127412796020508 + ], + [ + -118.43012237548828, + -2.0837714672088623, + 1.8127412796020508 + ], + [ + -117.94214630126953, + -2.835183620452881, + 1.8127412796020508 + ] + ], + "corners_2d": [ + [ + 590.324885754237, + 287.98088963826234 + ], + [ + 616.3451071461667, + 282.63485961258846 + ], + [ + 608.91000081334, + 267.6840824231751 + ], + [ + 583.3161747416971, + 272.8378755127239 + ], + [ + 588.378111860619, + 245.20477543283738 + ], + [ + 615.4242577798857, + 239.93620188047893 + ], + [ + 607.7224400555731, + 225.21611416401151 + ], + [ + 581.1367167392417, + 230.28804452166105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 606, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -124.92300415039062, + "y": 1.2549493312835693, + "z": 0.9441621899604797 + }, + "extent": { + "x": 0.42624998092651367, + "y": 0.4243699610233307, + "z": 0.9330824613571167 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 810.1929913535831, + "ymin": 241.09152449351188, + "xmax": 852.7132475466627, + "ymax": 306.79179233743326 + }, + "corners_3d": [ + [ + -124.98719787597656, + 0.6569041609764099, + 0.011079728603363037 + ], + [ + -125.52132415771484, + 1.3164994716644287, + 0.011079728603363037 + ], + [ + -124.85881042480469, + 1.852994441986084, + 0.011079728603363037 + ], + [ + -124.3246841430664, + 1.19339919090271, + 0.011079728603363037 + ], + [ + -124.98719787597656, + 0.6569041609764099, + 1.8772447109222412 + ], + [ + -125.52132415771484, + 1.3164994716644287, + 1.8772447109222412 + ], + [ + -124.85881042480469, + 1.852994441986084, + 1.8772447109222412 + ], + [ + -124.3246841430664, + 1.19339919090271, + 1.8772447109222412 + ] + ], + "corners_2d": [ + [ + 819.128246562902, + 306.79179233743326 + ], + [ + 843.966370928706, + 303.20752292489396 + ], + [ + 834.5930896178861, + 287.00765695866926 + ], + [ + 810.1929913535831, + 290.4558819246838 + ], + [ + 826.8438664438853, + 260.58757868503767 + ], + [ + 852.7132475466627, + 257.05260425322444 + ], + [ + 842.7717270939377, + 241.09152449351188 + ], + [ + 817.3770413603919, + 244.48673107509265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 677, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -126.24694061279297, + "y": -5.68776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.38670897483825684, + "y": 0.2955795228481293, + "z": 0.8796199560165405 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 727.2366831490202, + "ymin": 382.64809200539224, + "xmax": 758.6482335141529, + "ymax": 449.3131983144249 + }, + "corners_3d": [ + [ + -126.3113784790039, + -6.17021369934082, + 0.06452757120132446 + ], + [ + -126.7293930053711, + -5.752201080322266, + 0.06452757120132446 + ], + [ + -126.18250274658203, + -5.2053117752075195, + 0.06452757120132446 + ], + [ + -125.76448822021484, + -5.623324394226074, + 0.06452757120132446 + ], + [ + -126.3113784790039, + -6.17021369934082, + 1.8237674236297607 + ], + [ + -126.7293930053711, + -5.752201080322266, + 1.8237674236297607 + ], + [ + -126.18250274658203, + -5.2053117752075195, + 1.8237674236297607 + ], + [ + -125.76448822021484, + -5.623324394226074, + 1.8237674236297607 + ] + ], + "corners_2d": [ + [ + 732.1344658661001, + 449.3131983144249 + ], + [ + 753.2508022237266, + 447.5586811240959 + ], + [ + 747.9248924363704, + 427.0575676521593 + ], + [ + 727.2366831490202, + 428.7402208581928 + ], + [ + 736.533652415571, + 404.89994126022145 + ], + [ + 758.6482335141529, + 403.14399357732594 + ], + [ + 752.9571882003646, + 382.64809200539224 + ], + [ + 731.3117118878066, + 384.3287972110593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 422, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -126.28268432617188, + "y": -16.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3853124976158142, + "y": 0.39108946919441223, + "z": 0.8708146214485168 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 410.27687530516016, + "ymin": 684.7154966891967, + "xmax": 465.8743965325266, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -126.22123718261719, + -17.360689163208008, + 0.07332324981689453 + ], + [ + -126.8291015625, + -16.86844825744629, + 0.07332324981689453 + ], + [ + -126.34413146972656, + -16.269559860229492, + 0.07332324981689453 + ], + [ + -125.73626708984375, + -16.76180076599121, + 0.07332324981689453 + ], + [ + -126.22123718261719, + -17.360689163208008, + 1.8149524927139282 + ], + [ + -126.8291015625, + -16.86844825744629, + 1.8149524927139282 + ], + [ + -126.34413146972656, + -16.269559860229492, + 1.8149524927139282 + ], + [ + -125.73626708984375, + -16.76180076599121, + 1.8149524927139282 + ] + ], + "corners_2d": [ + [ + 423.8912837451941, + 760.2564673607808 + ], + [ + 461.1841400626895, + 760.0976492531718 + ], + [ + 465.8743965325266, + 724.7702063648213 + ], + [ + 429.5924728292912, + 724.9205358150841 + ], + [ + 410.27687530516016, + 721.2464408206986 + ], + [ + 449.92056367609575, + 721.0826682702727 + ], + [ + 455.2215613209242, + 684.7154966891967 + ], + [ + 416.7183262516906, + 684.869988014497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 556, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -113.09127044677734, + "y": -12.64507007598877, + "z": 1.0944454669952393 + }, + "extent": { + "x": 0.28608885407447815, + "y": 0.40780821442604065, + "z": 0.871090292930603 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 209.49227355302946, + "ymin": 313.0660332514368, + "xmax": 261.46553213100685, + "ymax": 372.07732347374395 + }, + "corners_3d": [ + [ + -112.90506744384766, + -13.107112884521484, + 0.22335517406463623 + ], + [ + -113.58910369873047, + -12.662896156311035, + 0.22335517406463623 + ], + [ + -113.27747344970703, + -12.183027267456055, + 0.22335517406463623 + ], + [ + -112.59343719482422, + -12.627243995666504, + 0.22335517406463623 + ], + [ + -112.90506744384766, + -13.107112884521484, + 1.9655357599258423 + ], + [ + -113.58910369873047, + -12.662896156311035, + 1.9655357599258423 + ], + [ + -113.27747344970703, + -12.183027267456055, + 1.9655357599258423 + ], + [ + -112.59343719482422, + -12.627243995666504, + 1.9655357599258423 + ] + ], + "corners_2d": [ + [ + 227.51642916537168, + 370.1658399811793 + ], + [ + 254.02015248212803, + 372.07732347374395 + ], + [ + 261.46553213100685, + 358.93162827087025 + ], + [ + 235.32604659373646, + 357.0745558168198 + ], + [ + 209.49227355302946, + 326.06203584494864 + ], + [ + 237.117310066752, + 327.9609680310624 + ], + [ + 245.1368793596231, + 314.90860002465644 + ], + [ + 217.90727622034575, + 313.0660332514368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1321, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 82.93171936262252, + "ymax": 36.864692356017315 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 20.09546682032385, + -12.411164446323596 + ], + [ + -27.026782028791217, + 2.560747199208265 + ], + [ + 34.732726786829744, + 36.864692356017315 + ], + [ + 82.93171936262252, + 19.983409014724657 + ], + [ + 1.5897109154770988, + -53.96281872912982 + ], + [ + -47.5173250688149, + -39.73724022778907 + ], + [ + 14.934208608630342, + -7.052862265276531 + ], + [ + 65.25619440567755, + -23.152907932107723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3907, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 514.0729138856075, + "ymin": 88.6936489722475, + "xmax": 624.2124742682234, + "ymax": 177.3754062074018 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 593.4391832164771, + 177.3754062074018 + ], + [ + 624.2124742682234, + 157.18991353956264 + ], + [ + 549.0910384305497, + 124.97809166529501 + ], + [ + 517.7098535259299, + 143.32735207225136 + ], + [ + 591.9837120588704, + 139.79802976033068 + ], + [ + 623.7331918757661, + 120.08316867341375 + ], + [ + 546.461650338226, + 88.6936489722475 + ], + [ + 514.0729138856075, + 106.56376458114335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3599, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 200.72290904668927, + "ymin": 14.62544692710469, + "xmax": 314.40665287408063, + "ymax": 94.65064036056128 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 246.8579393061852, + 46.791140195196306 + ], + [ + 211.329687352257, + 61.30350496864418 + ], + [ + 278.6717902507307, + 94.65064036056128 + ], + [ + 314.40665287408063, + 78.51648700723081 + ], + [ + 237.36911097985796, + 14.62544692710469 + ], + [ + 200.72290904668927, + 28.687202328265926 + ], + [ + 269.22585384714165, + 61.06220999615226 + ], + [ + 306.115417923995, + 45.38736614004813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3596, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 147.3052701079937, + "ymin": 45.07536751405769, + "xmax": 255.66207411227765, + "ymax": 132.00569434687972 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 202.49553984131512, + 86.12566319316176 + ], + [ + 162.86495524165082, + 102.87765340858897 + ], + [ + 215.72405902852972, + 132.00569434687972 + ], + [ + 255.66207411227765, + 113.73237682812297 + ], + [ + 188.60944429862792, + 45.07536751405769 + ], + [ + 147.3052701079937, + 61.24671092815345 + ], + [ + 201.2438553568137, + 89.4302669306208 + ], + [ + 242.9112673636145, + 71.73978623852258 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 703, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1249.3911083433452, + "ymin": 604.6018831588434, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1269.8381358015017, + 642.2347847774022 + ], + [ + 1249.3911083433452, + 699.531382952247 + ], + [ + 1542.9738931984266, + 861.0405619836542 + ], + [ + 1550.7459897575861, + 788.3291176418247 + ], + [ + 1301.9882679817074, + 604.6018831588434 + ], + [ + 1282.0806126434359, + 663.0567935010115 + ], + [ + 1598.0871954564318, + 829.3972437363323 + ], + [ + 1603.2909825324973, + 754.2228008564923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 542.5142578830078, + "ymin": 10.214373216455783, + "xmax": 557.8459365585651, + "ymax": 41.13065831432158 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 544.2941844956065, + 38.87051592252345 + ], + [ + 550.293280496488, + 41.13065831432158 + ], + [ + 557.8459365585651, + 37.28166971756957 + ], + [ + 551.8571706358103, + 35.051107321253426 + ], + [ + 542.5142578830078, + 13.937941814982025 + ], + [ + 548.6183342752806, + 16.141798168038292 + ], + [ + 556.3222862103257, + 12.38885411442476 + ], + [ + 550.2288400593978, + 10.214373216455783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2663665510550050633, + "instance_id": 18839, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1228.0960357880808, + "ymin": 53.540118166735056, + "xmax": 1252.6978124913735, + "ymax": 86.48717245667348 + }, + "corners_3d": [ + [ + -132.25570678710938, + 12.455914497375488, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.076000213623047, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.076001167297363, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.455915451049805, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.455914497375488, + 6.416468620300293 + ], + [ + -132.25570678710938, + 12.076000213623047, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.076001167297363, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1231.414315086901, + 79.43448208679541 + ], + [ + 1228.0960357880808, + 83.86399767930652 + ], + [ + 1237.4167763322123, + 86.48717245667348 + ], + [ + 1240.6827902713767, + 82.02069799857748 + ], + [ + 1243.1941017505153, + 53.540118166735056 + ], + [ + 1239.8946264624233, + 57.87082537011514 + ], + [ + 1249.453447930979, + 60.4360634947634 + ], + [ + 1252.6978124913735, + 56.06849491278615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 583.6554322991029, + "ymin": 297.78285890137494, + "xmax": 605.4711501905592, + "ymax": 341.1446963716988 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 594.5231838980962, + 341.1446963716988 + ], + [ + 605.4711501905592, + 332.366484897513 + ], + [ + 596.1851974133762, + 327.30650425360517 + ], + [ + 585.2086004917711, + 335.98313750216073 + ], + [ + 593.2262784319851, + 311.5334108555617 + ], + [ + 604.4964994968336, + 302.80937201147555 + ], + [ + 594.9557721671172, + 297.78285890137494 + ], + [ + 583.6554322991029, + 306.40310767397256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 319.9249720001658, + "ymin": 230.57839626900267, + "xmax": 342.91651691609627, + "ymax": 264.1259154399844 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 332.5915692576455, + 264.1259154399844 + ], + [ + 342.91651691609627, + 258.01708187849425 + ], + [ + 336.953647985754, + 254.46337964545182 + ], + [ + 326.6295812163939, + 260.51799200281886 + ], + [ + 325.9843879904032, + 240.15335140327193 + ], + [ + 336.5805495608065, + 234.09931589114487 + ], + [ + 330.5197555079096, + 230.57839626900267 + ], + [ + 319.9249720001658, + 236.57755430053243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1147.4008713229387, + "ymin": 31.661608480788743, + "xmax": 1169.7762011391196, + "ymax": 63.58999936983179 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1151.1487938427474, + 57.03761513741438 + ], + [ + 1147.4008713229387, + 61.15353018142986 + ], + [ + 1156.058205476841, + 63.58999936983179 + ], + [ + 1159.7619961239059, + 59.44098753678901 + ], + [ + 1160.9570721946056, + 31.661608480788743 + ], + [ + 1157.20519644454, + 35.67991705992222 + ], + [ + 1166.0707406482952, + 38.05910455322862 + ], + [ + 1169.7762011391196, + 34.007858040699205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 502.24709851133105, + "ymin": 255.00317973612596, + "xmax": 525.4184526923411, + "ymax": 296.6673699353031 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 514.2590407945369, + 296.6673699353031 + ], + [ + 525.4184526923411, + 288.74524470581696 + ], + [ + 517.0315146853533, + 284.1751433096784 + ], + [ + 505.85457958023306, + 292.0101435971376 + ], + [ + 510.8582279903939, + 267.38133428047666 + ], + [ + 522.3494457434617, + 259.530395620901 + ], + [ + 513.7564251912116, + 255.00317973612596 + ], + [ + 502.24709851133105, + 262.7654720793921 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.9458658934558, + "ymin": 209.07729699956502, + "xmax": 439.2818727565815, + "ymax": 248.85931304886464 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 427.98424674342573, + 248.85931304886464 + ], + [ + 439.2818727565815, + 241.8088504786508 + ], + [ + 431.8114273183112, + 237.73815214675534 + ], + [ + 420.50617196368137, + 244.71543191051984 + ], + [ + 422.58444078194185, + 220.06357524135237 + ], + [ + 434.2164115794111, + 213.09771342919552 + ], + [ + 426.5853375592003, + 209.07729699956502 + ], + [ + 414.9458658934558, + 215.96903564269581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.7868897942141, + "ymin": 0.0, + "xmax": 730.696646347253, + "ymax": 22.14335359274196 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 718.7868897942141, + 20.370270437618558 + ], + [ + 724.1956624372182, + 22.14335359274196 + ], + [ + 729.366837076025, + 19.138391389880724 + ], + [ + 723.9705741170134, + 17.38405179356033 + ], + [ + 719.9618687177754, + 0.10129997551678116 + ], + [ + 725.4553084104717, + 1.836276906303965 + ], + [ + 730.696646347253, + -1.104008423474454 + ], + [ + 725.2161347212564, + -2.82037287179503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 591.4558119198052, + "ymin": 0.0, + "xmax": 605.169321314617, + "ymax": 16.699954852615974 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 592.3052770269325, + 14.624275565725611 + ], + [ + 598.2322899174451, + 16.699954852615974 + ], + [ + 605.169321314617, + 13.164701224810358 + ], + [ + 599.2540222854475, + 11.11506678014797 + ], + [ + 591.4558119198052, + -9.684495487223614 + ], + [ + 597.4855740586922, + -7.6636485050390775 + ], + [ + 604.5506204760113, + -11.1053527321601 + ], + [ + 598.5329571174861, + -13.10039475730241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 491.33811083551956, + "ymin": 525.4063789144768, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 938.9141283351325, + 1264.674022954364 + ], + [ + 960.142555377418, + 1214.1225552177675 + ], + [ + 578.9812629427786, + 872.7339720030993 + ], + [ + 553.1874621791153, + 905.377157942022 + ], + [ + 1261.6713925270476, + 1140.7069083613424 + ], + [ + 1286.316314081555, + 1045.64657933067 + ], + [ + 537.1588258856445, + 525.4063789144768 + ], + [ + 491.33811083551956, + 567.6015680389769 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 503.7944085161081, + "ymin": 0.0, + "xmax": 735.9380848535209, + "ymax": 192.67349643710648 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 722.8957070931355, + 75.15977798027961 + ], + [ + 714.9916941228887, + 72.27447646150216 + ], + [ + 525.7033720999558, + 188.59260379440423 + ], + [ + 534.0531104207516, + 192.67349643710648 + ], + [ + 735.9380848535209, + -130.05567217337676 + ], + [ + 726.726907636953, + -132.28650335178082 + ], + [ + 503.7944085161081, + -39.68342636133832 + ], + [ + 513.609708355147, + -36.33209018910128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 505.61312198280746, + "ymin": 545.9074382583, + "xmax": 578.8853421530927, + "ymax": 607.8511003250982 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 549.7878869235758, + 607.8511003250982 + ], + [ + 578.8853421530927, + 578.6728731267278 + ], + [ + 535.2905457838496, + 547.7296820674487 + ], + [ + 505.91431886192026, + 575.301881154985 + ], + [ + 549.5793367587324, + 606.0672598521172 + ], + [ + 578.7476458127162, + 576.8685815480519 + ], + [ + 535.0611435246097, + 545.9074382583 + ], + [ + 505.61312198280746, + 573.4954471958167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 505.62091546193017, + "ymin": 545.9545863351937, + "xmax": 578.8888890733506, + "ymax": 607.8970475147183 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 549.7932586449346, + 607.8970475147183 + ], + [ + 578.8888890733506, + 578.7193498764655 + ], + [ + 535.2964553334366, + 547.7766242387488 + ], + [ + 505.9220774466647, + 575.3484134132162 + ], + [ + 549.5847333444856, + 606.1134197201258 + ], + [ + 578.7512087335185, + 576.915267959482 + ], + [ + 535.0670789956504, + 545.9545863351937 + ], + [ + 505.62091546193017, + 573.54218873374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 262.0350616859052, + "ymin": 75.2609470177444, + "xmax": 640.8696190206425, + "ymax": 528.3245900875811 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 345.7351821458603, + 323.75363096025177 + ], + [ + 334.6312676116675, + 330.7759288686264 + ], + [ + 629.9811352940314, + 528.3245900875811 + ], + [ + 640.6668811015527, + 517.7915478143551 + ], + [ + 276.47251212224614, + 75.2609470177444 + ], + [ + 262.0350616859052, + 81.46364896026745 + ], + [ + 626.8957892961001, + 266.2071608781978 + ], + [ + 640.8696190206425, + 255.8294252449747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1062.4761823375284, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 321.8954416282181 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1433.696138803492, + 321.8954416282181 + ], + [ + 1435.9541672934297, + 315.0144382013054 + ], + [ + 1066.8863861589232, + 183.42097439201757 + ], + [ + 1062.4761823375284, + 188.34916566864686 + ], + [ + 1620.0186424908268, + 73.62358486850536 + ], + [ + 1620.9767021644434, + 67.57465879994703 + ], + [ + 1148.0266973092585, + -43.92023594517087 + ], + [ + 1143.426515835401, + -39.88311794971861 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1158.6042738967433, + "ymin": 248.33831154553013, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1158.6042738967433, + 903.2006649047772 + ], + [ + 1182.1918604099951, + 919.2131853015968 + ], + [ + 1328.8430994151358, + 518.6189550798488 + ], + [ + 1310.4928336261296, + 510.14863885805255 + ], + [ + 1400.1473611034821, + 681.3691466495734 + ], + [ + 1438.837733879696, + 701.3448819497453 + ], + [ + 1538.4705165378, + 256.6423666964077 + ], + [ + 1512.4196173311466, + 248.33831154553013 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00110/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00110/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44a26315f64290d88021570e67682b80030939a4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00110/meta.json @@ -0,0 +1,3091 @@ +{ + "frame_id": 110, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 55.0, + "sim_timestamp": 1457.4560187894385 + }, + "drone_pose": { + "x": -135.33912844693094, + "y": -20.534353093222297, + "z": 20.0, + "pitch": -43.29630445762954, + "yaw": 49.36057756064673, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4740247130393982, + -0.5522845387458801, + 0.6857714056968689, + 61.77946090698242 + ], + [ + 0.7588233351707458, + 0.6512964963912964, + 0.0, + -89.32453155517578 + ], + [ + -0.4466405510902405, + 0.5203793048858643, + 0.7278170585632324, + -85.68993377685547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.2953321399443, + "y": -19.646290615608734, + "z": 20.0 + }, + "t1_image_uv": [ + 1663.72400042643, + -544.5413370686922 + ], + "t1_depth": 0.5112237019998326 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -122.16718292236328, + "y": -5.187763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 27.787469839910823, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 610, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -122.16718292236328, + "y": -5.18776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3663964867591858, + "y": 0.31189802289009094, + "z": 0.8754398226737976 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.143168734618, + "ymin": 328.409441490216, + "xmax": 652.0757277961476, + "ymax": 390.8774725421888 + }, + "corners_3d": [ + [ + -122.20571899414062, + -5.667389392852783, + 0.06870770454406738 + ], + [ + -122.64681243896484, + -5.226298809051514, + 0.06870770454406738 + ], + [ + -122.12864685058594, + -4.708136081695557, + 0.06870770454406738 + ], + [ + -121.68755340576172, + -5.149226665496826, + 0.06870770454406738 + ], + [ + -122.20571899414062, + -5.667389392852783, + 1.8195873498916626 + ], + [ + -122.64681243896484, + -5.226298809051514, + 1.8195873498916626 + ], + [ + -122.12864685058594, + -4.708136081695557, + 1.8195873498916626 + ], + [ + -121.68755340576172, + -5.149226665496826, + 1.8195873498916626 + ] + ], + "corners_2d": [ + [ + 630.3286053595128, + 390.8774725421888 + ], + [ + 651.5604546545856, + 389.72999397838623 + ], + [ + 649.4803841335278, + 372.40089476859674 + ], + [ + 628.6403158983792, + 373.50617548770657 + ], + [ + 629.8969784150812, + 346.78461680566164 + ], + [ + 652.0757277961476, + 345.6424923378687 + ], + [ + 649.8947639384443, + 328.409441490216 + ], + [ + 628.143168734618, + 329.50774598325484 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 110, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 673756, + "2": 115463, + "3": 31530, + "4": 32553, + "6": 13686, + "7": 2828, + "9": 513, + "10": 41, + "12": 3670, + "14": 12361, + "20": 442, + "24": 34757 + }, + "instance_pixel_counts": { + "11605": 17599, + "15701": 438, + "15970": 511, + "16479": 5746, + "16482": 1742, + "17496": 5580, + "17547": 550, + "18018": 1882, + "18059": 3485, + "19554": 2111, + "20107": 7600, + "20565": 13493, + "21395": 17292, + "21397": 723, + "21643": 8184, + "21907": 271625, + "21909": 19536, + "22421": 2112, + "22931": 95632, + "23957": 786, + "24467": 22342, + "25344": 1564, + "25600": 8022, + "26112": 1348, + "36096": 610, + "36352": 593, + "36608": 633, + "36864": 698, + "37120": 610, + "37376": 526, + "37632": 1205, + "37888": 3991, + "40448": 3586, + "40704": 3578, + "41216": 1, + "45409": 2257, + "45971": 12360, + "46483": 162231, + "46995": 59046, + "47507": 10697, + "48225": 3366, + "49043": 22531, + "49761": 9367, + "51526": 32553, + "53857": 2411, + "56458": 9029, + "56970": 9171, + "57482": 33493, + "58506": 14558, + "60307": 585, + "60819": 7690, + "61254": 955, + "61331": 1837, + "61843": 193, + "62867": 1295 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 610, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -122.16718292236328, + "y": -5.18776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.2913818359375, + "y": 0.3782157897949219, + "z": 0.8618767857551575 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 626.0040414696248, + "ymin": 330.3814346152654, + "xmax": 654.1934677154122, + "ymax": 388.86370206756493 + }, + "corners_3d": [ + [ + -122.10578155517578, + -5.6612396240234375, + 0.08227074146270752 + ], + [ + -122.64066314697266, + -5.126361846923828, + 0.08227074146270752 + ], + [ + -122.22858428955078, + -4.714285850524902, + 0.08227074146270752 + ], + [ + -121.6937026977539, + -5.249163627624512, + 0.08227074146270752 + ], + [ + -122.10578155517578, + -5.6612396240234375, + 1.8060243129730225 + ], + [ + -122.64066314697266, + -5.126361846923828, + 1.8060243129730225 + ], + [ + -122.22858428955078, + -4.714285850524902, + 1.8060243129730225 + ], + [ + -121.6937026977539, + -5.249163627624512, + 1.8060243129730225 + ] + ], + "corners_2d": [ + [ + 627.8929135317695, + 388.86370206756493 + ], + [ + 653.5982457372431, + 387.477645159636 + ], + [ + 651.9104309949676, + 373.7007920407552 + ], + [ + 626.583151897284, + 375.0461455884935 + ], + [ + 627.3621398590086, + 345.46239379434155 + ], + [ + 654.1934677154122, + 344.08293612905663 + ], + [ + 652.4237355274204, + 330.3814346152654 + ], + [ + 626.0040414696248, + 331.7186491178892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 593, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -118.04119873046875, + "y": -2.190058469772339, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4102734327316284, + "y": 0.42210525274276733, + "z": 0.8791755437850952 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 587.3764238945519, + "ymin": 224.66098611382824, + "xmax": 620.1394938492722, + "ymax": 286.80902880481415 + }, + "corners_3d": [ + [ + -118.15538787841797, + -2.767516613006592, + 0.0649670958518982 + ], + [ + -118.61518096923828, + -2.059502363204956, + 0.0649670958518982 + ], + [ + -117.92700958251953, + -1.6126002073287964, + 0.0649670958518982 + ], + [ + -117.46721649169922, + -2.3206145763397217, + 0.0649670958518982 + ], + [ + -118.15538787841797, + -2.767516613006592, + 1.8233182430267334 + ], + [ + -118.61518096923828, + -2.059502363204956, + 1.8233182430267334 + ], + [ + -117.92700958251953, + -1.6126002073287964, + 1.8233182430267334 + ], + [ + -117.46721649169922, + -2.3206145763397217, + 1.8233182430267334 + ] + ], + "corners_2d": [ + [ + 595.4447054926081, + 286.80902880481415 + ], + [ + 620.1394938492722, + 282.28464766130224 + ], + [ + 613.6372619442194, + 267.6500149794233 + ], + [ + 589.3469655479288, + 272.0152313724123 + ], + [ + 593.6787348070853, + 243.52510268099533 + ], + [ + 619.3567659043478, + 239.0672537204494 + ], + [ + 612.6173740427059, + 224.66098611382824 + ], + [ + 587.3764238945519, + 228.95598340231234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 633, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -124.42300415039062, + "y": 1.7549493312835693, + "z": 0.9441621899604797 + }, + "extent": { + "x": 0.5285546779632568, + "y": 0.4765196740627289, + "z": 0.9433283805847168 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 812.7069671081069, + "ymin": 242.72334710703404, + "xmax": 860.5322051398273, + "ymax": 313.07719198498734 + }, + "corners_3d": [ + [ + -124.53388214111328, + 1.0519938468933105, + 0.0008338093757629395 + ], + [ + -125.13365173339844, + 1.79264497756958, + 0.0008338093757629395 + ], + [ + -124.31212615966797, + 2.457904815673828, + 0.0008338093757629395 + ], + [ + -123.71235656738281, + 1.7172536849975586, + 0.0008338093757629395 + ], + [ + -124.53388214111328, + 1.0519938468933105, + 1.8874905109405518 + ], + [ + -125.13365173339844, + 1.79264497756958, + 1.8874905109405518 + ], + [ + -124.31212615966797, + 2.457904815673828, + 1.8874905109405518 + ], + [ + -123.71235656738281, + 1.7172536849975586, + 1.8874905109405518 + ] + ], + "corners_2d": [ + [ + 822.8900593854175, + 313.07719198498734 + ], + [ + 851.2933163522538, + 309.61308446260864 + ], + [ + 840.4709636752671, + 289.1816403169096 + ], + [ + 812.7069671081069, + 292.4816862858181 + ], + [ + 830.9208603826801, + 266.2781428396771 + ], + [ + 860.5322051398273, + 262.8598627718036 + ], + [ + 849.0180253389032, + 242.72334710703404 + ], + [ + 820.1007066329871, + 245.97290701426058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 698, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -125.74694061279297, + "y": -5.18776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3683789074420929, + "y": 0.45355024933815, + "z": 0.894831120967865 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 719.6657789107148, + "ymin": 385.036272537276, + "xmax": 761.6097695647078, + "ymax": 451.801846134704 + }, + "corners_3d": [ + [ + -125.68671417236328, + -5.768954277038574, + 0.04931640625 + ], + [ + -126.32813262939453, + -5.127537250518799, + 0.04931640625 + ], + [ + -125.80716705322266, + -4.606571197509766, + 0.04931640625 + ], + [ + -125.1657485961914, + -5.247988224029541, + 0.04931640625 + ], + [ + -125.68671417236328, + -5.768954277038574, + 1.83897864818573 + ], + [ + -126.32813262939453, + -5.127537250518799, + 1.83897864818573 + ], + [ + -125.80716705322266, + -4.606571197509766, + 1.83897864818573 + ], + [ + -125.1657485961914, + -5.247988224029541, + 1.83897864818573 + ] + ], + "corners_2d": [ + [ + 723.3145981723767, + 451.801846134704 + ], + [ + 755.9695444536115, + 449.91185255171456 + ], + [ + 751.6807746414742, + 430.21659101241113 + ], + [ + 719.6657789107148, + 432.0323944968564 + ], + [ + 727.3747132624853, + 406.6241887534473 + ], + [ + 761.6097695647078, + 404.7321414439689 + ], + [ + 756.999716110966, + 385.036272537276 + ], + [ + 723.4673699428008, + 386.85054557249157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 610, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -125.78268432617188, + "y": -16.31512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4199804663658142, + "y": 0.32192686200141907, + "z": 0.8822157382965088 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 395.89165838087246, + "ymin": 676.2766783149497, + "xmax": 447.8401105142249, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -125.79679870605469, + -16.844106674194336, + 0.06192213296890259 + ], + [ + -126.29717254638672, + -16.438915252685547, + 0.06192213296890259 + ], + [ + -125.76856994628906, + -15.78614330291748, + 0.06192213296890259 + ], + [ + -125.26819610595703, + -16.191333770751953, + 0.06192213296890259 + ], + [ + -125.79679870605469, + -16.844106674194336, + 1.8263535499572754 + ], + [ + -126.29717254638672, + -16.438915252685547, + 1.8263535499572754 + ], + [ + -125.76856994628906, + -15.78614330291748, + 1.8263535499572754 + ], + [ + -125.26819610595703, + -16.191333770751953, + 1.8263535499572754 + ] + ], + "corners_2d": [ + [ + 410.48914093616406, + 755.1598560443263 + ], + [ + 440.89200425683225, + 756.0216932645844 + ], + [ + 447.8401105142249, + 717.8709515309681 + ], + [ + 418.3240766404449, + 717.0588873516383 + ], + [ + 395.89165838087246, + 715.4909877165579 + ], + [ + 428.2192903396136, + 716.3796998583629 + ], + [ + 435.9905186505689, + 677.1109492954829 + ], + [ + 404.6637056120728, + 676.2766783149497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 526, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -113.0928955078125, + "y": -11.780614852905273, + "z": 1.0946602821350098 + }, + "extent": { + "x": 0.3356884717941284, + "y": 0.4033496081829071, + "z": 0.8946471810340881 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 234.6254106610462, + "ymin": 303.52940298829174, + "xmax": 286.5895615678496, + "ymax": 366.17188869275964 + }, + "corners_3d": [ + [ + -112.93744659423828, + -12.281826972961426, + 0.20001310110092163 + ], + [ + -113.61399841308594, + -11.842466354370117, + 0.20001310110092163 + ], + [ + -113.24834442138672, + -11.279402732849121, + 0.20001310110092163 + ], + [ + -112.57179260253906, + -11.71876335144043, + 0.20001310110092163 + ], + [ + -112.93744659423828, + -12.281826972961426, + 1.9893074035644531 + ], + [ + -113.61399841308594, + -11.842466354370117, + 1.9893074035644531 + ], + [ + -113.24834442138672, + -11.279402732849121, + 1.9893074035644531 + ], + [ + -112.57179260253906, + -11.71876335144043, + 1.9893074035644531 + ] + ], + "corners_2d": [ + [ + 251.92377169983052, + 363.699921374967 + ], + [ + 277.63318498543646, + 366.17188869275964 + ], + [ + 286.5895615678496, + 351.04704422662445 + ], + [ + 261.28207473242225, + 348.65639467713606 + ], + [ + 234.6254106610462, + 318.44956744360013 + ], + [ + 261.43488477471243, + 320.9033715499752 + ], + [ + 271.0655159641351, + 305.89897691298506 + ], + [ + 244.69271446076345, + 303.52940298829174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1205, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 102.64007045237781, + "ymax": 34.567206019624734 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 42.737471559099504, + -15.244583681563427 + ], + [ + -4.239509907955608, + -0.8201916203743167 + ], + [ + 54.34436423084753, + 34.567206019624734 + ], + [ + 102.64007045237781, + 18.23233138418277 + ], + [ + 24.985697272316884, + -56.67998161689542 + ], + [ + -23.92529593514257, + -42.97853047877237 + ], + [ + 35.24600585897667, + -9.270440432283522 + ], + [ + 85.62657724843973, + -24.846822385297287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3991, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 525.8281636369303, + "ymin": 95.70476229514321, + "xmax": 636.125581127273, + "ymax": 186.75133387459374 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 604.0386757524548, + 186.75133387459374 + ], + [ + 636.125581127273, + 166.5665931884065 + ], + [ + 561.6651847253092, + 132.19489602625492 + ], + [ + 529.162549896618, + 150.4505385223525 + ], + [ + 602.8985322807038, + 148.95590508946808 + ], + [ + 636.006238713277, + 129.2247630423344 + ], + [ + 559.3723072097955, + 95.70476229514321 + ], + [ + 525.8281636369303, + 113.49562852931558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3586, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 216.93245001206276, + "ymin": 15.488618987793245, + "xmax": 328.67368077227064, + "ymax": 96.76946498937173 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 263.1528729127203, + 47.69999290459327 + ], + [ + 227.16722135942666, + 61.876151422009855 + ], + [ + 292.27598990009176, + 96.76946498937173 + ], + [ + 328.67368077227064, + 80.93627381830328 + ], + [ + 254.0339288320357, + 15.488618987793245 + ], + [ + 216.93245001206276, + 29.22608560473941 + ], + [ + 283.1463119864885, + 63.107528102735216 + ], + [ + 320.70661501988997, + 47.72149453740809 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3578, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 161.8554053751568, + "ymin": 45.80637428399871, + "xmax": 268.40614403058584, + "ymax": 133.69357461264485 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 217.1001543848297, + 86.90313078840245 + ], + [ + 176.9778610491249, + 103.25419792924004 + ], + [ + 227.78951830252242, + 133.69357461264485 + ], + [ + 268.40614403058584, + 115.79099184971065 + ], + [ + 203.6478270903579, + 45.80637428399871 + ], + [ + 161.8554053751568, + 61.59252760997043 + ], + [ + 213.67231071872646, + 91.04968687854296 + ], + [ + 256.0270662501922, + 73.71382684965164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 1, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1261.2480538960954, + "ymin": 653.459565085612, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1284.8165588206593, + 690.129547582637 + ], + [ + 1261.2480538960954, + 750.5378802606265 + ], + [ + 1569.2484897463648, + 934.7277397776415 + ], + [ + 1579.6899282585382, + 856.4340202938064 + ], + [ + 1319.1484941844692, + 653.459565085612 + ], + [ + 1296.0341014557687, + 715.3557898574629 + ], + [ + 1629.1579139927617, + 906.0942333014219 + ], + [ + 1636.8709307865752, + 824.6439819054524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 553.8571117299575, + "ymin": 17.78640036019044, + "xmax": 569.2514351679768, + "ymax": 49.07078452101604 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 555.4524890657692, + 46.65232521984166 + ], + [ + 561.3932575270571, + 49.07078452101604 + ], + [ + 569.2514351679768, + 45.217922118484125 + ], + [ + 563.317262275564, + 42.83069141956986 + ], + [ + 553.8571117299575, + 21.51412579569609 + ], + [ + 559.9037973130669, + 23.87362658754921 + ], + [ + 567.9197384131079, + 20.114863436579753 + ], + [ + 561.8798189811321, + 17.78640036019044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2663665510550050633, + "instance_id": 18839, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1257.448226993969, + "ymin": 73.34872703605458, + "xmax": 1280.0, + "ymax": 107.21058632859015 + }, + "corners_3d": [ + [ + -132.25570678710938, + 12.455914497375488, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.076000213623047, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.076001167297363, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.455915451049805, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.455914497375488, + 6.416468620300293 + ], + [ + -132.25570678710938, + 12.076000213623047, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.076001167297363, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1261.0971272383313, + 99.69629747380179 + ], + [ + 1257.448226993969, + 104.29652872645727 + ], + [ + 1267.1233237766742, + 107.21058632859015 + ], + [ + 1270.7195933524918, + 102.56908900734396 + ], + [ + 1273.890184320169, + 73.34872703605458 + ], + [ + 1270.2588231512268, + 77.8523618805981 + ], + [ + 1280.1943098090915, + 80.70591518013987 + ], + [ + 1283.7699787313009, + 76.16103987752803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.5584781950486, + "ymin": 317.616269850043, + "xmax": 601.1947489687747, + "ymax": 361.7285406605857 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 589.516439220626, + 361.7285406605857 + ], + [ + 601.1947489687747, + 352.77894314911526 + ], + [ + 591.9890775448077, + 347.26453161415924 + ], + [ + 580.2920025717535, + 356.10392722709946 + ], + [ + 588.0413103787663, + 332.00800749333786 + ], + [ + 600.0723813948912, + 323.1015450782904 + ], + [ + 590.609232493851, + 317.616269850043 + ], + [ + 578.5584781950486, + 326.4099034951219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 321.3263395389941, + "ymin": 238.83656734898557, + "xmax": 344.5448385218622, + "ymax": 272.65650622252343 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 333.85155189691693, + 272.65650622252343 + ], + [ + 344.5448385218622, + 266.5807169601342 + ], + [ + 338.7615415773901, + 262.8017149997861 + ], + [ + 328.07532917729384, + 268.82081211679804 + ], + [ + 327.1956230994222, + 248.60672097825073 + ], + [ + 338.1701790483872, + 242.582507960354 + ], + [ + 332.2930342537512, + 238.83656734898557 + ], + [ + 321.3263395389941, + 244.8033607382884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1173.9367269107556, + "ymin": 49.087915922591264, + "xmax": 1197.7786372922549, + "ymax": 81.83550520963888 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1178.014432995982, + 74.89182647669463 + ], + [ + 1173.9367269107556, + 79.14347156975248 + ], + [ + 1182.874673109713, + 81.83550520963888 + ], + [ + 1186.9086684811869, + 77.54720402209335 + ], + [ + 1188.661079287845, + 49.087915922591264 + ], + [ + 1184.5766478155, + 53.24364344792656 + ], + [ + 1193.7403320575343, + 55.8755283438411 + ], + [ + 1197.7786372922549, + 51.68325549866131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 498.19847325455186, + "ymin": 271.10405147957124, + "xmax": 522.0594985812165, + "ymax": 313.3998867403523 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 510.2567767615677, + 313.3998867403523 + ], + [ + 522.0594985812165, + 305.3751230575235 + ], + [ + 513.7980922798965, + 300.42634809946895 + ], + [ + 501.98719444357243, + 308.3574968734459 + ], + [ + 506.6734331808357, + 283.9732573309724 + ], + [ + 518.8334324575629, + 276.0117607259904 + ], + [ + 510.36669572744506, + 271.10405147957124 + ], + [ + 498.19847325455186, + 278.9701413497651 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 412.6131093485241, + "ymin": 221.51107746886416, + "xmax": 437.47596767475613, + "ymax": 261.800155432613 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 425.632513926928, + 261.800155432613 + ], + [ + 437.47596767475613, + 254.70765159758687 + ], + [ + 430.16766627824455, + 250.32980850221213 + ], + [ + 418.3251616870513, + 257.3444865574647 + ], + [ + 420.0772672148846, + 232.85202956414142 + ], + [ + 432.27498860283686, + 225.8385485224379 + ], + [ + 424.8092740276949, + 221.51107746886416 + ], + [ + 412.6131093485241, + 228.4456312375529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 736.3740450315256, + "ymin": 5.266339566779834, + "xmax": 748.8178943340757, + "ymax": 30.55820584521325 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 736.3740450315256, + 28.65589434515283 + ], + [ + 741.7940691095497, + 30.55820584521325 + ], + [ + 747.1969482320474, + 27.542426543437614 + ], + [ + 741.7874746259066, + 25.659981240112927 + ], + [ + 737.834215242531, + 8.19886963029137 + ], + [ + 743.3415548227047, + 10.061175971969249 + ], + [ + 748.8178943340757, + 7.108904682297009 + ], + [ + 743.3214821110473, + 5.266339566779834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 604.7776692077771, + "ymin": 0.0, + "xmax": 618.520719776231, + "ymax": 24.603955835321983 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 605.4032096645866, + 22.380377752795653 + ], + [ + 611.2950360062961, + 24.603955835321983 + ], + [ + 618.520719776231, + 21.0612050091255 + ], + [ + 612.6373710236337, + 18.865169516158346 + ], + [ + 604.7776692077771, + -2.1459494578787712 + ], + [ + 610.7739523451593, + 0.02005009136547642 + ], + [ + 618.1332754491676, + -3.430817642590739 + ], + [ + 612.145753341761, + -5.569506341769397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 445.17851473593055, + "ymin": 575.024354401759, + "xmax": 1267.586186503885, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 912.3578194103086, + 1345.4212572485328 + ], + [ + 936.7655384719933, + 1291.766386513471 + ], + [ + 556.4290327805153, + 910.8564031671151 + ], + [ + 528.4460622861841, + 944.3573693194901 + ], + [ + 1235.3619158184229, + 1305.7657093606472 + ], + [ + 1267.586186503885, + 1194.679625908425 + ], + [ + 496.4596762543491, + 575.024354401759 + ], + [ + 445.17851473593055, + 620.031053520936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 514.658859640496, + "ymin": 0.0, + "xmax": 755.9411841540841, + "ymax": 201.36229025347524 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 739.9407706636241, + 83.95929599676771 + ], + [ + 732.0318260274772, + 80.8706210875963 + ], + [ + 535.0680641491913, + 197.01590570422135 + ], + [ + 543.2999458929418, + 201.36229025347524 + ], + [ + 755.9411841540841, + -123.35278597034983 + ], + [ + 746.682090043684, + -125.75215204870113 + ], + [ + 514.658859640496, + -32.85191632411551 + ], + [ + 524.360009229304, + -29.265413010791008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.02984278017254, + "ymin": 596.2462743995891, + "xmax": 537.3283450679155, + "ymax": 664.6233746943681 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 504.56613386256356, + 664.6233746943681 + ], + [ + 537.3283450679155, + 633.3699904224295 + ], + [ + 494.31031797377193, + 598.0368801014118 + ], + [ + 461.44985418186326, + 627.4200212872086 + ], + [ + 504.23740885015, + 662.889782560892 + ], + [ + 537.0855969197303, + 631.6074196852353 + ], + [ + 493.97621780034507, + 596.2462743995891 + ], + [ + 461.02984278017254, + 625.6523783701707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.04071170907474, + "ymin": 596.2926084941804, + "xmax": 537.334597306097, + "ymax": 664.6680223407249 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 504.57459998202694, + 664.6680223407249 + ], + [ + 537.334597306097, + 633.4153873168779 + ], + [ + 494.3189237070689, + 598.0830024214089 + ], + [ + 461.4606721572494, + 627.4655493788059 + ], + [ + 504.24591611612095, + 662.934647200964 + ], + [ + 537.09187875648, + 631.6530314920142 + ], + [ + 493.9848630476057, + 596.2926084941804 + ], + [ + 461.04071170907474, + 625.6981209026646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 262.8196944655443, + "ymin": 82.59144262870188, + "xmax": 636.368269121223, + "ymax": 550.9126789057432 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 347.48401468240763, + 332.1151601364043 + ], + [ + 336.0015353498083, + 339.0807582988437 + ], + [ + 624.9787224963148, + 550.9126789057432 + ], + [ + 636.368269121223, + 540.2272088979022 + ], + [ + 277.7537906871805, + 82.59144262870188 + ], + [ + 262.8196944655443, + 88.7739704643667 + ], + [ + 620.2211856458324, + 288.68566793328426 + ], + [ + 635.2327557851874, + 278.0168437893673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1083.9950487747847, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 354.8673137125616 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1468.4825940048486, + 354.8673137125616 + ], + [ + 1471.0830014463163, + 347.65161744953167 + ], + [ + 1088.7514130095344, + 201.90803650948183 + ], + [ + 1083.9950487747847, + 206.95218652281903 + ], + [ + 1672.364027558268, + 102.8730341191885 + ], + [ + 1673.5637938083423, + 96.41357124108839 + ], + [ + 1176.7220048839822, + -28.81450134769625 + ], + [ + 1171.7376266633764, + -24.640749423747764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1158.1186897267648, + "ymin": 288.7321116135232, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1158.1186897267648, + 965.1398163206446 + ], + [ + 1182.4595912030136, + 983.2637465001648 + ], + [ + 1351.3108561511729, + 560.4712005410494 + ], + [ + 1332.194371118438, + 550.9590511626883 + ], + [ + 1415.0373250760597, + 759.9896318848646 + ], + [ + 1456.3075602481713, + 783.5568307730045 + ], + [ + 1579.1926612203956, + 298.28531278204287 + ], + [ + 1551.4382926535757, + 288.7321116135232 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00111/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00111/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28d6216d9ed877280dce238c188ca4c45365788d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00111/meta.json @@ -0,0 +1,2987 @@ +{ + "frame_id": 111, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 55.5, + "sim_timestamp": 1469.45534772682 + }, + "drone_pose": { + "x": -135.2953321399443, + "y": -19.646290615608734, + "z": 20.0, + "pitch": -43.28002256909164, + "yaw": 47.664531366367044, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.49029433727264404, + -0.5381567478179932, + 0.6855645775794983, + 63.19602584838867 + ], + [ + 0.739214301109314, + 0.6734702587127686, + 0.0, + -86.78105163574219 + ], + [ + -0.46170738339424133, + 0.506779134273529, + 0.7280118465423584, + -86.98341369628906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.22723066316598, + "y": -18.82638148146778, + "z": 20.0 + }, + "t1_image_uv": [ + 1655.0426402669923, + -544.0264728153134 + ], + "t1_depth": 0.47462942871641245 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -121.66718292236328, + "y": -4.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 27.795854068586323, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 623, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -121.66718292236328, + "y": -4.68776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.45347654819488525, + "y": 0.35504865646362305, + "z": 0.8938144445419312 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 626.8833873611233, + "ymin": 326.0790588907134, + "xmax": 653.4269233676544, + "ymax": 393.26594442665396 + }, + "corners_3d": [ + [ + -121.73677825927734, + -5.259476184844971, + 0.05033308267593384 + ], + [ + -122.23889923095703, + -4.75736141204834, + 0.05033308267593384 + ], + [ + -121.59758758544922, + -4.116049289703369, + 0.05033308267593384 + ], + [ + -121.09546661376953, + -4.6181640625, + 0.05033308267593384 + ], + [ + -121.73677825927734, + -5.259476184844971, + 1.8379619121551514 + ], + [ + -122.23889923095703, + -4.75736141204834, + 1.8379619121551514 + ], + [ + -121.59758758544922, + -4.116049289703369, + 1.8379619121551514 + ], + [ + -121.09546661376953, + -4.6181640625, + 1.8379619121551514 + ] + ], + "corners_2d": [ + [ + 628.5900048352287, + 393.26594442665396 + ], + [ + 652.8411397542349, + 392.46416802676885 + ], + [ + 651.1387256384085, + 370.9803108608498 + ], + [ + 627.4429728014914, + 371.745707381611 + ], + [ + 628.0690408146884, + 348.23868869226396 + ], + [ + 653.4269233676544, + 347.4406112435055 + ], + [ + 651.6346732126656, + 326.0790588907134 + ], + [ + 626.8833873611233, + 326.8393308234352 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 111, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 668411, + "2": 122447, + "3": 32314, + "4": 33104, + "6": 12599, + "7": 2647, + "9": 693, + "10": 61, + "12": 3764, + "14": 12309, + "20": 492, + "24": 32759 + }, + "instance_pixel_counts": { + "11605": 18732, + "15701": 516, + "15970": 608, + "16479": 7503, + "16482": 1816, + "17496": 4306, + "17547": 917, + "18018": 2188, + "18059": 3636, + "18530": 9, + "19554": 2081, + "20107": 8954, + "20565": 13066, + "21395": 17537, + "21397": 784, + "21643": 8661, + "21907": 265952, + "21909": 18064, + "22421": 2076, + "22931": 86018, + "23957": 704, + "24467": 23106, + "25344": 1847, + "25600": 8161, + "26112": 932, + "36096": 623, + "36352": 594, + "36608": 628, + "36864": 692, + "37120": 709, + "37376": 518, + "37632": 1103, + "37888": 4070, + "40448": 3575, + "40704": 3561, + "45409": 2486, + "45971": 13026, + "46483": 168269, + "46995": 58743, + "47507": 12583, + "48225": 3511, + "49043": 23177, + "49761": 9220, + "51526": 33104, + "53857": 2499, + "56458": 10796, + "56970": 9119, + "57482": 33221, + "58506": 15222, + "60307": 624, + "60819": 7205, + "61254": 1185, + "61331": 1769, + "61843": 190, + "62867": 1343 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 623, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -121.66718292236328, + "y": -4.68776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3633691370487213, + "y": 0.45388075709342957, + "z": 0.8905056715011597 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.5435811700598, + "ymin": 328.13603219752673, + "xmax": 656.7605513009861, + "ymax": 391.114250439635 + }, + "corners_3d": [ + [ + -121.60317993164062, + -5.265645503997803, + 0.05364185571670532 + ], + [ + -122.24506378173828, + -4.623761177062988, + 0.05364185571670532 + ], + [ + -121.73118591308594, + -4.109879970550537, + 0.05364185571670532 + ], + [ + -121.08930206298828, + -4.751764297485352, + 0.05364185571670532 + ], + [ + -121.60317993164062, + -5.265645503997803, + 1.8346531391143799 + ], + [ + -122.24506378173828, + -4.623761177062988, + 1.8346531391143799 + ], + [ + -121.73118591308594, + -4.109879970550537, + 1.8346531391143799 + ], + [ + -121.08930206298828, + -4.751764297485352, + 1.8346531391143799 + ] + ], + "corners_2d": [ + [ + 625.1017755621531, + 391.114250439635 + ], + [ + 656.0337599011904, + 390.0939252938372 + ], + [ + 654.607810461538, + 372.88402192907307 + ], + [ + 624.244788220876, + 373.8670774034955 + ], + [ + 624.4256855289282, + 346.26349438776873 + ], + [ + 656.7605513009861, + 345.24807366328196 + ], + [ + 655.257223612627, + 328.13603219752673 + ], + [ + 623.5435811700598, + 329.1127285846229 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 594, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -117.54119873046875, + "y": -1.6900583505630493, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.48180174827575684, + "y": 0.4553406536579132, + "z": 0.9285939335823059 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 590.7305602373319, + "ymin": 221.65918767943248, + "xmax": 625.8582143403177, + "ymax": 288.72313592985347 + }, + "corners_3d": [ + [ + -117.69727325439453, + -2.3343472480773926, + 0.0155487060546875 + ], + [ + -118.19326782226562, + -1.5705859661102295, + 0.0155487060546875 + ], + [ + -117.38512420654297, + -1.045769453048706, + 0.0155487060546875 + ], + [ + -116.88912963867188, + -1.8095307350158691, + 0.0155487060546875 + ], + [ + -117.69727325439453, + -2.3343472480773926, + 1.8727365732192993 + ], + [ + -118.19326782226562, + -1.5705859661102295, + 1.8727365732192993 + ], + [ + -117.38512420654297, + -1.045769453048706, + 1.8727365732192993 + ], + [ + -116.88912963867188, + -1.8095307350158691, + 1.8727365732192993 + ] + ], + "corners_2d": [ + [ + 599.0565404143155, + 288.72313592985347 + ], + [ + 625.8582143403177, + 284.3297231639455 + ], + [ + 618.9460973790553, + 267.02775947413767 + ], + [ + 592.6712490296534, + 271.23909106977186 + ], + [ + 597.3401629453392, + 242.99958324598708 + ], + [ + 625.2686391947843, + 238.6742925897098 + ], + [ + 618.0874353041888, + 221.65918767943248 + ], + [ + 590.7305602373319, + 225.79797050455463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 628, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -123.92300415039062, + "y": 2.2549493312835693, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5343164205551147, + "y": 0.4969511926174164, + "z": 0.9239841103553772 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 816.5111627078982, + "ymin": 246.85707026615165, + "xmax": 865.3167482259812, + "ymax": 316.3970374123899 + }, + "corners_3d": [ + [ + -124.02550506591797, + 1.532489538192749, + 0.020173192024230957 + ], + [ + -124.65098571777344, + 2.3048973083496094, + 0.020173192024230957 + ], + [ + -123.82050323486328, + 2.9774091243743896, + 0.020173192024230957 + ], + [ + -123.19502258300781, + 2.2050013542175293, + 0.020173192024230957 + ], + [ + -124.02550506591797, + 1.532489538192749, + 1.8681414127349854 + ], + [ + -124.65098571777344, + 2.3048973083496094, + 1.8681414127349854 + ], + [ + -123.82050323486328, + 2.9774091243743896, + 1.8681414127349854 + ], + [ + -123.19502258300781, + 2.2050013542175293, + 1.8681414127349854 + ] + ], + "corners_2d": [ + [ + 825.9918269274816, + 316.3970374123899 + ], + [ + 856.0274955687432, + 313.34485422554263 + ], + [ + 845.8462636165445, + 292.4105200356317 + ], + [ + 816.5111627078982, + 295.315220810888 + ], + [ + 834.0192361702848, + 270.5161274428467 + ], + [ + 865.3167482259812, + 267.5024513436762 + ], + [ + 854.4725380045961, + 246.85707026615165 + ], + [ + 823.9348766243008, + 249.71908995431562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 692, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -125.24694061279297, + "y": -4.68776273727417, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4001855254173279, + "y": 0.4609606862068176, + "z": 0.9040052890777588 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 717.2372731663253, + "ymin": 386.3407166573235, + "xmax": 759.3160392769373, + "ymax": 454.6988932547284 + }, + "corners_3d": [ + [ + -125.20396423339844, + -5.296685218811035, + 0.040152013301849365 + ], + [ + -125.85586547851562, + -4.6447882652282715, + 0.040152013301849365 + ], + [ + -125.2899169921875, + -4.078840255737305, + 0.040152013301849365 + ], + [ + -124.63801574707031, + -4.730737209320068, + 0.040152013301849365 + ], + [ + -125.20396423339844, + -5.296685218811035, + 1.8481626510620117 + ], + [ + -125.85586547851562, + -4.6447882652282715, + 1.8481626510620117 + ], + [ + -125.2899169921875, + -4.078840255737305, + 1.8481626510620117 + ], + [ + -124.63801574707031, + -4.730737209320068, + 1.8481626510620117 + ] + ], + "corners_2d": [ + [ + 720.298524013257, + 454.6988932547284 + ], + [ + 753.710848657633, + 453.51793905530934 + ], + [ + 749.931977316318, + 431.987222268609 + ], + [ + 717.2372731663253, + 433.11771897339077 + ], + [ + 724.2616258586227, + 409.05870303977537 + ], + [ + 759.3160392769373, + 407.87616364755934 + ], + [ + 755.2282993245032, + 386.3407166573235 + ], + [ + 720.962942045616, + 387.47032300390686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 709, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -125.28268432617188, + "y": -15.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4865038990974426, + "y": 0.4012683033943176, + "z": 0.9053497910499573 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 375.80628650792283, + "ymin": 665.7055526473619, + "xmax": 439.1288735684935, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -125.27700805664062, + -16.445735931396484, + 0.0387880802154541 + ], + [ + -125.90069580078125, + -15.940683364868164, + 0.0387880802154541 + ], + [ + -125.28836059570312, + -15.184514045715332, + 0.0387880802154541 + ], + [ + -124.6646728515625, + -15.689565658569336, + 0.0387880802154541 + ], + [ + -125.27700805664062, + -16.445735931396484, + 1.8494876623153687 + ], + [ + -125.90069580078125, + -15.940683364868164, + 1.8494876623153687 + ], + [ + -125.28836059570312, + -15.184514045715332, + 1.8494876623153687 + ], + [ + -124.6646728515625, + -15.689565658569336, + 1.8494876623153687 + ] + ], + "corners_2d": [ + [ + 391.9466879088701, + 751.4119969070387 + ], + [ + 429.4471243903805, + 753.5828563490977 + ], + [ + 439.1288735684935, + 709.8704138039175 + ], + [ + 402.87405100577047, + 707.8432051241296 + ], + [ + 375.80628650792283, + 710.5473511957653 + ], + [ + 415.72235660200585, + 712.7867732140179 + ], + [ + 426.5040126357166, + 667.7876484881108 + ], + [ + 387.9961611629642, + 665.7055526473619 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 518, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -113.23526763916016, + "y": -10.81390380859375, + "z": 1.0965206623077393 + }, + "extent": { + "x": 0.30232420563697815, + "y": 0.4301403760910034, + "z": 0.8993242979049683 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 265.2053714687756, + "ymin": 298.4594747413547, + "xmax": 316.2420550789883, + "ymax": 360.2548571053805 + }, + "corners_3d": [ + [ + -113.03917694091797, + -11.301725387573242, + 0.197196364402771 + ], + [ + -113.76067352294922, + -10.833182334899902, + 0.197196364402771 + ], + [ + -113.43135833740234, + -10.326082229614258, + 0.197196364402771 + ], + [ + -112.7098617553711, + -10.794625282287598, + 0.197196364402771 + ], + [ + -113.03917694091797, + -11.301725387573242, + 1.9958449602127075 + ], + [ + -113.76067352294922, + -10.833182334899902, + 1.9958449602127075 + ], + [ + -113.43135833740234, + -10.326082229614258, + 1.9958449602127075 + ], + [ + -112.7098617553711, + -10.794625282287598, + 1.9958449602127075 + ] + ], + "corners_2d": [ + [ + 281.1533952877751, + 357.08456538702933 + ], + [ + 308.1115463884961, + 360.2548571053805 + ], + [ + 316.2420550789883, + 346.8545622420784 + ], + [ + 289.6539259451635, + 343.7773738291334 + ], + [ + 265.2053714687756, + 311.6486174839412 + ], + [ + 293.3074009498052, + 314.7933392967619 + ], + [ + 302.0239797956888, + 301.50782723425186 + ], + [ + 274.32368199928925, + 298.4594747413547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1103, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 119.5337640157602, + "ymax": 33.78619615562263 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 62.238919053957375, + -16.549371440541336 + ], + [ + 15.329581400925463, + -2.5957656215821885 + ], + [ + 71.08980147441514, + 33.78619615562263 + ], + [ + 119.5337640157602, + 17.92180673243496 + ], + [ + 45.12814780724773, + -57.89248269909393 + ], + [ + -3.674719139655963, + -44.64130924424876 + ], + [ + 52.58103050176874, + -9.992914898052902 + ], + [ + 103.08065590111642, + -25.118818925316873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4070, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 535.660161349813, + "ymin": 103.55072371288821, + "xmax": 646.3764259460166, + "ymax": 196.88887287152016 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 612.841480949822, + 196.88887287152016 + ], + [ + 646.1833176551573, + 176.6845642736813 + ], + [ + 572.3140419614106, + 140.23654098105496 + ], + [ + 538.7399990753079, + 158.42325218484788 + ], + [ + 611.9687643035357, + 158.88859272874348 + ], + [ + 646.3764259460166, + 139.12189972908865 + ], + [ + 570.3102415952242, + 103.55072371288821 + ], + [ + 535.660161349813, + 121.2858745170696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3575, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 230.70470565440354, + "ymin": 17.553759378779716, + "xmax": 340.762839726667, + "ymax": 100.04249847551836 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 277.0697721930459, + 49.815940577011474 + ], + [ + 240.62737371927722, + 63.70225581426547 + ], + [ + 303.7197509801591, + 100.04249847551836 + ], + [ + 340.762839726667, + 84.46709677187874 + ], + [ + 268.2635777128975, + 17.553759378779716 + ], + [ + 230.70470565440354, + 31.011931458468382 + ], + [ + 294.8518701842239, + 66.3041589944944 + ], + [ + 333.0675388402217, + 51.165083884923774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3561, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 174.02911927125575, + "ymin": 47.791831380998076, + "xmax": 279.0301068165809, + "ymax": 136.61695175305036 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 229.4087009651367, + 88.9430173796298 + ], + [ + 188.79291096198705, + 104.94973947262486 + ], + [ + 237.74851493027558, + 136.61695175305036 + ], + [ + 279.0301068165809, + 119.03116569978278 + ], + [ + 216.31581507023066, + 47.791831380998076 + ], + [ + 174.02911927125575, + 63.24760985462029 + ], + [ + 223.92226238060323, + 93.89846705901334 + ], + [ + 266.95408399375435, + 76.8650012852292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 563.207864573622, + "ymin": 26.207591650326037, + "xmax": 578.6894510268061, + "ymax": 57.85018581110711 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 564.6495284309901, + 55.278406498381514 + ], + [ + 570.5372852926968, + 57.85018581110711 + ], + [ + 578.6894510268061, + 53.98928815601931 + ], + [ + 572.8046924984044, + 51.45032754995998 + ], + [ + 563.207864573622, + 29.943532290542464 + ], + [ + 569.2024578251502, + 32.45392410998477 + ], + [ + 577.5189813026757, + 28.685339858682482 + ], + [ + 571.527427703214, + 26.207591650326037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.3518466585945, + "ymin": 0.0, + "xmax": 686.7867831976324, + "ymax": 6.404785614427055 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 673.3518466585945, + 4.253073154245328 + ], + [ + 679.1629394371698, + 6.404785614427055 + ], + [ + 685.9847930257877, + 3.173928211990983 + ], + [ + 680.1811653116522, + 1.0473525665454417 + ], + [ + 673.9346811843895, + -19.778757727751838 + ], + [ + 679.8500577072955, + -17.68526040308967 + ], + [ + 686.7867831976324, + -20.828598008250196 + ], + [ + 680.8791675635628, + -22.897214181497418 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 571.9741741512912, + "ymin": 338.3280464972731, + "xmax": 595.4596848353779, + "ymax": 383.1756391501708 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 583.068131251705, + 383.1756391501708 + ], + [ + 595.4596848353779, + 374.04478373712766 + ], + [ + 586.3373310223716, + 368.0748019618243 + ], + [ + 573.9370203588397, + 377.0867094215036 + ], + [ + 581.3650699679705, + 353.3733879586198 + ], + [ + 594.1408142494536, + 344.2743368370934 + ], + [ + 584.7589777235555, + 338.3280464972731 + ], + [ + 571.9741741512912, + 347.30507161397065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 321.19878764259056, + "ymin": 248.09977687986304, + "xmax": 344.6721433641081, + "ymax": 282.1921650681662 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 333.6241389096315, + 282.1921650681662 + ], + [ + 344.6721433641081, + 276.138094783925 + ], + [ + 339.05831106045446, + 272.1415419664156 + ], + [ + 328.02330222970954, + 278.1365390101398 + ], + [ + 326.88835612641026, + 258.06879751555016 + ], + [ + 338.227869328848, + 252.06324260534106 + ], + [ + 332.5242327908583, + 248.09977687986304 + ], + [ + 321.19878764259056, + 254.04545802366127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1198.2462794924877, + "ymin": 67.21366347447844, + "xmax": 1223.5254359795474, + "ymax": 100.75555453284301 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1202.6437510588776, + 93.41656035998625 + ], + [ + 1198.2462794924877, + 97.80512038305011 + ], + [ + 1207.4660177092755, + 100.75555453284301 + ], + [ + 1211.8202368674802, + 96.32669345641386 + ], + [ + 1214.1076989281028, + 67.21366347447844 + ], + [ + 1209.7005431861155, + 71.50817056177641 + ], + [ + 1219.16408179791, + 74.39605025685705 + ], + [ + 1223.5254359795474, + 70.06129379010758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 492.67735014141465, + "ymin": 288.0850150730691, + "xmax": 517.254249487306, + "ymax": 331.00117425362527 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 504.8259399350916, + 331.00117425362527 + ], + [ + 517.254249487306, + 322.8645002030431 + ], + [ + 509.1176949791892, + 317.53965911595395 + ], + [ + 496.69054132619954, + 325.57621847537087 + ], + [ + 501.0162894809805, + 301.4527365068797 + ], + [ + 513.8279356345514, + 293.3713696999778 + ], + [ + 505.4873216201652, + 288.0850150730691 + ], + [ + 492.67735014141465, + 296.0641851523711 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 408.77927065531696, + "ymin": 234.8631700947293, + "xmax": 434.1958244819242, + "ymax": 275.652328178206 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 421.8233753214339, + 275.652328178206 + ], + [ + 434.1958244819242, + 268.50824841646715 + ], + [ + 427.04489141621275, + 263.8284316784842 + ], + [ + 414.681816491665, + 270.89009776462484 + ], + [ + 416.07363288976194, + 246.5635563278418 + ], + [ + 428.8206466540066, + 239.4930388842713 + ], + [ + 421.51581196570476, + 234.8631700947293 + ], + [ + 408.77927065531696, + 241.85000154278083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 751.8011525990627, + "ymin": 14.09185415553037, + "xmax": 764.7458288461308, + "ymax": 39.698943565145214 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 751.8011525990627, + 37.67166749943124 + ], + [ + 757.2350452087845, + 39.698943565145214 + ], + [ + 762.8597081778297, + 36.67051540262378 + ], + [ + 757.4344763291697, + 34.66418405737636 + ], + [ + 753.5205088509662, + 17.03702916252041 + ], + [ + 759.0443479950558, + 19.022568799855037 + ], + [ + 764.7458288461308, + 16.056566730715247 + ], + [ + 759.230985639943, + 14.09185415553037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 616.034332723971, + "ymin": 2.787111306376005, + "xmax": 629.8303384032678, + "ymax": 33.32232209887803 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 616.4659940949177, + 30.9554720055894 + ], + [ + 622.3271093048, + 33.32232209887803 + ], + [ + 629.8303384032678, + 29.768763378812935 + ], + [ + 623.9745800915641, + 27.430900366249148 + ], + [ + 616.034332723971, + 6.2215475940142255 + ], + [ + 622.00159373447, + 8.52830271205994 + ], + [ + 629.6441982275035, + 5.065100929582968 + ], + [ + 623.6824760595445, + 2.787111306376005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 395.60307893831987, + "ymin": 627.6296730813037, + "xmax": 1243.9047349674706, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 884.0722093990457, + 1429.2311153615087 + ], + [ + 911.7150993744058, + 1372.252080170978 + ], + [ + 532.9702850582524, + 950.0663090200924 + ], + [ + 502.8344109208605, + 984.4788866485819 + ], + [ + 1202.9302497675715, + 1494.279738234474 + ], + [ + 1243.9047349674706, + 1363.4653847660995 + ], + [ + 452.59654905837976, + 627.6296730813037 + ], + [ + 395.60307893831987, + 675.7125415928614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 523.4818338641785, + "ymin": 0.0, + "xmax": 773.5886651101505, + "ymax": 210.86546551511805 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 754.8899726623852, + 93.4565746745219 + ], + [ + 746.9718433413075, + 90.17178005875661 + ], + [ + 542.677176095516, + 206.263652379718 + ], + [ + 550.8006094806535, + 210.86546551511805 + ], + [ + 773.5886651101505, + -115.84100409429288 + ], + [ + 764.2776136351677, + -118.4042774923941 + ], + [ + 523.4818338641785, + -25.126115366046065 + ], + [ + 533.0781378669546, + -21.311169800706352 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 413.1565370593629, + "ymin": 649.5843832653712, + "xmax": 492.41496709413184, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 455.80285477757764, + 724.976186299837 + ], + [ + 492.41496709413184, + 691.4444353172098 + ], + [ + 450.2131905136206, + 651.3313586874567 + ], + [ + 413.71375369722193, + 682.693413802205 + ], + [ + 455.33360637678186, + 723.3089199064666 + ], + [ + 492.04894864180903, + 689.7381730749701 + ], + [ + 449.75782815519074, + 649.5843832653712 + ], + [ + 413.1565370593629, + 680.977718147525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 413.17095808698707, + "ymin": 649.6295930352037, + "xmax": 492.42439317443984, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 455.81493850638515, + 725.019120479076 + ], + [ + 492.42439317443984, + 691.4883767218573 + ], + [ + 450.22491843787395, + 651.3763522953899 + ], + [ + 413.72810396668604, + 682.7375989418623 + ], + [ + 455.3457517493904, + 723.3520731096545 + ], + [ + 492.0584215329186, + 689.7823326967663 + ], + [ + 449.7696124236784, + 649.6295930352037 + ], + [ + 413.17095808698707, + 681.022121154811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.8724932413913, + "ymin": 90.96101553358113, + "xmax": 630.8708562659444, + "ymax": 574.2210887200054 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 347.81256583855344, + 341.4809223174708 + ], + [ + 335.9669207946564, + 348.40378735868904 + ], + [ + 618.8007260815431, + 574.2210887200054 + ], + [ + 630.8708562659444, + 563.3727914969309 + ], + [ + 277.29068433981604, + 90.96101553358113 + ], + [ + 261.8724932413913, + 97.13515270574925 + ], + [ + 611.9016324898865, + 312.17084360748635 + ], + [ + 627.9379485736471, + 301.1962459134794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1103.429811947714, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 388.5784004101359 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1501.2670162216132, + 388.5784004101359 + ], + [ + 1504.1983544115997, + 381.02085063064624 + ], + [ + 1108.519694490465, + 220.9059919958413 + ], + [ + 1103.429811947714, + 226.0664184496545 + ], + [ + 1723.0441905581738, + 133.4306956775498 + ], + [ + 1724.4673811245707, + 126.54150449137782 + ], + [ + 1203.0949999320492, + -12.955317924094402 + ], + [ + 1197.737199462465, + -8.643495602450173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1156.102307873832, + "ymin": 331.01860287600834, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1156.102307873832, + 1028.926122256141 + ], + [ + 1181.189143179065, + 1049.2886083010571 + ], + [ + 1372.0419311444102, + 603.2896529399779 + ], + [ + 1352.1498689183477, + 592.6934611046138 + ], + [ + 1428.3916459293714, + 843.9996742129383 + ], + [ + 1472.3991382480892, + 871.6369580624477 + ], + [ + 1618.5560455581867, + 341.92236849893817 + ], + [ + 1589.0138430349893, + 331.01860287600834 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00112/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00112/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0784bcdeda013b02aa8d7ad7c4aacf26b21c1bcc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00112/meta.json @@ -0,0 +1,2989 @@ +{ + "frame_id": 112, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 56.0, + "sim_timestamp": 1481.0663699905854 + }, + "drone_pose": { + "x": -135.22723066316598, + "y": -18.82638148146778, + "z": 20.0, + "pitch": -43.19321428039273, + "yaw": 46.15493728412753, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5050204396247864, + -0.5258020758628845, + 0.6844607591629028, + 64.50225067138672 + ], + [ + 0.7212156653404236, + 0.6927106380462646, + 0.0, + -84.48676300048828 + ], + [ + -0.4741332530975342, + 0.4936438202857971, + 0.7290496826171875, + -87.99024200439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.1499268552904, + "y": -18.083460029596196, + "z": 20.0 + }, + "t1_image_uv": [ + 1665.2570040599496, + -541.2860722115971 + ], + "t1_depth": 0.4296696216097086 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -121.16718292236328, + "y": -4.187763214111328, + "z": 0.9442355012902408 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.840550423461828, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 616, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -121.16718292236328, + "y": -4.18776273727417, + "z": 0.9442355036735535 + }, + "extent": { + "x": 0.3244042992591858, + "y": 0.42691802978515625, + "z": 0.871607780456543 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 624.8572189722123, + "ymin": 329.8472481349137, + "xmax": 655.4008687595763, + "ymax": 389.3958816822105 + }, + "corners_3d": [ + [ + -121.09469604492188, + -4.719027996063232, + 0.0726277232170105 + ], + [ + -121.69844818115234, + -4.115274429321289, + 0.0726277232170105 + ], + [ + -121.23966979980469, + -3.6564974784851074, + 0.0726277232170105 + ], + [ + -120.63591766357422, + -4.260251045227051, + 0.0726277232170105 + ], + [ + -121.09469604492188, + -4.719027996063232, + 1.8158433437347412 + ], + [ + -121.69844818115234, + -4.115274429321289, + 1.8158433437347412 + ], + [ + -121.23966979980469, + -3.6564974784851074, + 1.8158433437347412 + ], + [ + -120.63591766357422, + -4.260251045227051, + 1.8158433437347412 + ] + ], + "corners_2d": [ + [ + 625.6893644534725, + 389.3958816822105 + ], + [ + 654.7494071754523, + 388.9818739816397 + ], + [ + 654.068420569587, + 373.6421656881056 + ], + [ + 625.4874768125393, + 374.0426294119477 + ], + [ + 625.0569890922507, + 345.5097017432421 + ], + [ + 655.4008687595763, + 345.09779263439486 + ], + [ + 654.6791127689528, + 329.8472481349137 + ], + [ + 624.8572189722123, + 330.24510191709663 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 112, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 664967, + "2": 130497, + "3": 32889, + "4": 33169, + "6": 9017, + "7": 2803, + "9": 876, + "10": 64, + "12": 3454, + "14": 12429, + "20": 651, + "24": 30784 + }, + "instance_pixel_counts": { + "11605": 19799, + "15701": 571, + "15967": 1, + "15970": 736, + "16479": 9705, + "16482": 1878, + "17496": 506, + "17547": 1529, + "18018": 2317, + "18059": 3793, + "18530": 217, + "19554": 2044, + "20107": 10385, + "20565": 12519, + "20619": 98, + "21395": 17781, + "21397": 773, + "21643": 8983, + "21907": 259103, + "21909": 16370, + "22421": 1949, + "22931": 79978, + "23957": 711, + "24467": 23799, + "25344": 2212, + "25600": 8274, + "26112": 828, + "36096": 616, + "36352": 590, + "36608": 637, + "36864": 663, + "37120": 531, + "37376": 417, + "37632": 1167, + "37888": 4146, + "40448": 3573, + "40704": 3543, + "45409": 2695, + "45971": 14021, + "46483": 174101, + "46995": 58001, + "47507": 14379, + "48225": 3649, + "49043": 23804, + "49761": 9075, + "51526": 33169, + "53857": 2562, + "56458": 12479, + "56970": 9737, + "57482": 32804, + "58506": 15810, + "60307": 683, + "60819": 6967, + "61254": 1527, + "61331": 1694, + "61843": 256, + "62867": 1381 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 616, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -121.16718292236328, + "y": -4.18776273727417, + "z": 0.9442355036735535 + }, + "extent": { + "x": 0.4614648222923279, + "y": 0.3577905297279358, + "z": 0.9004236459732056 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 627.2134612766888, + "ymin": 325.96900316841646, + "xmax": 653.1014139428137, + "ymax": 393.36602193032587 + }, + "corners_3d": [ + [ + -121.24049377441406, + -4.767063617706299, + 0.0438118577003479 + ], + [ + -121.7464828491211, + -4.26107120513916, + 0.0438118577003479 + ], + [ + -121.0938720703125, + -3.608461856842041, + 0.0438118577003479 + ], + [ + -120.58788299560547, + -4.11445426940918, + 0.0438118577003479 + ], + [ + -121.24049377441406, + -4.767063617706299, + 1.8446590900421143 + ], + [ + -121.7464828491211, + -4.26107120513916, + 1.8446590900421143 + ], + [ + -121.0938720703125, + -3.608461856842041, + 1.8446590900421143 + ], + [ + -120.58788299560547, + -4.11445426940918, + 1.8446590900421143 + ] + ], + "corners_2d": [ + [ + 628.1033172047361, + 393.36602193032587 + ], + [ + 652.5272453019229, + 393.01652934995946 + ], + [ + 651.6144567280581, + 371.1914567984828 + ], + [ + 627.7609403824239, + 371.52480905968235 + ], + [ + 627.557836188718, + 348.010943195 + ], + [ + 653.1014139428137, + 347.66316896437843 + ], + [ + 652.1337978051876, + 325.96900316841646 + ], + [ + 627.2134612766888, + 326.30000700320943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 590, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -117.04119873046875, + "y": -1.1900584697723389, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3915039002895355, + "y": 0.44117626547813416, + "z": 0.8784681558609009 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 596.2381530263392, + "ymin": 224.6461443565069, + "xmax": 628.5487043930526, + "ymax": 285.44233856223264 + }, + "corners_3d": [ + [ + -117.12925720214844, + -1.773288369178772, + 0.06567448377609253 + ], + [ + -117.60982513427734, + -1.0332856178283691, + 0.06567448377609253 + ], + [ + -116.95314025878906, + -0.6068285703659058, + 0.06567448377609253 + ], + [ + -116.47257232666016, + -1.3468313217163086, + 0.06567448377609253 + ], + [ + -117.12925720214844, + -1.773288369178772, + 1.822610855102539 + ], + [ + -117.60982513427734, + -1.0332856178283691, + 1.822610855102539 + ], + [ + -116.95314025878906, + -0.6068285703659058, + 1.822610855102539 + ], + [ + -116.47257232666016, + -1.3468313217163086, + 1.822610855102539 + ] + ], + "corners_2d": [ + [ + 602.5174584826486, + 285.44233856223264 + ], + [ + 628.5487043930526, + 281.64789333472686 + ], + [ + 623.4734578794506, + 267.55223718949554 + ], + [ + 597.8671110000222, + 271.21751957963727 + ], + [ + 601.0419241872261, + 242.25413884260826 + ], + [ + 628.1000637980906, + 238.51702160701018 + ], + [ + 622.8374956543626, + 224.6461443565069 + ], + [ + 596.2381530263392, + 228.25118751782963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 637, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -123.42300415039062, + "y": 2.7549493312835693, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.526440441608429, + "y": 0.49174201488494873, + "z": 0.9314072728157043 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 820.2821262661537, + "ymin": 250.55502441369381, + "xmax": 868.4047185556271, + "ymax": 319.82318228981876 + }, + "corners_3d": [ + [ + -123.52265930175781, + 2.041494369506836, + 0.012750029563903809 + ], + [ + -124.14158630371094, + 2.8058054447174072, + 0.012750029563903809 + ], + [ + -123.32334899902344, + 3.4684042930603027, + 0.012750029563903809 + ], + [ + -122.70442199707031, + 2.7040932178497314, + 0.012750029563903809 + ], + [ + -123.52265930175781, + 2.041494369506836, + 1.8755645751953125 + ], + [ + -124.14158630371094, + 2.8058054447174072, + 1.8755645751953125 + ], + [ + -123.32334899902344, + 3.4684042930603027, + 1.8755645751953125 + ], + [ + -122.70442199707031, + 2.7040932178497314, + 1.8755645751953125 + ] + ], + "corners_2d": [ + [ + 828.8935164326125, + 319.82318228981876 + ], + [ + 858.9042015952361, + 317.3144139921788 + ], + [ + 849.5897116067918, + 296.49847309862497 + ], + [ + 820.2821262661537, + 298.8869014519305 + ], + [ + 837.1165563001285, + 273.5603287450999 + ], + [ + 868.4047185556271, + 271.08331154514656 + ], + [ + 858.4561171282006, + 250.55502441369381 + ], + [ + 827.9313796102331, + 252.90825531028062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 663, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -124.74694061279297, + "y": -4.18776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5070507526397705, + "y": 0.4522140324115753, + "z": 0.899127721786499 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 715.3267670147916, + "ymin": 385.62922230654664, + "xmax": 756.6402951474706, + "ymax": 458.8824826009594 + }, + "corners_3d": [ + [ + -124.78571319580078, + -4.866065502166748, + 0.04501980543136597 + ], + [ + -125.42523956298828, + -4.226538181304932, + 0.04501980543136597 + ], + [ + -124.70816802978516, + -3.509459972381592, + 0.04501980543136597 + ], + [ + -124.06864166259766, + -4.148987293243408, + 0.04501980543136597 + ], + [ + -124.78571319580078, + -4.866065502166748, + 1.8432753086090088 + ], + [ + -125.42523956298828, + -4.226538181304932, + 1.8432753086090088 + ], + [ + -124.70816802978516, + -3.509459972381592, + 1.8432753086090088 + ], + [ + -124.06864166259766, + -4.148987293243408, + 1.8432753086090088 + ] + ], + "corners_2d": [ + [ + 718.1928627708687, + 458.8824826009594 + ], + [ + 751.178483611906, + 458.37675731547023 + ], + [ + 747.4115682823083, + 431.0337842512603 + ], + [ + 715.3267670147916, + 431.5122158774727 + ], + [ + 722.0362445205466, + 413.48238087625805 + ], + [ + 756.6402951474706, + 412.97589493327024 + ], + [ + 752.5371062500598, + 385.62922230654664 + ], + [ + 718.9231138229558, + 386.10708778448895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 531, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -124.78268432617188, + "y": -15.31512451171875, + "z": 0.9441035985946655 + }, + "extent": { + "x": 0.32985350489616394, + "y": 0.4434570074081421, + "z": 0.8770076036453247 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 363.66755053973634, + "ymin": 665.8204210664123, + "xmax": 428.0716611104675, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -124.64563751220703, + -15.850544929504395, + 0.06709599494934082 + ], + [ + -125.33489990234375, + -15.29239273071289, + 0.06709599494934082 + ], + [ + -124.91973114013672, + -14.779704093933105, + 0.06709599494934082 + ], + [ + -124.23046875, + -15.33785629272461, + 0.06709599494934082 + ], + [ + -124.64563751220703, + -15.850544929504395, + 1.8211112022399902 + ], + [ + -125.33489990234375, + -15.29239273071289, + 1.8211112022399902 + ], + [ + -124.91973114013672, + -14.779704093933105, + 1.8211112022399902 + ], + [ + -124.23046875, + -15.33785629272461, + 1.8211112022399902 + ] + ], + "corners_2d": [ + [ + 379.809706986402, + 735.836047132038 + ], + [ + 420.5070176231459, + 739.2388763869385 + ], + [ + 428.0716611104675, + 709.9833065008886 + ], + [ + 388.282084889399, + 706.7339895961848 + ], + [ + 363.66755053973634, + 695.714729494795 + ], + [ + 406.85117463754557, + 699.2157149329287 + ], + [ + 415.20597917386647, + 669.1540081967878 + ], + [ + 373.0429542233145, + 665.8204210664123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 417, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -112.15760803222656, + "y": -10.733604431152344, + "z": 1.0965255498886108 + }, + "extent": { + "x": 0.3312451243400574, + "y": 0.31898802518844604, + "z": 0.890775740146637 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 249.45147358363045, + "ymin": 290.4930602595961, + "xmax": 294.9358567155966, + "ymax": 352.15909186535083 + }, + "corners_3d": [ + [ + -112.07048797607422, + -11.18514347076416, + 0.20574980974197388 + ], + [ + -112.60554504394531, + -10.837676048278809, + 0.20574980974197388 + ], + [ + -112.2447280883789, + -10.282065391540527, + 0.20574980974197388 + ], + [ + -111.70967102050781, + -10.629532814025879, + 0.20574980974197388 + ], + [ + -112.07048797607422, + -11.18514347076416, + 1.9873013496398926 + ], + [ + -112.60554504394531, + -10.837676048278809, + 1.9873013496398926 + ], + [ + -112.2447280883789, + -10.282065391540527, + 1.9873013496398926 + ], + [ + -111.70967102050781, + -10.629532814025879, + 1.9873013496398926 + ] + ], + "corners_2d": [ + [ + 265.7270294320422, + 349.48689964215794 + ], + [ + 285.2232161909022, + 352.15909186535083 + ], + [ + 294.9358567155966, + 337.8640019626973 + ], + [ + 275.7221041679377, + 335.2765117949227 + ], + [ + 249.45147358363045, + 304.56382048670446 + ], + [ + 269.7471675072308, + 307.21193743298585 + ], + [ + 280.1346599413916, + 293.053673503668 + ], + [ + 260.14470650013027, + 290.4930602595961 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1167, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 13.870804075459546, + "ymin": 0.0, + "xmax": 134.09252769568025, + "ymax": 34.86526417612731 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 79.14546876745726, + -15.92136395866197 + ], + [ + 32.26726360051407, + -2.385250082035327 + ], + [ + 85.48753368633811, + 34.86526417612731 + ], + [ + 134.09252769568025, + 19.41997404715687 + ], + [ + 62.60705643687868, + -57.15899318633478 + ], + [ + 13.870804075459546, + -44.30778961409817 + ], + [ + 67.50419471102259, + -8.841003796853784 + ], + [ + 118.13919708536423, + -23.564735328468714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4146, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 543.7404293827698, + "ymin": 112.47118140749424, + "xmax": 654.9398905263832, + "ymax": 207.92980214140357 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 619.970688710893, + 207.92980214140357 + ], + [ + 654.4823258663496, + 187.70756704584832 + ], + [ + 581.1767872859274, + 149.3213441066682 + ], + [ + 546.6066251454371, + 167.44358954579425 + ], + [ + 619.3197438469874, + 169.7554636145025 + ], + [ + 654.9398905263832, + 149.95723862865603 + ], + [ + 579.4190722072337, + 112.47118140749424 + ], + [ + 543.7404293827698, + 130.15292715687468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3573, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 242.43280688672417, + "ymin": 21.184796428495815, + "xmax": 350.96793287889244, + "ymax": 104.74832910323977 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 288.95194799937656, + 53.478433623128296 + ], + [ + 252.0798150956391, + 67.10281122787808 + ], + [ + 313.322763581479, + 104.74832910323977 + ], + [ + 350.96793287889244, + 89.40696283675754 + ], + [ + 280.42214866539166, + 21.184796428495815 + ], + [ + 242.43280688672417, + 34.38983958213282 + ], + [ + 304.6827917826184, + 70.95327818913267 + ], + [ + 343.5098158591492, + 56.03928555603136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3543, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 184.26459499259852, + "ymin": 51.35046713507057, + "xmax": 287.8701681774663, + "ymax": 141.00873884822204 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 239.79617381035013, + 92.53513042215639 + ], + [ + 198.71346061332315, + 108.23274356417963 + ], + [ + 245.96505281104402, + 141.00873884822204 + ], + [ + 287.8701681774663, + 123.70798780533912 + ], + [ + 227.01926478669412, + 51.35046713507057 + ], + [ + 184.26459499259852, + 66.50865804006844 + ], + [ + 232.38985071130628, + 98.23582762917533 + ], + [ + 276.05660651557156, + 81.4756224771811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 570.7391140839926, + "ymin": 35.734628566056585, + "xmax": 586.3167947391952, + "ymax": 67.69474463144167 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 572.0542458421436, + 64.97945827559363 + ], + [ + 577.8900793999851, + 67.69474463144167 + ], + [ + 586.3167947391952, + 63.82715349152943 + ], + [ + 580.4805262646705, + 61.14617025823054 + ], + [ + 570.7391140839926, + 39.47728840413191 + ], + [ + 576.6824148968722, + 42.128933148344856 + ], + [ + 585.2797364387793, + 38.35213059209593 + ], + [ + 579.3359144912475, + 35.734628566056585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.4606444977935, + "ymin": 0.0, + "xmax": 698.3391909239637, + "ymax": 16.11931601940904 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 684.4606444977935, + 13.843613745955963 + ], + [ + 690.2630241962725, + 16.11931601940904 + ], + [ + 697.3266406424209, + 12.877342608274205 + ], + [ + 691.5292003143658, + 10.627981755340329 + ], + [ + 685.247338495909, + -10.374305697148088 + ], + [ + 691.1560970976169, + -8.159211856615286 + ], + [ + 698.3391909239637, + -11.314745095591945 + ], + [ + 692.4355921310824, + -13.503748462096326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 564.1875033214835, + "ymin": 359.6147925866006, + "xmax": 588.523391658869, + "ymax": 405.1558214989476 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 575.4492345521433, + 405.1558214989476 + ], + [ + 588.523391658869, + 395.8471417263675 + ], + [ + 579.4921060907426, + 389.432915569347 + ], + [ + 566.4192290446788, + 398.61398035871304 + ], + [ + 573.4773483215415, + 375.2988853265918 + ], + [ + 586.9668265467276, + 366.01126290824965 + ], + [ + 577.675349380873, + 359.6147925866006 + ], + [ + 564.1875033214835, + 368.7712598513375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 319.90823274197237, + "ymin": 258.3807437808918, + "xmax": 343.6365647846697, + "ymax": 292.7248485836384 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 332.2554012011391, + 292.7248485836384 + ], + [ + 343.6365647846697, + 286.6885271208568 + ], + [ + 338.18485533978856, + 282.4880275816016 + ], + [ + 326.82230732105603, + 288.4630362058622 + ], + [ + 325.42560300811647, + 268.5385280233402 + ], + [ + 337.1080021578276, + 262.5481425792766 + ], + [ + 331.57066681862443, + 258.3807437808918 + ], + [ + 319.90823274197237, + 264.3089480763506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1219.8887578824379, + "ymin": 86.11611162494296, + "xmax": 1246.5219152761042, + "ymax": 120.3925701139733 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1224.5891609483183, + 112.6690713615871 + ], + [ + 1219.8887578824379, + 117.18844917505604 + ], + [ + 1229.3816262829075, + 120.3925701139733 + ], + [ + 1234.0392754006198, + 115.82925532960118 + ], + [ + 1236.8129125778562, + 86.11611162494296 + ], + [ + 1232.0997858354904, + 90.54328907772003 + ], + [ + 1241.854219911594, + 93.68281769278627 + ], + [ + 1246.5219152761042, + 89.21168975399434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 486.01132561437424, + "ymin": 305.750473286279, + "xmax": 511.29985930806276, + "ymax": 349.2474471852975 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 498.2762611221933, + 349.2474471852975 + ], + [ + 511.29985930806276, + 341.00126132127684 + ], + [ + 503.2915473149019, + 335.31357418018126 + ], + [ + 490.2783239936613, + 343.4532938225742 + ], + [ + 494.20998951408734, + 319.6007315393743 + ], + [ + 507.6424193039479, + 311.40252797444094 + ], + [ + 499.4322765591166, + 305.750473286279 + ], + [ + 486.01132561437424, + 313.8398377770828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 403.816023067115, + "ymin": 249.0462762510786, + "xmax": 429.7801944183009, + "ymax": 290.2991903277579 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 416.90720558486584, + 290.2991903277579 + ], + [ + 429.7801944183009, + 283.10416333791926 + ], + [ + 422.78547478546767, + 278.1363525299447 + ], + [ + 409.93005533737136, + 285.2445518687719 + ], + [ + 410.94136282339605, + 261.09103088455964 + ], + [ + 424.2085233122988, + 253.9647189714381 + ], + [ + 417.06402153547066, + 249.0462762510786 + ], + [ + 403.816023067115, + 256.0843215000151 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.0612200229734, + "ymin": 23.97325449602863, + "xmax": 778.458447155851, + "ymax": 49.85893122309284 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 765.0612200229734, + 47.71462318987716 + ], + [ + 770.5076105861326, + 49.85893122309284 + ], + [ + 776.3386818582075, + 46.81986038258606 + ], + [ + 770.8991469226804, + 44.69750383177836 + ], + [ + 767.0086500801895, + 26.92898901417618 + ], + [ + 772.5473650055195, + 29.02995666842139 + ], + [ + 778.458447155851, + 26.052381432169568 + ], + [ + 772.9268810930876, + 23.97325449602863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 625.3449322567179, + "ymin": 12.260937244518914, + "xmax": 639.2047256669375, + "ymax": 43.115904267002634 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 625.6120208120409, + 40.61492650901738 + ], + [ + 631.4425061241093, + 43.115904267002634 + ], + [ + 639.2047256669375, + 39.55329531186163 + ], + [ + 633.3766155845069, + 37.082652883112075 + ], + [ + 625.3449322567179, + 15.704373724405855 + ], + [ + 631.2829552088932, + 18.142920851628787 + ], + [ + 639.189990173704, + 14.66936112469773 + ], + [ + 633.2544237449617, + 12.260937244518914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 343.46122267918236, + "ymin": 681.7120442167654, + "xmax": 1214.278096533234, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 854.466439256132, + 1514.825176143493 + ], + [ + 885.368217852342, + 1454.3289633006068 + ], + [ + 508.99163644007945, + 989.6343967032751 + ], + [ + 476.7602416982073, + 1024.987293401673 + ], + [ + 1163.2145688227988, + 1705.265993172138 + ], + [ + 1214.278096533234, + 1550.5618264985756 + ], + [ + 406.31933055104184, + 681.7120442167654 + ], + [ + 343.46122267918236, + 733.016337801872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 530.4823274218434, + "ymin": 0.0, + "xmax": 788.8224868668578, + "ymax": 221.3138199951243 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 767.7433340269779, + 103.91148392631663 + ], + [ + 759.8169147988077, + 100.44320570677968 + ], + [ + 548.7006071979758, + 216.4732357667119 + ], + [ + 556.7207218810581, + 221.3138199951243 + ], + [ + 788.8224868668578, + -107.0770684187396 + ], + [ + 779.4644067329295, + -109.79391610102607 + ], + [ + 530.4823274218434, + -16.20858679923947 + ], + [ + 539.9753099495604, + -12.17993102693822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 362.80810421692473, + "ymin": 704.3920051505888, + "xmax": 444.8414096659355, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 404.2560471463546, + 787.1902176140677 + ], + [ + 444.8414096659355, + 751.2573186108095 + ], + [ + 403.7492281211232, + 706.085527275952 + ], + [ + 363.5188832584563, + 739.5182663945526 + ], + [ + 403.6273778136792, + 785.6025738747506 + ], + [ + 444.33508464964353, + 749.61950385847 + ], + [ + 403.15776687540324, + 704.3920051505888 + ], + [ + 362.80810421692473, + 737.8651859212202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 362.826501448509, + "ymin": 704.4358360465683, + "xmax": 444.8544475380537, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 404.27223418768415, + 787.2310964250569 + ], + [ + 444.8544475380537, + 751.2994923502204 + ], + [ + 403.76445966812366, + 706.129139536325 + ], + [ + 363.53718626528274, + 739.5608342551959 + ], + [ + 403.6436513006115, + 785.6436709957679 + ], + [ + 444.3481902589039, + 749.6618967079132 + ], + [ + 403.1730747807142, + 704.4358360465683 + ], + [ + 362.826501448509, + 737.9079729232535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 259.6966961568408, + "ymin": 100.46958116880182, + "xmax": 624.3885749738033, + "ymax": 597.9240534176749 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 347.02315849749164, + 351.841580227104 + ], + [ + 334.8367497584007, + 358.7284572304732 + ], + [ + 611.6705708172722, + 597.9240534176749 + ], + [ + 624.3885749738033, + 586.9124984290261 + ], + [ + 275.57038727849584, + 100.46958116880182 + ], + [ + 259.6966961568408, + 106.63661541987676 + ], + [ + 602.2229121539114, + 336.26073210489807 + ], + [ + 619.2491690746931, + 324.9859528271062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1120.5419490909362, + "ymin": 3.8326809065013094, + "xmax": 1280.0, + "ymax": 422.6865627887766 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1531.4872749656797, + 422.6865627887766 + ], + [ + 1534.730495460573, + 414.79039074263227 + ], + [ + 1125.9459945663803, + 240.43219852657276 + ], + [ + 1120.5419490909362, + 245.70301925869194 + ], + [ + 1770.7836414193575, + 165.0394097751337 + ], + [ + 1772.4075554398873, + 157.71677641247302 + ], + [ + 1226.6148685404933, + 3.8326809065013094 + ], + [ + 1220.902724368909, + 8.275833343736736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1152.6470482350328, + "ymin": 374.5199302109691, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1152.6470482350328, + 1093.5270059203453 + ], + [ + 1178.4642238051674, + 1116.2252881084773 + ], + [ + 1390.7294426449293, + 646.4692383198054 + ], + [ + 1370.065941657664, + 634.7682514796622 + ], + [ + 1439.6227501014719, + 931.7405106896545 + ], + [ + 1486.471231905503, + 963.8912394291555 + ], + [ + 1655.5239998659085, + 386.84545264602343 + ], + [ + 1624.1524794507793, + 374.5199302109691 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00113/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00113/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7bae4ec86a061eb5630f0531a01f1cd7744ad42 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00113/meta.json @@ -0,0 +1,2679 @@ +{ + "frame_id": 113, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 56.5, + "sim_timestamp": 1492.384154229192 + }, + "drone_pose": { + "x": -135.1499268552904, + "y": -18.083460029596196, + "z": 20.0, + "pitch": -43.02051791730875, + "yaw": 44.82729616924681, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5185283422470093, + -0.5154117941856384, + 0.682260274887085, + 65.7542953491211 + ], + [ + 0.7049722075462341, + 0.7092349529266357, + 1.4901161193847656e-08, + -82.4515151977539 + ], + [ + -0.4838828146457672, + 0.4809744954109192, + 0.7311093807220459, + -88.71660614013672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.06850707456613, + "y": -17.41187631887194, + "z": 20.0 + }, + "t1_image_uv": [ + 1675.5207261323196, + -535.857425020423 + ], + "t1_depth": 0.38836063749250677 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -120.66718292236328, + "y": -3.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 27.930475629932314, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 574, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -120.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5083495378494263, + "y": 0.40500009059906006, + "z": 0.904572606086731 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.353776628688, + "ymin": 321.92165754847287, + "xmax": 662.7373741529367, + "ymax": 397.68550339177506 + }, + "corners_3d": [ + [ + -121.17552947998047, + -4.0927629470825195, + 0.03957492113113403 + ], + [ + -121.17552947998047, + -3.2827630043029785, + 0.03957492113113403 + ], + [ + -120.1588363647461, + -3.2827630043029785, + 0.03957492113113403 + ], + [ + -120.1588363647461, + -4.0927629470825195, + 0.03957492113113403 + ], + [ + -121.17552947998047, + -4.0927629470825195, + 1.8487200736999512 + ], + [ + -121.17552947998047, + -3.2827630043029785, + 1.8487200736999512 + ], + [ + -120.1588363647461, + -3.2827630043029785, + 1.8487200736999512 + ], + [ + -120.1588363647461, + -4.0927629470825195, + 1.8487200736999512 + ] + ], + "corners_2d": [ + [ + 642.4322094437418, + 397.68550339177506 + ], + [ + 661.7523906547323, + 384.0069923087708 + ], + [ + 637.6469758551665, + 367.296495581788 + ], + [ + 618.3310488554708, + 380.4789849083315 + ], + [ + 642.5440568540176, + 352.1111660734272 + ], + [ + 662.7373741529367, + 338.51127432221745 + ], + [ + 637.5424486849595, + 321.92165754847287 + ], + [ + 617.353776628688, + 335.0065152672248 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 113, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 656971, + "2": 139341, + "3": 33444, + "4": 32837, + "6": 8804, + "7": 2968, + "9": 1182, + "10": 68, + "12": 3496, + "14": 12695, + "20": 831, + "22": 49, + "24": 28914 + }, + "instance_pixel_counts": { + "6488": 11, + "11605": 20931, + "15701": 592, + "15967": 160, + "15970": 891, + "16479": 12235, + "16482": 1958, + "17547": 2339, + "18018": 2425, + "18059": 3917, + "18530": 485, + "19554": 2064, + "20107": 11371, + "20565": 11921, + "20619": 775, + "21395": 18147, + "21397": 786, + "21643": 9224, + "21907": 251038, + "21909": 14459, + "22421": 1714, + "22931": 70824, + "23957": 690, + "24467": 24565, + "25344": 2630, + "25600": 8402, + "26112": 740, + "36096": 574, + "36352": 547, + "36608": 683, + "36864": 654, + "37120": 948, + "37376": 90, + "37632": 1386, + "37888": 4218, + "40448": 3562, + "40704": 3529, + "45409": 2791, + "45442": 49, + "45971": 15324, + "46483": 179575, + "46995": 57149, + "47507": 16018, + "48225": 3786, + "49043": 24331, + "49761": 8923, + "51526": 32837, + "53857": 2531, + "56458": 14193, + "56970": 10077, + "57482": 32361, + "58506": 16835, + "60307": 767, + "60819": 7033, + "61254": 2002, + "61331": 1713, + "61843": 339, + "62867": 1413 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 574, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -120.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.41746577620506287, + "y": 0.3944687843322754, + "z": 0.8757625222206116 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 619.8469050098083, + "ymin": 324.3015150024558, + "xmax": 660.1725191432987, + "ymax": 395.2470636648938 + }, + "corners_3d": [ + [ + -121.08464813232422, + -4.082231521606445, + 0.06838500499725342 + ], + [ + -121.08464813232422, + -3.2932941913604736, + 0.06838500499725342 + ], + [ + -120.24971771240234, + -3.2932941913604736, + 0.06838500499725342 + ], + [ + -120.24971771240234, + -4.082231521606445, + 0.06838500499725342 + ], + [ + -121.08464813232422, + -4.082231521606445, + 1.8199100494384766 + ], + [ + -121.08464813232422, + -3.2932941913604736, + 1.8199100494384766 + ], + [ + -120.24971771240234, + -3.2932941913604736, + 1.8199100494384766 + ], + [ + -120.24971771240234, + -4.082231521606445, + 1.8199100494384766 + ] + ], + "corners_2d": [ + [ + 640.4962758156844, + 395.2470636648938 + ], + [ + 659.3271314892029, + 381.96930865080833 + ], + [ + 639.5181343402772, + 368.2425304068901 + ], + [ + 620.6907001614945, + 381.12331114805716 + ], + [ + 640.5183113826079, + 351.1343505957928 + ], + [ + 660.1725191432987, + 337.9323861474125 + ], + [ + 639.4973858640105, + 324.3015150024558 + ], + [ + 619.8469050098083, + 337.0917838365132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 547, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -116.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.43874022364616394, + "y": 0.47166189551353455, + "z": 0.9038122892379761 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 596.2372906811052, + "ymin": 221.7101987640661, + "xmax": 635.3308201504082, + "ymax": 289.1535410907297 + }, + "corners_3d": [ + [ + -117.06841278076172, + -1.0601937770843506, + 0.040330350399017334 + ], + [ + -116.87228393554688, + -0.13748395442962646, + 0.040330350399017334 + ], + [ + -116.01398468017578, + -0.3199231028556824, + 0.040330350399017334 + ], + [ + -116.21011352539062, + -1.2426328659057617, + 0.040330350399017334 + ], + [ + -117.06841278076172, + -1.0601937770843506, + 1.8479549884796143 + ], + [ + -116.87228393554688, + -0.13748395442962646, + 1.8479549884796143 + ], + [ + -116.01398468017578, + -0.3199231028556824, + 1.8479549884796143 + ], + [ + -116.21011352539062, + -1.2426328659057617, + 1.8479549884796143 + ] + ], + "corners_2d": [ + [ + 619.6480430766618, + 289.1535410907297 + ], + [ + 635.3308201504082, + 274.4291250973861 + ], + [ + 613.8157463196195, + 265.72989845898024 + ], + [ + 597.9176707262674, + 280.13703779308196 + ], + [ + 618.8260311990283, + 244.7416388002671 + ], + [ + 635.1457320588747, + 230.25760514588364 + ], + [ + 612.7893726602352, + 221.7101987640661 + ], + [ + 596.2372906811052, + 235.869856394383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 683, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -122.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.6055908203125, + "y": 0.4683714210987091, + "z": 0.9201706647872925 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 818.1412461900134, + "ymin": 251.19635872823676, + "xmax": 875.3242443025813, + "ymax": 326.3526445790947 + }, + "corners_3d": [ + [ + -123.57423400878906, + 2.852445125579834, + 0.023986637592315674 + ], + [ + -123.476318359375, + 3.7840564250946045, + 0.023986637592315674 + ], + [ + -122.27177429199219, + 3.6574535369873047, + 0.023986637592315674 + ], + [ + -122.36968994140625, + 2.725842237472534, + 0.023986637592315674 + ], + [ + -123.57423400878906, + 2.852445125579834, + 1.8643279075622559 + ], + [ + -123.476318359375, + 3.7840564250946045, + 1.8643279075622559 + ], + [ + -122.27177429199219, + 3.6574535369873047, + 1.8643279075622559 + ], + [ + -122.36968994140625, + 2.725842237472534, + 1.8643279075622559 + ] + ], + "corners_2d": [ + [ + 851.0467501032886, + 326.3526445790947 + ], + [ + 865.7783554547599, + 311.56305428691485 + ], + [ + 833.165779444865, + 296.52137422499436 + ], + [ + 818.1412461900134, + 310.78617589128254 + ], + [ + 860.1322212098412, + 280.6175393281172 + ], + [ + 875.3242443025813, + 266.02031466018883 + ], + [ + 841.1818311944046, + 251.19635872823676 + ], + [ + 825.6658458014219, + 265.2541364780104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 654, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -124.24694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5401366949081421, + "y": 0.36927270889282227, + "z": 0.9064344763755798 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.4213496412303, + "ymin": 383.34644362761946, + "xmax": 759.8316337468152, + "ymax": 463.74783345779883 + }, + "corners_3d": [ + [ + -124.78707885742188, + -4.057035446166992, + 0.037713050842285156 + ], + [ + -124.78707885742188, + -3.3184902667999268, + 0.037713050842285156 + ], + [ + -123.70680236816406, + -3.3184902667999268, + 0.037713050842285156 + ], + [ + -123.70680236816406, + -4.057035446166992, + 0.037713050842285156 + ], + [ + -124.78707885742188, + -4.057035446166992, + 1.8505820035934448 + ], + [ + -124.78707885742188, + -3.3184902667999268, + 1.8505820035934448 + ], + [ + -123.70680236816406, + -3.3184902667999268, + 1.8505820035934448 + ], + [ + -123.70680236816406, + -4.057035446166992, + 1.8505820035934448 + ] + ], + "corners_2d": [ + [ + 736.7425347804427, + 463.74783345779883 + ], + [ + 754.2603121223336, + 449.44473098707516 + ], + [ + 724.9887752125987, + 429.1259537928073 + ], + [ + 707.4213496412303, + 442.84111953663955 + ], + [ + 741.5315574993353, + 417.95840729334157 + ], + [ + 759.8316337468152, + 403.64502340758247 + ], + [ + 729.043284710854, + 383.34644362761946 + ], + [ + 710.6857083347013, + 397.04350000122145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 948, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -124.28268432617188, + "y": -14.81512451171875, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5363233089447021, + "y": 0.3730444610118866, + "z": 0.9094566702842712 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 351.0514238664557, + "ymin": 645.0951643174631, + "xmax": 422.39771447066033, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -124.7770767211914, + -15.242186546325684, + 0.03468596935272217 + ], + [ + -124.85506439208984, + -14.500185012817383, + 0.03468596935272217 + ], + [ + -123.78829193115234, + -14.388062477111816, + 0.03468596935272217 + ], + [ + -123.7103042602539, + -15.130064010620117, + 0.03468596935272217 + ], + [ + -124.7770767211914, + -15.242186546325684, + 1.8535993099212646 + ], + [ + -124.85506439208984, + -14.500185012817383, + 1.8535993099212646 + ], + [ + -123.78829193115234, + -14.388062477111816, + 1.8535993099212646 + ], + [ + -123.7103042602539, + -15.130064010620117, + 1.8535993099212646 + ] + ], + "corners_2d": [ + [ + 391.49541235852655, + 745.180852764484 + ], + [ + 422.39771447066033, + 724.1244405100304 + ], + [ + 398.46027741954555, + 688.183088715886 + ], + [ + 368.06533831182986, + 708.045885051693 + ], + [ + 375.45330142226544, + 703.6364727403138 + ], + [ + 408.5960277041024, + 681.9707082317998 + ], + [ + 383.60421424570967, + 645.0951643174631 + ], + [ + 351.0514238664557, + 665.4577559093046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 90, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -110.96488189697266, + "y": -10.736898422241211, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.5535595417022705, + "y": 0.283761590719223, + "z": 0.8850248456001282 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 228.09051832523983, + "ymin": 277.9407241828336, + "xmax": 273.4923910636004, + "ymax": 348.6801344102217 + }, + "corners_3d": [ + [ + -111.44734954833984, + -11.12955093383789, + 0.21152514219284058 + ], + [ + -111.56534576416016, + -10.574429512023926, + 0.21152514219284058 + ], + [ + -110.48241424560547, + -10.344245910644531, + 0.21152514219284058 + ], + [ + -110.36441802978516, + -10.899367332458496, + 0.21152514219284058 + ], + [ + -111.44734954833984, + -11.12955093383789, + 1.9815747737884521 + ], + [ + -111.56534576416016, + -10.574429512023926, + 1.9815747737884521 + ], + [ + -110.48241424560547, + -10.344245910644531, + 1.9815747737884521 + ], + [ + -110.36441802978516, + -10.899367332458496, + 1.9815747737884521 + ] + ], + "corners_2d": [ + [ + 255.10089443638935, + 348.6801344102217 + ], + [ + 273.4923910636004, + 341.9585855133871 + ], + [ + 262.6971033520084, + 322.2408576805666 + ], + [ + 244.64102266618397, + 328.6627311135611 + ], + [ + 238.5991884399739, + 304.09005502396496 + ], + [ + 257.90366258225623, + 297.43586659868737 + ], + [ + 247.02466215405184, + 277.9407241828336 + ], + [ + 228.09051832523983, + 284.286015873638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1386, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 29.061273496856415, + "ymin": 0.0, + "xmax": 146.58517377594956, + "ymax": 37.89033358417021 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 93.76142526447381, + -13.247975650410297 + ], + [ + 46.90002763282314, + -0.08707434134521463 + ], + [ + 97.82662215190089, + 37.89033358417021 + ], + [ + 146.58517377594956, + 22.823751595071542 + ], + [ + 77.74753628086967, + -54.349433451333084 + ], + [ + 29.061273496856415, + -41.85888163302326 + ], + [ + 80.32638127957819, + -5.712156310423893 + ], + [ + 131.09011919096093, + -20.070928828745423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4218, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 550.2009732044793, + "ymin": 122.48051242842271, + "xmax": 661.7960333513618, + "ymax": 219.83783744091568 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 625.5424792235971, + 219.83783744091568 + ], + [ + 661.122828495664, + 199.60707636468948 + ], + [ + 588.367769495839, + 159.45562288677723 + ], + [ + 552.8912279076986, + 177.51071426257377 + ], + [ + 625.0686139488411, + 181.52560930451648 + ], + [ + 661.7960333513618, + 161.70842200270408 + ], + [ + 586.8147399179339, + 122.48051242842271 + ], + [ + 550.2009732044793, + 140.1034349606021 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3562, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 252.34191811735337, + "ymin": 26.474368291026053, + "xmax": 359.4684148863242, + "ymax": 110.9396991279886 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 299.00024254663987, + 58.769133171912415 + ], + [ + 261.73886477229036, + 72.15204008346967 + ], + [ + 321.2777067389007, + 110.9396991279886 + ], + [ + 359.4684148863242, + 95.8160519654046 + ], + [ + 290.71995037369464, + 26.474368291026053 + ], + [ + 252.34191811735337, + 39.444844280375776 + ], + [ + 312.8413673390916, + 77.11741520539016 + ], + [ + 352.2210651187429, + 62.41433451256472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3529, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 192.81038436640836, + "ymin": 56.555501972589695, + "xmax": 295.1279137276355, + "ymax": 146.90329103991758 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 248.48056386862214, + 97.73983766434424 + ], + [ + 206.97160460346453, + 113.15495408057691 + ], + [ + 252.6544304250762, + 146.90329103991758 + ], + [ + 295.1279137276355, + 129.8643796994313 + ], + [ + 235.9906128616745, + 56.555501972589695 + ], + [ + 192.81038436640836, + 71.43997205931134 + ], + [ + 239.30577270072536, + 104.10742759611941 + ], + [ + 283.5495294140447, + 87.60033494491853 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 576.5899179973129, + "ymin": 46.37909974919637, + "xmax": 592.2647520121803, + "ymax": 78.60226103891733 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 577.8040914095063, + 75.7564332606982 + ], + [ + 583.5876533883841, + 78.60226103891733 + ], + [ + 592.2647520121803, + 74.73146813168387 + ], + [ + 586.4775219013894, + 71.92129945592262 + ], + [ + 576.5899179973129, + 50.124782332774544 + ], + [ + 582.4811605801518, + 52.904826368356055 + ], + [ + 591.334468208556, + 49.123633851974034 + ], + [ + 585.4393479408777, + 46.37909974919637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.5826185018171, + "ymin": 0.0, + "xmax": 707.8454618964915, + "ymax": 26.95116973241329 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 693.5826185018171, + 24.562736944995322 + ], + [ + 699.3734410903221, + 26.95116973241329 + ], + [ + 706.6569264199777, + 23.702057159115327 + ], + [ + 700.8686616036484, + 21.341063929645543 + ], + [ + 694.539526536438, + 0.2005919972775132 + ], + [ + 700.4383648416939, + 2.5261734472231296 + ], + [ + 707.8454618964915, + -0.6373523326261079 + ], + [ + 701.949327921245, + -2.9357423219678367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 555.4900077183571, + "ymin": 381.16859239350003, + "xmax": 580.6584731084099, + "ymax": 427.3533923651673 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 566.9413807221601, + 427.3533923651673 + ], + [ + 580.6584731084099, + 417.8757916801473 + ], + [ + 571.7258909827208, + 411.0375901379014 + ], + [ + 558.0199958211862, + 420.37910497157225 + ], + [ + 564.6697601779399, + 397.46103310628746 + ], + [ + 578.8320737238482, + 387.99491429919846 + ], + [ + 569.6400933451281, + 381.16859239350003 + ], + [ + 555.4900077183571, + 390.49463211501006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.70339067766974, + "ymin": 269.5971908504766, + "xmax": 341.67276206576526, + "ymax": 304.16478248921214 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 329.9839665838796, + 304.16478248921214 + ], + [ + 341.67276206576526, + 298.1447490720022 + ], + [ + 336.3760375356514, + 293.7573388440826 + ], + [ + 324.7111439658003, + 299.7139738548632 + ], + [ + 323.0558855231471, + 279.9273546203109 + ], + [ + 335.05473438581333, + 273.9513252849494 + ], + [ + 329.6767236672639, + 269.5971908504766 + ], + [ + 317.70339067766974, + 275.5088952234498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1238.6487324246402, + "ymin": 105.61797956757306, + "xmax": 1266.513689380752, + "ymax": 140.5519417192448 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1243.6294423752065, + 132.46508597801727 + ], + [ + 1238.6487324246402, + 137.10517244622886 + ], + [ + 1248.399782841262, + 140.5519417192448 + ], + [ + 1253.338250528666, + 135.86436802561968 + ], + [ + 1256.5292993885382, + 105.61797956757306 + ], + [ + 1251.5328841079017, + 110.1675222266887 + ], + [ + 1261.5623128203058, + 113.54790747892827 + ], + [ + 1266.513689380752, + 108.95079785087782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 478.4904067100141, + "ymin": 323.86884836718644, + "xmax": 504.46741692983784, + "ymax": 367.8976842320455 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 490.88663052786615, + 367.8976842320455 + ], + [ + 504.46741692983784, + 359.5489412695154 + ], + [ + 496.5905409430393, + 353.51891909142984 + ], + [ + 483.0291153281218, + 361.7550760244045 + ], + [ + 486.5447527385509, + 338.17297593978054 + ], + [ + 500.5584919527946, + 329.86595664694073 + ], + [ + 492.4830892051297, + 323.86884836718644 + ], + [ + 478.4904067100141, + 332.0606316814714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 398.01133962211077, + "ymin": 263.9019434524455, + "xmax": 424.49837607445886, + "ymax": 305.5714497059077 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 411.1599622941296, + 305.5714497059077 + ], + [ + 424.49837607445886, + 298.32990613288933 + ], + [ + 417.65861677787893, + 293.09383253370123 + ], + [ + 404.34564875183855, + 300.24436353988864 + ], + [ + 404.9685682673586, + 276.2658562630036 + ], + [ + 418.71938469456995, + 269.08909464887495 + ], + [ + 411.7346295728021, + 263.9019434524455 + ], + [ + 398.01133962211077, + 270.98610061947005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.184979198601, + "ymin": 34.944337874265955, + "xmax": 789.976965954429, + "ymax": 61.0611455230204 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 776.184979198601, + 58.81024922353993 + ], + [ + 781.6407068458593, + 61.0611455230204 + ], + [ + 787.659266099014, + 58.0149568284981 + ], + [ + 782.2086958511538, + 55.78693253673123 + ], + [ + 778.3254831221332, + 37.90699373170651 + ], + [ + 783.8755214581254, + 40.11303480359504 + ], + [ + 789.976965954429, + 37.12761245408683 + ], + [ + 784.4323368164494, + 34.944337874265955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 632.8162285729957, + "ymin": 22.877465273898906, + "xmax": 646.8707684368948, + "ymax": 53.99625473014953 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 632.9482992372475, + 51.37329953112561 + ], + [ + 638.7465700744054, + 53.99625473014953 + ], + [ + 646.7446554631813, + 50.428364870119765 + ], + [ + 640.9459503940678, + 47.83697531211817 + ], + [ + 632.8162285729957, + 26.32597115450858 + ], + [ + 638.7229878698591, + 28.88429241862582 + ], + [ + 646.8707684368948, + 25.40442611347737 + ], + [ + 640.9635583371947, + 22.877465273898906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 535.8238100189769, + "ymin": 0.0, + "xmax": 801.6351913228882, + "ymax": 232.67183240986924 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 778.5377696514324, + 115.33442943560465 + ], + [ + 770.6061532326586, + 111.69892884624028 + ], + [ + 553.2771857882344, + 227.6132267389415 + ], + [ + 561.1980039788774, + 232.67183240986924 + ], + [ + 801.6351913228882, + -96.97065453772655 + ], + [ + 792.2394900200761, + -99.82674153495384 + ], + [ + 535.8238100189769, + -6.068036793676811 + ], + [ + 545.2123333737977, + -1.8456661956631137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 256.6188652685981, + "ymin": 111.0655498853991, + "xmax": 617.1556677994262, + "ymax": 621.7430078079988 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 345.3272046669736, + 363.11321861284057 + ], + [ + 332.82573775345736, + 369.96856691961375 + ], + [ + 603.8284831081481, + 621.7430078079988 + ], + [ + 617.1556677994262, + 610.5706526828669 + ], + [ + 272.9110534054887, + 111.0655498853991 + ], + [ + 256.6188652685981, + 117.2227391726484 + ], + [ + 591.5110549511221, + 360.560422426137 + ], + [ + 609.4768399840715, + 349.000695568872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.2522521145372, + "ymin": 21.427541969035474, + "xmax": 1280.0, + "ymax": 456.7143844982862 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1558.8592670151484, + 456.7143844982862 + ], + [ + 1562.3881034215128, + 448.48913272325876 + ], + [ + 1140.9457737627822, + 260.31392104456097 + ], + [ + 1135.2522521145372, + 265.6863792065693 + ], + [ + 1814.7284972570285, + 197.1801576903727 + ], + [ + 1816.5250646141303, + 189.43195458640247 + ], + [ + 1246.9958210332447, + 21.427541969035474 + ], + [ + 1240.955460351401, + 25.99063846665223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1148.0702383932758, + "ymin": 418.422017415703, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1148.0702383932758, + 1158.1315375621216 + ], + [ + 1174.6035088350066, + 1183.238104719139 + ], + [ + 1407.3231063162357, + 689.390645565082 + ], + [ + 1385.899817811911, + 676.5832437535473 + ], + [ + 1448.6831084549208, + 1021.6889731475293 + ], + [ + 1498.4433449372318, + 1058.7568392064927 + ], + [ + 1689.5032382094168, + 432.20939325237265 + ], + [ + 1656.2949635606428, + 418.422017415703 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00114/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00114/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e85f043eaca93f07bb67a1fe980f150697fda05 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00114/meta.json @@ -0,0 +1,2679 @@ +{ + "frame_id": 114, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 57.0, + "sim_timestamp": 1504.946362196235 + }, + "drone_pose": { + "x": -135.06850707456613, + "y": -17.41187631887194, + "z": 20.0, + "pitch": -43.24804889509498, + "yaw": 42.645058192618, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5357810258865356, + -0.49345412850379944, + 0.6851582527160645, + 67.25593566894531 + ], + [ + 0.6774547100067139, + 0.7355645298957825, + -1.4901161193847656e-08, + -78.69523620605469 + ], + [ + -0.5039781332015991, + 0.4641636610031128, + 0.7283942699432373, + -90.72142028808594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.97308102224775, + "y": -16.791193075312144, + "z": 20.0 + }, + "t1_image_uv": [ + 1692.6666433412358, + -543.0162058810901 + ], + "t1_depth": 0.35740615858441155 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -120.16718292236328, + "y": -3.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 27.812339928266198, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 596, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -120.16718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5393847227096558, + "y": 0.3673052489757538, + "z": 0.9043381214141846 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.6501816450829, + "ymin": 321.790065674864, + "xmax": 662.5276502561362, + "ymax": 397.801680222988 + }, + "corners_3d": [ + [ + -120.7065658569336, + -4.055068016052246, + 0.03980940580368042 + ], + [ + -120.7065658569336, + -3.320457696914673, + 0.03980940580368042 + ], + [ + -119.62779998779297, + -3.320457696914673, + 0.03980940580368042 + ], + [ + -119.62779998779297, + -4.055068016052246, + 0.03980940580368042 + ], + [ + -120.7065658569336, + -4.055068016052246, + 1.8484857082366943 + ], + [ + -120.7065658569336, + -3.320457696914673, + 1.8484857082366943 + ], + [ + -119.62779998779297, + -3.320457696914673, + 1.8484857082366943 + ], + [ + -119.62779998779297, + -4.055068016052246, + 1.8484857082366943 + ] + ], + "corners_2d": [ + [ + 643.269535954883, + 397.801680222988 + ], + [ + 661.542029684043, + 385.7609863581434 + ], + [ + 636.8368723743616, + 367.18742187893423 + ], + [ + 618.6206387149517, + 378.7483573549671 + ], + [ + 643.4211575139072, + 352.22630311643877 + ], + [ + 662.5276502561362, + 340.24467267833603 + ], + [ + 636.695172426599, + 321.790065674864 + ], + [ + 617.6501816450829, + 333.2729903785718 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 114, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 645093, + "2": 145377, + "3": 40079, + "4": 33369, + "6": 8762, + "7": 2646, + "9": 1288, + "10": 70, + "12": 3637, + "14": 12077, + "20": 870, + "22": 202, + "24": 28130 + }, + "instance_pixel_counts": { + "6488": 22, + "11605": 25667, + "15701": 899, + "15967": 138, + "15970": 832, + "16479": 13293, + "16482": 2022, + "17547": 2180, + "18018": 2558, + "18059": 4108, + "18530": 669, + "19554": 2103, + "20107": 12070, + "20565": 13513, + "20619": 1429, + "21395": 17242, + "21397": 740, + "21643": 9534, + "21907": 243338, + "21909": 13826, + "22421": 1687, + "22931": 69260, + "23957": 753, + "24467": 25213, + "25344": 2799, + "25600": 8448, + "26112": 161, + "36096": 596, + "36352": 641, + "36608": 657, + "36864": 635, + "37120": 996, + "37376": 112, + "37632": 766, + "37888": 4298, + "40448": 3537, + "40704": 3476, + "45409": 2636, + "45442": 202, + "45971": 14385, + "46483": 182182, + "46995": 54436, + "47507": 14168, + "48225": 3812, + "49043": 24869, + "49761": 9013, + "51526": 33369, + "53857": 2296, + "56458": 16161, + "56970": 10228, + "57482": 33041, + "58506": 17254, + "60307": 721, + "60819": 6902, + "61254": 2136, + "61331": 1763, + "61843": 324, + "62867": 1414 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 596, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -120.16718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5745214223861694, + "y": 0.370425820350647, + "z": 0.8786233067512512 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 616.7620353568392, + "ymin": 321.8276229915467, + "xmax": 663.4525185730981, + "ymax": 397.86783167999977 + }, + "corners_3d": [ + [ + -120.74170684814453, + -4.0581889152526855, + 0.06552422046661377 + ], + [ + -120.74170684814453, + -3.3173370361328125, + 0.06552422046661377 + ], + [ + -119.59265899658203, + -3.3173370361328125, + 0.06552422046661377 + ], + [ + -119.59265899658203, + -4.0581889152526855, + 0.06552422046661377 + ], + [ + -120.74170684814453, + -4.0581889152526855, + 1.8227708339691162 + ], + [ + -120.74170684814453, + -3.3173370361328125, + 1.8227708339691162 + ], + [ + -119.59265899658203, + -3.3173370361328125, + 1.8227708339691162 + ], + [ + -119.59265899658203, + -4.0581889152526855, + 1.8227708339691162 + ] + ], + "corners_2d": [ + [ + 644.0135114874903, + 397.86783167999977 + ], + [ + 662.454380151623, + 385.7089966618103 + ], + [ + 636.1227438268722, + 365.9283466868801 + ], + [ + 617.74237670055, + 377.5715157420308 + ], + [ + 644.1943603987621, + 353.58681483663895 + ], + [ + 663.4525185730981, + 341.4851678449594 + ], + [ + 635.954223079116, + 321.8276229915467 + ], + [ + 616.7620353568392, + 333.39382575874424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 641, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -116.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4953710734844208, + "y": 0.4533652067184448, + "z": 0.916114866733551 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 600.8536369062931, + "ymin": 219.52241574325, + "xmax": 642.3644541067969, + "ymax": 288.60913245270365 + }, + "corners_3d": [ + [ + -116.62000274658203, + -1.0305225849151611, + 0.028027772903442383 + ], + [ + -116.43148803710938, + -0.1436065435409546, + 0.028027772903442383 + ], + [ + -115.46239471435547, + -0.34959423542022705, + 0.028027772903442383 + ], + [ + -115.65090942382812, + -1.2365102767944336, + 0.028027772903442383 + ], + [ + -116.62000274658203, + -1.0305225849151611, + 1.8602575063705444 + ], + [ + -116.43148803710938, + -0.1436065435409546, + 1.8602575063705444 + ], + [ + -115.46239471435547, + -0.34959423542022705, + 1.8602575063705444 + ], + [ + -115.65090942382812, + -1.2365102767944336, + 1.8602575063705444 + ] + ], + "corners_2d": [ + [ + 626.3975240552946, + 288.60913245270365 + ], + [ + 642.2722447434793, + 274.69321854804133 + ], + [ + 618.4541150824148, + 264.2216731082159 + ], + [ + 602.3860369533515, + 277.7805012136236 + ], + [ + 625.8357436022658, + 243.510893180616 + ], + [ + 642.3644541067969, + 229.81553194247158 + ], + [ + 617.5914124010154, + 219.52241574325 + ], + [ + 600.8536369062931, + 232.8522513611005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 657, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -122.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4877294898033142, + "y": 0.4358181655406952, + "z": 0.9472559094429016 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 827.179113508442, + "ymin": 256.4357373589197, + "xmax": 878.1393319487297, + "ymax": 329.78269482642935 + }, + "corners_3d": [ + [ + -122.95362091064453, + 2.87250018119812, + -0.003098607063293457 + ], + [ + -122.86250305175781, + 3.7393617630004883, + -0.003098607063293457 + ], + [ + -121.89238739013672, + 3.6373984813690186, + -0.003098607063293457 + ], + [ + -121.98350524902344, + 2.7705368995666504, + -0.003098607063293457 + ], + [ + -122.95362091064453, + 2.87250018119812, + 1.8914132118225098 + ], + [ + -122.86250305175781, + 3.7393617630004883, + 1.8914132118225098 + ], + [ + -121.89238739013672, + 3.6373984813690186, + 1.8914132118225098 + ], + [ + -121.98350524902344, + 2.7705368995666504, + 1.8914132118225098 + ] + ], + "corners_2d": [ + [ + 853.3594643393001, + 329.78269482642935 + ], + [ + 868.0646152401143, + 316.22582100166915 + ], + [ + 842.0631796320156, + 303.27704463881787 + ], + [ + 827.179113508442, + 316.4252668952234 + ], + [ + 862.9399676554539, + 282.59864262731264 + ], + [ + 878.1393319487297, + 269.2081646125909 + ], + [ + 850.8489219882869, + 256.4357373589197 + ], + [ + 835.4497240320561, + 269.4050272411803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 635, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -123.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.47429683804512024, + "y": 0.3765035569667816, + "z": 0.8734748363494873 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.0283980190048, + "ymin": 388.12918070832546, + "xmax": 755.0505188660018, + "ymax": 465.16979448962087 + }, + "corners_3d": [ + [ + -124.22123718261719, + -4.064266681671143, + 0.07067269086837769 + ], + [ + -124.22123718261719, + -3.3112595081329346, + 0.07067269086837769 + ], + [ + -123.27264404296875, + -3.3112595081329346, + 0.07067269086837769 + ], + [ + -123.27264404296875, + -4.064266681671143, + 0.07067269086837769 + ], + [ + -124.22123718261719, + -4.064266681671143, + 1.817622423171997 + ], + [ + -124.22123718261719, + -3.3112595081329346, + 1.817622423171997 + ], + [ + -123.27264404296875, + -3.3112595081329346, + 1.817622423171997 + ], + [ + -123.27264404296875, + -4.064266681671143, + 1.817622423171997 + ] + ], + "corners_2d": [ + [ + 730.9960955746184, + 465.16979448962087 + ], + [ + 749.8391370539276, + 450.9929496107563 + ], + [ + 724.860323122587, + 432.2353603920738 + ], + [ + 706.0283980190048, + 445.8785294780131 + ], + [ + 735.3779989406987, + 421.0883679212013 + ], + [ + 755.0505188660018, + 406.88816542686516 + ], + [ + 728.8070590711919, + 388.12918070832546 + ], + [ + 709.1442743690128, + 401.77003480561797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 996, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -123.78268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5334619879722595, + "y": 0.38926273584365845, + "z": 0.8959389925003052 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 333.08456402011745, + "ymin": 638.8298055661714, + "xmax": 405.02179356180903, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -124.27253723144531, + -15.258016586303711, + 0.0481988787651062 + ], + [ + -124.35391235351562, + -14.483756065368652, + 0.0481988787651062 + ], + [ + -123.29283142089844, + -14.372232437133789, + 0.0481988787651062 + ], + [ + -123.21145629882812, + -15.146492958068848, + 0.0481988787651062 + ], + [ + -124.27253723144531, + -15.258016586303711, + 1.8400769233703613 + ], + [ + -124.35391235351562, + -14.483756065368652, + 1.8400769233703613 + ], + [ + -123.29283142089844, + -14.372232437133789, + 1.8400769233703613 + ], + [ + -123.21145629882812, + -15.146492958068848, + 1.8400769233703613 + ] + ], + "corners_2d": [ + [ + 371.9183232778301, + 738.6287163030433 + ], + [ + 405.02179356180903, + 717.8291791272925 + ], + [ + 383.38177734567165, + 681.2270576944389 + ], + [ + 350.9082249523194, + 700.8271231271874 + ], + [ + 354.85573707997906, + 697.7704824708399 + ], + [ + 390.3240364239679, + 676.374500379933 + ], + [ + 367.82466498954045, + 638.8298055661714 + ], + [ + 333.08456402011745, + 658.9176662485404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 112, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -110.46297454833984, + "y": -10.738279342651367, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.4654931426048279, + "y": 0.3252807557582855, + "z": 0.8907696604728699 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 233.41849053483816, + "ymin": 269.15897297675536, + "xmax": 278.623422181103, + "ymax": 337.56671685547997 + }, + "corners_3d": [ + [ + -110.85066223144531, + -11.153233528137207, + 0.20578032732009888 + ], + [ + -110.98592376708984, + -10.516888618469238, + 0.20578032732009888 + ], + [ + -110.07528686523438, + -10.323325157165527, + 0.20578032732009888 + ], + [ + -109.94002532958984, + -10.959670066833496, + 0.20578032732009888 + ], + [ + -110.85066223144531, + -11.153233528137207, + 1.9873197078704834 + ], + [ + -110.98592376708984, + -10.516888618469238, + 1.9873197078704834 + ], + [ + -110.07528686523438, + -10.323325157165527, + 1.9873197078704834 + ], + [ + -109.94002532958984, + -10.959670066833496, + 1.9873197078704834 + ] + ], + "corners_2d": [ + [ + 257.54045589356804, + 337.56671685547997 + ], + [ + 278.623422181103, + 330.4455081936839 + ], + [ + 270.5868168390282, + 313.7106512680204 + ], + [ + 249.8467577160181, + 320.5605301890659 + ], + [ + 241.1053830376103, + 292.7463051877282 + ], + [ + 263.2252614038856, + 285.699567336487 + ], + [ + 255.1603898961967, + 269.15897297675536 + ], + [ + 233.41849053483816, + 275.92607352694165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 766, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 62.18915930345679, + "ymin": 0.0, + "xmax": 175.49465400387112, + "ymax": 29.648898496788433 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 125.41002245720188, + -21.712669661703387 + ], + [ + 79.00669548512576, + -9.234680564161522 + ], + [ + 126.99721550908384, + 29.648898496788433 + ], + [ + 175.49465400387112, + 15.311180204049379 + ], + [ + 110.35474001072532, + -62.73932870587117 + ], + [ + 62.18915930345679, + -50.89873124829171 + ], + [ + 110.46195528053704, + -13.894709595438314 + ], + [ + 160.90920150960835, + -27.558205846847954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4298, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 570.2639052016184, + "ymin": 124.55371150890917, + "xmax": 682.0235295806452, + "ymax": 224.23979350570934 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 643.8455287660164, + 224.23979350570934 + ], + [ + 680.7039188784632, + 204.3273325293016 + ], + [ + 608.8881062884615, + 161.747929886111 + ], + [ + 572.3807826573974, + 179.42926968500248 + ], + [ + 643.9736322629088, + 185.7194251958093 + ], + [ + 682.0235295806452, + 166.1935301108074 + ], + [ + 607.938686847535, + 124.55371150890917 + ], + [ + 570.2639052016184, + 141.826228020974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3537, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 277.84868606219675, + "ymin": 21.696691483466907, + "xmax": 382.4843707547208, + "ymax": 107.1965783116755 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 324.13694239453196, + 54.060902428692316 + ], + [ + 286.65974948688677, + 66.92184152006308 + ], + [ + 343.87230721501544, + 107.1965783116755 + ], + [ + 382.4843707547208, + 92.60144755003131 + ], + [ + 316.4305618160241, + 21.696691483466907 + ], + [ + 277.84868606219675, + 34.16383387805598 + ], + [ + 335.9873433802449, + 73.29032762053015 + ], + [ + 375.7854440257693, + 59.09640591847682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3476, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 217.30217540831643, + "ymin": 51.26522105999794, + "xmax": 317.08668101865794, + "ymax": 142.23167202443895 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 272.3902874125851, + 92.50727420412738 + ], + [ + 230.72139844642203, + 107.28777667394652 + ], + [ + 274.2740977452227, + 142.23167202443895 + ], + [ + 317.08668101865794, + 125.84005937158358 + ], + [ + 260.6200025202854, + 51.26522105999794 + ], + [ + 217.30217540831643, + 65.53971527846141 + ], + [ + 261.6162121970128, + 99.37206762870369 + ], + [ + 306.1869169317052, + 83.48700309622188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 597.0436711172883, + "ymin": 48.77308290566407, + "xmax": 612.543649574571, + "ymax": 81.33537177446635 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 597.879693317606, + 78.3113380549621 + ], + [ + 603.5825279141322, + 81.33537177446635 + ], + [ + 612.543649574571, + 77.52267376185529 + ], + [ + 606.8323347190612, + 74.53537177204629 + ], + [ + 597.0436711172883, + 52.46334835005155 + ], + [ + 602.8561098345868, + 55.419389448395236 + ], + [ + 611.9993894162109, + 51.69251034448166 + ], + [ + 606.1780881811172, + 48.77308290566407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.6729901997278, + "ymin": 0.05242592140842817, + "xmax": 732.6609807274115, + "ymax": 30.33731900867076 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 717.6729901997278, + 27.786112427256 + ], + [ + 723.4454161787775, + 30.33731900867076 + ], + [ + 731.0061792964899, + 27.120432265516456 + ], + [ + 725.2325424637755, + 24.59771025459895 + ], + [ + 719.0870280310761, + 3.1584871405921717 + ], + [ + 724.9714550164668, + 5.644263431844649 + ], + [ + 732.6609807274115, + 2.509946090943174 + ], + [ + 726.7753778550613, + 0.05242592140842817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 558.1900594321357, + "ymin": 393.8675198786184, + "xmax": 583.7837183542553, + "ymax": 440.5162787274951 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 569.3892721029943, + 440.5162787274951 + ], + [ + 583.7837183542553, + 431.08824905830005 + ], + [ + 575.0599785633648, + 423.74754000016765 + ], + [ + 560.6912569080612, + 433.0333312886798 + ], + [ + 567.1447728249013, + 410.63453537009843 + ], + [ + 582.0144430854928, + 401.2052387233583 + ], + [ + 573.0320271133481, + 393.8675198786184 + ], + [ + 558.1900594321357, + 403.1501119887486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 329.3521105276277, + "ymin": 270.14949242117905, + "xmax": 353.1454692722078, + "ymax": 304.81174776528076 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 341.2078887045748, + 304.81174776528076 + ], + [ + 353.1454692722078, + 298.96081004859826 + ], + [ + 348.0783656966976, + 294.35841822902324 + ], + [ + 336.1714712186533, + 300.1453464788526 + ], + [ + 334.46361595138137, + 280.5297398028651 + ], + [ + 346.71633386773703, + 274.7189958390788 + ], + [ + 341.5722242995928, + 270.14949242117905 + ], + [ + 329.3521105276277, + 275.895248816697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1276.1454858799225, + "ymin": 122.71413107479282, + "xmax": 1280.0, + "ymax": 158.59544980748444 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1281.5664869652269, + 150.02027448545954 + ], + [ + 1276.1454858799225, + 154.77921000123123 + ], + [ + 1286.2631344172898, + 158.59544980748444 + ], + [ + 1291.644202916285, + 153.78449820144687 + ], + [ + 1295.8028629347368, + 122.71413107479282 + ], + [ + 1290.3606679045706, + 127.38771333214328 + ], + [ + 1300.7851573827302, + 131.1365367687316 + ], + [ + 1306.1844955288475, + 126.41072430266689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 483.35005387302664, + "ymin": 332.497211303319, + "xmax": 509.5799202703939, + "ymax": 376.9014883090653 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 495.4447645476082, + 376.9014883090653 + ], + [ + 509.5799202703939, + 368.648507781993 + ], + [ + 501.93502137847673, + 362.2156036634815 + ], + [ + 487.8317890129267, + 370.35200573122285 + ], + [ + 491.15581548775685, + 347.1223892082001 + ], + [ + 505.74609680494495, + 338.9018190655797 + ], + [ + 497.90594252688766, + 332.497211303319 + ], + [ + 483.35005387302664, + 340.5982688292585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 405.64399199302704, + "ymin": 268.6923175634477, + "xmax": 432.19547172223906, + "ymax": 310.643896385298 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 418.42833071551973, + 310.643896385298 + ], + [ + 432.19547172223906, + 303.5323579133347 + ], + [ + 425.60033015160093, + 297.98278606102144 + ], + [ + 411.8691560662604, + 305.0010038908604 + ], + [ + 412.3408134118348, + 281.24820386687276 + ], + [ + 426.53505389566453, + 274.1945086734737 + ], + [ + 419.799586819261, + 268.6923175634477 + ], + [ + 405.64399199302704, + 275.6509445874016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 802.151892468788, + "ymin": 39.183390503503006, + "xmax": 816.6767819181457, + "ymax": 65.65844569349099 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 802.151892468788, + 63.24957660338123 + ], + [ + 807.6191023319899, + 65.65844569349099 + ], + [ + 813.8908669092123, + 62.636864440483635 + ], + [ + 808.4259922966526, + 60.25180533518568 + ], + [ + 804.7524070032034, + 42.12286598718072 + ], + [ + 810.3181503279517, + 44.48522914763117 + ], + [ + 816.6767819181457, + 41.52203095002943 + ], + [ + 811.1135585548222, + 39.183390503503006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.8584479870431, + "ymin": 25.586055886996576, + "xmax": 669.4364562001169, + "ymax": 57.07344169399903 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 654.8584479870431, + 54.27934047720191 + ], + [ + 660.6062172934099, + 57.07344169399903 + ], + [ + 668.8863905088685, + 53.55046754423074 + ], + [ + 663.1338803492578, + 50.78900146159083 + ], + [ + 655.1417405155138, + 28.991976680929383 + ], + [ + 661.0009703867456, + 31.71904605877296 + ], + [ + 669.4364562001169, + 28.280669759704438 + ], + [ + 663.5723267394575, + 25.586055886996576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 556.4086213318218, + "ymin": 0.0, + "xmax": 831.3672640399719, + "ymax": 235.90736579752095 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 803.4924795472542, + 120.42171339399425 + ], + [ + 795.5608240172526, + 116.54065888383494 + ], + [ + 570.6060550092693, + 230.5629875303066 + ], + [ + 578.3642477668527, + 235.90736579752095 + ], + [ + 831.3672640399719, + -94.42995524861283 + ], + [ + 821.901868046073, + -97.4984991033146 + ], + [ + 556.4086213318218, + -4.721025677078956 + ], + [ + 565.6489853878817, + -0.23494479982747407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 269.36308436643793, + "ymin": 110.83228656673583, + "xmax": 618.6781872469106, + "ymax": 636.2328073812071 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 356.4306361188407, + 363.5699746831907 + ], + [ + 343.6773606292502, + 370.2134354456548 + ], + [ + 604.691489873436, + 636.2328073812071 + ], + [ + 618.6781872469106, + 625.178638704389 + ], + [ + 285.96064519672495, + 110.83228656673583 + ], + [ + 269.36308436643793, + 116.82531373074431 + ], + [ + 592.3559648672517, + 376.18474649613887 + ], + [ + 611.3230262287685, + 364.59589959741334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1165.1666832034443, + "ymin": 35.57566175622043, + "xmax": 1280.0, + "ymax": 495.5013674299289 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1605.7699057297423, + 495.5013674299289 + ], + [ + 1609.827844631623, + 486.9185701920402 + ], + [ + 1171.3044533789655, + 278.0338063421599 + ], + [ + 1165.1666832034443, + 283.4790239938659 + ], + [ + 1891.0165000615202, + 234.0875711397781 + ], + [ + 1893.2139252388909, + 225.78859366701582 + ], + [ + 1288.1423045889933, + 35.57566175622043 + ], + [ + 1281.590507682856, + 40.26356587409691 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1144.5099692853564, + "ymin": 468.5155964466411, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1144.5099692853564, + 1220.16632184565 + ], + [ + 1171.4681412401092, + 1248.177813560506 + ], + [ + 1435.98386019902, + 736.1409379674192 + ], + [ + 1413.6782157467874, + 721.7911854820163 + ], + [ + 1463.1733456454358, + 1118.8445069938398 + ], + [ + 1515.948917400034, + 1162.3591203472147 + ], + [ + 1746.8329104826785, + 484.4735559553686 + ], + [ + 1711.1239123495673, + 468.5155964466411 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00115/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00115/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79c3c09a1393f32720831ac5d43f6497b23bad09 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00115/meta.json @@ -0,0 +1,2575 @@ +{ + "frame_id": 115, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 57.5, + "sim_timestamp": 1517.175898964284 + }, + "drone_pose": { + "x": -134.97308102224775, + "y": -16.791193075312144, + "z": 20.0, + "pitch": -43.403253536693924, + "yaw": 40.566941100254446, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5519104599952698, + -0.4724922776222229, + 0.6871286630630493, + 68.68418884277344 + ], + [ + 0.650335967540741, + 0.7596467137336731, + 0.0, + -75.02247619628906 + ], + [ + -0.521975040435791, + 0.446864515542984, + 0.7265357375144958, + -92.4866943359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.85690230284567, + "y": -16.208645622687932, + "z": 20.0 + }, + "t1_image_uv": [ + 1678.0900365264342, + -547.9301397039093 + ], + "t1_depth": 0.3393694309072584 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -119.66718292236328, + "y": -3.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 640.0000000000001, + 360.0000000000001 + ], + "depth": 27.7325783340749, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 608, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -119.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5579589605331421, + "y": 0.3963155746459961, + "z": 0.909891664981842 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 616.5916152767393, + "ymin": 320.7198377169148, + "xmax": 663.6177621158765, + "ymax": 398.91358460523975 + }, + "corners_3d": [ + [ + -120.22514343261719, + -4.084078788757324, + 0.03425586223602295 + ], + [ + -120.22514343261719, + -3.291447401046753, + 0.03425586223602295 + ], + [ + -119.10922241210938, + -3.291447401046753, + 0.03425586223602295 + ], + [ + -119.10922241210938, + -4.084078788757324, + 0.03425586223602295 + ], + [ + -120.22514343261719, + -4.084078788757324, + 1.854039192199707 + ], + [ + -120.22514343261719, + -3.291447401046753, + 1.854039192199707 + ], + [ + -119.10922241210938, + -3.291447401046753, + 1.854039192199707 + ], + [ + -119.10922241210938, + -4.084078788757324, + 1.854039192199707 + ] + ], + "corners_2d": [ + [ + 642.1293759436916, + 398.91358460523975 + ], + [ + 662.5718952160154, + 386.35547782172 + ], + [ + 637.9437225132936, + 366.412461570358 + ], + [ + 617.6194243943957, + 378.4367162572138 + ], + [ + 642.2294289041662, + 353.0475899885403 + ], + [ + 663.6177621158765, + 340.5441175447596 + ], + [ + 637.8505709651193, + 320.7198377169148 + ], + [ + 616.5916152767393, + 332.6678103411257 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 115, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 631790, + "2": 150339, + "3": 47116, + "4": 34425, + "6": 8999, + "7": 2662, + "9": 1390, + "10": 78, + "12": 3703, + "14": 11700, + "20": 980, + "22": 554, + "24": 27864 + }, + "instance_pixel_counts": { + "6488": 43, + "11605": 30462, + "15701": 1102, + "15967": 175, + "15970": 815, + "16479": 14476, + "16482": 2108, + "17547": 2200, + "18018": 2702, + "18059": 4284, + "18530": 911, + "19554": 2147, + "20107": 12714, + "20565": 15552, + "20619": 2419, + "21395": 16493, + "21397": 712, + "21643": 9871, + "21907": 234848, + "21909": 13471, + "22421": 1658, + "22931": 67651, + "23957": 831, + "24467": 25952, + "25344": 3160, + "25600": 8501, + "26754": 35, + "36096": 608, + "36352": 657, + "36608": 604, + "36864": 654, + "37120": 1031, + "37376": 149, + "37632": 383, + "37888": 4370, + "40448": 3511, + "40704": 3436, + "45409": 2512, + "45442": 554, + "45971": 13860, + "46483": 184462, + "46995": 51143, + "47507": 12012, + "48225": 3725, + "49043": 25369, + "49761": 9111, + "51526": 34425, + "53857": 2024, + "56458": 16412, + "56970": 10397, + "57482": 33723, + "58506": 17613, + "60307": 708, + "60819": 6952, + "61254": 2292, + "61331": 1767, + "61843": 319, + "62867": 1446 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 608, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -119.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3687206506729126, + "y": 0.39418894052505493, + "z": 0.8691025972366333 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.9349183977173, + "ymin": 325.1211866634896, + "xmax": 659.0893423784559, + "ymax": 394.3609184664041 + }, + "corners_3d": [ + [ + -120.03590393066406, + -4.081952095031738, + 0.07504492998123169 + ], + [ + -120.03590393066406, + -3.293574094772339, + 0.07504492998123169 + ], + [ + -119.2984619140625, + -3.293574094772339, + 0.07504492998123169 + ], + [ + -119.2984619140625, + -4.081952095031738, + 0.07504492998123169 + ], + [ + -120.03590393066406, + -4.081952095031738, + 1.8132500648498535 + ], + [ + -120.03590393066406, + -3.293574094772339, + 1.8132500648498535 + ], + [ + -119.2984619140625, + -3.293574094772339, + 1.8132500648498535 + ], + [ + -119.2984619140625, + -4.081952095031738, + 1.8132500648498535 + ] + ], + "corners_2d": [ + [ + 637.9504071241354, + 394.3609184664041 + ], + [ + 658.28405351904, + 381.96336841947755 + ], + [ + 641.9939689269089, + 368.7852760968883 + ], + [ + 621.7382049890215, + 380.8316533691046 + ], + [ + 637.8588791701404, + 350.5663572021591 + ], + [ + 659.0893423784559, + 338.22435351166297 + ], + [ + 642.0804912010585, + 325.1211866634896 + ], + [ + 620.9349183977173, + 337.09843094272424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 657, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -115.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.43874022364616394, + "y": 0.4718053638935089, + "z": 0.9040895104408264 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 607.4679732299528, + "ymin": 219.06625378991444, + "xmax": 647.1210409763922, + "ymax": 287.1764268759495 + }, + "corners_3d": [ + [ + -116.06844329833984, + -1.0603340864181519, + 0.04005312919616699 + ], + [ + -115.87225341796875, + -0.13734358549118042, + 0.04005312919616699 + ], + [ + -115.01395416259766, + -0.3197827637195587, + 0.04005312919616699 + ], + [ + -115.21014404296875, + -1.2427732944488525, + 0.04005312919616699 + ], + [ + -116.06844329833984, + -1.0603340864181519, + 1.8482321500778198 + ], + [ + -115.87225341796875, + -0.13734358549118042, + 1.8482321500778198 + ], + [ + -115.01395416259766, + -0.3197827637195587, + 1.8482321500778198 + ], + [ + -115.21014404296875, + -1.2427732944488525, + 1.8482321500778198 + ] + ], + "corners_2d": [ + [ + 629.5288676183525, + 287.1764268759495 + ], + [ + 646.8456378326813, + 273.02520262139353 + ], + [ + 626.1909000924248, + 263.24081832677484 + ], + [ + 608.732309340958, + 277.0538984784725 + ], + [ + 629.1000503503084, + 242.62522078040234 + ], + [ + 647.1210409763922, + 228.6899963294747 + ], + [ + 625.6422379169346, + 219.06625378991444 + ], + [ + 607.4679732299528, + 232.65523113423635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 604, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -121.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.6076806783676147, + "y": 0.465830534696579, + "z": 0.9195652008056641 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 828.4696352722419, + "ymin": 259.34164426946586, + "xmax": 887.6928534174754, + "ymax": 336.28602638920864 + }, + "corners_3d": [ + [ + -122.5760498046875, + 2.8551907539367676, + 0.024592101573944092 + ], + [ + -122.4786605834961, + 3.781748056411743, + 0.024592101573944092 + ], + [ + -121.26995849609375, + 3.654707908630371, + 0.024592101573944092 + ], + [ + -121.36734771728516, + 2.7281506061553955, + 0.024592101573944092 + ], + [ + -122.5760498046875, + 2.8551907539367676, + 1.863722562789917 + ], + [ + -122.4786605834961, + 3.781748056411743, + 1.863722562789917 + ], + [ + -121.26995849609375, + 3.654707908630371, + 1.863722562789917 + ], + [ + -121.36734771728516, + 2.7281506061553955, + 1.863722562789917 + ] + ], + "corners_2d": [ + [ + 860.686175897904, + 336.28602638920864 + ], + [ + 877.3766605892656, + 321.96171389794625 + ], + [ + 845.344405509901, + 304.8986988353375 + ], + [ + 828.4696352722419, + 318.66213146018265 + ], + [ + 870.441925796327, + 290.3657021450637 + ], + [ + 887.6928534174754, + 276.19510641760235 + ], + [ + 854.086004206793, + 259.34164426946586 + ], + [ + 836.6279562466977, + 272.9338059469586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 654, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -123.24694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5376318097114563, + "y": 0.3662470579147339, + "z": 0.9010811448097229 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 701.5924120412549, + "ymin": 388.8510156324949, + "xmax": 753.4429547597473, + "ymax": 469.9658139586488 + }, + "corners_3d": [ + [ + -123.7845687866211, + -4.054009914398193, + 0.04306638240814209 + ], + [ + -123.7845687866211, + -3.3215160369873047, + 0.04306638240814209 + ], + [ + -122.70931243896484, + -3.3215160369873047, + 0.04306638240814209 + ], + [ + -122.70931243896484, + -4.054009914398193, + 0.04306638240814209 + ], + [ + -123.7845687866211, + -4.054009914398193, + 1.845228672027588 + ], + [ + -123.7845687866211, + -3.3215160369873047, + 1.845228672027588 + ], + [ + -122.70931243896484, + -3.3215160369873047, + 1.845228672027588 + ], + [ + -122.70931243896484, + -4.054009914398193, + 1.845228672027588 + ] + ], + "corners_2d": [ + [ + 728.9162528200551, + 469.9658139586488 + ], + [ + 748.091877279375, + 456.54639205810884 + ], + [ + 720.6964065966156, + 434.3417398217836 + ], + [ + 701.5924120412549, + 447.1706392979826 + ], + [ + 733.379801218248, + 424.53076651585553 + ], + [ + 753.4429547597473, + 411.0756630807432 + ], + [ + 724.5986943107416, + 388.8510156324949 + ], + [ + 704.6116826010709, + 401.68553694838283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1031, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -123.28268432617188, + "y": -14.81512451171875, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.5601319074630737, + "y": 0.3640112578868866, + "z": 0.9091714024543762 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 318.12426804891686, + "ymin": 630.9258013313238, + "xmax": 388.3338829856135, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -123.80169677734375, + -15.23569107055664, + 0.034961581230163574 + ], + [ + -123.87779998779297, + -14.511656761169434, + 0.034961581230163574 + ], + [ + -122.763671875, + -14.39455795288086, + 0.034961581230163574 + ], + [ + -122.68756866455078, + -15.118592262268066, + 0.034961581230163574 + ], + [ + -123.80169677734375, + -15.23569107055664, + 1.853304386138916 + ], + [ + -123.87779998779297, + -14.511656761169434, + 1.853304386138916 + ], + [ + -122.763671875, + -14.39455795288086, + 1.853304386138916 + ], + [ + -122.68756866455078, + -15.118592262268066, + 1.853304386138916 + ] + ], + "corners_2d": [ + [ + 356.7589429412218, + 731.4934904178615 + ], + [ + 388.3338829856135, + 713.1394045447919 + ], + [ + 367.8837822748513, + 673.9905001016816 + ], + [ + 337.0146102179188, + 691.214916002989 + ], + [ + 338.48856203450555, + 689.9806758577354 + ], + [ + 372.34790828647937, + 671.0940819473323 + ], + [ + 351.1683658576727, + 630.9258013313238 + ], + [ + 318.12426804891686, + 648.5792185882019 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 149, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -109.9610595703125, + "y": -10.739669799804688, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.48801755905151367, + "y": 0.31237486004829407, + "z": 0.8945285677909851 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 240.22486824976772, + "ymin": 259.8586347776747, + "xmax": 283.59948166160484, + "ymax": 328.5190500613808 + }, + "corners_3d": [ + [ + -110.37346649169922, + -11.146683692932129, + 0.20202142000198364 + ], + [ + -110.50335693359375, + -10.5355863571167, + 0.20202142000198364 + ], + [ + -109.54865264892578, + -10.332655906677246, + 0.20202142000198364 + ], + [ + -109.41876220703125, + -10.943753242492676, + 0.20202142000198364 + ], + [ + -110.37346649169922, + -11.146683692932129, + 1.9910786151885986 + ], + [ + -110.50335693359375, + -10.5355863571167, + 1.9910786151885986 + ], + [ + -109.54865264892578, + -10.332655906677246, + 1.9910786151885986 + ], + [ + -109.41876220703125, + -10.943753242492676, + 1.9910786151885986 + ] + ], + "corners_2d": [ + [ + 263.3599539871721, + 328.5190500613808 + ], + [ + 283.59948166160484, + 322.191535120859 + ], + [ + 276.2319566251616, + 304.53258598283225 + ], + [ + 256.35363068670097, + 310.6049795534957 + ], + [ + 247.18115561996956, + 283.5644266256151 + ], + [ + 268.4053223004848, + 277.3055410921761 + ], + [ + 261.0515742673472, + 259.8586347776747 + ], + [ + 240.22486824976772, + 265.8547091308103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 383, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 93.75737877518304, + "ymin": 0.0, + "xmax": 203.13527846301167, + "ymax": 23.248129691589043 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 155.58907729159876, + -28.26703566665799 + ], + [ + 109.5930028389264, + -16.435632077976436 + ], + [ + 154.86826143987855, + 23.248129691589043 + ], + [ + 203.13527846301167, + 9.606670524777655 + ], + [ + 141.4580274070073, + -69.20423978290569 + ], + [ + 93.75737877518304, + -57.979464662370106 + ], + [ + 139.26814960838487, + -20.221207350105374 + ], + [ + 189.43329429280544, + -33.219781561850766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4370, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 589.5315936370453, + "ymin": 127.93343722319005, + "xmax": 701.4181946639998, + "ymax": 229.806582051222 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 661.3697481225341, + 229.806582051222 + ], + [ + 699.460983928085, + 210.2455445220418 + ], + [ + 628.5783809397718, + 165.3205612874381 + ], + [ + 591.0812373794137, + 182.60579700391168 + ], + [ + 662.091913442915, + 191.1042323987251 + ], + [ + 701.4181946639998, + 171.90477858834765 + ], + [ + 628.2253934598416, + 127.93343722319005 + ], + [ + 589.5315936370453, + 144.8314747276594 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3511, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 302.3366921116659, + "ymin": 18.549355635695406, + "xmax": 404.59466513066855, + "ymax": 104.9626629430887 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 348.2577326603092, + 50.9656539138478 + ], + [ + 310.5721849024566, + 63.31513046710154 + ], + [ + 365.5822349115459, + 104.9626629430887 + ], + [ + 404.59466513066855, + 90.89234693124354 + ], + [ + 341.11531682590135, + 18.549355635695406 + ], + [ + 302.3366921116659, + 30.522413638477587 + ], + [ + 358.2420279901223, + 70.98983170588122 + ], + [ + 398.4372218541749, + 57.3027713564274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3436, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 240.8361074470551, + "ymin": 47.58877908360654, + "xmax": 338.19393074007746, + "ymax": 139.06915739922005 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 295.3461582307568, + 88.86929485998178 + ], + [ + 253.52504088067087, + 103.03128445089231 + ], + [ + 295.06321400874197, + 139.06915739922005 + ], + [ + 338.19393074007746, + 123.31469464245058 + ], + [ + 284.284399067356, + 47.58877908360654 + ], + [ + 240.8361074470551, + 61.26754929372976 + ], + [ + 283.0893472790682, + 96.16407107760193 + ], + [ + 327.9656660918464, + 80.89294316483858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 616.7239594416387, + "ymin": 52.48382190397143, + "xmax": 632.0394593465429, + "ymax": 85.34639428148307 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 617.1834884474711, + 82.1504596672172 + ], + [ + 622.8054929227228, + 85.34639428148307 + ], + [ + 632.0394593465429, + 81.59940816527836 + ], + [ + 626.4042274457038, + 78.44108634690662 + ], + [ + 616.7239594416387, + 56.11108775596966 + ], + [ + 622.4574000983821, + 59.23696981257922 + ], + [ + 631.8792755396369, + 55.572179453246974 + ], + [ + 626.132050224416, + 52.48382190397143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.857011848788, + "ymin": 4.463090582830773, + "xmax": 756.5590111670386, + "ymax": 35.10855095880413 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 740.857011848788, + 32.39848220957623 + ], + [ + 746.6105544494433, + 35.10855095880413 + ], + [ + 754.4412471377068, + 31.930988635397114 + ], + [ + 748.6827153831231, + 29.250311244703482 + ], + [ + 742.7249287689697, + 7.531863801811653 + ], + [ + 748.594421705069, + 10.174077798723602 + ], + [ + 756.5590111670386, + 7.07612156037095 + ], + [ + 750.6844473786789, + 4.463090582830773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 560.4619564624711, + "ymin": 407.11846511998476, + "xmax": 586.4410850991669, + "ymax": 454.17115894961944 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 571.3999797142327, + 454.17115894961944 + ], + [ + 586.4410850991669, + 444.82104053038734 + ], + [ + 577.9402812232611, + 436.9898978126761 + ], + [ + 562.9395071127454, + 446.1924008237893 + ], + [ + 569.1761640398497, + 424.3187144119726 + ], + [ + 584.7215788475738, + 414.95589198058 + ], + [ + 575.9640744628889, + 407.11846511998476 + ], + [ + 560.4619564624711, + 416.32876119625394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 340.6517467003457, + "ymin": 271.73634692175654, + "xmax": 364.24695238270226, + "ymax": 306.4662847492112 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 352.0796944716126, + 306.4662847492112 + ], + [ + 364.24695238270226, + 300.78979699646595 + ], + [ + 359.4049064758464, + 295.985843434864 + ], + [ + 347.27477559171274, + 301.59804009014897 + ], + [ + 345.5271988182367, + 282.14729858298034 + ], + [ + 358.0139959828614, + 276.50772685024117 + ], + [ + 353.0992096169907, + 271.73634692175654 + ], + [ + 340.6517467003457, + 277.3106095682268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 487.88525264115526, + "ymin": 341.79590147669745, + "xmax": 514.3258075685262, + "ymax": 386.52224051082914 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 499.66672468637137, + 386.52224051082914 + ], + [ + 514.3258075685262, + 378.38678549236545 + ], + [ + 506.9207632440208, + 371.5650821389258 + ], + [ + 492.3060234607158, + 379.5806355937925 + ], + [ + 495.4338892062731, + 356.7053559552074 + ], + [ + 510.5691187322077, + 348.594062702759 + ], + [ + 502.9728853987002, + 341.79590147669745 + ], + [ + 487.88525264115526, + 349.78410050248687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 413.00466131840835, + "ymin": 274.30933417763015, + "xmax": 439.58083184390364, + "ymax": 316.4963606000394 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 425.4130088826827, + 316.4963606000394 + ], + [ + 439.58083184390364, + 309.5299819265932 + ], + [ + 433.23228823103926, + 303.68155187364255 + ], + [ + 419.11065494797583, + 310.5528434915042 + ], + [ + 419.4390191261905, + 287.0266111462983 + ], + [ + 434.0474738193179, + 280.11195076974934 + ], + [ + 427.563657760227, + 274.30933417763015 + ], + [ + 413.00466131840835, + 281.1270243242914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.1462989258971, + "ymin": 44.84730552322998, + "xmax": 842.3950078922055, + "ymax": 71.65019229645293 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 827.1462989258971, + 69.08611751767944 + ], + [ + 832.624802203819, + 71.65019229645293 + ], + [ + 839.1448966895587, + 68.65959851619772 + ], + [ + 833.6658750811457, + 66.12016585430484 + ], + [ + 830.2027362831614, + 47.75726744146607 + ], + [ + 835.7840009919389, + 50.27330715965377 + ], + [ + 842.3950078922055, + 47.33877192387672 + ], + [ + 836.8133379145169, + 44.84730552322998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.9288188427264, + "ymin": 29.660508589446408, + "xmax": 691.1497424555355, + "ymax": 61.47816852540575 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 675.9288188427264, + 58.518041343398124 + ], + [ + 681.6256722328649, + 61.47816852540575 + ], + [ + 690.1786085378857, + 58.007532818411505 + ], + [ + 684.472733150391, + 55.08094505535166 + ], + [ + 676.624766012927, + 33.01648171954287 + ], + [ + 682.4359806120127, + 35.907333902691676 + ], + [ + 691.1497424555355, + 32.5179757439293 + ], + [ + 685.3292010228716, + 29.660508589446408 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 576.2570087931995, + "ymin": 0.0, + "xmax": 860.1014327087596, + "ymax": 240.29700861117493 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 827.4824353131577, + 126.85651709297221 + ], + [ + 819.5508245286314, + 122.73466671331798 + ], + [ + 587.2131686828735, + 234.67855746520587 + ], + [ + 594.8101971702918, + 240.29700861117493 + ], + [ + 860.1014327087596, + -90.31058934817815 + ], + [ + 850.566064816742, + -93.58875793202225 + ], + [ + 576.2570087931995, + -2.0122621368961404 + ], + [ + 585.3494041166211, + 2.7274690439502365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.8446415626075, + "ymin": 111.73262309685845, + "xmax": 619.7518048035672, + "ymax": 651.1045349819134 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 367.15034774853433, + 365.0436687645406 + ], + [ + 354.16459439873074, + 371.4718279131223 + ], + [ + 605.1359617318107, + 651.1045349819134 + ], + [ + 619.7518048035672, + 640.1947371001144 + ], + [ + 298.7196724466146, + 111.73262309685845 + ], + [ + 281.8446415626075, + 117.5523914929199 + ], + [ + 592.6729723689972, + 392.3106391523151 + ], + [ + 612.6027124064974, + 380.7349916087556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1194.0790586487824, + "ymin": 51.50972530978805, + "xmax": 1280.0, + "ymax": 536.6902604687272 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1652.1830951699612, + 536.6902604687272 + ], + [ + 1656.7904495793368, + 527.755436778746 + ], + [ + 1200.6635331445073, + 297.16493280272493 + ], + [ + 1194.0790586487824, + 302.66988859037986 + ], + [ + 1968.6895201626694, + 274.53594602556313 + ], + [ + 1971.308241615116, + 265.66492967900194 + ], + [ + 1328.4407378518288, + 51.50972530978805 + ], + [ + 1321.3671724413034, + 56.31151745855664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1139.1503459146202, + "ymin": 522.2502476131177, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1139.1503459146202, + 1283.1482898657773 + ], + [ + 1166.4588385569723, + 1314.2036983003609 + ], + [ + 1463.521295600763, + 784.8712612256681 + ], + [ + 1440.319633895137, + 768.8863619398116 + ], + [ + 1474.9091631621864, + 1221.3255384392999 + ], + [ + 1530.7490646433835, + 1272.0960863760474 + ], + [ + 1804.343427651192, + 540.6176564748433 + ], + [ + 1765.9507597970528, + 522.2502476131177 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00116/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00116/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac440d770f93ac843ef3d2f23a7d87d57d8640e1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00116/meta.json @@ -0,0 +1,2576 @@ +{ + "frame_id": 116, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 58.0, + "sim_timestamp": 1528.5423496428411 + }, + "drone_pose": { + "x": -134.85690230284567, + "y": -16.208645622687932, + "z": 20.0, + "pitch": -43.5104282644094, + "yaw": 38.590952194459796, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5668684244155884, + -0.45237860083580017, + 0.6884865760803223, + 70.00883483886719 + ], + [ + 0.6237562298774719, + 0.7816189527511597, + 0.0, + -71.4488525390625 + ], + [ + -0.5381342172622681, + 0.42944779992103577, + 0.7252490520477295, + -94.03685760498047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.71576483323662, + "y": -15.660343319776468, + "z": 20.0 + }, + "t1_image_uv": [ + 1636.5260889606916, + -551.3381164456696 + ], + "t1_depth": 0.3280465994290077 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -119.16718292236328, + "y": -3.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.677884688173553, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 590, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -119.16718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5863134264945984, + "y": 0.39170312881469727, + "z": 0.8980672359466553 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 616.2995191965722, + "ymin": 320.4757083409058, + "xmax": 663.9738719361208, + "ymax": 399.21491336490647 + }, + "corners_3d": [ + [ + -119.75349426269531, + -4.079465866088867, + 0.04608029127120972 + ], + [ + -119.75349426269531, + -3.2960598468780518, + 0.04608029127120972 + ], + [ + -118.58087158203125, + -3.2960598468780518, + 0.04608029127120972 + ], + [ + -118.58087158203125, + -4.079465866088867, + 0.04608029127120972 + ], + [ + -119.75349426269531, + -4.079465866088867, + 1.842214822769165 + ], + [ + -119.75349426269531, + -3.2960598468780518, + 1.842214822769165 + ], + [ + -118.58087158203125, + -3.2960598468780518, + 1.842214822769165 + ], + [ + -118.58087158203125, + -4.079465866088867, + 1.842214822769165 + ] + ], + "corners_2d": [ + [ + 642.0574989566547, + 399.21491336490647 + ], + [ + 662.9203767460972, + 387.24405410436407 + ], + [ + 638.015311945861, + 365.58529060828664 + ], + [ + 617.3296409091303, + 377.00668274375147 + ], + [ + 642.1533306468407, + 353.9401655748897 + ], + [ + 663.9738719361208, + 342.0154643868265 + ], + [ + 637.9262886989981, + 320.4757083409058 + ], + [ + 616.2995191965722, + 331.82865224378617 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 116, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 617628, + "2": 155413, + "3": 54268, + "4": 35393, + "6": 9479, + "7": 2710, + "9": 1531, + "10": 87, + "12": 3776, + "14": 11507, + "20": 1145, + "22": 1149, + "24": 27514 + }, + "instance_pixel_counts": { + "6488": 57, + "7512": 7, + "11605": 35919, + "15701": 1493, + "15967": 276, + "15970": 822, + "16479": 15827, + "16482": 2198, + "17547": 2345, + "18018": 2851, + "18059": 4460, + "18530": 1209, + "19554": 2209, + "20107": 13386, + "20565": 16856, + "20619": 3660, + "21395": 15903, + "21397": 699, + "21643": 10213, + "21907": 226609, + "21909": 13234, + "22421": 1682, + "22931": 65875, + "23957": 840, + "24467": 26700, + "25344": 3631, + "25600": 8558, + "26754": 131, + "36096": 590, + "36352": 547, + "36608": 656, + "36864": 768, + "37120": 1038, + "37376": 177, + "37632": 150, + "37888": 4458, + "40448": 3493, + "40704": 3406, + "45409": 2428, + "45442": 1149, + "45971": 13639, + "46483": 185957, + "46995": 47586, + "47507": 9479, + "48225": 3577, + "49043": 25880, + "49761": 9220, + "51526": 35393, + "53857": 1963, + "56458": 16071, + "56970": 10551, + "57482": 34397, + "58506": 17750, + "60307": 718, + "60819": 6976, + "61254": 2481, + "61331": 1644, + "61843": 249, + "62867": 1472 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 590, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -119.16718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5393261313438416, + "y": 0.36720043420791626, + "z": 0.9042086005210876 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.9928350360759, + "ymin": 321.50884287827876, + "xmax": 662.2354793955293, + "ymax": 398.07429517370247 + }, + "corners_3d": [ + [ + -119.70651245117188, + -4.0549635887146, + 0.039938926696777344 + ], + [ + -119.70651245117188, + -3.3205626010894775, + 0.039938926696777344 + ], + [ + -118.62785339355469, + -3.3205626010894775, + 0.039938926696777344 + ], + [ + -118.62785339355469, + -4.0549635887146, + 0.039938926696777344 + ], + [ + -119.70651245117188, + -4.0549635887146, + 1.8483561277389526 + ], + [ + -119.70651245117188, + -3.3205626010894775, + 1.8483561277389526 + ], + [ + -118.62785339355469, + -3.3205626010894775, + 1.8483561277389526 + ], + [ + -118.62785339355469, + -4.0549635887146, + 1.8483561277389526 + ] + ], + "corners_2d": [ + [ + 641.7041247384409, + 398.07429517370247 + ], + [ + 661.2523842652193, + 386.8735960214658 + ], + [ + 638.3517740960596, + 366.9350581945584 + ], + [ + 618.9562825883582, + 377.66202795046803 + ], + [ + 641.7839395006616, + 352.493943674676 + ], + [ + 662.2354793955293, + 341.3377304255479 + ], + [ + 638.277223874327, + 321.50884287827876 + ], + [ + 617.9928350360759, + 332.171977683551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 547, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -115.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5593652129173279, + "y": 0.46368247270584106, + "z": 0.9239634275436401 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 610.1046970714274, + "ymin": 216.58886943851712, + "xmax": 655.4907120032191, + "ymax": 288.4703171039045 + }, + "corners_3d": [ + [ + -115.68474578857422, + -1.0273091793060303, + 0.020188987255096436 + ], + [ + -115.49193572998047, + -0.12020951509475708, + 0.020188987255096436 + ], + [ + -114.39765167236328, + -0.3528076112270355, + 0.020188987255096436 + ], + [ + -114.59046173095703, + -1.2599072456359863, + 0.020188987255096436 + ], + [ + -115.68474578857422, + -1.0273091793060303, + 1.8681159019470215 + ], + [ + -115.49193572998047, + -0.12020951509475708, + 1.8681159019470215 + ], + [ + -114.39765167236328, + -0.3528076112270355, + 1.8681159019470215 + ], + [ + -114.59046173095703, + -1.2599072456359863, + 1.8681159019470215 + ] + ], + "corners_2d": [ + [ + 637.1731830939093, + 288.4703171039045 + ], + [ + 654.8750412041677, + 274.8374123375247 + ], + [ + 629.1280368997855, + 261.7539698262917 + ], + [ + 611.2930405100773, + 274.95505795615577 + ], + [ + 637.0541705666695, + 242.88350721608896 + ], + [ + 655.4907120032191, + 229.45699909718414 + ], + [ + 628.6854676965473, + 216.58886943851712 + ], + [ + 610.1046970714274, + 229.5727851584291 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 656, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -121.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5686621069908142, + "y": 0.45100584626197815, + "z": 0.9427812695503235 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 833.9874960885948, + "ymin": 263.77984659228787, + "xmax": 891.5680642883848, + "ymax": 341.0027481455429 + }, + "corners_3d": [ + [ + -122.03569030761719, + 2.8658554553985596, + 0.001371145248413086 + ], + [ + -121.94140625, + 3.7629261016845703, + 0.001371145248413086 + ], + [ + -120.81031799316406, + 3.644043207168579, + 0.001371145248413086 + ], + [ + -120.90460205078125, + 2.7469725608825684, + 0.001371145248413086 + ], + [ + -122.03569030761719, + 2.8658554553985596, + 1.88693368434906 + ], + [ + -121.94140625, + 3.7629261016845703, + 1.88693368434906 + ], + [ + -120.81031799316406, + 3.644043207168579, + 1.88693368434906 + ], + [ + -120.90460205078125, + 2.7469725608825684, + 1.88693368434906 + ] + ], + "corners_2d": [ + [ + 863.6667818576888, + 341.0027481455429 + ], + [ + 880.7271348574916, + 327.39876527379533 + ], + [ + 851.1653706087428, + 310.5921864571253 + ], + [ + 833.9874960885948, + 323.6768962152131 + ], + [ + 873.9024872287322, + 293.8548792091615 + ], + [ + 891.5680642883848, + 280.38940522892824 + ], + [ + 860.4851055509955, + 263.77984659228787 + ], + [ + 842.6848877502117, + 276.70870084030133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 768, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -122.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4456542432308197, + "y": 0.3782566487789154, + "z": 0.8876975774765015 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.4712637062304, + "ymin": 393.1921051323435, + "xmax": 747.9609397830836, + "ymax": 470.44864746237226 + }, + "corners_3d": [ + [ + -123.19259643554688, + -4.066019535064697, + 0.056449949741363525 + ], + [ + -123.19259643554688, + -3.309506416320801, + 0.056449949741363525 + ], + [ + -122.30128479003906, + -3.309506416320801, + 0.056449949741363525 + ], + [ + -122.30128479003906, + -4.066019535064697, + 0.056449949741363525 + ], + [ + -123.19259643554688, + -4.066019535064697, + 1.8318450450897217 + ], + [ + -123.19259643554688, + -3.309506416320801, + 1.8318450450897217 + ], + [ + -122.30128479003906, + -3.309506416320801, + 1.8318450450897217 + ], + [ + -122.30128479003906, + -4.066019535064697, + 1.8318450450897217 + ] + ], + "corners_2d": [ + [ + 722.3119098532692, + 470.44864746237226 + ], + [ + 742.9199488642124, + 457.0907675172184 + ], + [ + 720.9692044193969, + 437.9960331972631 + ], + [ + 700.4712637062304, + 450.8496120957219 + ], + [ + 726.3995804234103, + 425.7136749408311 + ], + [ + 747.9609397830836, + 412.31499715483795 + ], + [ + 724.856354911074, + 393.1921051323435 + ], + [ + 703.413906673051, + 406.06073739428984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1038, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -122.78268432617188, + "y": -14.81512451171875, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.5814697742462158, + "y": 0.3519848883152008, + "z": 0.8824276328086853 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 304.9396883362303, + "ymin": 623.2727602377133, + "xmax": 373.17673673658203, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -123.32417297363281, + -15.225961685180664, + 0.06170535087585449 + ], + [ + -123.39775848388672, + -14.525848388671875, + 0.06170535087585449 + ], + [ + -122.24119567871094, + -14.404287338256836, + 0.06170535087585449 + ], + [ + -122.16761016845703, + -15.104400634765625, + 0.06170535087585449 + ], + [ + -123.32417297363281, + -15.225961685180664, + 1.826560616493225 + ], + [ + -123.39775848388672, + -14.525848388671875, + 1.826560616493225 + ], + [ + -122.24119567871094, + -14.404287338256836, + 1.826560616493225 + ], + [ + -122.16761016845703, + -15.104400634765625, + 1.826560616493225 + ] + ], + "corners_2d": [ + [ + 342.13886763882147, + 723.0623717044456 + ], + [ + 373.17673673658203, + 706.3611573719561 + ], + [ + 354.198336988992, + 665.1656485108781 + ], + [ + 323.9464980223434, + 680.7839026893181 + ], + [ + 323.5731484050338, + 682.6601228870819 + ], + [ + 356.77696105584647, + 665.4944217296859 + ], + [ + 337.24160438546363, + 623.2727602377133 + ], + [ + 304.9396883362303, + 639.2600714242617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 177, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -109.45915985107422, + "y": -10.741055488586426, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.48100584745407104, + "y": 0.32338255643844604, + "z": 0.8963497877120972 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 246.788539997751, + "ymin": 251.61130935279718, + "xmax": 289.40743842494084, + "ymax": 319.7993034424344 + }, + "corners_3d": [ + [ + -109.86241912841797, + -11.157378196716309, + 0.20020020008087158 + ], + [ + -109.99688720703125, + -10.524746894836426, + 0.20020020008087158 + ], + [ + -109.05590057373047, + -10.324732780456543, + 0.20020020008087158 + ], + [ + -108.92143249511719, + -10.957364082336426, + 0.20020020008087158 + ], + [ + -109.86241912841797, + -11.157378196716309, + 1.992899775505066 + ], + [ + -109.99688720703125, + -10.524746894836426, + 1.992899775505066 + ], + [ + -109.05590057373047, + -10.324732780456543, + 1.992899775505066 + ], + [ + -108.92143249511719, + -10.957364082336426, + 1.992899775505066 + ] + ], + "corners_2d": [ + [ + 268.50607405596094, + 319.7993034424344 + ], + [ + 289.40743842494084, + 313.7618860336224 + ], + [ + 283.111945307788, + 296.30574309888397 + ], + [ + 262.5921731577166, + 302.1011543998929 + ], + [ + 252.6136885855309, + 274.81815758039005 + ], + [ + 274.5175661621403, + 268.8493091682858 + ], + [ + 268.27326181040473, + 251.61130935279718 + ], + [ + 246.788539997751, + 257.33102316295094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 150, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 123.5989546715947, + "ymin": 0.0, + "xmax": 229.3592576666328, + "ymax": 18.321748146120342 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 184.1564070098741, + -33.31789992125715 + ], + [ + 138.5091653339855, + -22.09131215462503 + ], + [ + 181.28085789860916, + 18.321748146120342 + ], + [ + 229.3592576666328, + 5.336219210736999 + ], + [ + 170.89922301535876, + -74.16689086388493 + ], + [ + 123.5989546715947, + -63.51812136969653 + ], + [ + 166.56748903973397, + -25.073613435601374 + ], + [ + 216.4976442304761, + -37.44566990588686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4458, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 607.9460100667752, + "ymin": 132.35186714138771, + "xmax": 719.9670368171826, + "ymax": 236.32911959239883 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 678.0917192993002, + 236.32911959239883 + ], + [ + 717.3836020745033, + 217.13414787912498 + ], + [ + 647.3998677019306, + 169.91713318993982 + ], + [ + 608.9406777398564, + 186.799966567241 + ], + [ + 679.3962551448444, + 197.46087335266256 + ], + [ + 719.9670368171826, + 178.6038991287148 + ], + [ + 647.6312570510432, + 132.35186714138771 + ], + [ + 607.9460100667752, + 148.86789800531142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3493, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 325.6574327157844, + "ymin": 16.684257966926225, + "xmax": 425.685906683801, + "ymax": 103.94457399947726 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 371.2377882959105, + 49.1468601208212 + ], + [ + 333.33945637380236, + 61.00470594544555 + ], + [ + 386.2805858445042, + 103.94457399947726 + ], + [ + 425.685906683801, + 90.38379660271403 + ], + [ + 364.63871676210414, + 16.684257966926225 + ], + [ + 325.6574327157844, + 28.182048450098705 + ], + [ + 379.4671044362592, + 69.91157837797942 + ], + [ + 420.05286464398813, + 56.71717800921493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3406, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 263.23584268459956, + "ymin": 45.20562329301163, + "xmax": 358.31206647858494, + "ymax": 137.1499862046994 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 317.20308903813697, + 86.5190349757728 + ], + [ + 275.2237042692902, + 100.08912923940062 + ], + [ + 314.8687288057301, + 137.1499862046994 + ], + [ + 358.31206647858494, + 122.00985930287845 + ], + [ + 306.82291157734073, + 45.20562329301163 + ], + [ + 263.23584268459956, + 58.31387280528236 + ], + [ + 303.55470414735186, + 94.20501274202485 + ], + [ + 348.7326835541851, + 79.52650692507922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 635.5666688635723, + "ymin": 57.241106809852795, + "xmax": 650.91721731005, + "ymax": 90.38307269174629 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 635.6553618363268, + 87.01902305443923 + ], + [ + 641.1992039789405, + 90.38307269174629 + ], + [ + 650.6989154770779, + 86.70511602932618 + ], + [ + 645.1371674054149, + 83.37941678204601 + ], + [ + 635.5666688635723, + 60.80207086087768 + ], + [ + 641.2238166100976, + 64.09416958070051 + ], + [ + 650.91721731005, + 60.49491386889861 + ], + [ + 645.2414292842088, + 57.241106809852795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 763.1258793275838, + "ymin": 9.971022632079212, + "xmax": 779.5353896662712, + "ymax": 40.9563545292674 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 763.1258793275838, + 38.08939936068464 + ], + [ + 768.8627255637314, + 40.9563545292674 + ], + [ + 776.9589922560705, + 37.82176195737617 + ], + [ + 771.2133779283165, + 34.984999322647695 + ], + [ + 765.4431277783432, + 12.998914111405611 + ], + [ + 771.2999616418266, + 15.795745796139045 + ], + [ + 779.5353896662712, + 12.73784904130008 + ], + [ + 773.6695847661242, + 9.971022632079212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 562.2485456695485, + "ymin": 421.02842394101395, + "xmax": 588.5932707301681, + "ymax": 468.44752641936395 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 572.9282386790023, + 468.44752641936395 + ], + [ + 588.5932707301681, + 459.1907400813227 + ], + [ + 580.3229029986055, + 450.8743237063261 + ], + [ + 564.7128314188119, + 459.97868826561523 + ], + [ + 570.713866901142, + 438.64119736906184 + ], + [ + 586.9119889965565, + 429.36106977496314 + ], + [ + 578.3877183886889, + 421.02842394101395 + ], + [ + 562.2485456695485, + 430.1507882734966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 351.4179322904165, + "ymin": 274.2700411990451, + "xmax": 374.8124677045076, + "ymax": 309.055508695319 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 362.4282884253389, + 309.055508695319 + ], + [ + 374.8124677045076, + 303.55248783478794 + ], + [ + 370.1886113746887, + 298.55611804654916 + ], + [ + 357.8476848640194, + 303.99479794963395 + ], + [ + 356.0646366672198, + 284.7032396869333 + ], + [ + 368.77250876291396, + 279.2341840546333 + ], + [ + 364.080067555207, + 274.2700411990451 + ], + [ + 351.4179322904165, + 279.673704915904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 491.98161933688357, + "ymin": 351.8110812146814, + "xmax": 518.613091188155, + "ymax": 396.82832050302426 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 503.4521871643572, + 396.82832050302426 + ], + [ + 518.613091188155, + 388.8209752416348 + ], + [ + 511.4503539925404, + 381.61835614368096 + ], + [ + 496.34604642638413, + 389.50296733433044 + ], + [ + 499.2703659938485, + 366.9860261833295 + ], + [ + 514.9279254549446, + 358.9952589485804 + ], + [ + 507.57853458686117, + 351.8110812146814 + ], + [ + 491.98161933688357, + 359.67567808643713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 419.9246728615573, + "ymin": 280.7343667011757, + "xmax": 446.5099204273706, + "ymax": 323.13183663526024 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 431.96102948796727, + 323.13183663526024 + ], + [ + 446.5099204273706, + 316.31638963738783 + ], + [ + 440.4057506039841, + 310.1782316046511 + ], + [ + 425.9129808911654, + 316.8972155684139 + ], + [ + 426.0989302151886, + 293.59778962064024 + ], + [ + 441.1014588996869, + 286.8284529578377 + ], + [ + 434.867228526935, + 280.7343667011757 + ], + [ + 419.9246728615573, + 287.40523340100583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 851.1937660361232, + "ymin": 51.60559847833781, + "xmax": 867.1619175586379, + "ymax": 78.7187714348608 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 851.1937660361232, + 76.00069133713544 + ], + [ + 856.6855970435392, + 78.7187714348608 + ], + [ + 863.4511597292462, + 75.76267786361359 + ], + [ + 857.9559341477546, + 73.06998874490637 + ], + [ + 854.7023238305355, + 54.48257050684231 + ], + [ + 860.3012476464424, + 57.15121736341604 + ], + [ + 867.1619175586379, + 54.248904035457485 + ], + [ + 861.5596364835742, + 51.60559847833781 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.1245903197264, + "ymin": 34.804074471704666, + "xmax": 711.9797612768244, + "ymax": 66.93107158383026 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 696.1245903197264, + 63.80781273470171 + ], + [ + 701.7728498991199, + 66.93107158383026 + ], + [ + 710.5927562735747, + 63.516311733680425 + ], + [ + 704.9312259076219, + 60.427371542268645 + ], + [ + 697.2278581809126, + 38.10659635236817 + ], + [ + 702.9934354315535, + 41.15849816457484 + ], + [ + 711.9797612768244, + 37.82178635126223 + ], + [ + 706.2004587243335, + 34.804074471704666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 595.2742958376353, + "ymin": 0.0, + "xmax": 887.8697467739344, + "ymax": 245.64570559119392 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 850.5351467417978, + 134.33816034935455 + ], + [ + 842.6006945370145, + 129.97793103136053 + ], + [ + 603.0467283608511, + 239.7610327954944 + ], + [ + 610.4872454178847, + 245.64570559119392 + ], + [ + 887.8697467739344, + -85.00759608489676 + ], + [ + 878.2595878490789, + -88.49492975794561 + ], + [ + 595.2742958376353, + 1.7712465639083916 + ], + [ + 604.2238126858985, + 6.758790356183113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 293.7888846020733, + "ymin": 113.63028367755558, + "xmax": 620.3759793215759, + "ymax": 666.5018184579819 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 377.3428211808895, + 367.45948360980384 + ], + [ + 364.1378776707458, + 373.67527987120815 + ], + [ + 605.155452349688, + 666.5018184579819 + ], + [ + 620.3759793215759, + 655.750585000224 + ], + [ + 310.9251966637294, + 113.63028367755558 + ], + [ + 293.7888846020733, + 119.27610150293117 + ], + [ + 592.4292403406107, + 409.10415771612475 + ], + [ + 613.2948380906599, + 397.5657316594287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1222.1602986577732, + "ymin": 68.93876754708486, + "xmax": 1280.0, + "ymax": 580.2452491754518 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1698.4888243273604, + 580.2452491754518 + ], + [ + 1703.6661139838843, + 570.9572403959805 + ], + [ + 1229.1950443599765, + 317.4940100762034 + ], + [ + 1222.1602986577732, + 323.0500973985885 + ], + [ + 2048.6398266096826, + 318.5753244810777 + ], + [ + 2051.6967095302934, + 309.09881978120995 + ], + [ + 1368.170381914705, + 68.93876754708486 + ], + [ + 1360.563213868321, + 73.84839218838982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1132.3313270488882, + "ymin": 579.9883554501642, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1132.3313270488882, + 1347.6624650011095 + ], + [ + 1159.93047776047, + 1381.9280040439016 + ], + [ + 1490.2962169329012, + 835.7323550027127 + ], + [ + 1466.1725604427206, + 818.0046974363522 + ], + [ + 1484.6988266548012, + 1330.7732531958227 + ], + [ + 1543.7219599284704, + 1389.802514467842 + ], + [ + 1862.9136565819085, + 601.0529286681913 + ], + [ + 1821.6006700182368, + 579.9883554501642 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00117/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00117/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d769b2f3ae93c06ad9944b519cef1dba4faf3e9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00117/meta.json @@ -0,0 +1,2576 @@ +{ + "frame_id": 117, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 58.5, + "sim_timestamp": 1539.8970144863706 + }, + "drone_pose": { + "x": -134.71576483323662, + "y": -15.660343319776468, + "z": 20.0, + "pitch": -43.58304286583719, + "yaw": 36.72371386616424, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5806077718734741, + -0.4331456124782562, + 0.6894052028656006, + 71.21212768554688 + ], + [ + 0.5979569554328918, + 0.8015282154083252, + 1.4901161193847656e-08, + -68.00201416015625 + ], + [ + -0.5525777339935303, + 0.4122346043586731, + 0.7243759632110596, + -95.38417053222656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.54680875279317, + "y": -15.148928085468937, + "z": 20.0 + }, + "t1_image_uv": [ + 1567.7736060645057, + -553.6540241636633 + ], + "t1_depth": 0.3196144751812841 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -118.66718292236328, + "y": -3.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 27.64100515575951, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 591, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -118.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3067626655101776, + "y": 0.4086385667324066, + "z": 0.8755896687507629 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.8581685490916, + "ymin": 325.92741913755316, + "xmax": 658.1433262659903, + "ymax": 393.46533125340136 + }, + "corners_3d": [ + [ + -118.97394561767578, + -4.096401691436768, + 0.06855785846710205 + ], + [ + -118.97394561767578, + -3.2791244983673096, + 0.06855785846710205 + ], + [ + -118.36042022705078, + -3.2791244983673096, + 0.06855785846710205 + ], + [ + -118.36042022705078, + -4.096401691436768, + 0.06855785846710205 + ], + [ + -118.97394561767578, + -4.096401691436768, + 1.819737195968628 + ], + [ + -118.97394561767578, + -3.2791244983673096, + 1.819737195968628 + ], + [ + -118.36042022705078, + -3.2791244983673096, + 1.819737195968628 + ], + [ + -118.36042022705078, + -4.096401691436768, + 1.819737195968628 + ] + ], + "corners_2d": [ + [ + 635.0397083043226, + 393.46533125340136 + ], + [ + 657.3677882918357, + 381.5942850231088 + ], + [ + 644.8371191806976, + 369.945515178291 + ], + [ + 622.6335817449283, + 381.52085885407246 + ], + [ + 634.8152737250787, + 349.33976270123156 + ], + [ + 658.1433262659903, + 337.51638835327265 + ], + [ + 645.0503061415934, + 325.92741913755316 + ], + [ + 621.8581685490916, + 337.4432987560572 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 117, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 602345, + "2": 162166, + "3": 61694, + "4": 35458, + "6": 9637, + "7": 2739, + "9": 1878, + "10": 100, + "12": 3826, + "14": 11477, + "20": 1287, + "22": 1824, + "24": 27169 + }, + "instance_pixel_counts": { + "6488": 57, + "7512": 34, + "11605": 42512, + "15701": 2371, + "15967": 457, + "15970": 856, + "16479": 17798, + "16482": 2290, + "17547": 2584, + "18018": 3001, + "18059": 4656, + "18530": 1561, + "19554": 2306, + "20107": 14079, + "20565": 16811, + "20619": 5156, + "21395": 15429, + "21397": 690, + "21643": 10544, + "21907": 218890, + "21909": 12957, + "22421": 1693, + "22931": 63929, + "23957": 834, + "24467": 27305, + "25344": 3780, + "25600": 8596, + "26754": 230, + "36096": 591, + "36352": 561, + "36608": 660, + "36864": 768, + "37120": 1047, + "37376": 199, + "37632": 80, + "37888": 4545, + "40448": 3476, + "40704": 3376, + "45409": 2365, + "45442": 1824, + "45971": 13677, + "46483": 186607, + "46995": 43690, + "47507": 6391, + "48225": 3582, + "49043": 26427, + "49761": 9306, + "51526": 35458, + "53857": 2270, + "56458": 15849, + "56970": 10601, + "57482": 35096, + "58506": 17809, + "60307": 745, + "60819": 6938, + "61254": 2844, + "61331": 1662, + "61843": 145, + "62867": 1505 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 591, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -118.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3881884217262268, + "y": 0.39030054211616516, + "z": 0.8681186437606812 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.6943839206169, + "ymin": 324.86216039976887, + "xmax": 659.3862251972781, + "ymax": 394.62287550429596 + }, + "corners_3d": [ + [ + -119.05537414550781, + -4.078063488006592, + 0.07602888345718384 + ], + [ + -119.05537414550781, + -3.2974624633789062, + 0.07602888345718384 + ], + [ + -118.27899169921875, + -3.2974624633789062, + 0.07602888345718384 + ], + [ + -118.27899169921875, + -4.078063488006592, + 0.07602888345718384 + ], + [ + -119.05537414550781, + -4.078063488006592, + 1.8122661113739014 + ], + [ + -119.05537414550781, + -3.2974624633789062, + 1.8122661113739014 + ], + [ + -118.27899169921875, + -3.2974624633789062, + 1.8122661113739014 + ], + [ + -118.27899169921875, + -4.078063488006592, + 1.8122661113739014 + ] + ], + "corners_2d": [ + [ + 637.2172268497009, + 394.62287550429596 + ], + [ + 658.562870125978, + 383.24637980297416 + ], + [ + 642.7061183598335, + 368.49709586497124 + ], + [ + 621.5110508750064, + 379.5161125289594 + ], + [ + 637.0922310104028, + 350.8696853814134 + ], + [ + 659.3862251972781, + 339.53677594470844 + ], + [ + 642.8241760690618, + 324.86216039976887 + ], + [ + 620.6943839206169, + 335.8234574294351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 561, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -114.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.43892577290534973, + "y": 0.46051546931266785, + "z": 0.8893778920173645 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 618.1571254445818, + "ymin": 218.43826768354228, + "xmax": 657.7643289319894, + "ymax": 285.81562266802365 + }, + "corners_3d": [ + [ + -115.06627655029297, + -1.0492522716522217, + 0.05477452278137207 + ], + [ + -114.87478637695312, + -0.14834821224212646, + 0.05477452278137207 + ], + [ + -114.01612091064453, + -0.3308645486831665, + 0.05477452278137207 + ], + [ + -114.20761108398438, + -1.2317686080932617, + 0.05477452278137207 + ], + [ + -115.06627655029297, + -1.0492522716522217, + 1.833530306816101 + ], + [ + -114.87478637695312, + -0.14834821224212646, + 1.833530306816101 + ], + [ + -114.01612091064453, + -0.3308645486831665, + 1.833530306816101 + ], + [ + -114.20761108398438, + -1.2317686080932617, + 1.833530306816101 + ] + ], + "corners_2d": [ + [ + 638.8309055962741, + 285.81562266802365 + ], + [ + 657.0833441925066, + 272.65762203000395 + ], + [ + 637.3196527457765, + 261.9619817328196 + ], + [ + 618.9966083364085, + 274.77891520449003 + ], + [ + 638.7835304073288, + 241.9340456998837 + ], + [ + 657.7643289319894, + 228.9667599077407 + ], + [ + 637.2142447899727, + 218.43826768354228 + ], + [ + 618.1571254445818, + 231.05619343240804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 660, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -120.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5647119283676147, + "y": 0.4726965129375458, + "z": 0.9389836192131042 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 837.5091078520315, + "ymin": 267.92887955606466, + "xmax": 896.3783199888576, + "ymax": 346.0420124663617 + }, + "corners_3d": [ + [ + -121.5340347290039, + 2.8438708782196045, + 0.005168795585632324 + ], + [ + -121.43521118164062, + 3.7840847969055176, + 0.005168795585632324 + ], + [ + -120.31197357177734, + 3.666027784347534, + 0.005168795585632324 + ], + [ + -120.41079711914062, + 2.725813865661621, + 0.005168795585632324 + ], + [ + -121.5340347290039, + 2.8438708782196045, + 1.8831360340118408 + ], + [ + -121.43521118164062, + 3.7840847969055176, + 1.8831360340118408 + ], + [ + -120.31197357177734, + 3.666027784347534, + 1.8831360340118408 + ], + [ + -120.41079711914062, + 2.725813865661621, + 1.8831360340118408 + ] + ], + "corners_2d": [ + [ + 866.5157074108859, + 346.0420124663617 + ], + [ + 885.2835811594446, + 332.06952553018846 + ], + [ + 856.34898035382, + 314.6263539491721 + ], + [ + 837.5091078520315, + 328.049749859301 + ], + [ + 876.930593988896, + 299.02171974235125 + ], + [ + 896.3783199888576, + 285.18049142019566 + ], + [ + 865.9336811287905, + 267.92887955606466 + ], + [ + 846.4005272575647, + 281.20213588156355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 768, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -122.24694061279297, + "y": -3.687762975692749, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5009472370147705, + "y": 0.38793161511421204, + "z": 0.8941901922225952 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 695.8461392451482, + "ymin": 393.76824572682546, + "xmax": 746.3913504600532, + "ymax": 474.30908830462084 + }, + "corners_3d": [ + [ + -122.74788665771484, + -4.075694561004639, + 0.04996711015701294 + ], + [ + -122.74788665771484, + -3.2998313903808594, + 0.04996711015701294 + ], + [ + -121.7459945678711, + -3.2998313903808594, + 0.04996711015701294 + ], + [ + -121.7459945678711, + -4.075694561004639, + 0.04996711015701294 + ], + [ + -122.74788665771484, + -4.075694561004639, + 1.8383474349975586 + ], + [ + -122.74788665771484, + -3.2998313903808594, + 1.8383474349975586 + ], + [ + -121.7459945678711, + -3.2998313903808594, + 1.8383474349975586 + ], + [ + -121.7459945678711, + -4.075694561004639, + 1.8383474349975586 + ] + ], + "corners_2d": [ + [ + 719.4700725958115, + 474.30908830462084 + ], + [ + 741.3571597455721, + 461.0508598404462 + ], + [ + 717.5533039641407, + 438.8922029294867 + ], + [ + 695.8461392451482, + 451.574081267807 + ], + [ + 723.471349018219, + 429.27713066279193 + ], + [ + 746.3913504600532, + 415.9700448402821 + ], + [ + 721.3170103696328, + 393.76824572682546 + ], + [ + 698.5927166910637, + 406.46892381763286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1047, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -122.28268432617188, + "y": -14.81512451171875, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.40858888626098633, + "y": 0.40162357687950134, + "z": 0.8830021619796753 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 292.87583810549864, + "ymin": 620.2427800907802, + "xmax": 359.44133915980603, + "ymax": 709.0030292466365 + }, + "corners_3d": [ + [ + -122.64705657958984, + -15.257257461547852, + 0.0611308217048645 + ], + [ + -122.73101806640625, + -14.458410263061523, + 0.0611308217048645 + ], + [ + -121.9183120727539, + -14.372991561889648, + 0.0611308217048645 + ], + [ + -121.8343505859375, + -15.171838760375977, + 0.0611308217048645 + ], + [ + -122.64705657958984, + -15.257257461547852, + 1.8271350860595703 + ], + [ + -122.73101806640625, + -14.458410263061523, + 1.8271350860595703 + ], + [ + -121.9183120727539, + -14.372991561889648, + 1.8271350860595703 + ], + [ + -121.8343505859375, + -15.171838760375977, + 1.8271350860595703 + ] + ], + "corners_2d": [ + [ + 323.78125322538096, + 709.0030292466365 + ], + [ + 359.44133915980603, + 691.3187902313158 + ], + [ + 347.5689901718789, + 662.1698398013946 + ], + [ + 312.5907656726107, + 679.0300721422976 + ], + [ + 304.24857372387186, + 668.2540557399568 + ], + [ + 342.3688519330506, + 650.0991414373916 + ], + [ + 330.21541271364197, + 620.2427800907802 + ], + [ + 292.87583810549864, + 637.5018239354107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 199, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -108.9572525024414, + "y": -10.742441177368164, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.552319347858429, + "y": 0.2852117717266083, + "z": 0.8942122459411621 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 254.73159093478222, + "ymin": 243.21639133322847, + "xmax": 294.21339680364133, + "ymax": 312.70921777138403 + }, + "corners_3d": [ + [ + -109.43820190429688, + -11.13625431060791, + 0.20233774185180664 + ], + [ + -109.55680084228516, + -10.578295707702637, + 0.20233774185180664 + ], + [ + -108.47630310058594, + -10.348628044128418, + 0.20233774185180664 + ], + [ + -108.35770416259766, + -10.906586647033691, + 0.20233774185180664 + ], + [ + -109.43820190429688, + -11.13625431060791, + 1.9907622337341309 + ], + [ + -109.55680084228516, + -10.578295707702637, + 1.9907622337341309 + ], + [ + -108.47630310058594, + -10.348628044128418, + 1.9907622337341309 + ], + [ + -108.35770416259766, + -10.906586647033691, + 1.9907622337341309 + ] + ], + "corners_2d": [ + [ + 275.8155908826926, + 312.70921777138403 + ], + [ + 294.21339680364133, + 307.7933943474425 + ], + [ + 288.0500352729126, + 287.71522665650104 + ], + [ + 270.04907873099023, + 292.40394602638895 + ], + [ + 260.35961448366345, + 267.8931284696814 + ], + [ + 279.625004057017, + 263.0349301573151 + ], + [ + 273.5619420695244, + 243.21639133322847 + ], + [ + 254.73159093478222, + 247.84099579658255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 80, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 151.5675211971386, + "ymin": 0.0, + "xmax": 254.03152832293057, + "ymax": 14.657484353627524 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 210.9769709642934, + -37.10177558742009 + ], + [ + 165.61797166657828, + -26.43460305548524 + ], + [ + 206.09560188560704, + 14.657484353627524 + ], + [ + 254.03152832293057, + 2.2822027802023968 + ], + [ + 198.534538224651, + -77.87244412941203 + ], + [ + 151.5675211971386, + -67.75620714338277 + ], + [ + 192.2103152604546, + -28.672856951041297 + ], + [ + 241.9575990996451, + -40.46220717666023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4545, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 625.4491029218981, + "ymin": 137.63636935794713, + "xmax": 737.641196685435, + "ymax": 243.66488775134235 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 693.9826557942996, + 243.66488775134235 + ], + [ + 734.4452401904019, + 224.8369466440618 + ], + [ + 665.3020589462964, + 175.37062731176422 + ], + [ + 625.9052005514321, + 191.8566408615667 + ], + [ + 695.8551008877155, + 204.64197052952443 + ], + [ + 737.641196685435, + 186.1295781894165 + ], + [ + 666.1021372023416, + 137.63636935794713 + ], + [ + 625.4491029218981, + 153.7749311108054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3476, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 347.6814290828417, + "ymin": 15.896286787833048, + "xmax": 445.6531170263441, + "ymax": 103.96831507328471 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 392.95954282961634, + 48.40553748865119 + ], + [ + 354.83908715659663, + 59.79832996817902 + ], + [ + 405.85681787926734, + 103.96831507328471 + ], + [ + 445.6531170263441, + 90.89332772325713 + ], + [ + 386.876718793519, + 15.896286787833048 + ], + [ + 347.6814290828417, + 26.944428406725024 + ], + [ + 399.5451550076152, + 69.87575467795023 + ], + [ + 440.5211314339644, + 57.15123973889257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3376, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 284.3613283536756, + "ymin": 43.92877820241762, + "xmax": 377.32705198198335, + "ymax": 136.31946457216497 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 337.837382583892, + 85.27691105211466 + ], + [ + 295.68744302729544, + 98.28933145437003 + ], + [ + 333.5695172695675, + 136.31946457216497 + ], + [ + 377.32705198198335, + 121.76159546391696 + ], + [ + 328.1025647056444, + 43.92877820241762 + ], + [ + 284.3613283536756, + 56.49944683577331 + ], + [ + 322.8810174361471, + 93.33331610454934 + ], + [ + 368.3647550019068, + 79.21665592373307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.2436348482739, + "ymin": 62.87457694098106, + "xmax": 669.062583419816, + "ymax": 96.28476374881285 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 653.2436348482739, + 92.75529213685326 + ], + [ + 658.7142669039259, + 96.28476374881285 + ], + [ + 668.47382134069, + 92.67610608026257 + ], + [ + 662.9806951101559, + 89.18561325859122 + ], + [ + 653.5175118581127, + 66.36895018952112 + ], + [ + 659.1034330816979, + 69.8247491572667 + ], + [ + 669.062583419816, + 66.29142597901199 + ], + [ + 663.4532551418831, + 62.87457694098106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 784.4399485089527, + "ymin": 16.367377909313973, + "xmax": 801.5514348925755, + "ymax": 47.680438326287685 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 784.4399485089527, + 44.65788578050399 + ], + [ + 790.1642383135645, + 47.680438326287685 + ], + [ + 798.5221477992328, + 44.590047111731906 + ], + [ + 792.7853338318204, + 41.598404592132056 + ], + [ + 787.2004500709038, + 19.35317015704453 + ], + [ + 793.0489178152019, + 22.303496329787095 + ], + [ + 801.5514348925755, + 19.28695908563077 + ], + [ + 795.6901150445769, + 16.367377909313973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 563.5953817417599, + "ymin": 435.65690268744015, + "xmax": 590.2957037075524, + "ymax": 483.4184807796013 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 574.0266990779409, + 483.4184807796013 + ], + [ + 590.2957037075524, + 474.2609655087206 + ], + [ + 582.2570131228864, + 465.4609090472051 + ], + [ + 566.057521981523, + 474.46161268010815 + ], + [ + 571.8101356771116, + 453.6749972763647 + ], + [ + 588.6409813792486, + 444.4839994249488 + ], + [ + 580.3516724062878, + 435.65690268744015 + ], + [ + 563.5953817417599, + 444.6853218030691 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 361.5522426621727, + "ymin": 277.7036050164919, + "xmax": 384.75524461259306, + "ymax": 312.5416629674955 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 372.1636896769252, + 312.5416629674955 + ], + [ + 384.75524461259306, + 307.2064602355427 + ], + [ + 380.3402279001464, + 302.0244305731077 + ], + [ + 367.7977394574622, + 307.2953984900761 + ], + [ + 365.9800550844608, + 288.1578213079655 + ], + [ + 378.89944516810897, + 282.8538531294197 + ], + [ + 374.4198164480066, + 277.7036050164919 + ], + [ + 361.5522426621727, + 282.9422583395266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 495.6302073408695, + "ymin": 362.5703544054453, + "xmax": 522.4449945187678, + "ymax": 407.8608157752913 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 506.80086519936935, + 407.8608157752913 + ], + [ + 522.4449945187678, + 399.9839965008584 + ], + [ + 515.5217965838543, + 392.4050834855327 + ], + [ + 499.9462898797332, + 400.1566914488069 + ], + [ + 502.6618364921842, + 378.003803387806 + ], + [ + 518.8229383021999, + 370.13641449622725 + ], + [ + 511.7178382417944, + 362.5703544054453 + ], + [ + 495.6302073408695, + 370.30885975279085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 426.3424485498366, + "ymin": 287.9600357974043, + "xmax": 452.9349502576895, + "ymax": 330.5560721607196 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 438.0206156344922, + 330.5560721607196 + ], + [ + 452.9349502576895, + 323.89052242582324 + ], + [ + 447.0687965255055, + 317.46876875204947 + ], + [ + 432.2201969808474, + 324.0367551550214 + ], + [ + 432.2633017753794, + 300.9644249290041 + ], + [ + 447.64409468246106, + 294.33973375331306 + ], + [ + 441.65307839058215, + 287.9600357974043 + ], + [ + 426.3424485498366, + 294.4850395654059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.2612876630576, + "ymin": 59.23786282692208, + "xmax": 890.9450694486105, + "ymax": 86.65008752148401 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 874.2612876630576, + 83.77878904902798 + ], + [ + 879.7699873406982, + 86.65008752148401 + ], + [ + 886.7780506368431, + 83.7299908711646 + ], + [ + 881.2630777608911, + 80.88476351663735 + ], + [ + 878.2172601973234, + 62.08036467420777 + ], + [ + 883.8375333431873, + 64.90097485831399 + ], + [ + 890.9450694486105, + 62.03243166030347 + ], + [ + 885.3184812284098, + 59.23786282692208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.400963921556, + "ymin": 40.827764960017475, + "xmax": 731.8827639587586, + "ymax": 73.25233380565317 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 715.400963921556, + 69.96795193822129 + ], + [ + 721.005089278199, + 73.25233380565317 + ], + [ + 730.0869748106953, + 69.89424854837114 + ], + [ + 724.4653853273824, + 66.6448674788682 + ], + [ + 716.9041840807646, + 44.07603405806003 + ], + [ + 722.6287110407702, + 47.28715012547258 + ], + [ + 731.8827639587586, + 44.00398253006273 + ], + [ + 726.1401659233562, + 40.827764960017475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 613.390623232636, + "ymin": 0.0, + "xmax": 914.6333021139251, + "ymax": 251.8243770712835 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 872.6203804815377, + 142.65967306820298 + ], + [ + 864.6781076017469, + 138.06290221549438 + ], + [ + 618.063534828934, + 245.67966105649054 + ], + [ + 625.3551513989066, + 251.8243770712835 + ], + [ + 914.6333021139251, + -78.77151306265637 + ], + [ + 904.9407103742419, + -82.46827966066223 + ], + [ + 613.390623232636, + 6.454228397876818 + ], + [ + 622.2063639153401, + 11.685719493174986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.04763839931775, + "ymin": 116.452976528732, + "xmax": 620.6258136115202, + "ymax": 682.5011149692962 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 386.9311130354343, + 370.77765698312186 + ], + [ + 373.51719387074115, + 376.788856506959 + ], + [ + 604.823448372437, + 682.5011149692962 + ], + [ + 620.6258136115202, + 671.9132899836347 + ], + [ + 322.43525028991496, + 116.452976528732 + ], + [ + 305.04763839931775, + 121.92999655487901 + ], + [ + 591.70842389621, + 426.6637926521453 + ], + [ + 613.4871181959055, + 415.17341948784514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1249.4674041862984, + "ymin": 87.63774469485679, + "xmax": 1280.0, + "ymax": 626.0160805874891 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1744.861206377461, + 626.0160805874891 + ], + [ + 1750.6253681817964, + 616.3699763766558 + ], + [ + 1256.9540988647782, + 338.82045663957723 + ], + [ + 1249.4674041862984, + 344.4219716064932 + ], + [ + 2131.3836279811185, + 366.19810994933994 + ], + [ + 2134.888023975428, + 356.0741488062598 + ], + [ + 1407.4267130386124, + 87.63774469485679 + ], + [ + 1399.2763328609974, + 92.65209578772567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1124.4850403219796, + "ymin": 641.9375555454033, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1124.4850403219796, + 1413.9884439861005 + ], + [ + 1152.3300771660129, + 1451.6453125047447 + ], + [ + 1516.5742522654841, + 888.6901925634519 + ], + [ + 1491.4942352728972, + 869.105398239097 + ], + [ + 1493.3959697759938, + 1448.4756559075363 + ], + [ + 1555.7890914485404, + 1516.9670225128157 + ], + [ + 1923.1905983544027, + 666.0295553718679 + ], + [ + 1878.6747619998334, + 641.9375555454033 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00118/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00118/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..193b665a5797fe28ccfba951a4edc90200197071 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00118/meta.json @@ -0,0 +1,2577 @@ +{ + "frame_id": 118, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 59.0, + "sim_timestamp": 1553.4410425934475 + }, + "drone_pose": { + "x": -134.54680875279317, + "y": -15.148928085468937, + "z": 20.0, + "pitch": -43.627700681295984, + "yaw": 34.98128251772869, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5930692553520203, + -0.4149829149246216, + 0.6899695992469788, + 72.2827377319336 + ], + [ + 0.5733088254928589, + 0.819339394569397, + -1.4901161193847656e-08, + -64.72476196289062 + ], + [ + -0.5653192400932312, + 0.39556562900543213, + 0.7238383293151855, + -96.53107452392578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.34925259179613, + "y": -14.68034578472752, + "z": 20.0 + }, + "t1_image_uv": [ + 1473.8428499270658, + -555.0810782125777 + ], + "t1_depth": 0.31161813584999504 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -118.16718292236328, + "y": -3.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.618402179159464, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 614, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -118.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.39195308089256287, + "y": 0.4158153831958771, + "z": 0.8818721771240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 619.9486199123214, + "ymin": 324.12841255047823, + "xmax": 660.1405187333091, + "ymax": 395.3469518222578 + }, + "corners_3d": [ + [ + -118.55913543701172, + -4.103578567504883, + 0.06227046251296997 + ], + [ + -118.55913543701172, + -3.2719476222991943, + 0.06227046251296997 + ], + [ + -117.77523040771484, + -3.2719476222991943, + 0.06227046251296997 + ], + [ + -117.77523040771484, + -4.103578567504883, + 0.06227046251296997 + ], + [ + -118.55913543701172, + -4.103578567504883, + 1.826014757156372 + ], + [ + -118.55913543701172, + -3.2719476222991943, + 1.826014757156372 + ], + [ + -117.77523040771484, + -3.2719476222991943, + 1.826014757156372 + ], + [ + -117.77523040771484, + -4.103578567504883, + 1.826014757156372 + ] + ], + "corners_2d": [ + [ + 635.9979412207279, + 395.3469518222578 + ], + [ + 659.2703647627266, + 383.7019388053457 + ], + [ + 643.8888433438874, + 368.4584541185115 + ], + [ + 620.8112538421475, + 379.72609624860365 + ], + [ + 635.8148839552555, + 350.89712343852517 + ], + [ + 660.1405187333091, + 339.295488189815 + ], + [ + 644.0614663102493, + 324.12841255047823 + ], + [ + 619.9486199123214, + 335.33743125547124 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 118, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 60, + "semantic_pixel_counts": { + "1": 587132, + "2": 169161, + "3": 68818, + "4": 35309, + "6": 9922, + "7": 2795, + "9": 2378, + "10": 110, + "12": 3860, + "14": 11523, + "20": 1422, + "22": 2535, + "24": 26635 + }, + "instance_pixel_counts": { + "6488": 58, + "6744": 10, + "7512": 57, + "11605": 48878, + "15701": 3711, + "15967": 733, + "15970": 908, + "16479": 20107, + "16482": 2372, + "17547": 2901, + "18018": 3168, + "18059": 4871, + "18530": 1323, + "19554": 2406, + "20107": 14800, + "20565": 16229, + "20619": 6607, + "21395": 15164, + "21397": 681, + "21643": 10881, + "21907": 211571, + "21909": 12663, + "22421": 1695, + "22931": 61772, + "23957": 718, + "24467": 28026, + "25344": 4005, + "25600": 8712, + "26754": 302, + "36096": 614, + "36352": 634, + "36608": 697, + "36864": 666, + "37120": 1021, + "37376": 228, + "37632": 47, + "37888": 4646, + "40448": 3480, + "40704": 3350, + "45409": 2328, + "45442": 2535, + "45971": 13919, + "46483": 186508, + "46995": 39635, + "47507": 3523, + "48225": 3728, + "49043": 27014, + "49761": 9428, + "51526": 35309, + "53857": 2617, + "56458": 15757, + "56970": 10588, + "57482": 35795, + "58506": 17843, + "60307": 765, + "60819": 6832, + "61254": 3373, + "61331": 1676, + "61843": 66, + "62867": 1539 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 614, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -118.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4340819716453552, + "y": 0.40929606556892395, + "z": 0.8866981267929077 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 619.3001141113749, + "ymin": 323.2877710354141, + "xmax": 660.8346005213581, + "ymax": 396.2249758803046 + }, + "corners_3d": [ + [ + -118.60126495361328, + -4.09705924987793, + 0.05744451284408569 + ], + [ + -118.60126495361328, + -3.2784669399261475, + 0.05744451284408569 + ], + [ + -117.73310089111328, + -3.2784669399261475, + 0.05744451284408569 + ], + [ + -117.73310089111328, + -4.09705924987793, + 0.05744451284408569 + ], + [ + -118.60126495361328, + -4.09705924987793, + 1.830840826034546 + ], + [ + -118.60126495361328, + -3.2784669399261475, + 1.830840826034546 + ], + [ + -117.73310089111328, + -3.2784669399261475, + 1.830840826034546 + ], + [ + -117.73310089111328, + -4.09705924987793, + 1.830840826034546 + ] + ], + "corners_2d": [ + [ + 637.0136309303768, + 396.2249758803046 + ], + [ + 659.9287498895962, + 384.7420171952022 + ], + [ + 642.8973203225868, + 367.85646701654616 + ], + [ + 620.1945400517203, + 378.92807949053423 + ], + [ + 636.8761522283504, + 351.52925437925 + ], + [ + 660.8346005213581, + 340.08837710038176 + ], + [ + 643.0265447802118, + 323.2877710354141 + ], + [ + 619.3001141113749, + 334.30059017417017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 634, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -114.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4386621117591858, + "y": 0.446031779050827, + "z": 0.8707238435745239 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 623.284950581434, + "ymin": 218.90016728940975, + "xmax": 662.3595928841162, + "ymax": 285.03278455096756 + }, + "corners_3d": [ + [ + -114.5630111694336, + -1.0351399183273315, + 0.07343345880508423 + ], + [ + -114.3775405883789, + -0.16257023811340332, + 0.07343345880508423 + ], + [ + -113.5193862915039, + -0.34497690200805664, + 0.07343345880508423 + ], + [ + -113.7048568725586, + -1.2175465822219849, + 0.07343345880508423 + ], + [ + -114.5630111694336, + -1.0351399183273315, + 1.8148810863494873 + ], + [ + -114.3775405883789, + -0.16257023811340332, + 1.8148810863494873 + ], + [ + -113.5193862915039, + -0.34497690200805664, + 1.8148810863494873 + ], + [ + -113.7048568725586, + -1.2175465822219849, + 1.8148810863494873 + ] + ], + "corners_2d": [ + [ + 643.2682689237921, + 285.03278455096756 + ], + [ + 661.5181763520442, + 272.6111863888268 + ], + [ + 642.2026374396695, + 261.5306628739874 + ], + [ + 623.9147228702706, + 273.6194763739668 + ], + [ + 643.3980608119404, + 242.05999104772263 + ], + [ + 662.3595928841162, + 229.8129002153388 + ], + [ + 642.2875687912272, + 218.90016728940975 + ], + [ + 623.284950581434, + 230.80648897945258 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 697, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -120.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5688378810882568, + "y": 0.472116082906723, + "z": 0.9371591210365295 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 840.7750783003261, + "ymin": 272.1187866714239, + "xmax": 900.4001308500983, + "ymax": 350.72667273177564 + }, + "corners_3d": [ + [ + -121.03807830810547, + 2.844879388809204, + 0.006993293762207031 + ], + [ + -120.93937683105469, + 3.7839388847351074, + 0.006993293762207031 + ], + [ + -119.80792999267578, + 3.6650192737579346, + 0.006993293762207031 + ], + [ + -119.90663146972656, + 2.7259597778320312, + 0.006993293762207031 + ], + [ + -121.03807830810547, + 2.844879388809204, + 1.8813115358352661 + ], + [ + -120.93937683105469, + 3.7839388847351074, + 1.8813115358352661 + ], + [ + -119.80792999267578, + 3.6650192737579346, + 1.8813115358352661 + ], + [ + -119.90663146972656, + 2.7259597778320312, + 1.8813115358352661 + ] + ], + "corners_2d": [ + [ + 869.5069581347118, + 350.72667273177564 + ], + [ + 889.0697821832937, + 337.06618529177365 + ], + [ + 860.361523799966, + 318.78772268512864 + ], + [ + 840.7750783003261, + 331.8900772277061 + ], + [ + 880.1146327206294, + 303.7494009193491 + ], + [ + 900.4001308500983, + 290.2081816779927 + ], + [ + 870.1713904603017, + 272.1187866714239 + ], + [ + 849.8530824768893, + 285.08219247785723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 666, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -121.74694061279297, + "y": -3.687762975692749, + "z": 0.9446212649345398 + }, + "extent": { + "x": 0.5134374499320984, + "y": 0.38598811626434326, + "z": 0.8981677293777466 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.7066392745007, + "ymin": 395.2439228329411, + "xmax": 743.3683523004422, + "ymax": 476.6379223042021 + }, + "corners_3d": [ + [ + -122.2603759765625, + -4.073750972747803, + 0.04645353555679321 + ], + [ + -122.2603759765625, + -3.3017749786376953, + 0.04645353555679321 + ], + [ + -121.23350524902344, + -3.3017749786376953, + 0.04645353555679321 + ], + [ + -121.23350524902344, + -4.073750972747803, + 0.04645353555679321 + ], + [ + -122.2603759765625, + -4.073750972747803, + 1.8427889347076416 + ], + [ + -122.2603759765625, + -3.3017749786376953, + 1.8427889347076416 + ], + [ + -121.23350524902344, + -3.3017749786376953, + 1.8427889347076416 + ], + [ + -121.23350524902344, + -4.073750972747803, + 1.8427889347076416 + ] + ], + "corners_2d": [ + [ + 715.9917393856558, + 476.6379223042021 + ], + [ + 738.4351817951226, + 463.9111991440339 + ], + [ + 714.9164934839854, + 440.5633629929102 + ], + [ + 692.7066392745007, + 452.7100850812575 + ], + [ + 719.850116032231, + 431.42471589864414 + ], + [ + 743.3683523004422, + 418.6458575902832 + ], + [ + 718.5807695945746, + 395.2439228329411 + ], + [ + 695.317607423051, + 407.4120864066992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1021, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -121.78268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4445166289806366, + "y": 0.39993229508399963, + "z": 0.8870263695716858 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 281.65353383103104, + "ymin": 610.9120016354495, + "xmax": 348.360226572707, + "ymax": 701.6195539285559 + }, + "corners_3d": [ + [ + -122.1829605102539, + -15.259330749511719, + 0.057111501693725586 + ], + [ + -122.26657104492188, + -14.463848114013672, + 0.057111501693725586 + ], + [ + -121.38240814208984, + -14.370918273925781, + 0.057111501693725586 + ], + [ + -121.29879760742188, + -15.166400909423828, + 0.057111501693725586 + ], + [ + -122.1829605102539, + -15.259330749511719, + 1.8311642408370972 + ], + [ + -122.26657104492188, + -14.463848114013672, + 1.8311642408370972 + ], + [ + -121.38240814208984, + -14.370918273925781, + 1.8311642408370972 + ], + [ + -121.29879760742188, + -15.166400909423828, + 1.8311642408370972 + ] + ], + "corners_2d": [ + [ + 312.55766832852464, + 701.6195539285559 + ], + [ + 348.360226572707, + 685.0897762781141 + ], + [ + 336.96917191952065, + 653.1972868234946 + ], + [ + 301.9513996734982, + 668.882453382807 + ], + [ + 292.3383062811592, + 660.5250726146259 + ], + [ + 330.6029454927884, + 643.5622746378413 + ], + [ + 319.0209049318715, + 610.9120016354495 + ], + [ + 281.65353383103104, + 626.9570892302517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 228, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -108.45535278320312, + "y": -10.743823051452637, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.3254687488079071, + "y": 0.30407896637916565, + "z": 0.8807632327079773 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 262.1407497076405, + "ymin": 240.61834105710153, + "xmax": 299.1848090591951, + "ymax": 301.0125415212885 + }, + "corners_3d": [ + [ + -108.71048736572266, + -11.108925819396973, + 0.21578675508499146 + ], + [ + -108.83692932128906, + -10.514058113098145, + 0.21578675508499146 + ], + [ + -108.2002182006836, + -10.3787202835083, + 0.21578675508499146 + ], + [ + -108.07377624511719, + -10.973587989807129, + 0.21578675508499146 + ], + [ + -108.71048736572266, + -11.108925819396973, + 1.9773132801055908 + ], + [ + -108.83692932128906, + -10.514058113098145, + 1.9773132801055908 + ], + [ + -108.2002182006836, + -10.3787202835083, + 1.9773132801055908 + ], + [ + -108.07377624511719, + -10.973587989807129, + 1.9773132801055908 + ] + ], + "corners_2d": [ + [ + 279.73704047527707, + 301.0125415212885 + ], + [ + 299.1848090591951, + 296.2386955830859 + ], + [ + 296.1088294858372, + 284.4236967038366 + ], + [ + 276.91545007846275, + 289.0655937215692 + ], + [ + 264.8611128353585, + 256.990821801269 + ], + [ + 285.19361237207477, + 252.27655554073232 + ], + [ + 282.1952130000863, + 240.61834105710153 + ], + [ + 262.1407497076405, + 245.19705657630075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 47, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 177.47222352899502, + "ymin": 0.0, + "xmax": 276.9770046215813, + "ymax": 12.152608114593477 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 235.8661108169182, + -39.736495676585605 + ], + [ + 190.73515379296475, + -29.579081682947503 + ], + [ + 229.13670427183308, + 12.152608114593477 + ], + [ + 276.9770046215813, + 0.3360138695841215 + ], + [ + 224.17278858329752, + -80.44298447669684 + ], + [ + 177.47222352899502, + -70.81171773193734 + ], + [ + 216.0134547554395, + -31.126083818398 + ], + [ + 265.6309067675799, + -42.382240890469916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4646, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 641.902479967612, + "ymin": 143.66605488269863, + "xmax": 754.3875597836695, + "ymax": 251.70262609247854 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 709.0000881560098, + 251.70262609247854 + ], + [ + 750.5959524651882, + 233.22956178543058 + ], + [ + 682.2075985027743, + 181.56204962717248 + ], + [ + 641.902479967612, + 197.668303291895 + ], + [ + 711.4230274993233, + 212.53458882196682 + ], + [ + 754.3875597836695, + 194.35578860822142 + ], + [ + 683.5567469815062, + 143.66605488269863 + ], + [ + 641.964665032533, + 159.44310681678783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3480, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 368.25178225442386, + "ymin": 16.07592701438176, + "xmax": 464.3645913039069, + "ymax": 104.9404884310598 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 413.2716876148136, + 48.634854188619556 + ], + [ + 374.91954945980166, + 59.59602638083044 + ], + [ + 424.1793168048713, + 104.9404884310598 + ], + [ + 464.3645913039069, + 92.31906765336669 + ], + [ + 407.6728312697791, + 16.07592701438176 + ], + [ + 368.25178225442386, + 26.706798672922787 + ], + [ + 418.33930804370505, + 70.78638458189721 + ], + [ + 459.70527162282133, + 58.500584437284715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3350, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 304.05799394590446, + "ymin": 43.663645498669894, + "xmax": 395.1096288692182, + "ymax": 136.50205928235363 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 357.10322761645494, + 85.05180630388026 + ], + [ + 314.7689003929613, + 97.54860050587598 + ], + [ + 351.0347497117056, + 136.50205928235363 + ], + [ + 395.1096288692182, + 122.48497467643764 + ], + [ + 347.9706855333483, + 43.663645498669894 + ], + [ + 304.05799394590446, + 55.73740227695072 + ], + [ + 340.9303183269596, + 93.4701249258539 + ], + [ + 386.7258942063745, + 79.87520512896549 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.887997788271, + "ymin": 69.26846529138959, + "xmax": 686.2540639326729, + "ymax": 102.94025791109271 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 669.887997788271, + 99.24822027545383 + ], + [ + 675.2929143045554, + 102.94025791109271 + ], + [ + 685.305142758072, + 99.39841961143247 + ], + [ + 679.873281621842, + 95.74590937268863 + ], + [ + 670.513858500247, + 72.69864794855687 + ], + [ + 676.0362129045225, + 76.31548265410424 + ], + [ + 686.2540639326729, + 72.84577120369408 + ], + [ + 680.7036740105096, + 69.26846529138959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.7160094660114, + "ymin": 23.50241253000678, + "xmax": 822.5211908282254, + "ymax": 55.13416766593923 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 804.7160094660114, + 51.957807067808176 + ], + [ + 810.433735767004, + 55.13416766593923 + ], + [ + 819.0473775038895, + 52.08708044285237 + ], + [ + 813.3134406175034, + 48.942280979850466 + ], + [ + 807.9110770877264, + 26.44696249682363 + ], + [ + 813.7573486220637, + 29.549175163200857 + ], + [ + 822.5211908282254, + 26.573205862913312 + ], + [ + 816.6582537715653, + 23.50241253000678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 564.6638804834788, + "ymin": 451.02758641187, + "xmax": 591.7123191546457, + "ymax": 499.11713324844953 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 574.8608470759762, + 499.11713324844953 + ], + [ + 591.7123191546457, + 490.0560366870785 + ], + [ + 583.89871433346, + 480.77327404927956 + ], + [ + 567.1310653923942, + 489.67344127057925 + ], + [ + 572.6347590290554, + 469.4535692896424 + ], + [ + 590.076783468044, + 460.34916898365816 + ], + [ + 582.0159702808884, + 451.02758641187 + ], + [ + 564.6638804834788, + 459.96486276282104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 371.01021849234326, + "ymin": 282.024854024154, + "xmax": 394.0383695883505, + "ymax": 316.91906822562225 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 381.2479111922015, + 316.91906822562225 + ], + [ + 394.0383695883505, + 311.7415360275999 + ], + [ + 389.81936755253497, + 306.37959050531674 + ], + [ + 377.0834540366597, + 311.4930780730768 + ], + [ + 375.232577624311, + 292.50445481296947 + ], + [ + 388.35511715646277, + 287.3556014181039 + ], + [ + 384.0752089706964, + 282.024854024154 + ], + [ + 371.01021849234326, + 287.1085554307322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 498.9239180392395, + "ymin": 374.0891802341346, + "xmax": 525.9198386896445, + "ymax": 419.64439094373046 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 509.8113425190869, + 419.64439094373046 + ], + [ + 525.9198386896445, + 411.8929518772902 + ], + [ + 519.2268041121102, + 403.9414548366814 + ], + [ + 503.1986144161025, + 411.565434209714 + ], + [ + 505.7082058272334, + 389.78282001560376 + ], + [ + 522.3538774062009, + 382.033978643814 + ], + [ + 515.4836350730563, + 374.0891802341346 + ], + [ + 498.9239180392395, + 381.7066562403321 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 432.2835158363859, + "ymin": 295.9901781407942, + "xmax": 458.8890760321772, + "ymax": 338.78172514001363 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 443.6241773727104, + 338.78172514001363 + ], + [ + 458.8890760321772, + 332.25874508096535 + ], + [ + 453.2492258356277, + 325.5584576801994 + ], + [ + 438.0592889273292, + 331.982943233173 + ], + [ + 437.9632788212409, + 309.1378489243133 + ], + [ + 453.70740594956413, + 302.65075922526967 + ], + [ + 447.9476873905644, + 295.9901781407942 + ], + [ + 432.2835158363859, + 302.3765350044522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.2482142299432, + "ymin": 67.57349618873621, + "xmax": 913.6401051992044, + "ymax": 95.27538528081573 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 896.2482142299432, + 92.25239136301212 + ], + [ + 901.7785884216414, + 95.27538528081573 + ], + [ + 909.0239607497481, + 92.39098093494357 + ], + [ + 903.4844715416855, + 89.39468042310199 + ], + [ + 900.6441841394447, + 70.38181290638437 + ], + [ + 906.2907659426287, + 73.35301877647532 + ], + [ + 913.6401051992044, + 70.51801783577639 + ], + [ + 907.9842851389906, + 67.57349618873621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.6885282941755, + "ymin": 47.599272854166884, + "xmax": 750.7875474589532, + "ymax": 80.31351714013192 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 733.6885282941755, + 76.87035928348297 + ], + [ + 739.2552069306973, + 80.31351714013192 + ], + [ + 748.5924433710433, + 77.01045810677681 + ], + [ + 743.0042105579754, + 73.60290929377811 + ], + [ + 735.5819341480908, + 50.79487703163619 + ], + [ + 741.2722642102577, + 54.163048294720625 + ], + [ + 750.7875474589532, + 50.93191024515045 + ], + [ + 745.074902968337, + 47.599272854166884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.5370038055752, + "ymin": 0.0, + "xmax": 940.268339748413, + "ymax": 258.73925725073366 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 893.642879751553, + 151.6527121312658 + ], + [ + 885.6859188436703, + 146.82239866720582 + ], + [ + 632.2157573382264, + 252.34085680729936 + ], + [ + 639.3697543721188, + 258.73925725073366 + ], + [ + 940.268339748413, + -71.77915421716921 + ], + [ + 930.4837473341303, + -75.68468041475649 + ], + [ + 630.5370038055752, + 11.92621293965766 + ], + [ + 639.2325236803964, + 17.397816953617223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 315.55047314077297, + "ymin": 120.17751411404407, + "xmax": 620.6718737678399, + "ymax": 699.1346508770187 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 395.88024414518947, + 374.9907572094971 + ], + [ + 382.26650058644356, + 380.8099908758851 + ], + [ + 604.3125353646235, + 699.1346508770187 + ], + [ + 620.6718737678399, + 688.7056629201847 + ], + [ + 333.18205810998217, + 120.17751411404407 + ], + [ + 315.55047314077297, + 125.4960941226878 + ], + [ + 590.73726476874, + 445.03606068406884 + ], + [ + 613.403709796909, + 433.5927391070977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1275.9612046950779, + "ymin": 107.36137949858764, + "xmax": 1280.0, + "ymax": 673.6287842582108 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1791.282711436607, + 673.6287842582108 + ], + [ + 1797.6413224397115, + 663.6179605623021 + ], + [ + 1283.895943773986, + 360.89094641267496 + ], + [ + 1275.9612046950779, + 366.5345439812099 + ], + [ + 2217.023472547372, + 417.17646011456196 + ], + [ + 2220.970183991049, + 406.3583487811671 + ], + [ + 1446.1314017660284, + 107.36137949858764 + ], + [ + 1437.4353722596682, + 112.4792213367378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1116.2768614111865, + "ymin": 708.0150957860395, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1116.2768614111865, + 1482.1360885702445 + ], + [ + 1144.3445366020928, + 1523.366512960284 + ], + [ + 1542.6033759435013, + 943.4574494946744 + ], + [ + 1516.5265072707157, + 921.905542316353 + ], + [ + 1502.2036325148583, + 1575.3303972159483 + ], + [ + 1568.2369805250605, + 1654.6856202474362 + ], + [ + 1985.6626660368922, + 735.4930766239513 + ], + [ + 1937.6247256732045, + 708.0150957860395 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00119/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00119/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b567d2435d10f568a57854adec61fa82032eac87 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00119/meta.json @@ -0,0 +1,2472 @@ +{ + "frame_id": 119, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 59.5, + "sim_timestamp": 1564.588378431974 + }, + "drone_pose": { + "x": -134.34925259179613, + "y": -14.68034578472752, + "z": 20.0, + "pitch": -43.64640521655302, + "yaw": 33.38272371381756, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6042269468307495, + -0.3981529474258423, + 0.6902058720588684, + 73.21834564208984 + ], + [ + 0.550229012966156, + 0.8350138068199158, + 0.0, + -61.66456604003906 + ], + [ + -0.5763314366340637, + 0.37977126240730286, + 0.7236131429672241, + -97.47712707519531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.12400732333705, + "y": -14.2585201933607, + "z": 20.0 + }, + "t1_image_uv": [ + 1360.8081873820588, + -555.6794174779947 + ], + "t1_depth": 0.30405033424470096 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -117.66718292236328, + "y": -3.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 359.99999999999983 + ], + "depth": 27.608948122014695, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 583, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -117.66718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5397704839706421, + "y": 0.37106379866600037, + "z": 0.9078091382980347 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.5511340848924, + "ymin": 321.22730307410166, + "xmax": 661.7343962558247, + "ymax": 398.3461935622384 + }, + "corners_3d": [ + [ + -118.20695495605469, + -4.058826923370361, + 0.03633350133895874 + ], + [ + -118.20695495605469, + -3.316699266433716, + 0.03633350133895874 + ], + [ + -117.12741088867188, + -3.316699266433716, + 0.03633350133895874 + ], + [ + -117.12741088867188, + -4.058826923370361, + 0.03633350133895874 + ], + [ + -118.20695495605469, + -4.058826923370361, + 1.8519518375396729 + ], + [ + -118.20695495605469, + -3.316699266433716, + 1.8519518375396729 + ], + [ + -117.12741088867188, + -3.316699266433716, + 1.8519518375396729 + ], + [ + -117.12741088867188, + -4.058826923370361, + 1.8519518375396729 + ] + ], + "corners_2d": [ + [ + 639.5558151395022, + 398.3461935622384 + ], + [ + 660.7636455807292, + 388.29898411048214 + ], + [ + 640.4295278568212, + 366.8514058888798 + ], + [ + 619.4971016559076, + 376.4449284603329 + ], + [ + 639.5348169435442, + 352.5797422165906 + ], + [ + 661.7343962558247, + 342.56731937542656 + ], + [ + 640.4491322398619, + 321.22730307410166 + ], + [ + 618.5511340848924, + 330.7671123118816 + ] + ], + "center_offset_px": [ + 0.0, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 119, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 572499, + "2": 175602, + "3": 75430, + "4": 35243, + "6": 10200, + "7": 2831, + "9": 3029, + "10": 129, + "12": 3909, + "14": 11583, + "20": 1567, + "22": 3258, + "24": 26320 + }, + "instance_pixel_counts": { + "6488": 59, + "6744": 32, + "7512": 56, + "11605": 54157, + "15701": 5304, + "15967": 1094, + "15970": 965, + "16479": 22877, + "16482": 2466, + "17547": 3292, + "18018": 3331, + "18059": 5081, + "18530": 947, + "19554": 2505, + "20107": 15544, + "20565": 15969, + "20619": 6791, + "21395": 15082, + "21397": 679, + "21643": 11225, + "21907": 204673, + "21909": 12351, + "22421": 1670, + "22931": 59270, + "23957": 886, + "24467": 28584, + "25344": 4209, + "25600": 8822, + "26754": 383, + "36096": 583, + "36352": 564, + "36608": 740, + "36864": 667, + "37120": 1077, + "37376": 278, + "37632": 28, + "37888": 4736, + "40448": 3478, + "40704": 3341, + "45409": 2311, + "45442": 3258, + "45971": 14370, + "46483": 185737, + "46995": 35546, + "47507": 1606, + "48225": 3922, + "49043": 27631, + "49761": 9559, + "51526": 35243, + "53857": 2691, + "56458": 15784, + "56970": 10550, + "57482": 36539, + "58506": 18128, + "60307": 789, + "60819": 6749, + "61254": 4066, + "61331": 1618, + "62867": 1578 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 583, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -117.66718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5816454291343689, + "y": 0.38511377573013306, + "z": 0.8998064994812012 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.3432268368736, + "ymin": 320.4519350014539, + "xmax": 662.9918725904076, + "ymax": 399.21635553051885 + }, + "corners_3d": [ + [ + -118.24882507324219, + -4.072876930236816, + 0.044336140155792236 + ], + [ + -118.24882507324219, + -3.3026492595672607, + 0.044336140155792236 + ], + [ + -117.08554077148438, + -3.3026492595672607, + 0.044336140155792236 + ], + [ + -117.08554077148438, + -4.072876930236816, + 0.044336140155792236 + ], + [ + -118.24882507324219, + -4.072876930236816, + 1.8439490795135498 + ], + [ + -118.24882507324219, + -3.3026492595672607, + 1.8439490795135498 + ], + [ + -117.08554077148438, + -3.3026492595672607, + 1.8439490795135498 + ], + [ + -117.08554077148438, + -4.072876930236816, + 1.8439490795135498 + ] + ], + "corners_2d": [ + [ + 639.9467147530388, + 399.21635553051885 + ], + [ + 661.9730942636174, + 388.769812948443 + ], + [ + 640.0514197958053, + 365.6674337114279 + ], + [ + 618.3331644216042, + 375.60646751079304 + ], + [ + 639.9442155842053, + 353.850710139665 + ], + [ + 662.9918725904076, + 343.43912577134034 + ], + [ + 640.0537429128622, + 320.4519350014539 + ], + [ + 617.3432268368736, + 330.3350261878542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 564, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -113.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5009570121765137, + "y": 0.4510648548603058, + "z": 0.9220904111862183 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 626.2166760427282, + "ymin": 216.73414469235925, + "xmax": 668.3984372245191, + "ymax": 287.1966623501349 + }, + "corners_3d": [ + [ + -114.12499237060547, + -1.0271110534667969, + 0.022066891193389893 + ], + [ + -113.93742370605469, + -0.1446952223777771, + 0.022066891193389893 + ], + [ + -112.95740509033203, + -0.35300570726394653, + 0.022066891193389893 + ], + [ + -113.14497375488281, + -1.2354216575622559, + 0.022066891193389893 + ], + [ + -114.12499237060547, + -1.0271110534667969, + 1.8662476539611816 + ], + [ + -113.93742370605469, + -0.1446952223777771, + 1.8662476539611816 + ], + [ + -112.95740509033203, + -0.35300570726394653, + 1.8662476539611816 + ], + [ + -113.14497375488281, + -1.2354216575622559, + 1.8662476539611816 + ] + ], + "corners_2d": [ + [ + 648.3243359234385, + 287.1966623501349 + ], + [ + 667.2656347400667, + 274.9226538458797 + ], + [ + 645.7185121449722, + 261.87611218217955 + ], + [ + 626.7657209819276, + 273.76480683927184 + ], + [ + 648.6755125588528, + 241.66581145010701 + ], + [ + 668.3984372245191, + 229.57242532401406 + ], + [ + 645.9522142124824, + 216.73414469235925 + ], + [ + 626.2166760427282, + 228.43238343581896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 740, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -119.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5178320407867432, + "y": 0.4300486743450165, + "z": 0.9417769908905029 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 845.7793164426029, + "ymin": 277.38168258066315, + "xmax": 901.4780922470085, + "ymax": 353.73172817078927 + }, + "corners_3d": [ + [ + -120.48294830322266, + 2.88138484954834, + 0.0023754239082336426 + ], + [ + -120.3930435180664, + 3.7367703914642334, + 0.0023754239082336426 + ], + [ + -119.3630599975586, + 3.628513813018799, + 0.0023754239082336426 + ], + [ + -119.45296478271484, + 2.7731282711029053, + 0.0023754239082336426 + ], + [ + -120.48294830322266, + 2.88138484954834, + 1.8859293460845947 + ], + [ + -120.3930435180664, + 3.7367703914642334, + 1.8859293460845947 + ], + [ + -119.3630599975586, + 3.628513813018799, + 1.8859293460845947 + ], + [ + -119.45296478271484, + 2.7731282711029053, + 1.8859293460845947 + ] + ], + "corners_2d": [ + [ + 871.4890561190359, + 353.73172817078927 + ], + [ + 889.9814844864555, + 341.5860447479178 + ], + [ + 864.2532067296187, + 324.3462369111946 + ], + [ + 845.7793164426029, + 336.0266387087812 + ], + [ + 882.2860313340443, + 306.4963873281967 + ], + [ + 901.4780922470085, + 294.45199258837 + ], + [ + 874.3594867352333, + 277.38168258066315 + ], + [ + 855.1817575592843, + 288.9439506786281 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 667, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -121.24694061279297, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5093700885772705, + "y": 0.37691232562065125, + "z": 0.8763308525085449 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.3539555842924, + "ymin": 397.65391242733597, + "xmax": 739.7469985516387, + "ymax": 477.55567987327845 + }, + "corners_3d": [ + [ + -121.75630950927734, + -4.064675331115723, + 0.06781178712844849 + ], + [ + -121.75630950927734, + -3.3108506202697754, + 0.06781178712844849 + ], + [ + -120.7375717163086, + -3.3108506202697754, + 0.06781178712844849 + ], + [ + -120.7375717163086, + -4.064675331115723, + 0.06781178712844849 + ], + [ + -121.75630950927734, + -4.064675331115723, + 1.8204734325408936 + ], + [ + -121.75630950927734, + -3.3108506202697754, + 1.8204734325408936 + ], + [ + -120.7375717163086, + -3.3108506202697754, + 1.8204734325408936 + ], + [ + -120.7375717163086, + -4.064675331115723, + 1.8204734325408936 + ] + ], + "corners_2d": [ + [ + 712.5910333469621, + 477.55567987327845 + ], + [ + 735.0869288592377, + 465.57903264669875 + ], + [ + 712.579254908711, + 441.864723784054 + ], + [ + 690.3539555842924, + 453.28850630136174 + ], + [ + 716.19240328318, + 433.45527288953497 + ], + [ + 739.7469985516387, + 421.427906068528 + ], + [ + 716.0497114070635, + 397.65391242733597 + ], + [ + 692.7905924344402, + 409.09969586381715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1077, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -121.28268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5386573076248169, + "y": 0.39068424701690674, + "z": 0.9038529992103577 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 271.7472138715477, + "ymin": 599.5316564463587, + "xmax": 339.12769424611105, + "ymax": 696.8253924171279 + }, + "corners_3d": [ + [ + -121.77754974365234, + -15.259973526000977, + 0.04028487205505371 + ], + [ + -121.8592300415039, + -14.482885360717773, + 0.04028487205505371 + ], + [ + -120.7878189086914, + -14.370275497436523, + 0.04028487205505371 + ], + [ + -120.70613861083984, + -15.147363662719727, + 0.04028487205505371 + ], + [ + -121.77754974365234, + -15.259973526000977, + 1.847990870475769 + ], + [ + -121.8592300415039, + -14.482885360717773, + 1.847990870475769 + ], + [ + -120.7878189086914, + -14.370275497436523, + 1.847990870475769 + ], + [ + -120.70613861083984, + -15.147363662719727, + 1.847990870475769 + ] + ], + "corners_2d": [ + [ + 303.92189895100125, + 696.8253924171279 + ], + [ + 339.12769424611105, + 681.6065615527455 + ], + [ + 327.02466164636877, + 642.8419484709059 + ], + [ + 292.7908639146558, + 657.1165941561194 + ], + [ + 282.8441390505235, + 654.8276565193391 + ], + [ + 320.50140632751203, + 639.2085582802404 + ], + [ + 308.29247968605324, + 599.5316564463587 + ], + [ + 271.7472138715477, + 614.1243612521073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 278, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -107.95345306396484, + "y": -10.745196342468262, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.3115576207637787, + "y": 0.3010339140892029, + "z": 0.8667140603065491 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 268.9645025031824, + "ymin": 235.24750755700364, + "xmax": 304.5216760356061, + "ymax": 293.9129813192867 + }, + "corners_3d": [ + [ + -108.19561004638672, + -11.1044282913208, + 0.22983592748641968 + ], + [ + -108.32079315185547, + -10.515517234802246, + 0.22983592748641968 + ], + [ + -107.71129608154297, + -10.385964393615723, + 0.22983592748641968 + ], + [ + -107.58611297607422, + -10.974875450134277, + 0.22983592748641968 + ], + [ + -108.19561004638672, + -11.1044282913208, + 1.963263988494873 + ], + [ + -108.32079315185547, + -10.515517234802246, + 1.963263988494873 + ], + [ + -107.71129608154297, + -10.385964393615723, + 1.963263988494873 + ], + [ + -107.58611297607422, + -10.974875450134277, + 1.963263988494873 + ] + ], + "corners_2d": [ + [ + 285.36224072921675, + 293.9129813192867 + ], + [ + 304.5216760356061, + 289.5641673650491 + ], + [ + 302.0656253626764, + 278.2804373671579 + ], + [ + 283.1507937225778, + 282.51362505037326 + ], + [ + 271.06439707811296, + 250.67113288210533 + ], + [ + 291.0682875509678, + 246.378140929982 + ], + [ + 288.70181164276494, + 235.24750755700364 + ], + [ + 268.9645025031824, + 239.42186337402615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 28, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 201.13579071215696, + "ymin": 0.0, + "xmax": 298.03058185940887, + "ymax": 10.764646017575444 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 258.64699130325926, + -41.27237887528224 + ], + [ + 213.68717950230666, + -31.571379080529653 + ], + [ + 250.24175296931224, + 10.764646017575444 + ], + [ + 298.03058185940887, + -0.5499763222310321 + ], + [ + 247.63311886325312, + -81.92932445462577 + ], + [ + 201.13579071215696, + -72.732017688518 + ], + [ + 237.81009677861687, + -32.47654396378181 + ], + [ + 287.34786860540373, + -43.25390414101656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4736, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 656.8677578651389, + "ymin": 150.3467212457501, + "xmax": 770.1558075882925, + "ymax": 260.34421534131087 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 723.1103175030834, + 260.34421534131087 + ], + [ + 765.7890177810085, + 242.20147900639182 + ], + [ + 698.041781834996, + 188.39667335484594 + ], + [ + 656.8677578651389, + 204.15095819885028 + ], + [ + 726.0634445434978, + 221.0408219301954 + ], + [ + 770.1558075882925, + 203.17242876838813 + ], + [ + 699.9164486138241, + 150.3467212457501 + ], + [ + 657.4244782235381, + 165.78875678114457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3478, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 387.22389242235727, + "ymin": 17.16757475781168, + "xmax": 481.6971563966928, + "ymax": 106.81073669996661 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 432.03021039080204, + 49.77921213205826 + ], + [ + 393.43997110250024, + 60.3483564037424 + ], + [ + 441.12874249846254, + 106.81073669996661 + ], + [ + 481.6971563966928, + 94.60296286898176 + ], + [ + 426.87922341773003, + 17.16757475781168 + ], + [ + 387.22389242235727, + 27.419545060277812 + ], + [ + 435.72653103258847, + 72.5930070566007 + ], + [ + 477.4783120845891, + 60.707228000005216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3341, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 322.1915981903748, + "ymin": 44.36609052354629, + "xmax": 411.5462349360574, + "ymax": 137.66263809974868 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 374.8689762294328, + 85.79996047771937 + ], + [ + 332.33832454533257, + 97.8301921330185 + ], + [ + 367.15303882378606, + 137.66263809974868 + ], + [ + 411.5462349360574, + 124.1363666005285 + ], + [ + 366.2910910510916, + 44.36609052354629 + ], + [ + 322.1915981903748, + 55.99040775060428 + ], + [ + 357.58680200111405, + 94.57979846631105 + ], + [ + 403.69808893885806, + 81.45822287372488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.5409923457905, + "ymin": 76.33504000591097, + "xmax": 702.4419106500754, + "ymax": 110.26283030194773 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 685.5409923457905, + 106.41209395115487 + ], + [ + 690.8902461616482, + 110.26283030194773 + ], + [ + 701.145224011666, + 106.78286503649022 + ], + [ + 695.7647740248561, + 102.9721528669898 + ], + [ + 686.5062131935724, + 79.70582284558662 + ], + [ + 691.97524891725, + 83.4800228715223 + ], + [ + 702.4419106500754, + 80.06918408948093 + ], + [ + 696.9404131783685, + 76.33504000591097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.8622506039699, + "ymin": 31.258244405235757, + "xmax": 842.3475397336352, + "ymax": 63.19907484483787 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 823.8622506039699, + 59.872024512589064 + ], + [ + 829.5810743454211, + 63.19907484483787 + ], + [ + 838.4410560006195, + 60.19249246832487 + ], + [ + 832.7024657965399, + 56.89760394192706 + ], + [ + 827.4798174988821, + 34.164244352096546 + ], + [ + 833.3317214498137, + 37.41541730236668 + ], + [ + 842.3475397336352, + 34.477373555329734 + ], + [ + 836.4752879305513, + 31.258244405235757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 565.6955042487197, + "ymin": 467.12888328258356, + "xmax": 593.0824356862698, + "ymax": 515.5391794516935 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 575.6736991498847, + 515.5391794516935 + ], + [ + 593.0824356862698, + 506.5634118040714 + ], + [ + 585.4785393614178, + 496.79998783176205 + ], + [ + 568.1674956780486, + 505.61083098376093 + ], + [ + 573.4385922577019, + 485.9725498369535 + ], + [ + 591.4663497158522, + 476.9438828491518 + ], + [ + 583.6183857580377, + 467.12888328258356 + ], + [ + 565.6955042487197, + 475.98599640132363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 379.7955813936536, + "ymin": 287.23197323919004, + "xmax": 402.67000058704014, + "ymax": 322.1903930796259 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 389.6892278442965, + 322.1903930796259 + ], + [ + 402.67000058704014, + 317.1562783647797 + ], + [ + 398.630373608376, + 311.6200025303555 + ], + [ + 385.7092578678946, + 316.5902765673703 + ], + [ + 383.8298604561753, + 297.74560750713965 + ], + [ + 397.1470911828261, + 292.737783720098 + ], + [ + 393.04990901446365, + 287.23197323919004 + ], + [ + 379.7955813936536, + 292.17482196207624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 502.0278915792187, + "ymin": 386.3631348745553, + "xmax": 529.2037513753974, + "ymax": 432.18125879934706 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 512.6519311091117, + 432.18125879934706 + ], + [ + 529.2037513753974, + 424.5430759280138 + ], + [ + 522.7241812215206, + 416.2232892670345 + ], + [ + 506.26387351479957, + 423.73186532581565 + ], + [ + 508.58237531902785, + 402.325109273365 + ], + [ + 525.691372387638, + 394.6829537827526 + ], + [ + 519.0389386798245, + 386.3631348745553 + ], + [ + 502.0278915792187, + 393.87154305133555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 437.83873466475984, + "ymin": 304.8238727084823, + "xmax": 464.4665237411701, + "ymax": 347.8138067759611 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 448.8669291707014, + 347.8138067759611 + ], + [ + 464.4665237411701, + 341.4203558387141 + ], + [ + 459.03538338109576, + 334.44675552791557 + ], + [ + 443.51950599098694, + 340.7408451965194 + ], + [ + 443.29589240584244, + 318.1227251958612 + ], + [ + 459.38742775501, + 311.7604629498382 + ], + [ + 453.84100856766617, + 304.8238727084823 + ], + [ + 437.83873466475984, + 311.0844213721581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 917.0306285840281, + "ymin": 76.46801900645329, + "xmax": 935.1164269043293, + "ymax": 104.44910483824452 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 917.0306285840281, + 101.27747485106607 + ], + [ + 922.5884991180944, + 104.44910483824452 + ], + [ + 930.0624355011352, + 101.59844348587342 + ], + [ + 924.4926962573879, + 98.45408148741757 + ], + [ + 921.8551581362163, + 79.24403254544978 + ], + [ + 927.5339945630776, + 82.36293451419544 + ], + [ + 935.1164269043293, + 79.55964125829462 + ], + [ + 929.4255168283714, + 76.46801900645329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.9209962835531, + "ymin": 55.01617066271348, + "xmax": 768.6241473128558, + "ymax": 88.01244317435851 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 750.9209962835531, + 84.41403406604394 + ], + [ + 756.459069337172, + 88.01244317435851 + ], + [ + 766.0418951862575, + 84.76056866156381 + ], + [ + 760.4783429484911, + 81.19832480303722 + ], + [ + 753.1922079546113, + 58.162819346060814 + ], + [ + 758.8573598661866, + 61.68471662464259 + ], + [ + 768.6241473128558, + 58.501950404675824 + ], + [ + 762.932604534742, + 55.01617066271348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 645.4699632036477, + "ymin": 0.0, + "xmax": 964.6150964523325, + "ymax": 266.3116962055418 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 913.4861642238652, + 161.16808882388074 + ], + [ + 905.5060129887153, + 156.10957350347428 + ], + [ + 645.4699632036477, + 259.66731203430516 + ], + [ + 652.5015215498622, + 266.3116962055418 + ], + [ + 964.6150964523325, + -64.16537252350776 + ], + [ + 954.7278304812324, + -68.27680356047694 + ], + [ + 646.6637683812922, + 18.11143796478325 + ], + [ + 655.2570811577524, + 23.81800083811561 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 325.2929433885547, + "ymin": 124.80098390498273, + "xmax": 620.748601024759, + "ymax": 716.3992330879319 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 404.1946323972037, + 380.09995725312757 + ], + [ + 390.3902313545499, + 385.74440420245406 + ], + [ + 603.8606940720305, + 716.3992330879319 + ], + [ + 620.748601024759, + 706.1151550805382 + ], + [ + 343.16162941446333, + 124.80098390498273 + ], + [ + 325.2929433885547, + 129.9759612358496 + ], + [ + 589.8412003785917, + 464.2194074418258 + ], + [ + 613.3639563319799, + 452.81123930400923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1120.1074037353321, + "ymin": 0.0, + "xmax": 1240.095208768545, + "ymax": 3.3013376624968487 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1124.7736565761834, + -20.933320213616582 + ], + [ + 1120.1074037353321, + -19.30089094734467 + ], + [ + 1177.1761573963004, + 3.3013376624968487 + ], + [ + 1181.8574356955578, + 1.5286605981087291 + ], + [ + 1174.5601324762365, + -163.41984145126423 + ], + [ + 1169.5806851317307, + -162.09898981957645 + ], + [ + 1235.114280831425, + -143.7252730486498 + ], + [ + 1240.095208768545, + -145.1721005922567 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00120/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00120/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..84eea0f3ee1106e44c664c05fd6c278cd6dde432 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00120/meta.json @@ -0,0 +1,2577 @@ +{ + "frame_id": 120, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 60.0, + "sim_timestamp": 1579.2923505592626 + }, + "drone_pose": { + "x": -134.12400732333705, + "y": -14.2585201933607, + "z": 20.0, + "pitch": -43.64115529795257, + "yaw": 31.93910357815109, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6141195297241211, + -0.38283753395080566, + 0.6901395320892334, + 74.02407836914062 + ], + [ + 0.5290176272392273, + 0.8486108183860779, + 1.4901161193847656e-08, + -58.85403060913086 + ], + [ + -0.5856598615646362, + 0.36509597301483154, + 0.723676323890686, + -98.23030090332031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.8715980576502, + "y": -13.88067756387559, + "z": 20.0 + }, + "t1_image_uv": [ + 1239.4354283056975, + -555.5114402562356 + ], + "t1_depth": 0.2996618087375516 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -117.16718292236328, + "y": -3.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 27.611600700725074, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 581, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -117.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5724267363548279, + "y": 0.3773774206638336, + "z": 0.8791995644569397 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.0189203134203, + "ymin": 321.2771674192623, + "xmax": 662.3207926742601, + "ymax": 398.41341181772975 + }, + "corners_3d": [ + [ + -117.73960876464844, + -4.065140247344971, + 0.06494307518005371 + ], + [ + -117.73960876464844, + -3.3103854656219482, + 0.06494307518005371 + ], + [ + -116.59475708007812, + -3.3103854656219482, + 0.06494307518005371 + ], + [ + -116.59475708007812, + -4.065140247344971, + 0.06494307518005371 + ], + [ + -117.73960876464844, + -4.065140247344971, + 1.823342204093933 + ], + [ + -117.73960876464844, + -3.3103854656219482, + 1.823342204093933 + ], + [ + -116.59475708007812, + -3.3103854656219482, + 1.823342204093933 + ], + [ + -116.59475708007812, + -4.065140247344971, + 1.823342204093933 + ] + ], + "corners_2d": [ + [ + 639.3966614956021, + 398.41341181772975 + ], + [ + 661.3537834920052, + 388.57327451702633 + ], + [ + 640.5825146635016, + 365.4572238831633 + ], + [ + 618.9573381820259, + 374.81899700719464 + ], + [ + 639.3690414087636, + 354.0887238027469 + ], + [ + 662.3207926742601, + 344.2809079441625 + ], + [ + 640.6082195226099, + 321.2771674192623 + ], + [ + 618.0189203134203, + 330.58731363996077 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 120, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 60, + "semantic_pixel_counts": { + "1": 559080, + "2": 181390, + "3": 81624, + "4": 35262, + "6": 10454, + "7": 2901, + "9": 3818, + "10": 141, + "12": 3926, + "14": 11697, + "20": 1668, + "22": 3896, + "24": 25743 + }, + "instance_pixel_counts": { + "6488": 66, + "6744": 55, + "7512": 60, + "7768": 6, + "11605": 58736, + "15701": 6874, + "15967": 1624, + "15970": 1046, + "16479": 26128, + "16482": 2569, + "17547": 3725, + "18018": 3500, + "18059": 5281, + "18530": 568, + "19554": 2588, + "20107": 16300, + "20565": 16014, + "20619": 5673, + "21395": 15173, + "21397": 681, + "21643": 11579, + "21907": 197834, + "21909": 12081, + "22421": 1372, + "22931": 56844, + "23957": 963, + "24467": 29615, + "25344": 4422, + "25600": 8933, + "26754": 435, + "36096": 581, + "36352": 556, + "36608": 685, + "36864": 759, + "37120": 1031, + "37376": 314, + "37632": 23, + "37888": 4844, + "40448": 3493, + "40704": 3337, + "45409": 2313, + "45442": 3896, + "45971": 14976, + "46483": 184411, + "46995": 31517, + "47507": 461, + "48225": 4124, + "49043": 28249, + "49761": 9702, + "51526": 35262, + "53857": 2362, + "56458": 15921, + "56970": 10571, + "57482": 37315, + "58506": 18501, + "60307": 826, + "60819": 6766, + "61254": 4864, + "61331": 1436, + "62867": 1618 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 581, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -117.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4489745497703552, + "y": 0.38207775354385376, + "z": 0.8897707462310791 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.1201380218711, + "ymin": 323.36576685382727, + "xmax": 660.071431465358, + "ymax": 396.12809646462233 + }, + "corners_3d": [ + [ + -117.61615753173828, + -4.069840908050537, + 0.05437189340591431 + ], + [ + -117.61615753173828, + -3.30568528175354, + 0.05437189340591431 + ], + [ + -116.71820831298828, + -3.30568528175354, + 0.05437189340591431 + ], + [ + -116.71820831298828, + -4.069840908050537, + 0.05437189340591431 + ], + [ + -117.61615753173828, + -4.069840908050537, + 1.8339133262634277 + ], + [ + -117.61615753173828, + -3.30568528175354, + 1.8339133262634277 + ], + [ + -116.71820831298828, + -3.30568528175354, + 1.8339133262634277 + ], + [ + -116.71820831298828, + -4.069840908050537, + 1.8339133262634277 + ] + ], + "corners_2d": [ + [ + 637.0057548924909, + 396.12809646462233 + ], + [ + 659.1940761357835, + 386.2192988783522 + ], + [ + 642.9060377222328, + 368.09161836202236 + ], + [ + 620.9811851648883, + 377.62068218894086 + ], + [ + 636.8673822260574, + 351.27747115866487 + ], + [ + 660.071431465358, + 341.4040920167983 + ], + [ + 643.0362003205645, + 323.36576685382727 + ], + [ + 620.1201380218711, + 332.8439040248508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 556, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -113.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5065087676048279, + "y": 0.426228404045105, + "z": 0.8710238933563232 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 630.7186529763261, + "ymin": 218.41594178194703, + "xmax": 671.9419157662383, + "ymax": 285.9068894247944 + }, + "corners_3d": [ + [ + -113.62525939941406, + -1.001663088798523, + 0.07312852144241333 + ], + [ + -113.4480209350586, + -0.16783469915390015, + 0.07312852144241333 + ], + [ + -112.45713806152344, + -0.37845370173454285, + 0.07312852144241333 + ], + [ + -112.6343765258789, + -1.2122821807861328, + 0.07312852144241333 + ], + [ + -113.62525939941406, + -1.001663088798523, + 1.815176248550415 + ], + [ + -113.4480209350586, + -0.16783469915390015, + 1.815176248550415 + ], + [ + -112.45713806152344, + -0.37845370173454285, + 1.815176248550415 + ], + [ + -112.6343765258789, + -1.2122821807861328, + 1.815176248550415 + ] + ], + "corners_2d": [ + [ + 652.3975795219893, + 285.9068894247944 + ], + [ + 670.7359740853958, + 274.59613668308265 + ], + [ + 649.3893710149442, + 261.05971197962043 + ], + [ + 631.0679678815775, + 272.0021568806287 + ], + [ + 652.8908964947019, + 242.90259662310217 + ], + [ + 671.9419157662383, + 231.74882668249 + ], + [ + 649.7515286989801, + 218.41594178194703 + ], + [ + 630.7186529763261, + 229.19252985953693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 685, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -119.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.41686034202575684, + "y": 0.46307647228240967, + "z": 0.9361600279808044 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 849.8962025980012, + "ymin": 282.53345616205496, + "xmax": 902.2923900793986, + "ymax": 356.27833493194504 + }, + "corners_3d": [ + [ + -119.885986328125, + 2.8379833698272705, + 0.007992386817932129 + ], + [ + -119.78917694091797, + 3.7590627670288086, + 0.007992386817932129 + ], + [ + -118.96002197265625, + 3.671915292739868, + 0.007992386817932129 + ], + [ + -119.05683135986328, + 2.75083589553833, + 0.007992386817932129 + ], + [ + -119.885986328125, + 2.8379833698272705, + 1.880312442779541 + ], + [ + -119.78917694091797, + 3.7590627670288086, + 1.880312442779541 + ], + [ + -118.96002197265625, + 3.671915292739868, + 1.880312442779541 + ], + [ + -119.05683135986328, + 2.75083589553833, + 1.880312442779541 + ] + ], + "corners_2d": [ + [ + 870.2482057799903, + 356.27833493194504 + ], + [ + 890.8028010062062, + 343.5411291821813 + ], + [ + 870.4042892504842, + 329.2687821373209 + ], + [ + 849.8962025980012, + 341.60202090747 + ], + [ + 880.9525473563178, + 309.30568572715435 + ], + [ + 902.2923900793986, + 296.6712155113715 + ], + [ + 880.7842872159206, + 282.53345616205496 + ], + [ + 859.4901221571862, + 294.7491859512884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 759, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -120.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3125341534614563, + "y": 0.4092978835105896, + "z": 0.8760561347007751 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.890154946297, + "ymin": 403.123343979068, + "xmax": 733.2520619602732, + "ymax": 474.5517536807453 + }, + "corners_3d": [ + [ + -121.0594711303711, + -4.097060680389404, + 0.06809139251708984 + ], + [ + -121.0594711303711, + -3.2784650325775146, + 0.06809139251708984 + ], + [ + -120.43441009521484, + -3.2784650325775146, + 0.06809139251708984 + ], + [ + -120.43441009521484, + -4.097060680389404, + 0.06809139251708984 + ], + [ + -121.0594711303711, + -4.097060680389404, + 1.8202036619186401 + ], + [ + -121.0594711303711, + -3.2784650325775146, + 1.8202036619186401 + ], + [ + -120.43441009521484, + -3.2784650325775146, + 1.8202036619186401 + ], + [ + -120.43441009521484, + -4.097060680389404, + 1.8202036619186401 + ] + ], + "corners_2d": [ + [ + 704.017822564462, + 474.5517536807453 + ], + [ + 728.9122061806906, + 462.12762843167434 + ], + [ + 715.5781417960711, + 447.31207461420445 + ], + [ + 690.890154946297, + 459.374929648343 + ], + [ + 707.1826044746472, + 430.4500068287362 + ], + [ + 733.2520619602732, + 417.9773508954261 + ], + [ + 719.2108653419358, + 403.123343979068 + ], + [ + 693.3670864403282, + 415.2159110026397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1031, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -120.78268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4776220917701721, + "y": 0.35866519808769226, + "z": 0.8740659356117249 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 266.58644467093535, + "ymin": 595.6324260959316, + "xmax": 328.0407314554051, + "ymax": 685.1293655512828 + }, + "corners_3d": [ + [ + -121.22019958496094, + -15.221750259399414, + 0.07007193565368652 + ], + [ + -121.29518127441406, + -14.508349418640137, + 0.07007193565368652 + ], + [ + -120.34516906738281, + -14.408498764038086, + 0.07007193565368652 + ], + [ + -120.27018737792969, + -15.121899604797363, + 0.07007193565368652 + ], + [ + -121.22019958496094, + -15.221750259399414, + 1.8182038068771362 + ], + [ + -121.29518127441406, + -14.508349418640137, + 1.8182038068771362 + ], + [ + -120.34516906738281, + -14.408498764038086, + 1.8182038068771362 + ], + [ + -120.27018737792969, + -15.121899604797363, + 1.8182038068771362 + ] + ], + "corners_2d": [ + [ + 295.6571084997335, + 685.1293655512828 + ], + [ + 328.0407314554051, + 672.0491756665747 + ], + [ + 318.6902292054528, + 637.6110360511167 + ], + [ + 287.127696909721, + 649.9639212776468 + ], + [ + 274.99254207455385, + 644.2301979117622 + ], + [ + 309.52864971060563, + 630.8306038848178 + ], + [ + 300.18898311110496, + 595.6324260959316 + ], + [ + 266.58644467093535, + 608.2444704753512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 314, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -107.45155334472656, + "y": -10.746582984924316, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.4632665812969208, + "y": 0.31152892112731934, + "z": 0.8952111005783081 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 274.1838421049725, + "ymin": 226.5855097082023, + "xmax": 310.886601322024, + "ymax": 291.8170097895746 + }, + "corners_3d": [ + [ + -107.83992767333984, + -11.147623062133789, + 0.20133888721466064 + ], + [ + -107.96946716308594, + -10.538180351257324, + 0.20133888721466064 + ], + [ + -107.06317901611328, + -10.345542907714844, + 0.20133888721466064 + ], + [ + -106.93363952636719, + -10.954985618591309, + 0.20133888721466064 + ], + [ + -107.83992767333984, + -11.147623062133789, + 1.9917610883712769 + ], + [ + -107.96946716308594, + -10.538180351257324, + 1.9917610883712769 + ], + [ + -107.06317901611328, + -10.345542907714844, + 1.9917610883712769 + ], + [ + -106.93363952636719, + -10.954985618591309, + 1.9917610883712769 + ] + ], + "corners_2d": [ + [ + 291.11377008126345, + 291.8170097895746 + ], + [ + 310.886601322024, + 287.63438665026536 + ], + [ + 307.86954882000555, + 270.9118426080185 + ], + [ + 288.47612043437454, + 274.92980351208183 + ], + [ + 276.62830115950055, + 247.19081074059045 + ], + [ + 297.2923216438821, + 243.06480621964275 + ], + [ + 294.43374862597204, + 226.5855097082023 + ], + [ + 274.1838421049725, + 230.5425621528216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 23, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 222.49279661177047, + "ymin": 0.0, + "xmax": 317.1242956132542, + "ymax": 10.423463840945487 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 279.2490507660186, + -41.78475030870857 + ], + [ + 234.4086197269034, + -32.485718062995204 + ], + [ + 269.34697280276123, + 10.423463840945487 + ], + [ + 317.1242956132542, + -0.4480897045408483 + ], + [ + 268.8444575199701, + -82.40611351255257 + ], + [ + 222.49279661177047, + -73.59078059727142 + ], + [ + 257.5357642675415, + -32.79398896927353 + ], + [ + 307.03937562092744, + -43.14897791236342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4844, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 670.790305325681, + "ymin": 157.58020943768184, + "xmax": 784.947598479955, + "ymax": 269.49018975797463 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 736.3263949062224, + 269.49018975797463 + ], + [ + 780.0280570391692, + 251.6431108026366 + ], + [ + 712.7866431614918, + 195.7759124257284 + ], + [ + 670.790305325681, + 211.21439726165195 + ], + [ + 739.7881032390696, + 230.06123774004564 + ], + [ + 784.947598479955, + 212.47006998397356 + ], + [ + 715.1610538460458, + 157.58020943768184 + ], + [ + 671.816059731651, + 172.7219690228439 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3493, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 404.5373627960888, + "ymin": 19.09722290502947, + "xmax": 497.60065549532305, + "ymax": 109.50928078167684 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 449.17302620359874, + 51.76414095075654 + ], + [ + 410.3414318758589, + 61.984563756882665 + ], + [ + 456.6582047939555, + 109.50928078167684 + ], + [ + 497.60065549532305, + 97.67019852315326 + ], + [ + 444.4321378939545, + 19.09722290502947 + ], + [ + 404.5373627960888, + 29.012265050086626 + ], + [ + 451.65834321193347, + 75.22614414068335 + ], + [ + 493.78830792210397, + 63.69677129139137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3337, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 338.71001322242796, + "ymin": 45.96959060919198, + "xmax": 426.5941390108385, + "ymax": 139.74123692175252 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 391.0817302247952, + 87.45455406232378 + ], + [ + 348.34506590697634, + 99.07133075311401 + ], + [ + 381.88368575362017, + 139.74123692175252 + ], + [ + 426.5941390108385, + 126.6505258346206 + ], + [ + 383.00918606916076, + 45.96959060919198 + ], + [ + 338.71001322242796, + 57.195846633913675 + ], + [ + 372.80818396423666, + 96.60248082119261 + ], + [ + 419.23683085213224, + 83.9007087024309 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.2080829126877, + "ymin": 83.98251093938842, + "xmax": 717.6305007735274, + "ymax": 118.16158214945261 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 700.2080829126877, + 114.15670878216665 + ], + [ + 705.5137130716784, + 118.16158214945261 + ], + [ + 715.9994712054694, + 114.7365516437867 + ], + [ + 710.658636530848, + 110.77217687553062 + ], + [ + 701.4990706630073, + 87.30061248467064 + ], + [ + 706.9270468659049, + 91.22780873316015 + ], + [ + 717.6305007735274, + 87.86914656070246 + ], + [ + 712.165885532705, + 83.98251093938842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 841.8498891129163, + "ymin": 39.518195377849, + "xmax": 860.9978100464583, + "ymax": 71.75810656165459 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 841.8498891129163, + 68.28452769986274 + ], + [ + 847.5787755646062, + 71.75810656165459 + ], + [ + 856.6729248849848, + 68.78762547731162 + ], + [ + 850.9208957185754, + 65.34677726260321 + ], + [ + 845.8755885040434, + 42.389884352463184 + ], + [ + 851.7422475542039, + 45.786048620207225 + ], + [ + 860.9978100464583, + 42.88172302673968 + ], + [ + 855.1073033615874, + 39.518195377849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 566.9159772812554, + "ymin": 483.9476122109344, + "xmax": 594.6304554670078, + "ymax": 532.6785054514122 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 576.6912019004159, + 532.6785054514122 + ], + [ + 594.6304554670078, + 523.7698608597772 + ], + [ + 587.21338094645, + 513.5278816789213 + ], + [ + 569.3851194025759, + 522.2675644800095 + ], + [ + 574.4553881118954, + 503.22594876514455 + ], + [ + 593.0417610123383, + 494.25491364246795 + ], + [ + 585.383113549344, + 483.9476122109344 + ], + [ + 566.9159772812554, + 492.74260709733744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 387.94391361204043, + "ymin": 293.29899237134805, + "xmax": 410.6885491197489, + "ymax": 328.3331848119074 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 397.5256891473383, + 328.3331848119074 + ], + [ + 410.6885491197489, + 323.42527461607295 + ], + [ + 406.808943797942, + 317.71977285734016 + ], + [ + 393.7104808070279, + 322.5639961687308 + ], + [ + 391.81027018386305, + 303.85876463105615 + ], + [ + 405.3141128139244, + 298.9749158714225 + ], + [ + 401.3798837670422, + 293.29899237134805 + ], + [ + 387.94391361204043, + 298.11799175795323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 505.1041837850297, + "ymin": 399.37810336399843, + "xmax": 532.4597427193007, + "ymax": 445.46338911258835 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 515.4862231077243, + 445.46338911258835 + ], + [ + 532.4597427193007, + 437.92057198152406 + ], + [ + 526.1709461257819, + 429.23659171286766 + ], + [ + 509.29958702862825, + 436.64762386301265 + ], + [ + 511.4527432273222, + 415.62259916699173 + ], + [ + 529.0031950276775, + 408.06943358304835 + ], + [ + 522.5452652571407, + 399.37810336399843 + ], + [ + 505.1041837850297, + 406.79510259363775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 443.11111696936064, + "ymin": 314.44353892882197, + "xmax": 469.7727647377577, + "ymax": 357.63982757754235 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 453.85426581969796, + 357.63982757754235 + ], + [ + 469.7727647377577, + 351.35837702061366 + ], + [ + 464.5281688879894, + 344.116296642012 + ], + [ + 448.7016306420072, + 350.2974810738233 + ], + [ + 448.3689383842345, + 327.9063842925595 + ], + [ + 464.79203805262057, + 321.6516600239095 + ], + [ + 459.4361794112465, + 314.44353892882197 + ], + [ + 443.11111696936064, + 320.595528214275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 936.5528080188212, + "ymin": 85.78234887423025, + "xmax": 955.3130495678818, + "ymax": 114.03145931208371 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 936.5528080188212, + 110.71550517305641 + ], + [ + 942.1447776761331, + 114.03145931208371 + ], + [ + 949.835636853338, + 111.21116587504159 + ], + [ + 944.2291760756146, + 107.92301967281509 + ], + [ + 941.7914346116879, + 88.52932448614189 + ], + [ + 947.5092238988151, + 91.79176599248115 + ], + [ + 955.3130495678818, + 89.01694978287895 + ], + [ + 949.58048398541, + 85.78234887423025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 767.089600648373, + "ymin": 62.97467349882578, + "xmax": 785.381438511393, + "ymax": 96.24562358249324 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 767.089600648373, + 92.49636053541843 + ], + [ + 772.6095945311743, + 96.24562358249324 + ], + [ + 782.4258305001242, + 93.03928340036322 + ], + [ + 776.8766448071933, + 89.32671379348693 + ], + [ + 769.7246990084308, + 66.07782333850338 + ], + [ + 775.3753856560575, + 69.74924225861923 + ], + [ + 785.381438511393, + 66.60941921543355 + ], + [ + 779.7005012559051, + 62.97467349882578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.8383645318643, + "ymin": 0.0, + "xmax": 987.5897947241934, + "ymax": 274.4571594802519 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 932.0997861159499, + 171.06333224247274 + ], + [ + 924.0866727757268, + 165.78383284433903 + ], + [ + 657.8383645318643, + 267.57528347156637 + ], + [ + 664.7656424136777, + 274.4571594802519 + ], + [ + 987.5897947241934, + -56.06158331314873 + ], + [ + 977.5884379357778, + -60.374201667387865 + ], + [ + 661.7766160735413, + 24.92778924576197 + ], + [ + 670.2891695010851, + 30.863268229369453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8079868943648573662, + "instance_id": 56904, + "pixel_count": null, + "type_id": "BP_HighwayLight_multiple_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -111.36263275146484, + "y": 38.80789566040039, + "z": 6.3431396484375 + }, + "extent": { + "x": 1.183907151222229, + "y": 1.183907389640808, + "z": 6.265520095825195 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1263.0958742467515, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 8.43592500244739 + }, + "corners_3d": [ + [ + -112.54653930664062, + 37.62398910522461, + 0.07761955261230469 + ], + [ + -112.54653930664062, + 39.99180221557617, + 0.07761955261230469 + ], + [ + -110.17872619628906, + 39.99180221557617, + 0.07761955261230469 + ], + [ + -110.17872619628906, + 37.62398910522461, + 0.07761955261230469 + ], + [ + -112.54653930664062, + 37.62398910522461, + 12.608659744262695 + ], + [ + -112.54653930664062, + 39.99180221557617, + 12.608659744262695 + ], + [ + -110.17872619628906, + 39.99180221557617, + 12.608659744262695 + ], + [ + -110.17872619628906, + 37.62398910522461, + 12.608659744262695 + ] + ], + "corners_2d": [ + [ + 1308.0902066362867, + 8.43592500244739 + ], + [ + 1335.7933277232255, + -2.2657181101763513 + ], + [ + 1290.8092168032158, + -18.609234908864266 + ], + [ + 1263.0958742467515, + -8.536286395403579 + ], + [ + 1459.2818714117461, + -298.93381724117944 + ], + [ + 1489.6057620496817, + -304.8790362603562 + ], + [ + 1429.521562235032, + -313.8610759438983 + ], + [ + 1398.9362324397484, + -308.33903920339446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 334.30955463406235, + "ymin": 130.29720140433602, + "xmax": 621.0694125898419, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 411.90765129363285, + 386.08097084301875 + ], + [ + 397.9212727621274, + 391.5710352040702 + ], + [ + 603.6826273991944, + 734.2927780146695 + ], + [ + 621.0694125898419, + 724.1317100825734 + ], + [ + 352.4092453287895, + 130.29720140433602 + ], + [ + 334.30955463406235, + 135.3466351341768 + ], + [ + 589.3202784774667, + 484.2157260146962 + ], + [ + 613.6650225553727, + 472.82100191891175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1147.4296911472288, + "ymin": 0.0, + "xmax": 1272.734101687714, + "ymax": 12.420623943807698 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1152.2423185824503, + -12.8802946536523 + ], + [ + 1147.4296911472288, + -11.26400551179313 + ], + [ + 1205.499998558725, + 12.420623943807698 + ], + [ + 1210.3414764904696, + 10.660825508327093 + ], + [ + 1205.7060092821184, + -156.86450324738144 + ], + [ + 1200.5653494794346, + -155.55274699478014 + ], + [ + 1267.576381803075, + -136.23665222372045 + ], + [ + 1272.734101687714, + -137.67794288530814 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00121/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00121/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c47dbdfb8e9394ef70a123966755af1c86342fe6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00121/meta.json @@ -0,0 +1,2474 @@ +{ + "frame_id": 121, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 60.5, + "sim_timestamp": 1594.5493543583434 + }, + "drone_pose": { + "x": -133.8715980576502, + "y": -13.88067756387559, + "z": 20.0, + "pitch": -43.619220051690114, + "yaw": 30.645011948450325, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6228362321853638, + -0.36900511384010315, + 0.6898624897003174, + 74.70487976074219 + ], + [ + 0.5097174644470215, + 0.8603418469429016, + 0.0, + -56.2945671081543 + ], + [ + -0.593517541885376, + 0.3516349494457245, + 0.7239404916763306, + -98.81488037109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.59205144372572, + "y": -13.537919423658252, + "z": 20.0 + }, + "t1_image_uv": [ + 1126.7187309252377, + -554.8099140885174 + ], + "t1_depth": 0.30059128331738705 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -116.66718292236328, + "y": -3.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.622691749092674, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 605, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -116.66718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4401659667491913, + "y": 0.3842478394508362, + "z": 0.8902945518493652 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.3711045101456, + "ymin": 323.5637445246233, + "xmax": 659.8222398407031, + "ymax": 395.9169950316098 + }, + "corners_3d": [ + [ + -117.10734558105469, + -4.0720109939575195, + 0.053848087787628174 + ], + [ + -117.10734558105469, + -3.3035151958465576, + 0.053848087787628174 + ], + [ + -116.22702026367188, + -3.3035151958465576, + 0.053848087787628174 + ], + [ + -116.22702026367188, + -4.0720109939575195, + 0.053848087787628174 + ], + [ + -117.10734558105469, + -4.0720109939575195, + 1.8344371318817139 + ], + [ + -117.10734558105469, + -3.3035151958465576, + 1.8344371318817139 + ], + [ + -116.22702026367188, + -3.3035151958465576, + 1.8344371318817139 + ], + [ + -116.22702026367188, + -4.0720109939575195, + 1.8344371318817139 + ] + ], + "corners_2d": [ + [ + 636.334529239291, + 395.9169950316098 + ], + [ + 658.9558709346326, + 386.324013668951 + ], + [ + 643.5590579736484, + 368.3145284960123 + ], + [ + 621.2210175018017, + 377.54208130995227 + ], + [ + 636.1652141748895, + 351.04131299891856 + ], + [ + 659.8222398407031, + 341.4833867514741 + ], + [ + 643.7184708247755, + 323.5637445246233 + ], + [ + 620.3711045101456, + 332.7413502869553 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 121, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 545677, + "2": 187032, + "3": 87501, + "4": 35337, + "6": 10791, + "7": 2950, + "9": 4688, + "10": 134, + "12": 3996, + "14": 11816, + "20": 1867, + "22": 4427, + "24": 25384 + }, + "instance_pixel_counts": { + "6488": 65, + "6744": 58, + "7512": 64, + "7768": 35, + "11605": 62748, + "15701": 8338, + "15967": 2371, + "15970": 1130, + "16479": 29013, + "16482": 2661, + "17547": 4205, + "18018": 3667, + "18059": 5499, + "18530": 193, + "19554": 2660, + "20107": 17063, + "20565": 16415, + "20619": 4083, + "21395": 15403, + "21397": 695, + "21643": 11942, + "21907": 191364, + "21909": 11849, + "22421": 1212, + "22931": 53939, + "23957": 976, + "24467": 30470, + "25344": 4633, + "25600": 9108, + "26754": 548, + "36096": 605, + "36352": 646, + "36608": 694, + "36864": 677, + "37120": 1006, + "37376": 368, + "37632": 29, + "37888": 4948, + "40448": 3501, + "40704": 3338, + "45409": 2333, + "45442": 4427, + "45971": 15713, + "46483": 182634, + "46995": 27354, + "47507": 15, + "48225": 4244, + "49043": 28785, + "49761": 9853, + "51526": 35337, + "53857": 2244, + "56458": 16158, + "56970": 10716, + "57482": 38165, + "58506": 18832, + "59992": 20, + "60307": 876, + "60819": 6755, + "61254": 5765, + "61331": 1359, + "62867": 1662 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 605, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -116.66718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.44703608751296997, + "y": 0.3691723048686981, + "z": 0.8735015392303467 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.7211624248323, + "ymin": 324.04556368019547, + "xmax": 659.4828512877549, + "ymax": 395.46849063385065 + }, + "corners_3d": [ + [ + -117.11421966552734, + -4.0569353103637695, + 0.07064110040664673 + ], + [ + -117.11421966552734, + -3.3185906410217285, + 0.07064110040664673 + ], + [ + -116.22014617919922, + -3.3185906410217285, + 0.07064110040664673 + ], + [ + -116.22014617919922, + -4.0569353103637695, + 0.07064110040664673 + ], + [ + -117.11421966552734, + -4.0569353103637695, + 1.8176441192626953 + ], + [ + -117.11421966552734, + -3.3185906410217285, + 1.8176441192626953 + ], + [ + -116.22014617919922, + -3.3185906410217285, + 1.8176441192626953 + ], + [ + -116.22014617919922, + -4.0569353103637695, + 1.8176441192626953 + ] + ], + "corners_2d": [ + [ + 636.9018429760035, + 395.46849063385065 + ], + [ + 658.6467404109053, + 386.24919823260893 + ], + [ + 643.0084587955178, + 367.95169395078403 + ], + [ + 621.5402230578227, + 376.8142724990446 + ], + [ + 636.7615004955537, + 351.4402436501195 + ], + [ + 659.4828512877549, + 342.25386345939944 + ], + [ + 643.1406185305394, + 324.04556368019547 + ], + [ + 620.7211624248323, + 332.8609721304303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 646, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -112.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.44038084149360657, + "y": 0.4480174481868744, + "z": 0.8865716457366943 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 635.2497284477939, + "ymin": 218.88459484038418, + "xmax": 674.5489308895037, + "ymax": 285.891942383224 + }, + "corners_3d": [ + [ + -113.06510162353516, + -1.0367248058319092, + 0.057580769062042236 + ], + [ + -112.8788070678711, + -0.16027063131332397, + 0.057580769062042236 + ], + [ + -112.01729583740234, + -0.3433919847011566, + 0.057580769062042236 + ], + [ + -112.2035903930664, + -1.219846248626709, + 0.057580769062042236 + ], + [ + -113.06510162353516, + -1.0367248058319092, + 1.8307240009307861 + ], + [ + -112.8788070678711, + -0.16027063131332397, + 1.8307240009307861 + ], + [ + -112.01729583740234, + -0.3433919847011566, + 1.8307240009307861 + ], + [ + -112.2035903930664, + -1.219846248626709, + 1.8307240009307861 + ] + ], + "corners_2d": [ + [ + 653.5733927365303, + 285.891942383224 + ], + [ + 673.2239441435663, + 274.3089919775108 + ], + [ + 655.0438551724347, + 262.2938790627281 + ], + [ + 635.4317375225811, + 273.54127887513766 + ], + [ + 654.1225743374897, + 242.13305024676092 + ], + [ + 674.5489308895037, + 230.7151076288091 + ], + [ + 655.6347755695538, + 218.88459484038418 + ], + [ + 635.2497284477939, + 229.9587807311596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 694, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -118.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.43104979395866394, + "y": 0.4573286473751068, + "z": 0.9438319206237793 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 851.6026702437067, + "ymin": 285.6692990603723, + "xmax": 904.9004089793038, + "ymax": 360.2562397536757 + }, + "corners_3d": [ + [ + -119.39949798583984, + 2.8451828956604004, + 0.0003204941749572754 + ], + [ + -119.30388641357422, + 3.7548296451568604, + 0.0003204941749572754 + ], + [ + -118.4465103149414, + 3.6647157669067383, + 0.0003204941749572754 + ], + [ + -118.54212188720703, + 2.7550690174102783, + 0.0003204941749572754 + ], + [ + -119.39949798583984, + 2.8451828956604004, + 1.887984275817871 + ], + [ + -119.30388641357422, + 3.7548296451568604, + 1.887984275817871 + ], + [ + -118.4465103149414, + 3.6647157669067383, + 1.887984275817871 + ], + [ + -118.54212188720703, + 2.7550690174102783, + 1.887984275817871 + ] + ], + "corners_2d": [ + [ + 872.3021510371909, + 360.2562397536757 + ], + [ + 893.1582290343041, + 347.9460570789966 + ], + [ + 872.3830087786563, + 332.81629194556433 + ], + [ + 851.6026702437067, + 344.71458739563803 + ], + [ + 883.2308083539083, + 312.8740963391595 + ], + [ + 904.9004089793038, + 300.6599201667292 + ], + [ + 882.9727008043582, + 285.6692990603723 + ], + [ + 861.3806324454138, + 297.4562123849417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 677, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -120.24694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3302440941333771, + "y": 0.3912484347820282, + "z": 0.8627431988716125 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.6355944719094, + "ymin": 404.5295425384617, + "xmax": 730.4093956058955, + "ymax": 475.4328934179538 + }, + "corners_3d": [ + [ + -120.57718658447266, + -4.0790114402771, + 0.08140432834625244 + ], + [ + -120.57718658447266, + -3.2965145111083984, + 0.08140432834625244 + ], + [ + -119.91669464111328, + -3.2965145111083984, + 0.08140432834625244 + ], + [ + -119.91669464111328, + -4.0790114402771, + 0.08140432834625244 + ], + [ + -120.57718658447266, + -4.0790114402771, + 1.8068907260894775 + ], + [ + -120.57718658447266, + -3.2965145111083984, + 1.8068907260894775 + ], + [ + -119.91669464111328, + -3.2965145111083984, + 1.8068907260894775 + ], + [ + -119.91669464111328, + -4.0790114402771, + 1.8068907260894775 + ] + ], + "corners_2d": [ + [ + 702.0220790117978, + 475.4328934179538 + ], + [ + 726.2585528122773, + 463.95919854578017 + ], + [ + 712.6402738710495, + 448.04703931320694 + ], + [ + 688.6355944719094, + 459.1631624564036 + ], + [ + 705.041889510688, + 432.00256469547134 + ], + [ + 730.4093956058955, + 420.4836984307938 + ], + [ + 716.078611481612, + 404.5295425384617 + ], + [ + 690.964439704474, + 415.6724799572412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1006, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -120.28268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3800976872444153, + "y": 0.40012025833129883, + "z": 0.8880722522735596 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 258.7696596538244, + "ymin": 591.1657692893425, + "xmax": 321.8138056246536, + "ymax": 674.9172465485478 + }, + "corners_3d": [ + [ + -120.6188735961914, + -15.25278377532959, + 0.05606561899185181 + ], + [ + -120.70252227783203, + -14.456927299499512, + 0.05606561899185181 + ], + [ + -119.94649505615234, + -14.37746524810791, + 0.05606561899185181 + ], + [ + -119.86284637451172, + -15.173321723937988, + 0.05606561899185181 + ], + [ + -120.6188735961914, + -15.25278377532959, + 1.8322100639343262 + ], + [ + -120.70252227783203, + -14.456927299499512, + 1.8322100639343262 + ], + [ + -119.94649505615234, + -14.37746524810791, + 1.8322100639343262 + ], + [ + -119.86284637451172, + -15.173321723937988, + 1.8322100639343262 + ] + ], + "corners_2d": [ + [ + 285.7727580884444, + 674.9172465485478 + ], + [ + 321.8138056246536, + 661.2575696114899 + ], + [ + 315.2893471291813, + 633.917037661844 + ], + [ + 279.99587487786806, + 646.9661097845525 + ], + [ + 264.3720451123802, + 633.0794026765749 + ], + [ + 302.8167988857049, + 619.0966641556297 + ], + [ + 296.3640700141188, + 591.1657692893425 + ], + [ + 258.7696596538244, + 604.487262384893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 368, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -106.94964599609375, + "y": -10.747968673706055, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.53173828125, + "y": 0.2909185588359833, + "z": 0.9040690660476685 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 280.5133855990785, + "ymin": 220.81943853223345, + "xmax": 315.35492829664776, + "ymax": 288.2373587766366 + }, + "corners_3d": [ + [ + -107.4092788696289, + -11.143084526062012, + 0.19248580932617188 + ], + [ + -107.5302505493164, + -10.573962211608887, + 0.19248580932617188 + ], + [ + -106.4900131225586, + -10.352852821350098, + 0.19248580932617188 + ], + [ + -106.3690414428711, + -10.921975135803223, + 0.19248580932617188 + ], + [ + -107.4092788696289, + -11.143084526062012, + 2.000623941421509 + ], + [ + -107.5302505493164, + -10.573962211608887, + 2.000623941421509 + ], + [ + -106.4900131225586, + -10.352852821350098, + 2.000623941421509 + ], + [ + -106.3690414428711, + -10.921975135803223, + 2.000623941421509 + ] + ], + "corners_2d": [ + [ + 296.96486892823, + 288.2373587766366 + ], + [ + 315.35492829664776, + 284.60923317715753 + ], + [ + 312.55756656905845, + 265.4856565538865 + ], + [ + 294.57642328477505, + 268.95001277407727 + ], + [ + 282.6584410076572, + 243.22948168376922 + ], + [ + 301.8761531617146, + 239.65245892509276 + ], + [ + 299.2849216586561, + 220.81943853223345 + ], + [ + 280.5133855990785, + 224.22851826136173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 29, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 241.64942244216996, + "ymin": 0.0, + "xmax": 334.3432360574424, + "ymax": 10.949243605599293 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 297.7711175444808, + -41.462919258162856 + ], + [ + 253.00222980259377, + -32.51391048448278 + ], + [ + 286.53948400755223, + 10.949243605599293 + ], + [ + 334.3432360574424, + 0.46382119038804603 + ], + [ + 287.9086054397703, + -82.06483580101559 + ], + [ + 241.64942244216996, + -73.58186612587468 + ], + [ + 275.280165917577, + -32.26056927939425 + ], + [ + 324.79277337248294, + -42.247770527129546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4948, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 683.74617341828, + "ymin": 165.24406084959398, + "xmax": 798.8547059833496, + "ymax": 279.03860074343567 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 748.7341916643359, + 279.03860074343567 + ], + [ + 793.402561736491, + 261.44585816506583 + ], + [ + 726.5217206505051, + 203.57965855146296 + ], + [ + 683.74617341828, + 218.74337740916278 + ], + [ + 752.6850781939185, + 239.49187832653098 + ], + [ + 798.8547059833496, + 222.137885884377 + ], + [ + 729.371643371761, + 165.24406084959398 + ], + [ + 685.2169002375442, + 180.1253014830283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3501, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 420.2629239090056, + "ymin": 21.70498242197681, + "xmax": 512.1420316842963, + "ymax": 112.89224361715429 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 464.7710192805445, + 54.43181867444139 + ], + [ + 425.6937341277223, + 64.34707568605916 + ], + [ + 470.832279671046, + 112.89224361715429 + ], + [ + 512.1420316842963, + 101.37567709294473 + ], + [ + 460.4033640692952, + 21.70498242197681 + ], + [ + 420.2629239090056, + 31.325387015327067 + ], + [ + 466.20001879252334, + 78.53988042921338 + ], + [ + 508.7029526672908, + 67.32199409077049 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3338, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 353.679061240451, + "ymin": 48.31893948496787, + "xmax": 440.31517112306034, + "ymax": 142.59742583607348 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 405.8077932659123, + 89.86282150357903 + ], + [ + 362.8539085586583, + 101.11907268398522 + ], + [ + 395.2856662976538, + 142.59742583607348 + ], + [ + 440.31517112306034, + 129.88635543486552 + ], + [ + 398.1922944952116, + 48.31893948496787 + ], + [ + 353.679061240451, + 59.19843929415288 + ], + [ + 386.6541062485065, + 99.39541898245244 + ], + [ + 433.4047056772197, + 87.05911548814856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.9763689091616, + "ymin": 92.09495983558429, + "xmax": 731.9102268171841, + "ymax": 126.52549896184354 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 713.9763689091616, + 122.3699877005269 + ], + [ + 719.2514154086444, + 126.52549896184354 + ], + [ + 729.9570391763439, + 123.14703555186875 + ], + [ + 724.643019864192, + 119.03250811923255 + ], + [ + 715.5806961606263, + 95.36850674897198 + ], + [ + 720.9809198459936, + 99.44539336253769 + ], + [ + 731.9102268171841, + 96.13076992537333 + ], + [ + 726.469432788301, + 92.09495983558429 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 858.7764219184807, + "ymin": 48.14691684625279, + "xmax": 878.5721354760025, + "ymax": 80.68035496623133 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 858.7764219184807, + 77.06376727528664 + ], + [ + 864.5252908747423, + 80.68035496623133 + ], + [ + 873.8417915722124, + 77.7402680694102 + ], + [ + 868.0665925289572, + 74.15697280693854 + ], + [ + 863.1971824193204, + 50.98981273605659 + ], + [ + 869.088712637739, + 54.527636789987355 + ], + [ + 878.5721354760025, + 51.651518176796515 + ], + [ + 872.6534504976877, + 48.14691684625279 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 568.4282780627985, + "ymin": 501.539160907119, + "xmax": 596.4650263535003, + "ymax": 550.5986188249263 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 578.0171039828688, + 550.5986188249263 + ], + [ + 596.4650263535003, + 541.7332422704192 + ], + [ + 589.2079495958747, + 531.0101846620739 + ], + [ + 570.883779000498, + 539.7023333614978 + ], + [ + 575.7923202434652, + 521.2799456901257 + ], + [ + 594.9153816394248, + 512.3425080414609 + ], + [ + 587.418289312347, + 501.539160907119 + ], + [ + 568.4282780627985, + 510.29581528870943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 395.4921773826793, + "ymin": 300.15914207691975, + "xmax": 418.1344050408867, + "ymax": 335.28472619974053 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 404.7951263787709, + 335.28472619974053 + ], + [ + 418.1344050408867, + 330.48448178355 + ], + [ + 414.39507364772294, + 324.61267445907583 + ], + [ + 401.12460546250225, + 329.34928345825114 + ], + [ + 399.211131391888, + 310.780762857256 + ], + [ + 412.8961746948379, + 306.0024539333943 + ], + [ + 409.1047150786067, + 300.15914207691975 + ], + [ + 395.4921773826793, + 304.8726219469351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 508.2252803661708, + "ymin": 413.1502637326212, + "xmax": 535.7663190571363, + "ymax": 459.51442064599917 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 518.3881779466179, + 459.51442064599917 + ], + [ + 535.7663190571363, + 452.0449066731651 + ], + [ + 529.6429358882064, + 442.99699412410877 + ], + [ + 512.3770921683026, + 450.3323754844391 + ], + [ + 514.3945904740821, + 429.6998033262554 + ], + [ + 532.3694369154865, + 422.21357542962755 + ], + [ + 526.0798603655426, + 413.1502637326212 + ], + [ + 508.2252803661708, + 420.4977223195351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 448.150322154837, + "ymin": 324.8270260920812, + "xmax": 474.8631369997788, + "ymax": 368.24428584245896 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 458.6375374096732, + 368.24428584245896 + ], + [ + 474.8631369997788, + 362.05442437682143 + ], + [ + 469.78134587168955, + 354.54556787986854 + ], + [ + 453.65549407973896, + 360.63412148634234 + ], + [ + 453.23368133071335, + 338.4728841213293 + ], + [ + 469.9767089063251, + 332.3054135539746 + ], + [ + 464.78700695410487, + 324.8270260920812 + ], + [ + 448.150322154837, + 330.89059595191776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.9107760940306, + "ymin": 95.37317263829368, + "xmax": 974.3276887721524, + "ymax": 123.88253675125804 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 954.9107760940306, + 120.42620018631831 + ], + [ + 960.5441729067838, + 123.88253675125804 + ], + [ + 968.440256619102, + 121.08805523434555 + ], + [ + 962.7898902052912, + 117.66005077074496 + ], + [ + 960.5500599046325, + 98.09554013816819 + ], + [ + 966.3142482429955, + 101.49773207819777 + ], + [ + 974.3276887721524, + 98.74697873069454 + ], + [ + 968.5461677445874, + 95.37317263829368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.2874125623187, + "ymin": 71.34979591472813, + "xmax": 801.1555467279467, + "ymax": 104.89277741721182 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 782.2874125623187, + 100.99620183929568 + ], + [ + 787.8008563303574, + 104.89277741721182 + ], + [ + 797.8390386448835, + 101.72494410005316 + ], + [ + 792.2929061904224, + 97.86559122633474 + ], + [ + 785.2737622419274, + 74.41625772725166 + ], + [ + 790.9217436067881, + 78.23384772078686 + ], + [ + 801.1555467279467, + 75.13015562337068 + ], + [ + 795.4736756504799, + 71.34979591472813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.3972182333931, + "ymin": 0.0, + "xmax": 1009.2956565791085, + "ymax": 283.0774292463353 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 949.5769528739852, + 181.20162642501563 + ], + [ + 941.5201198810184, + 175.70779415458904 + ], + [ + 669.3972182333931, + 275.9648165335723 + ], + [ + 676.2394785120647, + 283.0774292463353 + ], + [ + 1009.2956565791085, + -47.62537862462244 + ], + [ + 999.1674609671201, + -52.13497281666912 + ], + [ + 675.9612302465092, + 32.25669971184669 + ], + [ + 684.4161855375079, + 38.41686812345944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 342.62912793498765, + "ymin": 136.5897033548002, + "xmax": 621.7345185951496, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 419.0584844430642, + 392.8675986184367 + ], + [ + 404.8962410569163, + 398.2248798198279 + ], + [ + 603.8741830137654, + 752.8778258132394 + ], + [ + 621.7345185951496, + 742.8125077220411 + ], + [ + 360.95767117747533, + 136.5897033548002 + ], + [ + 342.62912793498765, + 141.53340048042446 + ], + [ + 589.3103875444134, + 505.12975408148026 + ], + [ + 614.4502360848248, + 493.71779077146175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1172.8602013982772, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 21.651539196559042 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1177.8111445277552, + -4.676236790330506 + ], + [ + 1172.8602013982772, + -3.0744916304468575 + ], + [ + 1231.9489098379395, + 21.651539196559042 + ], + [ + 1236.941851713284, + 19.90324010886144 + ], + [ + 1234.7995312932335, + -150.0687014864846 + ], + [ + 1229.5058422597672, + -148.76500214563708 + ], + [ + 1298.0107682434505, + -128.53730756581143 + ], + [ + 1303.3364102134087, + -129.97390369180357 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00122/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00122/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dacb8c5c92a4bcebca8148a7f766d42d3c8d6344 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00122/meta.json @@ -0,0 +1,2577 @@ +{ + "frame_id": 122, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 61.0, + "sim_timestamp": 1605.5048272002023 + }, + "drone_pose": { + "x": -133.59205144372572, + "y": -13.537919423658252, + "z": 20.0, + "pitch": -43.59190434757706, + "yaw": 29.479172097594123, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6305015087127686, + -0.35641807317733765, + 0.6895171999931335, + 75.26481628417969 + ], + [ + 0.4921071529388428, + 0.8705346584320068, + 0.0, + -53.95637130737305 + ], + [ + -0.6002486348152161, + 0.33931633830070496, + 0.7242692708969116, + -99.26747131347656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.28687862733543, + "y": -13.220204705139635, + "z": 20.0 + }, + "t1_image_uv": [ + 1037.013952199929, + -553.9370270484122 + ], + "t1_depth": 0.30565119532012286 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -116.16718292236328, + "y": -3.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 359.99999999999983 + ], + "depth": 27.63652142936437, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 644, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -116.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.43110835552215576, + "y": 0.37003353238105774, + "z": 0.8721011281013489 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.1258861848839, + "ymin": 324.45457891929317, + "xmax": 659.0705195202282, + "ymax": 395.0406588466549 + }, + "corners_3d": [ + [ + -116.5982894897461, + -4.057796478271484, + 0.07204151153564453 + ], + [ + -116.5982894897461, + -3.3177294731140137, + 0.07204151153564453 + ], + [ + -115.73607635498047, + -3.3177294731140137, + 0.07204151153564453 + ], + [ + -115.73607635498047, + -4.057796478271484, + 0.07204151153564453 + ], + [ + -116.5982894897461, + -4.057796478271484, + 1.8162437677383423 + ], + [ + -116.5982894897461, + -3.3177294731140137, + 1.8162437677383423 + ], + [ + -115.73607635498047, + -3.3177294731140137, + 1.8162437677383423 + ], + [ + -115.73607635498047, + -4.057796478271484, + 1.8162437677383423 + ] + ], + "corners_2d": [ + [ + 636.206921791354, + 395.0406588466549 + ], + [ + 658.2542562514942, + 386.13199534242653 + ], + [ + 643.6861659556818, + 368.2891551172087 + ], + [ + 621.9257759775138, + 376.86130700911383 + ], + [ + 636.0356293328996, + 351.0852055086228 + ], + [ + 659.0705195202282, + 342.2092690579801 + ], + [ + 643.847732061631, + 324.45457891929317 + ], + [ + 621.1258861848839, + 332.98062146976906 + ] + ], + "center_offset_px": [ + 0.0, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 122, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 60, + "semantic_pixel_counts": { + "1": 532463, + "2": 192582, + "3": 93172, + "4": 35456, + "6": 11173, + "7": 3012, + "9": 5815, + "10": 136, + "12": 3974, + "14": 11980, + "20": 2168, + "22": 4835, + "24": 24834 + }, + "instance_pixel_counts": { + "6488": 69, + "6744": 58, + "7512": 65, + "7768": 56, + "11605": 66148, + "15701": 9686, + "15967": 3238, + "15970": 1224, + "16479": 30948, + "16482": 2758, + "17547": 4709, + "18018": 3651, + "18059": 5723, + "19554": 2727, + "20107": 17833, + "20565": 17322, + "20619": 2506, + "21395": 15758, + "21397": 693, + "21643": 12319, + "21907": 185281, + "21909": 11370, + "22421": 1169, + "22931": 50541, + "23957": 1006, + "24467": 31001, + "25344": 4912, + "25600": 9273, + "26754": 665, + "29779": 16, + "36096": 644, + "36352": 602, + "36608": 640, + "36864": 693, + "37120": 1042, + "37376": 353, + "37632": 43, + "37888": 5069, + "40448": 3520, + "40704": 3348, + "45409": 2368, + "45442": 4835, + "45971": 16517, + "46483": 180488, + "46995": 23362, + "48225": 4367, + "49043": 29515, + "49761": 10030, + "51526": 35456, + "53857": 2742, + "56458": 16473, + "56970": 10920, + "57482": 39049, + "58506": 18997, + "59992": 148, + "60307": 948, + "60819": 6711, + "61254": 6922, + "61331": 1231, + "62867": 1706 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 644, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -116.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.44536617398262024, + "y": 0.37828579545021057, + "z": 0.8877035975456238 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.6208611087463, + "ymin": 323.6633417908681, + "xmax": 659.5896560056071, + "ymax": 395.823699881274 + }, + "corners_3d": [ + [ + -116.612548828125, + -4.066048622131348, + 0.05643904209136963 + ], + [ + -116.612548828125, + -3.3094770908355713, + 0.05643904209136963 + ], + [ + -115.72181701660156, + -3.3094770908355713, + 0.05643904209136963 + ], + [ + -115.72181701660156, + -4.066048622131348, + 0.05643904209136963 + ], + [ + -116.612548828125, + -4.066048622131348, + 1.8318462371826172 + ], + [ + -116.612548828125, + -3.3094770908355713, + 1.8318462371826172 + ], + [ + -115.72181701660156, + -3.3094770908355713, + 1.8318462371826172 + ], + [ + -115.72181701660156, + -4.066048622131348, + 1.8318462371826172 + ] + ], + "corners_2d": [ + [ + 636.2010136863962, + 395.823699881274 + ], + [ + 658.736314452687, + 386.7103732177192 + ], + [ + 643.6888364890395, + 368.28062006661054 + ], + [ + 621.4563526279782, + 377.03867460484986 + ], + [ + 636.026236203468, + 351.0797267258941 + ], + [ + 659.5896560056071, + 342.0002254793016 + ], + [ + 643.8534052255602, + 323.6633417908681 + ], + [ + 620.6208611087463, + 332.37318484207026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 602, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -112.04119873046875, + "y": -0.6900584101676941, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5015771389007568, + "y": 0.4291853606700897, + "z": 0.8641790747642517 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 637.673589590262, + "ymin": 219.18526199317026, + "xmax": 678.6246763945389, + "ymax": 286.2904209068003 + }, + "corners_3d": [ + [ + -112.62104797363281, + -1.0055807828903198, + 0.07996845245361328 + ], + [ + -112.44258117675781, + -0.1659676432609558, + 0.07996845245361328 + ], + [ + -111.46134948730469, + -0.37453600764274597, + 0.07996845245361328 + ], + [ + -111.63981628417969, + -1.2141492366790771, + 0.07996845245361328 + ], + [ + -112.62104797363281, + -1.0055807828903198, + 1.8083266019821167 + ], + [ + -112.44258117675781, + -0.1659676432609558, + 1.8083266019821167 + ], + [ + -111.46134948730469, + -0.37453600764274597, + 1.8083266019821167 + ], + [ + -111.63981628417969, + -1.2141492366790771, + 1.8083266019821167 + ] + ], + "corners_2d": [ + [ + 658.0198734431452, + 286.2904209068003 + ], + [ + 677.1788190593682, + 275.4226474798236 + ], + [ + 656.8548285317943, + 261.48066435860903 + ], + [ + 637.7603142149572, + 271.98380986634993 + ], + [ + 658.7301981320403, + 243.63539364911156 + ], + [ + 678.6246763945389, + 232.91815005348892 + ], + [ + 657.4988607265675, + 219.18526199317026 + ], + [ + 637.673589590262, + 229.52921849012623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 640, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -118.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.41624510288238525, + "y": 0.46394333243370056, + "z": 0.9331592917442322 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 853.5003526377119, + "ymin": 289.32977913575087, + "xmax": 906.5648491101098, + "ymax": 363.10744761059505 + }, + "corners_3d": [ + [ + -118.88546752929688, + 2.837057113647461, + 0.010993123054504395 + ], + [ + -118.7884750366211, + 3.7598605155944824, + 0.010993123054504395 + ], + [ + -117.96054077148438, + 3.6728415489196777, + 0.010993123054504395 + ], + [ + -118.05753326416016, + 2.7500381469726562, + 0.010993123054504395 + ], + [ + -118.88546752929688, + 2.837057113647461, + 1.8773117065429688 + ], + [ + -118.7884750366211, + 3.7598605155944824, + 1.8773117065429688 + ], + [ + -117.96054077148438, + 3.6728415489196777, + 1.8773117065429688 + ], + [ + -118.05753326416016, + 2.7500381469726562, + 1.8773117065429688 + ] + ], + "corners_2d": [ + [ + 873.1837851312026, + 363.10744761059505 + ], + [ + 894.8499720842768, + 350.89160977104115 + ], + [ + 875.0671063651077, + 335.96955275831783 + ], + [ + 853.5003526377119, + 347.7831656681183 + ], + [ + 884.0541759546977, + 316.2441751605223 + ], + [ + 906.5648491101098, + 304.11975864164987 + ], + [ + 885.6863596670521, + 289.32977913575087 + ], + [ + 863.2792214803432, + 301.03697910322205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 693, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -119.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.40032222867012024, + "y": 0.41037988662719727, + "z": 0.8834278583526611 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.4180740581724, + "ymin": 403.07621780708996, + "xmax": 730.1403936330457, + "ymax": 478.8512599766724 + }, + "corners_3d": [ + [ + -120.14726257324219, + -4.098142623901367, + 0.06071966886520386 + ], + [ + -120.14726257324219, + -3.2773830890655518, + 0.06071966886520386 + ], + [ + -119.34661865234375, + -3.2773830890655518, + 0.06071966886520386 + ], + [ + -119.34661865234375, + -4.098142623901367, + 0.06071966886520386 + ], + [ + -120.14726257324219, + -4.098142623901367, + 1.827575445175171 + ], + [ + -120.14726257324219, + -3.2773830890655518, + 1.827575445175171 + ], + [ + -119.34661865234375, + -3.2773830890655518, + 1.827575445175171 + ], + [ + -119.34661865234375, + -4.098142623901367, + 1.827575445175171 + ] + ], + "corners_2d": [ + [ + 700.0752029166371, + 478.8512599766724 + ], + [ + 725.8975227188413, + 467.17829627271635 + ], + [ + 709.919972200194, + 447.64364634612673 + ], + [ + 684.4180740581724, + 458.8718027208478 + ], + [ + 703.0782091517331, + 434.3857574117314 + ], + [ + 730.1403936330457, + 422.6636026714278 + ], + [ + 713.3043697757965, + 403.07621780708996 + ], + [ + 686.5933638404399, + 414.3301632889199 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1042, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -119.78268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.38948243856430054, + "y": 0.3610992729663849, + "z": 0.8696679472923279 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 255.28581931339846, + "ymin": 585.566523410785, + "xmax": 313.73636445128005, + "ymax": 667.2193251092864 + }, + "corners_3d": [ + [ + -120.13228607177734, + -15.214957237243652, + 0.0744699239730835 + ], + [ + -120.20777893066406, + -14.496715545654297, + 0.0744699239730835 + ], + [ + -119.4330825805664, + -14.415291786193848, + 0.0744699239730835 + ], + [ + -119.35758972167969, + -15.133533477783203, + 0.0744699239730835 + ], + [ + -120.13228607177734, + -15.214957237243652, + 1.8138058185577393 + ], + [ + -120.20777893066406, + -14.496715545654297, + 1.8138058185577393 + ], + [ + -119.4330825805664, + -14.415291786193848, + 1.8138058185577393 + ], + [ + -119.35758972167969, + -15.133533477783203, + 1.8138058185577393 + ] + ], + "corners_2d": [ + [ + 281.19006501755604, + 667.2193251092864 + ], + [ + 313.73636445128005, + 655.5650260569262 + ], + [ + 307.96070926018433, + 627.5659319818122 + ], + [ + 276.12057150282055, + 638.6844192636559 + ], + [ + 260.12516885718793, + 626.055545273676 + ], + [ + 294.77561016224405, + 614.1396423030332 + ], + [ + 289.13632629258495, + 585.566523410785 + ], + [ + 255.28581931339846, + 596.9037614052847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 353, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -106.4477310180664, + "y": -10.749356269836426, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.3481396436691284, + "y": 0.3044329881668091, + "z": 0.8698357343673706 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 286.051536042357, + "ymin": 220.88802272891127, + "xmax": 319.6135492644632, + "ymax": 279.7951058323471 + }, + "corners_3d": [ + [ + -106.72496795654297, + -11.119519233703613, + 0.22671914100646973 + ], + [ + -106.85155487060547, + -10.523958206176758, + 0.22671914100646973 + ], + [ + -106.17049407958984, + -10.379193305969238, + 0.22671914100646973 + ], + [ + -106.04390716552734, + -10.974754333496094, + 0.22671914100646973 + ], + [ + -106.72496795654297, + -11.119519233703613, + 1.966390609741211 + ], + [ + -106.85155487060547, + -10.523958206176758, + 1.966390609741211 + ], + [ + -106.17049407958984, + -10.379193305969238, + 1.966390609741211 + ], + [ + -106.04390716552734, + -10.974754333496094, + 1.966390609741211 + ] + ], + "corners_2d": [ + [ + 300.5283233359592, + 279.7951058323471 + ], + [ + 319.6135492644632, + 276.29688631465126 + ], + [ + 318.157701900822, + 263.8364087326502 + ], + [ + 299.3540614741033, + 267.23019630044814 + ], + [ + 287.060762607563, + 236.60845497658204 + ], + [ + 306.95857745666103, + 233.16042136126035 + ], + [ + 305.64343798603096, + 220.88802272891127 + ], + [ + 286.051536042357, + 224.22914312004482 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 43, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 258.87748643897817, + "ymin": 0.0, + "xmax": 349.9197879272138, + "ymax": 12.081400167519234 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 314.4753285761037, + -40.57962907504242 + ], + [ + 269.7326853162149, + -31.934941568077534 + ], + [ + 302.0515449871451, + 12.081400167519234 + ], + [ + 349.9197879272138, + 1.9315431371711043 + ], + [ + 305.09445894520496, + -81.18272514480827 + ], + [ + 258.87748643897817, + -72.9883811618846 + ], + [ + 291.2817819082028, + -31.141356535341743 + ], + [ + 340.84644706522374, + -40.809373368204604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 5069, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 695.8857427066223, + "ymin": 173.21864919338697, + "xmax": 812.0434014710083, + "ymax": 288.9097760465536 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 760.4766924962689, + 288.9097760465536 + ], + [ + 806.072253138687, + 271.5286592167091 + ], + [ + 739.4115185172507, + 211.69268979154174 + ], + [ + 695.8857427066223, + 226.62262921813425 + ], + [ + 764.9030078856488, + 249.24985666163104 + ], + [ + 812.0434014710083, + 232.09106958542725 + ], + [ + 742.7181577791208, + 173.21864919338697 + ], + [ + 697.7821003187975, + 187.87949275660216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3520, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 434.5965342647103, + "ymin": 24.77319430946818, + "xmax": 525.4980148292876, + "ymax": 116.7673540731881 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 479.0216966134851, + 57.56871621919686 + ], + [ + 439.68923976995507, + 67.21865615681378 + ], + [ + 483.8199937192313, + 116.7673540731881 + ], + [ + 525.4980148292876, + 105.53041288318184 + ], + [ + 474.99415342885777, + 24.77319430946818 + ], + [ + 434.5965342647103, + 34.137783081432815 + ], + [ + 479.5238177663572, + 82.33805718690161 + ], + [ + 522.4025081180549, + 71.38975124932045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3348, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 367.27702565114697, + "ymin": 51.197029510381185, + "xmax": 452.868887956845, + "ymax": 146.03457348358052 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 419.22650935012587, + 92.81226105284713 + ], + [ + 376.039236939512, + 103.75602824156141 + ], + [ + 407.5112674421915, + 146.03457348358052 + ], + [ + 452.868887956845, + 133.65182989369788 + ], + [ + 412.02382876817785, + 51.197029510381185 + ], + [ + 367.27702565114697, + 61.77652191723388 + ], + [ + 399.2801055235368, + 102.75780618531502 + ], + [ + 446.36487015070577, + 90.73687220406333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.0000345229066, + "ymin": 100.56028869284506, + "xmax": 745.4427330711582, + "ymax": 135.2504358369548 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 727.0000345229066, + 130.94495212964415 + ], + [ + 732.2572616888226, + 135.2504358369548 + ], + [ + 743.1759938950112, + 131.9096769262302 + ], + [ + 737.8762110283839, + 127.64570311170382 + ], + [ + 728.9086462015086, + 103.7979317005117 + ], + [ + 734.2942110866703, + 108.02404958916827 + ], + [ + 745.4427330711582, + 104.74477175305952 + ], + [ + 740.0128554093345, + 100.56028869284506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.8522569995041, + "ymin": 57.02330819768855, + "xmax": 895.2903211471963, + "ymax": 89.85316740278665 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 874.8522569995041, + 86.09466313528816 + ], + [ + 880.6314188626945, + 89.85316740278665 + ], + [ + 890.1621214669213, + 86.93709742166527 + ], + [ + 884.3535938587783, + 83.21246609910742 + ], + [ + 879.6601539689153, + 59.843615532907904 + ], + [ + 885.5871511733197, + 63.522194359083585 + ], + [ + 895.2903211471963, + 60.66805835643066 + ], + [ + 889.333016312999, + 57.02330819768855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 570.1780930850769, + "ymin": 520.036662751286, + "xmax": 598.5441641572087, + "ymax": 569.4394155451263 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 579.5986052657536, + 569.4394155451263 + ], + [ + 598.5441641572087, + 560.5905146008034 + ], + [ + 591.4210695224658, + 549.3746315865586 + ], + [ + 572.611683928472, + 558.045636653206 + ], + [ + 577.3941669465225, + 540.2807292138649 + ], + [ + 597.0435213948078, + 531.3495094534169 + ], + [ + 589.6809109798264, + 520.036662751286 + ], + [ + 570.1780930850769, + 528.7819076601206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 402.4690202771658, + "ymin": 307.71997730616664, + "xmax": 425.0395314939594, + "ymax": 342.9561778278105 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 411.52513919916555, + 342.9561778278105 + ], + [ + 425.0395314939594, + 338.2457690344502 + ], + [ + 421.42291803396995, + 332.2069222646694 + ], + [ + 407.9815146792538, + 336.8536148688217 + ], + [ + 406.05875972229904, + 318.4222719001303 + ], + [ + 419.9241444544599, + 313.7316863744924 + ], + [ + 416.2575055542303, + 307.71997730616664 + ], + [ + 402.4690202771658, + 312.3456165865212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 511.34911578113446, + "ymin": 427.7364122335538, + "xmax": 539.0918281374386, + "ymax": 474.39802882303206 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 521.3170340446756, + 474.39802882303206 + ], + [ + 539.0918281374386, + 466.9781380466977 + ], + [ + 533.110004295602, + 457.5592764898826 + ], + [ + 515.4573082523286, + 464.84240012782624 + ], + [ + 517.3641890081898, + 444.62298696497044 + ], + [ + 535.7560405038082, + 437.179754153863 + ], + [ + 529.6101390198435, + 427.7364122335538 + ], + [ + 511.34911578113446, + 435.0379603373863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 452.93565151090775, + "ymin": 335.96015725277783, + "xmax": 479.7249912347496, + "ymax": 379.6196247911754 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 463.1967401260624, + 379.6196247911754 + ], + [ + 479.7249912347496, + 373.50037054131565 + ], + [ + 474.7842682478861, + 365.72080513509434 + ], + [ + 458.36324331323476, + 371.73749743334145 + ], + [ + 457.8672386061627, + 349.81460702601885 + ], + [ + 474.9263281805554, + 343.71335565495025 + ], + [ + 469.88040379374354, + 335.96015725277783 + ], + [ + 452.93565151090775, + 341.95611615819956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 972.3404983259039, + "ymin": 105.12810421001234, + "xmax": 992.4054136809868, + "ymax": 133.89679443395644 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 972.3404983259039, + 130.3018844184838 + ], + [ + 978.0231782615976, + 133.89679443395644 + ], + [ + 986.1158080423518, + 131.12293935360535 + ], + [ + 980.4137997642918, + 127.55689038925834 + ], + [ + 978.3724099242953, + 107.83093858201556 + ], + [ + 984.1910503094236, + 111.37123062420275 + ], + [ + 992.4054136809868, + 108.63945961907686 + ], + [ + 986.567005746146, + 105.12810421001234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 796.6950229080056, + "ymin": 80.0256319917562, + "xmax": 816.1355075264439, + "ymax": 113.84621623362443 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 796.6950229080056, + 109.80322811761604 + ], + [ + 802.2135046194219, + 113.84621623362443 + ], + [ + 812.466105084242, + 110.70927087090786 + ], + [ + 806.9116075856128, + 106.70406390790274 + ], + [ + 800.0242373077658, + 83.06283098582173 + ], + [ + 805.6814091835683, + 87.02588886196258 + ], + [ + 816.1355075264439, + 83.95087200860814 + ], + [ + 810.4409796589266, + 80.0256319917562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.2727314226375, + "ymin": 0.0, + "xmax": 1030.014701497978, + "ymax": 292.0833641118088 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 966.1420935291956, + 191.48512570321066 + ], + [ + 958.0303057831447, + 185.78041996074725 + ], + [ + 680.2727314226375, + 284.7425838370345 + ], + [ + 687.0480826327262, + 292.0833641118088 + ], + [ + 1030.014701497978, + -39.00225569688257 + ], + [ + 1019.7451223320883, + -43.70776751947295 + ], + [ + 689.3694754399401, + 39.9711604483914 + ], + [ + 697.789486385502, + 46.35632887884418 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6948376776938211591, + "instance_id": 1993, + "pixel_count": null, + "type_id": "BP_StreetLight_simple83_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 47.06075668334961, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1265.8639843339845, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 7.230182712445867 + }, + "corners_3d": [ + [ + -102.45560455322266, + 47.280364990234375, + -3.160125255584717 + ], + [ + -102.45560455322266, + 46.841156005859375, + -3.160125255584717 + ], + [ + -106.2890396118164, + 46.841148376464844, + -3.160125255584717 + ], + [ + -106.2890396118164, + 47.280357360839844, + -3.160125255584717 + ], + [ + -102.45560455322266, + 47.280364990234375, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 46.841156005859375, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 46.841148376464844, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 47.280357360839844, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1270.5617835699397, + -17.983529667251787 + ], + [ + 1265.8639843339845, + -16.51473299600906 + ], + [ + 1326.6218304191418, + 7.230182712445867 + ], + [ + 1331.3532306938666, + 5.628920497177489 + ], + [ + 1335.475469027278, + -160.70429926821055 + ], + [ + 1330.4888559989122, + -159.51535652784094 + ], + [ + 1400.9921797747284, + -140.20108607046444 + ], + [ + 1405.9993091595347, + -141.50912840540474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 350.2663465286114, + "ymin": 143.56979250108697, + "xmax": 622.6996939299771, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 425.6822661148435, + 400.3655881706493 + ], + [ + 411.34603153425337, + 405.61045441750366 + ], + [ + 604.38173936938, + 772.2824221090764 + ], + [ + 622.6996939299771, + 762.2841237705355 + ], + [ + 368.8281198789958, + 143.56979250108697 + ], + [ + 350.2663465286114, + 148.42733893759257 + ], + [ + 589.7363562491637, + 527.179369805561 + ], + [ + 615.661663672033, + 515.7131502141306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1196.7333441237129, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 30.838412880006103 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1201.8160569899128, + 3.510256953105568 + ], + [ + 1196.7333441237129, + 5.099399307597594 + ], + [ + 1256.8643693140973, + 30.838412880006103 + ], + [ + 1262.0016256373901, + 29.099795565258603 + ], + [ + 1262.2215130923196, + -143.23858484104755 + ], + [ + 1256.7813641194552, + -141.94150692643456 + ], + [ + 1326.808652478288, + -120.82167986750403 + ], + [ + 1332.2950232288, + -122.25491728865461 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00123/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00123/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8abb26d00ac1b6c61fdc4d243a0e566546978530 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00123/meta.json @@ -0,0 +1,2578 @@ +{ + "frame_id": 123, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 61.5, + "sim_timestamp": 1622.570453404216 + }, + "drone_pose": { + "x": -133.28687862733543, + "y": -13.220204705139635, + "z": 20.0, + "pitch": -43.568003427227374, + "yaw": 28.413856236671208, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.63727205991745, + -0.3447709381580353, + 0.6892150640487671, + 75.7136459350586 + ], + [ + 0.47583696246147156, + 0.8795335292816162, + 0.0, + -51.79520797729492 + ], + [ + -0.6061877012252808, + 0.327953964471817, + 0.7245568633079529, + -99.62362670898438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -132.95985242581546, + "y": -12.9200273198332, + "z": 20.0 + }, + "t1_image_uv": [ + 973.6636897932918, + -553.1739108640718 + ], + "t1_depth": 0.31189708886569206 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -115.66718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.648624589797514, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 581, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -115.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4288671314716339, + "y": 0.3940325379371643, + "z": 0.8770480155944824 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.55270897883, + "ymin": 324.168948059069, + "xmax": 659.6459898745038, + "ymax": 395.3283561885064 + }, + "corners_3d": [ + [ + -116.0960464477539, + -4.081795692443848, + 0.06710439920425415 + ], + [ + -116.0960464477539, + -3.2937304973602295, + 0.06710439920425415 + ], + [ + -115.23831939697266, + -3.2937304973602295, + 0.06710439920425415 + ], + [ + -115.23831939697266, + -4.081795692443848, + 0.06710439920425415 + ], + [ + -116.0960464477539, + -4.081795692443848, + 1.8212003707885742 + ], + [ + -116.0960464477539, + -3.2937304973602295, + 1.8212003707885742 + ], + [ + -115.23831939697266, + -3.2937304973602295, + 1.8212003707885742 + ], + [ + -115.23831939697266, + -4.081795692443848, + 1.8212003707885742 + ] + ], + "corners_2d": [ + [ + 635.0870524211455, + 395.3283561885064 + ], + [ + 658.8012287631605, + 386.1622887975935 + ], + [ + 644.77268993061, + 368.248612918556 + ], + [ + 621.3808291788287, + 377.06676866233335 + ], + [ + 634.8640561623458, + 351.1235672008065 + ], + [ + 659.6459898745038, + 341.99203458766243 + ], + [ + 644.9828628190583, + 324.168948059069 + ], + [ + 620.55270897883, + 332.93869503256883 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 123, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 519087, + "2": 197405, + "3": 98857, + "4": 35593, + "6": 11731, + "7": 3091, + "9": 7169, + "10": 122, + "12": 4007, + "14": 12162, + "20": 2504, + "22": 5221, + "24": 24651 + }, + "instance_pixel_counts": { + "6488": 72, + "6744": 63, + "7512": 69, + "7768": 58, + "11605": 69369, + "15701": 11030, + "15967": 4007, + "15970": 1320, + "16213": 29, + "16479": 32013, + "16482": 2849, + "17547": 5227, + "18018": 3452, + "18059": 5960, + "19554": 2801, + "20107": 18262, + "20565": 18266, + "20619": 1273, + "21395": 16185, + "21397": 709, + "21643": 12716, + "21907": 179104, + "21909": 11160, + "22421": 1132, + "22931": 46909, + "23957": 1021, + "24467": 31587, + "25344": 5315, + "25600": 9507, + "26754": 759, + "29779": 163, + "36096": 581, + "36352": 589, + "36608": 684, + "36864": 749, + "37120": 1020, + "37376": 384, + "37632": 57, + "37888": 5197, + "40448": 3554, + "40704": 3354, + "45409": 2417, + "45442": 5221, + "45971": 17394, + "46483": 177897, + "46995": 19721, + "48225": 4487, + "49043": 30290, + "49761": 10212, + "51526": 35593, + "53857": 3381, + "56458": 16852, + "56970": 11158, + "57482": 39983, + "58506": 19035, + "59992": 270, + "60307": 1001, + "60819": 6681, + "61254": 8382, + "61331": 1163, + "62867": 1784 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 581, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -115.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.3971337378025055, + "y": 0.39035746455192566, + "z": 0.869619607925415 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.190561123555, + "ymin": 325.0510756011322, + "xmax": 658.9749877383231, + "ymax": 394.41782115764437 + }, + "corners_3d": [ + [ + -116.06431579589844, + -4.078120231628418, + 0.07453280687332153 + ], + [ + -116.06431579589844, + -3.297405481338501, + 0.07453280687332153 + ], + [ + -115.27005004882812, + -3.297405481338501, + 0.07453280687332153 + ], + [ + -115.27005004882812, + -4.078120231628418, + 0.07453280687332153 + ], + [ + -116.06431579589844, + -4.078120231628418, + 1.8137719631195068 + ], + [ + -116.06431579589844, + -3.297405481338501, + 1.8137719631195068 + ], + [ + -115.27005004882812, + -3.297405481338501, + 1.8137719631195068 + ], + [ + -115.27005004882812, + -4.078120231628418, + 1.8137719631195068 + ] + ], + "corners_2d": [ + [ + 634.6810673940214, + 394.41782115764437 + ], + [ + 658.1663875973712, + 385.3504262347144 + ], + [ + 645.1749396944665, + 368.7610799835594 + ], + [ + 621.985409830853, + 377.5092636166183 + ], + [ + 634.4419273805318, + 350.5902417191953 + ], + [ + 658.9749877383231, + 341.55729792635435 + ], + [ + 645.4010309329548, + 325.0510756011322 + ], + [ + 621.190561123555, + 333.75218912438515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 589, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -111.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.43956053256988525, + "y": 0.4650646448135376, + "z": 0.9025255441665649 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 641.0281724957855, + "ymin": 218.9565857256078, + "xmax": 681.0837487953354, + "ymax": 287.04240697389156 + }, + "corners_3d": [ + [ + -112.0678482055664, + -1.053570032119751, + 0.04163175821304321 + ], + [ + -111.87445831298828, + -0.14376646280288696, + 0.04163175821304321 + ], + [ + -111.0145492553711, + -0.3265467584133148, + 0.04163175821304321 + ], + [ + -111.20793914794922, + -1.2363502979278564, + 0.04163175821304321 + ], + [ + -112.0678482055664, + -1.053570032119751, + 1.8466827869415283 + ], + [ + -111.87445831298828, + -0.14376646280288696, + 1.8466827869415283 + ], + [ + -111.0145492553711, + -0.3265467584133148, + 1.8466827869415283 + ], + [ + -111.20793914794922, + -1.2363502979278564, + 1.8466827869415283 + ] + ], + "corners_2d": [ + [ + 658.4286704422879, + 287.04240697389156 + ], + [ + 679.4820014346282, + 275.5378851530395 + ], + [ + 662.0009993954462, + 263.13122440923473 + ], + [ + 641.0281724957855, + 274.29153614861974 + ], + [ + 659.1871102401279, + 242.50462762447552 + ], + [ + 681.0837487953354, + 231.16794444624134 + ], + [ + 662.8796628853379, + 218.9565857256078 + ], + [ + 641.0698192048333, + 229.94054492554406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 684, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -117.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5976025462150574, + "y": 0.46374693512916565, + "z": 0.9222131967544556 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 850.8654659017421, + "ymin": 289.36851716061994, + "xmax": 912.7908707413619, + "ymax": 369.3408811058126 + }, + "corners_3d": [ + [ + -118.56581115722656, + 2.8562092781066895, + 0.021939218044281006 + ], + [ + -118.46885681152344, + 3.7786223888397217, + 0.021939218044281006 + ], + [ + -117.28019714355469, + 3.653689384460449, + 0.021939218044281006 + ], + [ + -117.37715148925781, + 2.731276273727417, + 0.021939218044281006 + ], + [ + -118.56581115722656, + 2.8562092781066895, + 1.866365671157837 + ], + [ + -118.46885681152344, + 3.7786223888397217, + 1.866365671157837 + ], + [ + -117.28019714355469, + 3.653689384460449, + 1.866365671157837 + ], + [ + -117.37715148925781, + 2.731276273727417, + 1.866365671157837 + ] + ], + "corners_2d": [ + [ + 878.715951864783, + 369.3408811058126 + ], + [ + 900.8631851291292, + 357.2892133338082 + ], + [ + 872.836626746814, + 335.4525166171765 + ], + [ + 850.8654659017421, + 346.92937502950537 + ], + [ + 889.7821576550222, + 322.9889372947001 + ], + [ + 912.7908707413619, + 311.01944620691876 + ], + [ + 883.2161055396703, + 289.36851716061994 + ], + [ + 860.3923952134945, + 300.7418231577258 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 749, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -119.24694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.53614741563797, + "y": 0.370872437953949, + "z": 0.9010608196258545 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.110502873873, + "ymin": 400.7554264609351, + "xmax": 729.4040790142733, + "ymax": 482.99673212036976 + }, + "corners_3d": [ + [ + -119.78308868408203, + -4.058635234832764, + 0.0430867075920105 + ], + [ + -119.78308868408203, + -3.3168904781341553, + 0.0430867075920105 + ], + [ + -118.7107925415039, + -3.3168904781341553, + 0.0430867075920105 + ], + [ + -118.7107925415039, + -4.058635234832764, + 0.0430867075920105 + ], + [ + -119.78308868408203, + -4.058635234832764, + 1.8452084064483643 + ], + [ + -119.78308868408203, + -3.3168904781341553, + 1.8452084064483643 + ], + [ + -118.7107925415039, + -3.3168904781341553, + 1.8452084064483643 + ], + [ + -118.7107925415039, + -4.058635234832764, + 1.8452084064483643 + ] + ], + "corners_2d": [ + [ + 701.4061474734924, + 482.99673212036976 + ], + [ + 725.095790223525, + 472.71597721686135 + ], + [ + 704.3844689090173, + 446.2197032185207 + ], + [ + 681.110502873873, + 455.97373699601167 + ], + [ + 704.547809907885, + 437.65538994916807 + ], + [ + 729.4040790142733, + 427.3267813289971 + ], + [ + 707.5558333313697, + 400.7554264609351 + ], + [ + 683.1562163103675, + 410.5290242474245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1020, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -119.28268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.563901424407959, + "y": 0.37490421533584595, + "z": 0.9086930751800537 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 248.4821000075725, + "ymin": 572.3160276745767, + "xmax": 310.4209143948285, + "ymax": 668.4473675401745 + }, + "corners_3d": [ + [ + -119.80430603027344, + -15.246918678283691, + 0.035444796085357666 + ], + [ + -119.88268280029297, + -14.50121784210205, + 0.035444796085357666 + ], + [ + -118.76106262207031, + -14.383330345153809, + 0.035444796085357666 + ], + [ + -118.68268585205078, + -15.12903118133545, + 0.035444796085357666 + ], + [ + -119.80430603027344, + -15.246918678283691, + 1.8528308868408203 + ], + [ + -119.88268280029297, + -14.50121784210205, + 1.8528308868408203 + ], + [ + -118.76106262207031, + -14.383330345153809, + 1.8528308868408203 + ], + [ + -118.68268585205078, + -15.12903118133545, + 1.8528308868408203 + ] + ], + "corners_2d": [ + [ + 276.5363506699827, + 668.4473675401745 + ], + [ + 310.4209143948285, + 656.87127872821 + ], + [ + 303.17595138501815, + 616.4528203566839 + ], + [ + 270.3667038954686, + 627.2650306788274 + ], + [ + 254.22018216077214, + 625.4204455909382 + ], + [ + 290.3886202010661, + 613.5732506559991 + ], + [ + 283.4272291823132, + 572.3160276745767 + ], + [ + 248.4821000075725, + 583.3362245767296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 384, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -105.94583129882812, + "y": -10.750739097595215, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.43895506858825684, + "y": 0.31110045313835144, + "z": 0.8952673673629761 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 290.4801150823946, + "ymin": 215.12782642318564, + "xmax": 324.3731274004459, + "ymax": 278.22702191991476 + }, + "corners_3d": [ + [ + -106.31050872802734, + -11.146305084228516, + 0.20128750801086426 + ], + [ + -106.43987274169922, + -10.537701606750488, + 0.20128750801086426 + ], + [ + -105.5811538696289, + -10.355173110961914, + 0.20128750801086426 + ], + [ + -105.45178985595703, + -10.963776588439941, + 0.20128750801086426 + ], + [ + -106.31050872802734, + -11.146305084228516, + 1.9918222427368164 + ], + [ + -106.43987274169922, + -10.537701606750488, + 1.9918222427368164 + ], + [ + -105.5811538696289, + -10.355173110961914, + 1.9918222427368164 + ], + [ + -105.45178985595703, + -10.963776588439941, + 1.9918222427368164 + ] + ], + "corners_2d": [ + [ + 304.9391995459915, + 278.22702191991476 + ], + [ + 324.3731274004459, + 274.88379138869846 + ], + [ + 322.9620783464566, + 259.2361228698345 + ], + [ + 303.8912558291642, + 262.45394879168543 + ], + [ + 291.3008055840281, + 233.81869071508578 + ], + [ + 311.57953246673344, + 230.52575911816197 + ], + [ + 310.36377713481045, + 215.12782642318564 + ], + [ + 290.4801150823946, + 218.292370580528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 57, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 274.5343578262547, + "ymin": 0.0, + "xmax": 364.1596324348112, + "ymax": 13.593914868770923 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 329.70477379125595, + -39.36722114125871 + ], + [ + 284.9468126299762, + -30.989854762645336 + ], + [ + 316.1899958501833, + 13.593914868770923 + ], + [ + 364.1596324348112, + 3.7384705356134305 + ], + [ + 320.75511094280967, + -79.99448380194099 + ], + [ + 274.5343578262547, + -72.05327257238349 + ], + [ + 305.85714072949185, + -29.664671115728822 + ], + [ + 355.51535553244213, + -39.0531747549893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 5197, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 707.3790697259271, + "ymin": 181.4336489191041, + "xmax": 824.6904309634524, + "ymax": 299.07034166432 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 771.7028560393408, + 299.07034166432 + ], + [ + 818.2062869868897, + 281.86250480793973 + ], + [ + 751.6425482539063, + 220.04792832993817 + ], + [ + 707.3790697259271, + 234.78004086250775 + ], + [ + 776.5973663371506, + 259.2997991466183 + ], + [ + 824.6904309634524, + 242.29807799245413 + ], + [ + 755.3939179922018, + 181.4336489191041 + ], + [ + 709.6877298106842, + 195.90961695021585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3554, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 447.7949656525768, + "ymin": 28.124549921178527, + "xmax": 537.8933869558111, + "ymax": 120.97654526930384 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 492.1808297855959, + 61.000324205535094 + ], + [ + 452.5789260102832, + 70.4179752561717 + ], + [ + 495.83848392715015, + 120.97654526930384 + ], + [ + 537.8933869558111, + 109.98335087785068 + ], + [ + 488.4661304792046, + 28.124549921178527 + ], + [ + 447.7949656525768, + 37.26560888991497 + ], + [ + 491.852141815195, + 86.46002165986397 + ], + [ + 535.1172364357295, + 75.74609124362229 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3354, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 379.741718024723, + "ymin": 54.420832427328435, + "xmax": 464.4618089548298, + "ymax": 149.88255779298785 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 431.5728586748056, + 96.12272192758627 + ], + [ + 388.1320255915042, + 106.7936011375497 + ], + [ + 418.76054913982665, + 149.88255779298785 + ], + [ + 464.4618089548298, + 137.7855688403 + ], + [ + 424.74560656305005, + 54.420832427328435 + ], + [ + 379.741718024723, + 64.7390022193693 + ], + [ + 410.892252037224, + 106.5170263925765 + ], + [ + 458.33003001544694, + 94.76969773356734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.4455054941593, + "ymin": 109.31583311060473, + "xmax": 758.4021410255614, + "ymax": 144.2796603663952 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 739.4455054941593, + 139.82180661304596 + ], + [ + 744.696239506045, + 144.2796603663952 + ], + [ + 755.8261285350966, + 140.9684419045739 + ], + [ + 750.5293636015116, + 136.55268122592278 + ], + [ + 741.6534727889431, + 112.52558030264709 + ], + [ + 747.0360751003341, + 116.90354830998257 + ], + [ + 758.4021410255614, + 113.65154816246849 + ], + [ + 752.9715908942127, + 109.31583311060473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 890.3116521366202, + "ymin": 66.09072495533951, + "xmax": 911.3973413947975, + "ymax": 99.22693733915435 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 890.3116521366202, + 95.3247874908484 + ], + [ + 896.1309907165385, + 99.22693733915435 + ], + [ + 905.8724159801044, + 96.32879569499829 + ], + [ + 900.020766273165, + 92.46113489561213 + ], + [ + 895.5050117627402, + 68.89440125303975 + ], + [ + 901.4777310144898, + 72.7156516045734 + ], + [ + 911.3973413947975, + 69.87750316113664 + ], + [ + 905.3912519777134, + 66.09072495533951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 572.0181610673142, + "ymin": 539.5780140556025, + "xmax": 600.7330151551357, + "ymax": 589.3407682123226 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 581.289292312544, + 589.3407682123226 + ], + [ + 600.7330151551357, + 580.4822792896637 + ], + [ + 593.7223827104256, + 568.7521927449893 + ], + [ + 574.4271917888075, + 577.4276087974349 + ], + [ + 579.1087915279411, + 560.3759819789536 + ], + [ + 599.2863733234973, + 551.4239881624666 + ], + [ + 592.0357449390857, + 539.5780140556025 + ], + [ + 572.0181610673142, + 548.3382693808348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 408.9072243365007, + "ymin": 315.8945889935716, + "xmax": 431.43727826719686, + "ymax": 351.2614236566027 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 417.7451096167167, + 351.2614236566027 + ], + [ + 431.43727826719686, + 346.62556107674544 + ], + [ + 427.9295917624163, + 340.4155723295365 + ], + [ + 414.31445682810556, + 344.9875041094184 + ], + [ + 412.38197811084075, + 326.69735392523285 + ], + [ + 426.43096172145647, + 322.0791429021498 + ], + [ + 422.87504676578465, + 315.8945889935716 + ], + [ + 408.9072243365007, + 320.4475961209411 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 514.3726675629256, + "ymin": 443.196095272255, + "xmax": 542.342300928568, + "ymax": 490.17634883831454 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 524.1695253387616, + 490.17634883831454 + ], + [ + 542.342300928568, + 482.7838938441077 + ], + [ + 536.4827274563652, + 472.9797412606425 + ], + [ + 518.4417372934191, + 480.2324463435066 + ], + [ + 520.2536181141012, + 460.45807472325464 + ], + [ + 539.0649422962427, + 453.03516095840007 + ], + [ + 533.0426935934032, + 443.196095272255 + ], + [ + 514.3726675629256, + 450.47402607157585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 457.4162972631404, + "ymin": 347.83239793067384, + "xmax": 484.3131200518635, + "ymax": 391.75804377601753 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 467.4795384664702, + 391.75804377601753 + ], + [ + 484.3131200518635, + 385.69040299412114 + ], + [ + 479.49616184181986, + 377.6307382764929 + ], + [ + 462.7771518786727, + 383.59432022967303 + ], + [ + 462.21406034568884, + 361.92481296297177 + ], + [ + 479.5928547697689, + 355.87058220487194 + ], + [ + 474.6728814929976, + 347.83239793067384 + ], + [ + 457.4162972631404, + 353.77968330715123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 989.1110586154371, + "ymin": 115.00817107140244, + "xmax": 1009.8262816521795, + "ymax": 144.04117871034035 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 989.1110586154371, + 140.30688005613015 + ], + [ + 994.8508692868595, + 144.04117871034035 + ], + [ + 1003.1354926063482, + 141.2829708381119 + ], + [ + 997.3740696782907, + 137.57808127836105 + ], + [ + 995.5342394282013, + 117.6963737940599 + ], + [ + 1001.4154620047539, + 121.37574853974232 + ], + [ + 1009.8262816521795, + 118.65803789422125 + ], + [ + 1003.9229318305313, + 115.00817107140244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 810.5098939470289, + "ymin": 88.94295380409085, + "xmax": 830.5279464990422, + "ymax": 123.05319564623122 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 810.5098939470289, + 118.86174070805615 + ], + [ + 816.0440528679455, + 123.05319564623122 + ], + [ + 826.508306832498, + 119.9400081898093 + ], + [ + 820.9349048844008, + 115.78693881269515 + ], + [ + 814.1787213089185, + 91.9578754400531 + ], + [ + 819.8560941810142, + 96.06866011293772 + ], + [ + 830.5279464990422, + 93.0152847814216 + ], + [ + 824.809851149472, + 88.94295380409085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.5995104429571, + "ymin": 0.0, + "xmax": 1050.0737165112178, + "ymax": 301.4241180913074 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 982.0504337326367, + 201.88745934345533 + ], + [ + 973.8728060641611, + 195.97141721323368 + ], + [ + 690.5995104429571, + 293.85330729102816 + ], + [ + 697.3232282986805, + 301.4241180913074 + ], + [ + 1050.0737165112178, + -30.260426560048813 + ], + [ + 1039.6470904747657, + -35.16469750660622 + ], + [ + 702.1680328591135, + 47.9914892906221 + ], + [ + 710.5732055242029, + 54.60676892906315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.5385432357482, + "ymin": 0.0, + "xmax": 741.9218686013107, + "ymax": 1.6065715665344555 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 730.7304432420292, + -13.459873970925116 + ], + [ + 726.1126642395137, + -16.54611740408035 + ], + [ + 660.5385432357482, + -1.653865179991385 + ], + [ + 664.8975739502437, + 1.6065715665344555 + ], + [ + 741.9218686013107, + -184.01166732219258 + ], + [ + 736.6663127885058, + -186.3813591424231 + ], + [ + 663.134353742632, + -174.91579404779065 + ], + [ + 668.0652799276552, + -172.39512934161166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 357.24751396233125, + "ymin": 151.14039017611563, + "xmax": 623.8308410549663, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 431.81611949157536, + 408.48309474104684 + ], + [ + 417.3039342759105, + 413.6326956123047 + ], + [ + 605.0610577908764, + 792.6287565976459 + ], + [ + 623.8308410549663, + 782.6712348903523 + ], + [ + 376.05246769303886, + 151.14039017611563 + ], + [ + 357.24751396233125, + 155.92904754432092 + ], + [ + 590.394671684133, + 550.5889099081184 + ], + [ + 617.1145616961063, + 539.0299849966414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1219.4844188645616, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 39.924733626869056 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1224.6948644330766, + 11.604471373975855 + ], + [ + 1219.4844188645616, + 13.182919731666402 + ], + [ + 1280.6917546320738, + 39.924733626869056 + ], + [ + 1285.9688879455573, + 38.193933941230284 + ], + [ + 1288.4742232690473, + -136.48697938078425 + ], + [ + 1282.891407895173, + -135.19499265740126 + ], + [ + 1354.4874259688208, + -113.18598040013666 + ], + [ + 1360.1303317843003, + -114.61737752912501 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00124/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00124/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b609bc5705aa0b159ca16e3ce3513c937b15a30 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00124/meta.json @@ -0,0 +1,2580 @@ +{ + "frame_id": 124, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 62.0, + "sim_timestamp": 1635.6071691464167 + }, + "drone_pose": { + "x": -132.95985242581546, + "y": -12.9200273198332, + "z": 20.0, + "pitch": -43.550474020849705, + "yaw": 27.423905343584984, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6433207392692566, + -0.3338063657283783, + 0.6889932751655579, + 76.06875610351562 + ], + [ + 0.4605701267719269, + 0.8876233100891113, + 0.0, + -49.769222259521484 + ], + [ + -0.6115664839744568, + 0.3173297345638275, + 0.7247677445411682, + -99.90904998779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -132.6154812566035, + "y": -12.632569895176182, + "z": 20.0 + }, + "t1_image_uv": [ + 931.9245744017358, + -552.6146112716835 + ], + "t1_depth": 0.3174962194877016 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -115.16718292236328, + "y": -3.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.65754275140375, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 616, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -115.16718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3175341486930847, + "y": 0.39173945784568787, + "z": 0.8653178811073303 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.524110636305, + "ymin": 326.8630478860713, + "xmax": 657.5711017791616, + "ymax": 392.51701142716126 + }, + "corners_3d": [ + [ + -115.4847183227539, + -4.079502582550049, + 0.07881999015808105 + ], + [ + -115.4847183227539, + -3.2960236072540283, + 0.07881999015808105 + ], + [ + -114.84964752197266, + -3.2960236072540283, + 0.07881999015808105 + ], + [ + -114.84964752197266, + -4.079502582550049, + 0.07881999015808105 + ], + [ + -115.4847183227539, + -4.079502582550049, + 1.8094557523727417 + ], + [ + -115.4847183227539, + -3.2960236072540283, + 1.8094557523727417 + ], + [ + -114.84964752197266, + -3.2960236072540283, + 1.8094557523727417 + ], + [ + -114.84964752197266, + -4.079502582550049, + 1.8094557523727417 + ] + ], + "corners_2d": [ + [ + 633.0723536102682, + 392.51701142716126 + ], + [ + 656.8276117313245, + 383.7455946039019 + ], + [ + 646.7652783374542, + 370.3643366959006 + ], + [ + 623.2597339925812, + 378.88570445300184 + ], + [ + 632.7632760187714, + 348.91339770760123 + ], + [ + 657.5711017791616, + 340.17698401637705 + ], + [ + 647.059729358343, + 326.8630478860713 + ], + [ + 622.524110636305, + 335.3396003985786 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 124, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 63, + "semantic_pixel_counts": { + "1": 506007, + "2": 201779, + "3": 104669, + "4": 35742, + "6": 12597, + "7": 3164, + "9": 8411, + "10": 119, + "12": 3962, + "14": 12396, + "20": 2787, + "22": 5611, + "24": 24356 + }, + "instance_pixel_counts": { + "6488": 75, + "6744": 61, + "7512": 71, + "7768": 61, + "11605": 72478, + "15701": 12368, + "15967": 4693, + "15970": 1417, + "16213": 92, + "16479": 32459, + "16482": 2971, + "16725": 3, + "17547": 5756, + "18018": 3234, + "18059": 6195, + "19554": 2883, + "20107": 18253, + "20565": 19244, + "20619": 470, + "21395": 16657, + "21397": 727, + "21643": 13141, + "21907": 172900, + "21909": 10973, + "22421": 1024, + "22931": 43104, + "23957": 1047, + "24467": 32238, + "25344": 5986, + "25600": 9775, + "26754": 785, + "29779": 483, + "33419": 1, + "36096": 616, + "36352": 614, + "36608": 662, + "36864": 665, + "37120": 991, + "37376": 414, + "37632": 74, + "37888": 5347, + "40448": 3592, + "40704": 3383, + "45409": 2469, + "45442": 5611, + "45971": 18309, + "46483": 175099, + "46995": 16520, + "48225": 4617, + "49043": 31180, + "49761": 10407, + "51526": 35742, + "53857": 3569, + "56458": 17286, + "56970": 11414, + "57482": 40962, + "58506": 19583, + "59992": 377, + "60307": 1074, + "60819": 6641, + "61254": 9768, + "61331": 1035, + "62867": 1835 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 616, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -115.16718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4841356873512268, + "y": 0.41707849502563477, + "z": 0.8958190679550171 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 619.0736209615599, + "ymin": 322.36633744646883, + "xmax": 661.1946909663513, + "ymax": 397.183159269026 + }, + "corners_3d": [ + [ + -115.65132141113281, + -4.104841232299805, + 0.04831880331039429 + ], + [ + -115.65132141113281, + -3.2706844806671143, + 0.04831880331039429 + ], + [ + -114.68304443359375, + -3.2706844806671143, + 0.04831880331039429 + ], + [ + -114.68304443359375, + -4.104841232299805, + 0.04831880331039429 + ], + [ + -115.65132141113281, + -4.104841232299805, + 1.8399569988250732 + ], + [ + -115.65132141113281, + -3.2706844806671143, + 1.8399569988250732 + ], + [ + -114.68304443359375, + -3.2706844806671143, + 1.8399569988250732 + ], + [ + -114.68304443359375, + -4.104841232299805, + 1.8399569988250732 + ] + ], + "corners_2d": [ + [ + 634.920252381603, + 397.183159269026 + ], + [ + 660.2636965110453, + 387.7723249910736 + ], + [ + 644.9203742644972, + 367.3799840042068 + ], + [ + 619.9816988564692, + 376.3851405392194 + ], + [ + 634.6844246673038, + 352.0272152624079 + ], + [ + 661.1946909663513, + 342.65198248209305 + ], + [ + 645.1413134649547, + 322.36633744646883 + ], + [ + 619.0736209615599, + 331.319396658218 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 614, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -111.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.45882323384284973, + "y": 0.44952070713043213, + "z": 0.8794901371002197 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 643.6608525036571, + "ymin": 219.77753993607092, + "xmax": 683.8137934489469, + "ymax": 286.86552006220865 + }, + "corners_3d": [ + [ + -111.58345794677734, + -1.0343608856201172, + 0.06466227769851685 + ], + [ + -111.39653778076172, + -0.15496575832366943, + 0.06466227769851685 + ], + [ + -110.49893951416016, + -0.3457559645175934, + 0.06466227769851685 + ], + [ + -110.68585968017578, + -1.2251510620117188, + 0.06466227769851685 + ], + [ + -111.58345794677734, + -1.0343608856201172, + 1.8236424922943115 + ], + [ + -111.39653778076172, + -0.15496575832366943, + 1.8236424922943115 + ], + [ + -110.49893951416016, + -0.3457559645175934, + 1.8236424922943115 + ], + [ + -110.68585968017578, + -1.2251510620117188, + 1.8236424922943115 + ] + ], + "corners_2d": [ + [ + 661.5064290741797, + 286.86552006220865 + ], + [ + 682.1476008530674, + 275.9652699170398 + ], + [ + 664.2025836840735, + 262.81954174555875 + ], + [ + 643.6608525036571, + 273.3744593228547 + ], + [ + 662.3682610516576, + 243.4670087338011 + ], + [ + 683.8137934489469, + 232.72163221757876 + ], + [ + 665.1435981145536, + 219.77753993607092 + ], + [ + 643.8051041605407, + 230.1692762763967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 662, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -117.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5619775056838989, + "y": 0.43465468287467957, + "z": 0.9354720711708069 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 853.6707518207486, + "ymin": 292.7261947455372, + "xmax": 912.7557860936353, + "ymax": 371.47670064990945 + }, + "corners_3d": [ + [ + -118.02733612060547, + 2.881418466567993, + 0.008680343627929688 + ], + [ + -117.93647003173828, + 3.7459654808044434, + 0.008680343627929688 + ], + [ + -116.81867218017578, + 3.6284801959991455, + 0.008680343627929688 + ], + [ + -116.90953826904297, + 2.7639331817626953, + 0.008680343627929688 + ], + [ + -118.02733612060547, + 2.881418466567993, + 1.8796244859695435 + ], + [ + -117.93647003173828, + 3.7459654808044434, + 1.8796244859695435 + ], + [ + -116.81867218017578, + 3.6284801959991455, + 1.8796244859695435 + ], + [ + -116.90953826904297, + 2.7639331817626953, + 1.8796244859695435 + ] + ], + "corners_2d": [ + [ + 879.4818403266995, + 371.47670064990945 + ], + [ + 900.6324384523987, + 360.4187063309115 + ], + [ + 874.6386689448811, + 339.50498162766996 + ], + [ + 853.6707518207486, + 350.05926624860666 + ], + [ + 890.7626344093449, + 324.44851757466205 + ], + [ + 912.7557860936353, + 313.4650914248116 + ], + [ + 885.2915640541135, + 292.7261947455372 + ], + [ + 863.4917192785281, + 303.1867302095209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 665, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -118.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5762841105461121, + "y": 0.3891395032405853, + "z": 0.9046298265457153 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.0027708496349, + "ymin": 400.241677475785, + "xmax": 728.5722488349849, + "ymax": 485.13080962843685 + }, + "corners_3d": [ + [ + -119.32322692871094, + -4.076902389526367, + 0.03951770067214966 + ], + [ + -119.32322692871094, + -3.298623561859131, + 0.03951770067214966 + ], + [ + -118.170654296875, + -3.298623561859131, + 0.03951770067214966 + ], + [ + -118.170654296875, + -4.076902389526367, + 0.03951770067214966 + ], + [ + -119.32322692871094, + -4.076902389526367, + 1.8487772941589355 + ], + [ + -119.32322692871094, + -3.298623561859131, + 1.8487772941589355 + ], + [ + -118.170654296875, + -3.298623561859131, + 1.8487772941589355 + ], + [ + -118.170654296875, + -4.076902389526367, + 1.8487772941589355 + ] + ], + "corners_2d": [ + [ + 699.1112078037945, + 485.13080962843685 + ], + [ + 724.2822731544703, + 474.65561903580556 + ], + [ + 702.6760806394833, + 445.8891348928256 + ], + [ + 678.0027708496349, + 455.7830443364801 + ], + [ + 702.1522329986904, + 439.61591374579524 + ], + [ + 728.5722488349849, + 429.09035589540895 + ], + [ + 705.7725503543459, + 400.241677475785 + ], + [ + 679.8998045754867, + 410.1545870078678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 991, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -118.78268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.37849611043930054, + "y": 0.40444886684417725, + "z": 0.8710910677909851 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 244.19229771822108, + "ymin": 574.0193797711612, + "xmax": 305.18454102854656, + "ymax": 655.0965446933267 + }, + "corners_3d": [ + [ + -119.11682891845703, + -15.256921768188477, + 0.07304680347442627 + ], + [ + -119.20138549804688, + -14.452454566955566, + 0.07304680347442627 + ], + [ + -118.44853973388672, + -14.373327255249023, + 0.07304680347442627 + ], + [ + -118.36398315429688, + -15.177794456481934, + 0.07304680347442627 + ], + [ + -119.11682891845703, + -15.256921768188477, + 1.8152289390563965 + ], + [ + -119.20138549804688, + -14.452454566955566, + 1.8152289390563965 + ], + [ + -118.44853973388672, + -14.373327255249023, + 1.8152289390563965 + ], + [ + -118.36398315429688, + -15.177794456481934, + 1.8152289390563965 + ] + ], + "corners_2d": [ + [ + 268.8273709608575, + 655.0965446933267 + ], + [ + 305.18454102854656, + 643.3779751192266 + ], + [ + 301.0019994588938, + 616.3257682359296 + ], + [ + 265.4350219161362, + 627.517727208837 + ], + [ + 247.2565177957764, + 613.5585937010197 + ], + [ + 285.92626261845345, + 601.5922135215588 + ], + [ + 281.9689530010839, + 574.0193797711612 + ], + [ + 244.19229771822108, + 585.4180364006758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 414, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -105.44392395019531, + "y": -10.752124786376953, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.4147363305091858, + "y": 0.29842284321784973, + "z": 0.881169855594635 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 295.64119739175453, + "ymin": 212.75338120617113, + "xmax": 327.76440857813566, + "ymax": 273.8264260377054 + }, + "corners_3d": [ + [ + -105.78755187988281, + -11.130254745483398, + 0.21538501977920532 + ], + [ + -105.9116439819336, + -10.546452522277832, + 0.21538501977920532 + ], + [ + -105.10029602050781, + -10.373994827270508, + 0.21538501977920532 + ], + [ + -104.97620391845703, + -10.957797050476074, + 0.21538501977920532 + ], + [ + -105.78755187988281, + -11.130254745483398, + 1.9777247905731201 + ], + [ + -105.9116439819336, + -10.546452522277832, + 1.9777247905731201 + ], + [ + -105.10029602050781, + -10.373994827270508, + 1.9777247905731201 + ], + [ + -104.97620391845703, + -10.957797050476074, + 1.9777247905731201 + ] + ], + "corners_2d": [ + [ + 309.2129108538261, + 273.8264260377054 + ], + [ + 327.76440857813566, + 270.83882906676126 + ], + [ + 326.8128944957527, + 256.11189148483106 + ], + [ + 308.59097031634525, + 258.99339454996107 + ], + [ + 296.04180698745876, + 230.18571265198378 + ], + [ + 315.3787045850179, + 227.24362414728418 + ], + [ + 314.6202812874505, + 212.75338120617113 + ], + [ + 295.64119739175453, + 215.58695520226485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 74, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 288.96754950222476, + "ymin": 0.0, + "xmax": 377.3570105740263, + "ymax": 15.358756432761083 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 343.78920236102584, + -37.950849519338874 + ], + [ + 298.9803118223355, + -29.812840382592583 + ], + [ + 329.2531462348542, + 15.358756432761083 + ], + [ + 377.3570105740263, + 5.766598938459538 + ], + [ + 335.2313767053178, + -78.62349912985712 + ], + [ + 288.96754950222476, + -70.9085583950141 + ], + [ + 319.3156889065852, + -27.956748401171467 + ], + [ + 369.10418467670365, + -37.09579723603957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 5347, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 718.3685818299004, + "ymin": 189.8755042845268, + "xmax": 836.9328999053423, + "ymax": 309.52628498228904 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 782.5285026543122, + 309.52628498228904 + ], + [ + 829.9360348203567, + 292.4613735585715 + ], + [ + 763.3693284319738, + 228.6323915224414 + ], + [ + 718.3685818299004, + 243.19472115794213 + ], + [ + 787.8889807535306, + 269.64780984661655 + ], + [ + 836.9328999053423, + 252.77267922183782 + ], + [ + 767.5590893154482, + 189.8755042845268 + ], + [ + 721.0813938254646, + 204.19449435300376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3592, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 460.10346550729014, + "ymin": 31.670304471992722, + "xmax": 549.5364836058386, + "ymax": 125.43602307779943 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 504.4888012684488, + 64.6377103758083 + ], + [ + 464.6015443457193, + 73.84818421247275 + ], + [ + 507.09214123379854, + 125.43602307779943 + ], + [ + 549.5364836058386, + 114.6592143893418 + ], + [ + 501.06601156202606, + 31.670304471992722 + ], + [ + 460.10346550729014, + 40.61243381934463 + ], + [ + 503.39524793682074, + 90.82219305134777 + ], + [ + 547.0612868551884, + 80.31571554431963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3383, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 391.3064886668389, + "ymin": 57.89090460466156, + "xmax": 475.290880038704, + "ymax": 154.0413525411375 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 443.0724342831032, + 99.69409799043018 + ], + [ + 399.35736001991523, + 110.12212280794162 + ], + [ + 429.22801706631185, + 154.0413525411375 + ], + [ + 475.290880038704, + 142.19776136621158 + ], + [ + 436.59116017357087, + 57.89090460466156 + ], + [ + 391.3064886668389, + 67.97716885391247 + ], + [ + 421.6924817317997, + 110.5738243611994 + ], + [ + 469.50434967058163, + 99.06825855331238 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 751.4462779502275, + "ymin": 118.35415604566518, + "xmax": 770.9268757133837, + "ymax": 153.60710386719543 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 751.4462779502275, + 148.99239900873886 + ], + [ + 756.6998079060902, + 153.60710386719543 + ], + [ + 768.0423827016358, + 150.3188176272328 + ], + [ + 762.7393831426383, + 145.74684678607946 + ], + [ + 753.9520558465387, + 121.54251522021511 + ], + [ + 759.3413560163688, + 126.07704196026017 + ], + [ + 770.9268757133837, + 122.8457506453488 + ], + [ + 765.4860255216818, + 118.35415604566518 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 905.338976592402, + "ymin": 75.35945092047399, + "xmax": 927.0850715709106, + "ymax": 108.81453831409723 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 905.338976592402, + 104.76496913110199 + ], + [ + 911.2072912938919, + 108.81453831409723 + ], + [ + 921.1596147996199, + 105.9292942747366 + ], + [ + 915.2560739794374, + 101.91487036715819 + ], + [ + 910.9209175312074, + 78.15144112856439 + ], + [ + 916.9485742817751, + 82.11932266291404 + ], + [ + 927.0850715709106, + 79.2921742410137 + ], + [ + 921.021010012164, + 75.35945092047399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 573.7896310897, + "ymin": 560.2446350760969, + "xmax": 602.8806339112427, + "ymax": 610.381144515808 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 582.9298528961859, + 610.381144515808 + ], + [ + 602.8806339112427, + 601.4905588269553 + ], + [ + 595.9668805842446, + 589.218075357305 + ], + [ + 576.1771792298342, + 597.9198727421508 + ], + [ + 580.7709176153109, + 581.6509756567935 + ], + [ + 601.487564154698, + 572.6546030341744 + ], + [ + 594.332566335342, + 560.2446350760969 + ], + [ + 573.7896310897, + 569.0428941718579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.8490236856391, + "ymin": 324.6166958593884, + "xmax": 437.3671319797645, + "ymax": 360.1317960113341 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 423.4923240247783, + 360.1317960113341 + ], + [ + 437.3671319797645, + 355.55863495491104 + ], + [ + 433.9585523761681, + 349.1714681300465 + ], + [ + 420.16477082091683, + 353.68036977909577 + ], + [ + 418.21886422391816, + 335.5382752491469 + ], + [ + 432.4569475115501, + 330.9805052592487 + ], + [ + 429.0017303598788, + 324.6166958593884 + ], + [ + 414.8490236856391, + 329.1088836382561 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 517.1926718401743, + "ymin": 459.5568745673034, + "xmax": 545.4187859480293, + "ymax": 506.874639857143 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 526.8403644187687, + 506.874639857143 + ], + [ + 545.4187859480293, + 499.4911309749903 + ], + [ + 539.6676955605777, + 489.2824693228144 + ], + [ + 521.2308287041527, + 496.5228948347923 + ], + [ + 522.9536658474356, + 477.2341357956258 + ], + [ + 542.1936123230267, + 469.81245918758765 + ], + [ + 536.280730150714, + 459.5568745673034 + ], + [ + 517.1926718401743, + 466.82988020014056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.54997409628777, + "ymin": 360.42623461295676, + "xmax": 488.58614786478745, + "ymax": 404.6399640061363 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 471.44008185213136, + 404.6399640061363 + ], + [ + 488.58614786478745, + 398.6085833599242 + ], + [ + 483.8807052067568, + 390.25603221275514 + ], + [ + 466.8565705043759, + 396.18162664812684 + ], + [ + 466.2264840064384, + 374.78592196302156 + ], + [ + 483.9332965123774, + 368.7630826411807 + ], + [ + 479.12666705114987, + 360.42623461295676 + ], + [ + 461.54997409628777, + 366.34022502668176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.435348381205, + "ymin": 125.04150274148512, + "xmax": 1026.8112327793979, + "ymax": 154.34630361761688 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1005.435348381205, + 150.4698046234133 + ], + [ + 1011.2395779056055, + 154.34630361761688 + ], + [ + 1019.7150500339269, + 151.59963980816795 + ], + [ + 1013.8869535320247, + 147.75312207538605 + ], + [ + 1012.2535081760833, + 127.71913153529124 + ], + [ + 1018.2049368530297, + 131.54057235740532 + ], + [ + 1026.8112327793979, + 128.8328384120882 + ], + [ + 1020.835345058435, + 125.04150274148512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.8882978255263, + "ymin": 98.10324493744002, + "xmax": 844.4952881761449, + "ymax": 132.51716457929362 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 823.8882978255263, + 128.1731155066056 + ], + [ + 829.4471894750571, + 132.51716457929362 + ], + [ + 840.123919595419, + 129.42191104335325 + ], + [ + 834.5225916509213, + 125.11690064157293 + ], + [ + 827.8975118065878, + 101.10161936502675 + ], + [ + 833.604535044707, + 105.36446525351079 + ], + [ + 844.4952881761449, + 102.32694972319524 + ], + [ + 838.7442068711085, + 98.10324493744002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.487043805247, + "ymin": 0.0, + "xmax": 1069.7297792738743, + "ymax": 311.0873483556909 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 997.5045403996182, + 212.44189280520013 + ], + [ + 989.2512403078093, + 206.31105773132646 + ], + [ + 700.487043805247, + 303.2816437622034 + ], + [ + 707.1709989788014, + 311.0873483556909 + ], + [ + 1069.7297792738743, + -21.383867920698833 + ], + [ + 1059.130545793811, + -26.492688822223897 + ], + [ + 714.4939473787745, + 56.29882137265071 + ], + [ + 722.9007741860828, + 63.1524934157315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.7603076474564, + "ymin": 0.0, + "xmax": 758.8390771259781, + "ymax": 5.844916463000516 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 745.694985853245, + -8.950882202909213 + ], + [ + 741.0830208562838, + -12.112794648691477 + ], + [ + 674.7603076474564, + 2.5090873456521194 + ], + [ + 679.0992431559831, + 5.844916463000516 + ], + [ + 758.8390771259781, + -180.41624384882869 + ], + [ + 753.5714322434757, + -182.84836292765146 + ], + [ + 679.1857750377836, + -171.57176195580428 + ], + [ + 684.1108639769442, + -168.98852017370666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 363.6211482157221, + "ymin": 159.23658215562722, + "xmax": 624.9776115276098, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 437.5013422545851, + 417.1470743165135 + ], + [ + 422.8091022425476, + 422.2145103934172 + ], + [ + 605.7541906973864, + 813.9796035553602 + ], + [ + 624.9776115276098, + 804.0414864054678 + ], + [ + 382.6817765220251, + 159.23658215562722 + ], + [ + 363.6211482157221, + 163.97000892644522 + ], + [ + 591.0620356385032, + 575.5016117105708 + ], + [ + 618.5994663717892, + 563.8145861753794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1241.4840527988795, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 48.95068641020953 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1246.82044936722, + 19.63170386744497 + ], + [ + 1241.4840527988795, + 21.201010838683032 + ], + [ + 1303.8088575686807, + 48.95068641020953 + ], + [ + 1309.2239129219834, + 47.22615430427817 + ], + [ + 1313.9831299527873, + -129.80952835321114 + ], + [ + 1308.2589353040967, + -128.52132105291344 + ], + [ + 1381.4836986267087, + -105.61235397557175 + ], + [ + 1387.2817160224502, + -107.04326006056539 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00125/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00125/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a4127bb4863774bbdcbd29d360e23d023b701ec --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00125/meta.json @@ -0,0 +1,2580 @@ +{ + "frame_id": 125, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 62.5, + "sim_timestamp": 1647.1145585502964 + }, + "drone_pose": { + "x": -132.6154812566035, + "y": -12.632569895176182, + "z": 20.0, + "pitch": -43.538459643582065, + "yaw": 26.490066920298403, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6488048434257507, + -0.3233417570590973, + 0.6888413429260254, + 76.3493881225586 + ], + [ + 0.4460426867008209, + 0.8950116634368896, + 0.0, + -47.84585952758789 + ], + [ + -0.6165211200714111, + 0.3072526454925537, + 0.724912166595459, + -100.13987731933594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -132.25742888319826, + "y": -12.354725454290834, + "z": 20.0 + }, + "t1_image_uv": [ + 905.1251615447507, + -552.2314640705239 + ], + "t1_depth": 0.32214482513211995 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -114.66718292236328, + "y": -3.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.6636311777875, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 601, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -114.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4958202540874481, + "y": 0.3736642003059387, + "z": 0.8879199624061584 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.4289769447196, + "ymin": 322.84385280588754, + "xmax": 659.8638531719766, + "ymax": 396.7045898696416 + }, + "corners_3d": [ + [ + -115.16300201416016, + -4.061427116394043, + 0.05622756481170654 + ], + [ + -115.16300201416016, + -3.314098834991455, + 0.05622756481170654 + ], + [ + -114.1713638305664, + -3.314098834991455, + 0.05622756481170654 + ], + [ + -114.1713638305664, + -4.061427116394043, + 0.05622756481170654 + ], + [ + -115.16300201416016, + -4.061427116394043, + 1.8320674896240234 + ], + [ + -115.16300201416016, + -3.314098834991455, + 1.8320674896240234 + ], + [ + -114.1713638305664, + -3.314098834991455, + 1.8320674896240234 + ], + [ + -114.1713638305664, + -4.061427116394043, + 1.8320674896240234 + ] + ], + "corners_2d": [ + [ + 636.0928764651029, + 396.7045898696416 + ], + [ + 658.9983352926413, + 388.53689178684084 + ], + [ + 643.7867283938364, + 367.46035760972626 + ], + [ + 621.2697048865477, + 375.2646666483232 + ], + [ + 635.9132610133364, + 351.9485504422454 + ], + [ + 659.8638531719766, + 343.8115267610411 + ], + [ + 643.9552056336139, + 322.84385280588754 + ], + [ + 620.4289769447196, + 330.60286574724756 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 125, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 63, + "semantic_pixel_counts": { + "1": 492989, + "2": 205808, + "3": 110875, + "4": 35893, + "6": 13086, + "7": 3245, + "9": 10120, + "10": 129, + "12": 4030, + "14": 12648, + "20": 2971, + "22": 5850, + "24": 23956 + }, + "instance_pixel_counts": { + "6488": 78, + "6744": 62, + "7768": 63, + "11605": 75512, + "15701": 13692, + "15967": 5351, + "15970": 1522, + "16213": 157, + "16479": 32338, + "16482": 3078, + "16725": 55, + "17547": 6295, + "18018": 3018, + "18059": 6462, + "19554": 2968, + "20107": 17824, + "20565": 20274, + "20619": 64, + "21395": 17158, + "21397": 740, + "21643": 13586, + "21907": 166671, + "21909": 10722, + "22421": 891, + "22931": 39089, + "23957": 1068, + "24467": 33031, + "25344": 6272, + "25600": 10059, + "26754": 796, + "29779": 969, + "29835": 14, + "33419": 202, + "36096": 601, + "36352": 579, + "36608": 755, + "36864": 689, + "37120": 999, + "37376": 407, + "37632": 125, + "37888": 5478, + "40448": 3631, + "40704": 3414, + "45409": 2528, + "45442": 5850, + "45971": 19285, + "46483": 171968, + "46995": 13633, + "48225": 4758, + "49043": 32154, + "49761": 10600, + "51526": 35893, + "53857": 3666, + "56458": 17762, + "56970": 11693, + "57482": 41965, + "58506": 20330, + "59992": 487, + "60307": 1133, + "60819": 6606, + "61254": 11605, + "61331": 904, + "62867": 1892 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 601, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -114.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.350405216217041, + "y": 0.38265499472618103, + "z": 0.8658009767532349 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.3772876408407, + "ymin": 326.344278489626, + "xmax": 657.7581673240985, + "ymax": 393.0640343825513 + }, + "corners_3d": [ + [ + -115.01758575439453, + -4.070417881011963, + 0.07834655046463013 + ], + [ + -115.01758575439453, + -3.305108070373535, + 0.07834655046463013 + ], + [ + -114.31678009033203, + -3.305108070373535, + 0.07834655046463013 + ], + [ + -114.31678009033203, + -4.070417881011963, + 0.07834655046463013 + ], + [ + -115.01758575439453, + -4.070417881011963, + 1.809948444366455 + ], + [ + -115.01758575439453, + -3.305108070373535, + 1.809948444366455 + ], + [ + -114.31678009033203, + -3.305108070373535, + 1.809948444366455 + ], + [ + -114.31678009033203, + -4.070417881011963, + 1.809948444366455 + ] + ], + "corners_2d": [ + [ + 633.5956636504778, + 393.0640343825513 + ], + [ + 657.0058725996956, + 384.7561724653686 + ], + [ + 646.2471823727154, + 369.86561457341077 + ], + [ + 623.118389579457, + 377.9103849067507 + ], + [ + 633.3097286396106, + 349.434631163377 + ], + [ + 657.7581673240985, + 341.15965708722644 + ], + [ + 646.5189582183372, + 326.344278489626 + ], + [ + 622.3772876408407, + 334.3458463196896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 579, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -110.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.43996092677116394, + "y": 0.4445863962173462, + "z": 0.8820002675056458 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 646.6311791035434, + "ymin": 220.34121628287727, + "xmax": 685.8628985286955, + "ymax": 286.8532972962788 + }, + "corners_3d": [ + [ + -111.06398010253906, + -1.0334560871124268, + 0.0621570348739624 + ], + [ + -110.87911224365234, + -0.1637139916419983, + 0.0621570348739624 + ], + [ + -110.01841735839844, + -0.3466607332229614, + 0.0621570348739624 + ], + [ + -110.20328521728516, + -1.2164027690887451, + 0.0621570348739624 + ], + [ + -111.06398010253906, + -1.0334560871124268, + 1.826157569885254 + ], + [ + -110.87911224365234, + -0.1637139916419983, + 1.826157569885254 + ], + [ + -110.01841735839844, + -0.3466607332229614, + 1.826157569885254 + ], + [ + -110.20328521728516, + -1.2164027690887451, + 1.826157569885254 + ] + ], + "corners_2d": [ + [ + 663.4439505827156, + 286.8532972962788 + ], + [ + 684.1141816361311, + 276.29068763137525 + ], + [ + 667.1909504587503, + 263.510789162623 + ], + [ + 646.6311791035434, + 273.7480432489455 + ], + [ + 664.3856088409377, + 243.3363909723596 + ], + [ + 685.8628985286955, + 232.92458908818045 + ], + [ + 668.2515441275611, + 220.34121628287727 + ], + [ + 646.8932050838839, + 230.4198186797075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 755, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -116.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4390820264816284, + "y": 0.4592841863632202, + "z": 0.9446147084236145 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 856.9890290988627, + "ymin": 297.03800140948766, + "xmax": 911.7791230514683, + "ymax": 372.31204310300154 + }, + "corners_3d": [ + [ + -117.4076919555664, + 2.8440778255462646, + -0.0004622936248779297 + ], + [ + -117.31167602539062, + 3.7576141357421875, + -0.0004622936248779297 + ], + [ + -116.43831634521484, + 3.665820837020874, + -0.0004622936248779297 + ], + [ + -116.53433227539062, + 2.752284526824951, + -0.0004622936248779297 + ], + [ + -117.4076919555664, + 2.8440778255462646, + 1.888767123222351 + ], + [ + -117.31167602539062, + 3.7576141357421875, + 1.888767123222351 + ], + [ + -116.43831634521484, + 3.665820837020874, + 1.888767123222351 + ], + [ + -116.53433227539062, + 2.752284526824951, + 1.888767123222351 + ] + ], + "corners_2d": [ + [ + 876.8630878866112, + 372.31204310300154 + ], + [ + 899.5855001370417, + 360.91125661458256 + ], + [ + 879.5390664003673, + 344.3143665176772 + ], + [ + 856.9890290988627, + 355.30199429125224 + ], + [ + 888.1348855845276, + 324.8214049536658 + ], + [ + 911.7791230514683, + 313.4982123179957 + ], + [ + 890.5771044732057, + 297.03800140948766 + ], + [ + 867.1162152674653, + 307.9320001023475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 689, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -118.24694061279297, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3257421553134918, + "y": 0.3913126587867737, + "z": 0.8626167178153992 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.6282669146386, + "ymin": 408.244205473202, + "xmax": 721.4433673288002, + "ymax": 478.26378547156975 + }, + "corners_3d": [ + [ + -118.57268524169922, + -4.079075813293457, + 0.08152592182159424 + ], + [ + -118.57268524169922, + -3.29645037651062, + 0.08152592182159424 + ], + [ + -117.92119598388672, + -3.29645037651062, + 0.08152592182159424 + ], + [ + -117.92119598388672, + -4.079075813293457, + 0.08152592182159424 + ], + [ + -118.57268524169922, + -4.079075813293457, + 1.8067593574523926 + ], + [ + -118.57268524169922, + -3.29645037651062, + 1.8067593574523926 + ], + [ + -117.92119598388672, + -3.29645037651062, + 1.8067593574523926 + ], + [ + -117.92119598388672, + -4.079075813293457, + 1.8067593574523926 + ] + ], + "corners_2d": [ + [ + 692.1974657249453, + 478.26378547156975 + ], + [ + 717.6992063373402, + 468.17605526915594 + ], + [ + 705.8311599735501, + 451.7594681531204 + ], + [ + 680.6282669146386, + 461.52366824228136 + ], + [ + 694.7388283211778, + 434.8342631471764 + ], + [ + 721.4433673288002, + 424.70605365131087 + ], + [ + 708.9499706970898, + 408.244205473202 + ], + [ + 682.5726831135893, + 418.0322508301649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 999, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -118.28268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4203808903694153, + "y": 0.3974585235118866, + "z": 0.8907556533813477 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 240.23971346238005, + "ymin": 567.0348804644107, + "xmax": 300.75531067428176, + "ymax": 651.3505312748462 + }, + "corners_3d": [ + [ + -118.65921783447266, + -15.254347801208496, + 0.05338221788406372 + ], + [ + -118.7423095703125, + -14.463785171508789, + 0.05338221788406372 + ], + [ + -117.9061508178711, + -14.375901222229004, + 0.05338221788406372 + ], + [ + -117.82305908203125, + -15.166463851928711, + 0.05338221788406372 + ], + [ + -118.65921783447266, + -15.254347801208496, + 1.8348934650421143 + ], + [ + -118.7423095703125, + -14.463785171508789, + 1.8348934650421143 + ], + [ + -117.9061508178711, + -14.375901222229004, + 1.8348934650421143 + ], + [ + -117.82305908203125, + -15.166463851928711, + 1.8348934650421143 + ] + ], + "corners_2d": [ + [ + 265.06650911463896, + 651.3505312748462 + ], + [ + 300.75531067428176, + 640.3894398034199 + ], + [ + 296.8445724370665, + 610.4204180578125 + ], + [ + 262.0255863797766, + 620.8351495087027 + ], + [ + 242.86045141910597, + 608.7713389320145 + ], + [ + 280.8566963708547, + 597.5778337841175 + ], + [ + 277.2512413345486, + 567.0348804644107 + ], + [ + 240.23971346238005, + 577.6388645620037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 407, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -104.94200897216797, + "y": -10.753514289855957, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.5289843678474426, + "y": 0.28955137729644775, + "z": 0.9046649932861328 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 300.11105322738473, + "ymin": 207.24752155998186, + "xmax": 331.44939232936684, + "ymax": 273.10760603807137 + }, + "corners_3d": [ + [ + -105.39923095703125, + -11.146720886230469, + 0.19188988208770752 + ], + [ + -105.51963806152344, + -10.580272674560547, + 0.19188988208770752 + ], + [ + -104.48478698730469, + -10.360307693481445, + 0.19188988208770752 + ], + [ + -104.3643798828125, + -10.926755905151367, + 0.19188988208770752 + ], + [ + -105.39923095703125, + -11.146720886230469, + 2.0012197494506836 + ], + [ + -105.51963806152344, + -10.580272674560547, + 2.0012197494506836 + ], + [ + -104.48478698730469, + -10.360307693481445, + 2.0012197494506836 + ], + [ + -104.3643798828125, + -10.926755905151367, + 2.0012197494506836 + ] + ], + "corners_2d": [ + [ + 313.4943909903077, + 273.10760603807137 + ], + [ + 331.44939232936684, + 270.3890410922057 + ], + [ + 330.68273439822974, + 251.66958439187087 + ], + [ + 313.13515864418446, + 254.26563516616656 + ], + [ + 300.16824987090195, + 228.32754926998336 + ], + [ + 318.8992424459568, + 225.6519074492004 + ], + [ + 318.3990700000117, + 207.24752155998186 + ], + [ + 300.11105322738473, + 209.79784452367016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 125, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 302.4585696922038, + "ymin": 0.0, + "xmax": 389.74805272883395, + "ymax": 17.323602378201258 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 356.99324726337517, + -36.37535996099081 + ], + [ + 312.1042360284851, + -28.456399777958552 + ], + [ + 341.48233628075167, + 17.323602378201258 + ], + [ + 389.74805272883395, + 7.972206637931777 + ], + [ + 348.7975884450444, + -77.11072972717562 + ], + [ + 302.4585696922038, + -69.60254673008677 + ], + [ + 331.90873276534194, + -26.06602949422262 + ], + [ + 381.8582802634571, + -34.97738490199083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 5478, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 728.9563295037755, + "ymin": 198.56289263418265, + "xmax": 848.8620282701636, + "ymax": 320.3029330005286 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 793.0312042340558, + 320.3029330005286 + ], + [ + 841.3491629874968, + 303.35894668771675 + ], + [ + 774.7013165339116, + 237.46370909474146 + ], + [ + 728.9563295037755, + 251.876380454115 + ], + [ + 798.8585857260096, + 280.32051134171445 + ], + [ + 848.8620282701636, + 263.54970077677956 + ], + [ + 779.3269896479527, + 198.56289263418265 + ], + [ + 732.0688129065136, + 212.745030038573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3631, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 471.7173166419618, + "ymin": 35.38526820641704, + "xmax": 560.5893860854278, + "ymax": 130.1167332477037 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 516.1346665877143, + 68.45379825358333 + ], + [ + 475.9467033198075, + 77.47513501322624 + ], + [ + 517.7419690542845, + 130.1167332477037 + ], + [ + 560.5893860854278, + 119.53670836529596 + ], + [ + 512.9882586890081, + 35.38526820641704 + ], + [ + 471.7173166419618, + 44.14615526512233 + ], + [ + 514.3192234294825, + 95.39730557220469 + ], + [ + 558.4016210632997, + 85.07896754441225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3414, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 402.16095700792675, + "ymin": 61.570602612443, + "xmax": 485.5128277317311, + "ymax": 158.46638641776775 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 453.90567087668524, + 103.48715099793543 + ], + [ + 409.89732008322807, + 113.69391570530615 + ], + [ + 439.0707109114885, + 158.46638641776775 + ], + [ + 485.5128277317311, + 146.85297897762166 + ], + [ + 447.74799949262615, + 61.570602612443 + ], + [ + 402.16095700792675, + 71.44613252141625 + ], + [ + 431.84466570159634, + 114.88614436486057 + ], + [ + 480.05098311909865, + 103.59946426211633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 763.0940310957885, + "ymin": 127.69861564129789, + "xmax": 783.1110611439552, + "ymax": 163.25471550807782 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 763.0940310957885, + 158.4774971206519 + ], + [ + 768.3576771147231, + 163.25471550807782 + ], + [ + 779.9165668820852, + 159.98446529527578 + ], + [ + 774.5999941747623, + 155.25067230205957 + ], + [ + 765.8983609481445, + 130.87042624325974 + ], + [ + 771.3020304006665, + 135.56740270483942 + ], + [ + 783.1110611439552, + 132.35192686454099 + ], + [ + 777.6522147059165, + 127.69861564129789 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 920.0578063057435, + "ymin": 84.87337849565978, + "xmax": 942.4813611485083, + "ymax": 118.659488738282 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 920.0578063057435, + 114.45747406223364 + ], + [ + 925.9826779202388, + 118.659488738282 + ], + [ + 936.1484709912339, + 115.78337384393183 + ], + [ + 930.1854404312162, + 111.61719821679694 + ], + [ + 926.0344704367343, + 87.65740286983595 + ], + [ + 932.12507661056, + 91.77712553264735 + ], + [ + 942.4813611485083, + 88.95721662328708 + ], + [ + 936.35129303368, + 84.87337849565978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 575.3572875685153, + "ymin": 582.0784561297573, + "xmax": 604.8561730133006, + "ymax": 632.5974093762239 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 584.3841644714208, + 632.5974093762239 + ], + [ + 604.8561730133006, + 623.6564910752534 + ], + [ + 598.029303121101, + 610.8089950660816 + ], + [ + 577.7313122606425, + 619.5548810501277 + ], + [ + 582.2392720505834, + 604.1481710844099 + ], + [ + 603.5114276969186, + 595.0880343745862 + ], + [ + 596.4415443364211, + 582.0784561297573 + ], + [ + 575.3572875685153, + 590.9334971329761 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 420.3347003612236, + "ymin": 333.84341368044437, + "xmax": 442.8653886030011, + "ymax": 369.520769309353 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 428.80221263771824, + 369.520769309353 + ], + [ + 442.8653886030011, + 365.0017382537055 + ], + [ + 439.5494518688387, + 358.43051640064823 + ], + [ + 425.57130043877453, + 362.8848718893248 + ], + [ + 423.60619441188055, + 344.8997216906385 + ], + [ + 438.0397213681101, + 340.3937323382128 + ], + [ + 434.6786213362231, + 333.84341368044437 + ], + [ + 420.3347003612236, + 338.2833489373028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 519.7252573693908, + "ymin": 476.8271884697586, + "xmax": 548.2386102166024, + "ymax": 524.496869998912 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 529.2431944959017, + 524.496869998912 + ], + [ + 548.2386102166024, + 517.1079279110298 + ], + [ + 542.5872759828287, + 506.4726730338989 + ], + [ + 523.7434153276499, + 513.7148729198615 + ], + [ + 525.3750514792946, + 494.9585398961558 + ], + [ + 545.0566302972454, + 487.52310683875135 + ], + [ + 539.2440754267963, + 476.8271884697586 + ], + [ + 519.7252573693908, + 484.1098965430839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 465.3072461634688, + "ymin": 373.72509638208453, + "xmax": 492.51299803476047, + "ymax": 418.2445773310491 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 475.0450064726019, + 418.2445773310491 + ], + [ + 492.51299803476047, + 412.237906765086 + ], + [ + 487.91127472534225, + 403.57791548391685 + ], + [ + 470.5726962386245, + 409.47687240037857 + ], + [ + 469.8703434800432, + 388.3793992199352 + ], + [ + 487.91583762633155, + 382.37611053151545 + ], + [ + 483.2145593038796, + 373.72509638208453 + ], + [ + 465.3072461634688, + 379.61741253241564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1021.4566541547997, + "ymin": 135.28614211424807, + "xmax": 1043.5084115932273, + "ymax": 164.87032304222427 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1021.4566541547997, + 160.84752396111793 + ], + [ + 1027.3318581419646, + 164.87032304222427 + ], + [ + 1035.9993862934639, + 162.13216110707756 + ], + [ + 1030.0980521606914, + 158.1399389519387 + ], + [ + 1028.6766633018974, + 137.95621874498204 + ], + [ + 1034.7052160092533, + 141.9239984677753 + ], + [ + 1043.5084115932273, + 139.22319396369286 + ], + [ + 1037.4530568520945, + 135.28614211424807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.9358550878981, + "ymin": 107.53998576452528, + "xmax": 858.1464485350987, + "ymax": 142.27069503044967 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 836.9358550878981, + 137.76870215299792 + ], + [ + 842.5269191584856, + 142.27069503044967 + ], + [ + 853.419208784903, + 139.18903985546297 + ], + [ + 847.7824972079333, + 134.72678260649096 + ], + [ + 841.2888293268272, + 110.52609562469459 + ], + [ + 847.0333333124597, + 114.94655920287946 + ], + [ + 858.1464485350987, + 111.92057389674775 + ], + [ + 852.3545274423964, + 107.53998576452528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.0120478390677, + "ymin": 0.0, + "xmax": 1089.154079926889, + "ymax": 321.08306424787696 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1012.6414544287699, + 223.2063808590272 + ], + [ + 1004.3038567223787, + 216.85536034423458 + ], + [ + 710.0120478390677, + 313.03590941365366 + ], + [ + 716.6650464826362, + 321.08306424787696 + ], + [ + 1089.154079926889, + -12.31449654109872 + ], + [ + 1078.3673792087213, + -17.63555412393788 + ], + [ + 726.4433826155708, + 64.91053166758644 + ], + [ + 734.8648537908083, + 72.01260362897557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.3504449153324, + "ymin": 0.0, + "xmax": 775.1056178488508, + "ymax": 10.181191600657712 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 760.0472296073572, + -4.366651546292019 + ], + [ + 755.4360923931051, + -7.605326468838598 + ], + [ + 688.3504449153324, + 6.768771073841833 + ], + [ + 692.6745001621953, + 10.181191600657712 + ], + [ + 775.1056178488508, + -176.79721172816346 + ], + [ + 769.8198090827624, + -179.29311179053764 + ], + [ + 694.5544774230416, + -168.1873314210078 + ], + [ + 699.4799591401048, + -165.54003892938556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 369.43931488451216, + "ymin": 167.82326340425843, + "xmax": 626.0101921065044, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 442.77470740047113, + 426.3080169396515 + ], + [ + 427.8974405985174, + 431.30266288345 + ], + [ + 606.3263510816226, + 836.3591718135824 + ], + [ + 626.0101921065044, + 826.4241926522562 + ], + [ + 388.7685748750228, + 167.82326340425843 + ], + [ + 369.43931488451216, + 172.51151210491653 + ], + [ + 591.5455161450179, + 602.0024341272874 + ], + [ + 619.9324769799475, + 590.1565202181962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1262.9969728504125, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 57.99928088696913 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1268.4591912583123, + 27.664835302289987 + ], + [ + 1262.9969728504125, + 29.226092982825776 + ], + [ + 1326.4846048774384, + 57.99928088696913 + ], + [ + 1332.0374764005353, + 56.279912181289376 + ], + [ + 1339.0494844303546, + -123.14031994832544 + ], + [ + 1333.1833580330476, + -121.85492676293984 + ], + [ + 1408.105570411009, + -98.02577067072929 + ], + [ + 1414.0593512330895, + -99.45720739393164 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00126/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00126/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc497c1969d4e7b61dd73b8df7be3fa213484366 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00126/meta.json @@ -0,0 +1,2477 @@ +{ + "frame_id": 126, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 63.0, + "sim_timestamp": 1658.65664022672 + }, + "drone_pose": { + "x": -132.25742888319826, + "y": -12.354725454290834, + "z": 20.0, + "pitch": -43.53054854591908, + "yaw": 25.598888835014836, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6538411974906921, + -0.31325262784957886, + 0.6887412071228027, + 76.57068634033203 + ], + [ + 0.43206822872161865, + 0.9018409252166748, + 0.0, + -46.00223922729492 + ], + [ + -0.6211349964141846, + 0.2975831925868988, + 0.7250072956085205, + -100.32642364501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -131.8883579684926, + "y": -12.08496307773374, + "z": 20.0 + }, + "t1_image_uv": [ + 886.966941184043, + -551.9792567940299 + ], + "t1_depth": 0.32581754198859714 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -114.16718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.667644597761978, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 631, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -114.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5890087485313416, + "y": 0.38589563965797424, + "z": 0.8896978497505188 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.8276712917946, + "ymin": 320.7886057793593, + "xmax": 661.5899996411159, + "ymax": 398.9099236564115 + }, + "corners_3d": [ + [ + -114.75619506835938, + -4.073658466339111, + 0.05445456504821777 + ], + [ + -114.75619506835938, + -3.3018672466278076, + 0.05445456504821777 + ], + [ + -113.57817077636719, + -3.3018672466278076, + 0.05445456504821777 + ], + [ + -113.57817077636719, + -4.073658466339111, + 0.05445456504821777 + ], + [ + -114.75619506835938, + -4.073658466339111, + 1.8338502645492554 + ], + [ + -114.75619506835938, + -3.3018672466278076, + 1.8338502645492554 + ], + [ + -113.57817077636719, + -3.3018672466278076, + 1.8338502645492554 + ], + [ + -113.57817077636719, + -4.073658466339111, + 1.8338502645492554 + ] + ], + "corners_2d": [ + [ + 636.7674649294386, + 398.9099236564115 + ], + [ + 660.6455640342792, + 390.70422515673147 + ], + [ + 643.118914581576, + 365.4807584520646 + ], + [ + 619.7366892489895, + 373.2514006674197 + ], + [ + 636.6182453463821, + 354.057317412359 + ], + [ + 661.5899996411159, + 345.8810090519733 + ], + [ + 643.2576026419669, + 320.7886057793593 + ], + [ + 618.8276712917946, + 328.5123296075862 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 126, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 480284, + "2": 209600, + "3": 117588, + "4": 36019, + "6": 13538, + "7": 3320, + "9": 11637, + "10": 122, + "12": 4029, + "14": 12994, + "20": 3211, + "22": 5726, + "24": 23532 + }, + "instance_pixel_counts": { + "6488": 80, + "6744": 66, + "7768": 66, + "11605": 78367, + "15701": 15002, + "15967": 5964, + "15970": 1623, + "16213": 226, + "16479": 32058, + "16482": 3221, + "16725": 61, + "17547": 6850, + "18018": 2789, + "18059": 6733, + "19554": 3056, + "20107": 17032, + "20565": 21502, + "21395": 17672, + "21397": 752, + "21643": 14063, + "21907": 160320, + "21909": 10457, + "22421": 736, + "22931": 35171, + "23957": 1097, + "24467": 33876, + "25344": 6490, + "25600": 10360, + "26754": 813, + "29779": 1549, + "29835": 184, + "33419": 609, + "33931": 88, + "36096": 631, + "36352": 596, + "36608": 667, + "36864": 704, + "37120": 1010, + "37376": 421, + "37632": 215, + "37888": 5653, + "40448": 3685, + "40704": 3441, + "42071": 8, + "45409": 2597, + "45442": 5726, + "45971": 20298, + "46483": 168798, + "46995": 11003, + "48225": 4910, + "49043": 33146, + "49761": 10532, + "51526": 36019, + "53857": 3763, + "56458": 18284, + "56970": 11996, + "57482": 43003, + "58506": 21126, + "59992": 544, + "60307": 1200, + "60819": 6532, + "61254": 13279, + "61331": 816, + "62867": 1942 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 631, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -114.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5400634407997131, + "y": 0.37028971314430237, + "z": 0.907262921333313 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.0367911025972, + "ymin": 321.4974009564808, + "xmax": 660.3164176904202, + "ymax": 398.07150518602054 + }, + "corners_3d": [ + [ + -114.70724487304688, + -4.0580525398254395, + 0.036889493465423584 + ], + [ + -114.70724487304688, + -3.3174731731414795, + 0.036889493465423584 + ], + [ + -113.62712097167969, + -3.3174731731414795, + 0.036889493465423584 + ], + [ + -113.62712097167969, + -4.0580525398254395, + 0.036889493465423584 + ], + [ + -114.70724487304688, + -4.0580525398254395, + 1.8514153957366943 + ], + [ + -114.70724487304688, + -3.3174731731414795, + 1.8514153957366943 + ], + [ + -113.62712097167969, + -3.3174731731414795, + 1.8514153957366943 + ], + [ + -113.62712097167969, + -4.0580525398254395, + 1.8514153957366943 + ] + ], + "corners_2d": [ + [ + 636.5290195011361, + 398.07150518602054 + ], + [ + 659.4114146890579, + 390.2155903144777 + ], + [ + 643.3577769808538, + 367.0803937659946 + ], + [ + 620.9112781740449, + 374.5537178008942 + ], + [ + 636.3657819962482, + 352.336633176902 + ], + [ + 660.3164176904202, + 344.51026876822795 + ], + [ + 643.5103053979788, + 321.4974009564808 + ], + [ + 620.0367911025972, + 328.9254526814189 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 596, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -110.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441720247268677 + }, + "extent": { + "x": 0.557202160358429, + "y": 0.4645442068576813, + "z": 0.9255654215812683 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 646.3704055864908, + "ymin": 217.65232376543764, + "xmax": 691.1783707785231, + "ymax": 290.18982108259183 + }, + "corners_3d": [ + [ + -110.68280792236328, + -1.028601884841919, + 0.018606603145599365 + ], + [ + -110.48963928222656, + -0.1198163628578186, + 0.018606603145599365 + ], + [ + -109.39958953857422, + -0.351514995098114, + 0.018606603145599365 + ], + [ + -109.59275817871094, + -1.2603003978729248, + 0.018606603145599365 + ], + [ + -110.68280792236328, + -1.028601884841919, + 1.8697373867034912 + ], + [ + -110.48963928222656, + -0.1198163628578186, + 1.8697373867034912 + ], + [ + -109.39958953857422, + -0.351514995098114, + 1.8697373867034912 + ], + [ + -109.59275817871094, + -1.2603003978729248, + 1.8697373867034912 + ] + ], + "corners_2d": [ + [ + 667.2771102479502, + 290.18982108259183 + ], + [ + 689.1282484248492, + 279.3150219289175 + ], + [ + 668.0553583983187, + 262.9249394992453 + ], + [ + 646.3704055864908, + 273.372447905433 + ], + [ + 668.4309048596657, + 244.49169049959642 + ], + [ + 691.1783707785231, + 233.777803337404 + ], + [ + 669.2020824184763, + 217.65232376543764 + ], + [ + 646.6342636130878, + 227.92810135385423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 667, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -116.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5833593606948853, + "y": 0.44877150654792786, + "z": 0.9433503746986389 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 855.2248720542128, + "ymin": 297.0285352033261, + "xmax": 916.3305458261094, + "ymax": 377.6332082095231 + }, + "corners_3d": [ + [ + -117.05007934570312, + 2.8696138858795166, + 0.0008020401000976562 + ], + [ + -116.95626068115234, + 3.762240171432495, + 0.0008020401000976562 + ], + [ + -115.79592895507812, + 3.640284776687622, + 0.0008020401000976562 + ], + [ + -115.8897476196289, + 2.7476584911346436, + 0.0008020401000976562 + ], + [ + -117.05007934570312, + 2.8696138858795166, + 1.8875027894973755 + ], + [ + -116.95626068115234, + 3.762240171432495, + 1.8875027894973755 + ], + [ + -115.79592895507812, + 3.640284776687622, + 1.8875027894973755 + ], + [ + -115.8897476196289, + 2.7476584911346436, + 1.8875027894973755 + ] + ], + "corners_2d": [ + [ + 881.2700547229573, + 377.6332082095231 + ], + [ + 903.8744713660843, + 366.6381226810455 + ], + [ + 877.5786644702024, + 344.2394134641959 + ], + [ + 855.2248720542128, + 354.70179473379903 + ], + [ + 892.8019308408504, + 330.1752450379049 + ], + [ + 916.3305458261094, + 319.2489519245759 + ], + [ + 888.5074273591208, + 297.0285352033261 + ], + [ + 865.2463058044541, + 307.401274204002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 704, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -117.74694061279297, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4649999439716339, + "y": 0.3759273886680603, + "z": 0.8871263861656189 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.9958798793484, + "ymin": 405.05021254910713, + "xmax": 721.6628183321828, + "ymax": 482.9291432631014 + }, + "corners_3d": [ + [ + -118.2119369506836, + -4.063690185546875, + 0.05701625347137451 + ], + [ + -118.2119369506836, + -3.311835527420044, + 0.05701625347137451 + ], + [ + -117.28194427490234, + -3.311835527420044, + 0.05701625347137451 + ], + [ + -117.28194427490234, + -4.063690185546875, + 0.05701625347137451 + ], + [ + -118.2119369506836, + -4.063690185546875, + 1.8312690258026123 + ], + [ + -118.2119369506836, + -3.311835527420044, + 1.8312690258026123 + ], + [ + -117.28194427490234, + -3.311835527420044, + 1.8312690258026123 + ], + [ + -117.28194427490234, + -4.063690185546875, + 1.8312690258026123 + ] + ], + "corners_2d": [ + [ + 692.9952237303437, + 482.9291432631014 + ], + [ + 717.7876676676027, + 473.4640874718285 + ], + [ + 701.3593643851711, + 449.8092210847367 + ], + [ + 676.9958798793484, + 458.84071181912543 + ], + [ + 695.6608825175786, + 438.28186554170776 + ], + [ + 721.6628183321828, + 428.7739654565338 + ], + [ + 704.3421652599613, + 405.05021254910713 + ], + [ + 678.8113325205378, + 414.101574091725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1010, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -117.78268432617188, + "y": -14.81512451171875, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5816455483436584, + "y": 0.3514734208583832, + "z": 0.8797899484634399 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 238.6215051501818, + "ymin": 557.3821807542749, + "xmax": 294.99167860933454, + "ymax": 651.1116321382988 + }, + "corners_3d": [ + [ + -118.32440185546875, + -15.225471496582031, + 0.06435269117355347 + ], + [ + -118.39788055419922, + -14.526374816894531, + 0.06435269117355347 + ], + [ + -117.240966796875, + -14.404777526855469, + 0.06435269117355347 + ], + [ + -117.16748809814453, + -15.103874206542969, + 0.06435269117355347 + ], + [ + -118.32440185546875, + -15.225471496582031, + 1.8239326477050781 + ], + [ + -118.39788055419922, + -14.526374816894531, + 1.8239326477050781 + ], + [ + -117.240966796875, + -14.404777526855469, + 1.8239326477050781 + ], + [ + -117.16748809814453, + -15.103874206542969, + 1.8239326477050781 + ] + ], + "corners_2d": [ + [ + 263.32925328818754, + 651.1116321382988 + ], + [ + 294.99167860933454, + 641.810467185941 + ], + [ + 290.6053125672772, + 600.4033664427818 + ], + [ + 260.0163882511349, + 609.0681501497911 + ], + [ + 241.3080111617055, + 609.0512618344342 + ], + [ + 274.98649049068314, + 599.5547981327118 + ], + [ + 271.08774704830915, + 557.3821807542749 + ], + [ + 238.6215051501818, + 566.193142673066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 421, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -104.44010162353516, + "y": -10.754897117614746, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.5449755787849426, + "y": 0.296051025390625, + "z": 0.8832951784133911 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 303.9150250935269, + "ymin": 204.67007384194898, + "xmax": 335.03491531861033, + "ymax": 269.78626457260214 + }, + "corners_3d": [ + [ + -104.91161346435547, + -11.157785415649414, + 0.21325969696044922 + ], + [ + -105.03472137451172, + -10.578622817993164, + 0.21325969696044922 + ], + [ + -103.96858978271484, + -10.352008819580078, + 0.21325969696044922 + ], + [ + -103.8454818725586, + -10.931171417236328, + 0.21325969696044922 + ], + [ + -104.91161346435547, + -11.157785415649414, + 1.9798500537872314 + ], + [ + -105.03472137451172, + -10.578622817993164, + 1.9798500537872314 + ], + [ + -103.96858978271484, + -10.352008819580078, + 1.9798500537872314 + ], + [ + -103.8454818725586, + -10.931171417236328, + 1.9798500537872314 + ] + ], + "corners_2d": [ + [ + 316.74086501098117, + 269.78626457260214 + ], + [ + 335.03491531861033, + 267.1930087085714 + ], + [ + 334.6750259147071, + 247.9824030253932 + ], + [ + 316.81020747091037, + 250.45527136018097 + ], + [ + 303.9150250935269, + 226.11167364108275 + ], + [ + 322.9746162018903, + 223.55913853976762 + ], + [ + 322.8945825259296, + 204.67007384194898 + ], + [ + 304.3004416532554, + 207.09958896589168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 215, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 315.2081603185943, + "ymin": 0.0, + "xmax": 401.5005147112789, + "ymax": 19.46339429074476 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 369.5049737666925, + -34.65913372978616 + ], + [ + 324.51168209864045, + -26.94446830862421 + ], + [ + 353.049578825129, + 19.46339429074476 + ], + [ + 401.5005147112789, + 10.336509766024449 + ], + [ + 361.6488823072977, + -75.47114470220282 + ], + [ + 315.2081603185943, + -68.15554642978913 + ], + [ + 343.8155967687862, + -24.01416173859701 + ], + [ + 393.9521294046407, + -32.71352126801327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 5653, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 739.210775499583, + "ymin": 207.51713414530755, + "xmax": 860.5368566737985, + "ymax": 331.4244847586093 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 803.2609800869106, + 331.4244847586093 + ], + [ + 852.5023997512995, + 314.5860242740441 + ], + [ + 785.7117245080199, + 246.56192546494367 + ], + [ + 739.210775499583, + 260.8389036926469 + ], + [ + 809.5582486870283, + 291.34357828528016 + ], + [ + 860.5368566737985, + 274.6613388855561 + ], + [ + 790.7734218212963, + 207.51713414530755 + ], + [ + 742.7209314212017, + 221.57646973898468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3685, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 482.77465058641786, + "ymin": 39.26266355487894, + "xmax": 571.1655544735764, + "ymax": 135.00714108673836 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 527.2515240217849, + 72.43999381482138 + ], + [ + 486.7484058228383, + 81.28498428289936 + ], + [ + 527.9012257714055, + 135.00714108673836 + ], + [ + 571.1655544735764, + 124.61010801296288 + ], + [ + 524.3698765328985, + 39.26266355487894 + ], + [ + 482.77465058641786, + 47.854853555045906 + ], + [ + 524.7410115621666, + 100.17555693179412 + ], + [ + 569.2552031201494, + 90.03175695045718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3441, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 412.4402565902453, + "ymin": 65.44422897075316, + "xmax": 495.2383171275288, + "ymax": 163.13436193032712 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 464.20039703812506, + 107.48376484818195 + ], + [ + 419.8814839722886, + 117.48462729847549 + ], + [ + 448.40015510525757, + 163.13436193032712 + ], + [ + 495.2383171275288, + 151.73472339161 + ], + [ + 458.34913001555395, + 65.44422897075316 + ], + [ + 412.4402565902453, + 75.12408750485446 + ], + [ + 441.4653650491483, + 119.43302639944338 + ], + [ + 490.08529016730586, + 108.34904114065745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 774.4488576467273, + "ymin": 137.37487011240728, + "xmax": 795.0162188013026, + "ymax": 173.2464400318896 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 774.4488576467273, + 168.300242695004 + ], + [ + 779.728442708042, + 173.2464400318896 + ], + [ + 791.5086407031913, + 169.99069584253903 + ], + [ + 786.1726128189467, + 165.0886580000534 + ], + [ + 777.5540281649572, + 140.53363764437412 + ], + [ + 782.9782242685282, + 145.39976341564662 + ], + [ + 795.0162188013026, + 142.19655124748664 + ], + [ + 789.5331512255209, + 137.37487011240728 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.5494198274625, + "ymin": 94.67477399387082, + "xmax": 957.6703021014644, + "ymax": 128.80311478651166 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 934.5494198274625, + 124.44274281078498 + ], + [ + 940.5374939042053, + 128.80311478651166 + ], + [ + 950.9209600317374, + 125.93339071235275 + ], + [ + 944.8917397345735, + 121.60958535442452 + ], + [ + 940.9290113069007, + 97.45355103985258 + ], + [ + 947.0896551287624, + 101.7312140299407 + ], + [ + 957.6703021014644, + 98.91578945591732 + ], + [ + 951.4670783163525, + 94.67477399387082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 576.6154197884084, + "ymin": 605.1158781969996, + "xmax": 606.557105126875, + "ymax": 656.0208972691678 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 585.5460686023541, + 656.0208972691678 + ], + [ + 606.557105126875, + 647.0148440704133 + ], + [ + 599.811539782694, + 633.5561027021599 + ], + [ + 578.9880089630675, + 642.3603619597485 + ], + [ + 583.4033312188707, + 627.9045302445836 + ], + [ + 605.2513364714621, + 618.7646397185702 + ], + [ + 598.2606858066296, + 605.1158781969996 + ], + [ + 576.6154197884084, + 614.0430891866058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 425.39287416481807, + "ymin": 343.5472290730054, + "xmax": 447.9574105785371, + "ymax": 379.3976734986246 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 433.69976216563913, + 379.3976734986246 + ], + [ + 447.9574105785371, + 374.9266966114879 + ], + [ + 444.7301346675795, + 368.16406902083514 + ], + [ + 430.561554126994, + 372.5698891093429 + ], + [ + 428.5699956629731, + 354.75215457681213 + ], + [ + 443.20565841951657, + 350.2917868671152 + ], + [ + 439.9346459964686, + 343.5472290730054 + ], + [ + 425.39287416481807, + 347.9410003459482 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 521.9050287967945, + "ymin": 495.0165538308935, + "xmax": 550.7369996323133, + "ymax": 543.0482573271148 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 531.3108510954047, + 543.0482573271148 + ], + [ + 550.7369996323133, + 535.6427724567482 + ], + [ + 545.1806026384131, + 524.556656737964 + ], + [ + 525.9163543514564, + 531.8114395117332 + ], + [ + 527.4481716091523, + 513.6398818229354 + ], + [ + 547.5869125296085, + 506.17896018248257 + ], + [ + 541.8697289843844, + 495.0165538308935 + ], + [ + 521.9050287967945, + 502.32035342122265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 468.6645758681647, + "ymin": 387.72000986718206, + "xmax": 496.0685462040408, + "ymax": 432.5589796178274 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 478.2678414612187, + 432.5589796178274 + ], + [ + 496.0685462040408, + 426.56845214891274 + ], + [ + 491.5661323409023, + 417.58524118726126 + ], + [ + 473.90252326266494, + 423.46595517993444 + ], + [ + 473.1184978254056, + 402.6945758233474 + ], + [ + 491.5147195452488, + 396.7019772463124 + ], + [ + 486.91431808812666, + 387.72000986718206 + ], + [ + 468.6645758681647, + 393.59932000700815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1037.2698413913179, + "ymin": 145.7943619307106, + "xmax": 1060.0159653525977, + "ymax": 175.66505479445175 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1037.2698413913179, + 171.49093591736772 + ], + [ + 1043.2220105655185, + 175.66505479445175 + ], + [ + 1052.0844370441914, + 172.93322508280787 + ], + [ + 1046.1038372929117, + 168.79030033265641 + ], + [ + 1044.9007226674103, + 148.45905413396187 + ], + [ + 1051.0127729592173, + 152.57837053084356 + ], + [ + 1060.0159653525977, + 149.882304080545 + ], + [ + 1053.8747288161567, + 145.7943619307106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 849.7217883594722, + "ymin": 117.28697431330275, + "xmax": 871.5527161699622, + "ymax": 152.34624374351898 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 849.7217883594722, + 147.68010958322043 + ], + [ + 855.3512300326213, + 152.34624374351898 + ], + [ + 866.4636686163351, + 149.27505110623585 + ], + [ + 860.7853113997271, + 144.6493877073055 + ], + [ + 854.4236564071389, + 120.26393303760503 + ], + [ + 860.2122336214711, + 124.84842341615052 + ], + [ + 871.5527161699622, + 121.83081349838307 + ], + [ + 865.7132985044891, + 117.28697431330275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.2250081815082, + "ymin": 0.0, + "xmax": 1108.4608954382695, + "ymax": 331.4239980325596 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1027.5518597032908, + 234.23163938112418 + ], + [ + 1019.1222666163155, + 227.6536757564722 + ], + [ + 719.2250081815082, + 323.12773396805795 + ], + [ + 725.8535566736202, + 331.4239980325596 + ], + [ + 1108.4608954382695, + -2.996911961754904 + ], + [ + 1097.4723904175928, + -8.539293038947335 + ], + [ + 738.0799938058118, + 73.84888840695965 + ], + [ + 746.5264386861458, + 81.21054612786622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 701.4504836283768, + "ymin": 0.0, + "xmax": 790.8832431362223, + "ymax": 14.628319825791834 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 773.9306852406704, + 0.3126664954824605 + ], + [ + 769.3164086637089, + -3.0042300956570216 + ], + [ + 701.4504836283768, + 11.137787202788559 + ], + [ + 705.7636911569732, + 14.628319825791834 + ], + [ + 790.8832431362223, + -173.1279145512351 + ], + [ + 785.5742416832716, + -175.689229425514 + ], + [ + 709.4008883169149, + -164.74157176409858 + ], + [ + 714.3317461733388, + -162.02851551375716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 374.74002722352026, + "ymin": 176.8810381378413, + "xmax": 626.8286265507164, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 447.6619934509415, + 435.9328039589592 + ], + [ + 432.5943505371006, + 440.86122096554936 + ], + [ + 606.6742292283154, + 859.7845713608675 + ], + [ + 626.8286265507164, + 849.84050728104 + ], + [ + 394.3508220594297, + 176.8810381378413 + ], + [ + 374.74002722352026, + 181.53137690416858 + ], + [ + 591.6925354063764, + 630.168853271606 + ], + [ + 620.967664951411, + 618.1369379398657 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00127/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00127/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81e8ffd93f295ad9a6baebab1a3475005794424b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00127/meta.json @@ -0,0 +1,2478 @@ +{ + "frame_id": 127, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 63.5, + "sim_timestamp": 1669.0880370649975 + }, + "drone_pose": { + "x": -131.8883579684926, + "y": -12.08496307773374, + "z": 20.0, + "pitch": -43.52518295033336, + "yaw": 24.74253887937399, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6585084199905396, + -0.3034726083278656, + 0.6886734366416931, + 76.74358367919922 + ], + [ + 0.4185415208339691, + 0.9081977009773254, + 1.4901161193847656e-08, + -44.2252082824707 + ], + [ + -0.6254516243934631, + 0.28823840618133545, + 0.7250716686248779, + -100.47456359863281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -131.51040074846952, + "y": -11.823480025111852, + "z": 20.0 + }, + "t1_image_uv": [ + 871.8906975981718, + -551.8082382529251 + ], + "t1_depth": 0.32824097855605244 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -113.66718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.67037241894605, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 591, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -113.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4586278796195984, + "y": 0.3767908811569214, + "z": 0.8872672319412231 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.1800177394554, + "ymin": 323.704832668561, + "xmax": 659.082863405, + "ymax": 395.78800369735956 + }, + "corners_3d": [ + [ + -114.12580871582031, + -4.064553737640381, + 0.05688518285751343 + ], + [ + -114.12580871582031, + -3.310972213745117, + 0.05688518285751343 + ], + [ + -113.20855712890625, + -3.310972213745117, + 0.05688518285751343 + ], + [ + -113.20855712890625, + -4.064553737640381, + 0.05688518285751343 + ], + [ + -114.12580871582031, + -4.064553737640381, + 1.8314197063446045 + ], + [ + -114.12580871582031, + -3.310972213745117, + 1.8314197063446045 + ], + [ + -113.20855712890625, + -3.310972213745117, + 1.8314197063446045 + ], + [ + -113.20855712890625, + -4.064553737640381, + 1.8314197063446045 + ] + ], + "corners_2d": [ + [ + 634.8237493298598, + 395.78800369735956 + ], + [ + 658.252761139193, + 388.0742920922987 + ], + [ + 645.0260683684285, + 368.292057025914 + ], + [ + 621.9878916792802, + 375.683199427866 + ], + [ + 634.5863222731068, + 351.0684331000215 + ], + [ + 659.082863405, + 343.3845018416954 + ], + [ + 645.2496198247634, + 323.704832668561 + ], + [ + 621.1800177394554, + 331.0532479827641 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 127, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 65, + "semantic_pixel_counts": { + "1": 467964, + "2": 214167, + "3": 124753, + "4": 36131, + "6": 13984, + "7": 3403, + "9": 12333, + "10": 133, + "12": 4011, + "14": 13366, + "20": 3218, + "22": 5191, + "24": 22946 + }, + "instance_pixel_counts": { + "6488": 82, + "6744": 67, + "7768": 68, + "11605": 81033, + "15701": 16305, + "15967": 6705, + "15970": 1730, + "16213": 231, + "16479": 32406, + "16482": 3331, + "16725": 59, + "17547": 7426, + "18018": 2558, + "18059": 7035, + "19554": 3155, + "20107": 16121, + "20565": 22942, + "21395": 18194, + "21397": 770, + "21643": 14553, + "21907": 154015, + "21909": 10108, + "22421": 562, + "22931": 31312, + "23957": 1123, + "24467": 34828, + "25344": 6683, + "25600": 10646, + "26754": 840, + "29779": 2221, + "29835": 496, + "33419": 1023, + "33931": 335, + "34443": 108, + "36096": 591, + "36352": 576, + "36608": 698, + "36864": 748, + "37120": 993, + "37376": 405, + "37632": 346, + "37888": 5812, + "40448": 3734, + "40704": 3474, + "42071": 58, + "45409": 2661, + "45442": 5191, + "45971": 21378, + "46483": 165388, + "46995": 8661, + "48225": 5066, + "49043": 34188, + "49761": 10387, + "51526": 36131, + "53857": 3877, + "56458": 18845, + "56970": 12341, + "57482": 43970, + "58506": 22000, + "59992": 461, + "60307": 1249, + "60819": 6399, + "61254": 14033, + "61331": 716, + "62867": 2019 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 591, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -113.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5472607016563416, + "y": 0.3777732253074646, + "z": 0.8798191547393799 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 619.8881249311552, + "ymin": 322.0347466695241, + "xmax": 660.4804598779485, + "ymax": 397.6077768757019 + }, + "corners_3d": [ + [ + -114.21444702148438, + -4.065536022186279, + 0.06433326005935669 + ], + [ + -114.21444702148438, + -3.3099896907806396, + 0.06433326005935669 + ], + [ + -113.11991882324219, + -3.3099896907806396, + 0.06433326005935669 + ], + [ + -113.11991882324219, + -4.065536022186279, + 0.06433326005935669 + ], + [ + -114.21444702148438, + -4.065536022186279, + 1.8239715099334717 + ], + [ + -114.21444702148438, + -3.3099896907806396, + 1.8239715099334717 + ], + [ + -113.11991882324219, + -3.3099896907806396, + 1.8239715099334717 + ], + [ + -113.11991882324219, + -4.065536022186279, + 1.8239715099334717 + ] + ], + "corners_2d": [ + [ + 636.0621178701222, + 397.6077768757019 + ], + [ + 659.5950491084876, + 389.841630393195 + ], + [ + 643.8077824040416, + 366.23574697810875 + ], + [ + 620.7426189350983, + 373.6158746552993 + ], + [ + 635.8826485843126, + 353.25725267657623 + ], + [ + 660.4804598779485, + 345.5193657585271 + ], + [ + 643.9753356874265, + 322.0347466695241 + ], + [ + 619.8881249311552, + 329.3712501531236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 576, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -109.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.46760740876197815, + "y": 0.45212486386299133, + "z": 0.9018686413764954 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 650.6094126035457, + "ymin": 219.966281061576, + "xmax": 691.3764996245109, + "ymax": 288.3771396918097 + }, + "corners_3d": [ + [ + -110.09259033203125, + -1.0350817441940308, + 0.04228866100311279 + ], + [ + -109.90458679199219, + -0.15059220790863037, + 0.04228866100311279 + ], + [ + -108.98980712890625, + -0.3450350761413574, + 0.04228866100311279 + ], + [ + -109.17781066894531, + -1.2295246124267578, + 0.04228866100311279 + ], + [ + -110.09259033203125, + -1.0350817441940308, + 1.8460259437561035 + ], + [ + -109.90458679199219, + -0.15059220790863037, + 1.8460259437561035 + ], + [ + -108.98980712890625, + -0.3450350761413574, + 1.8460259437561035 + ], + [ + -109.17781066894531, + -1.2295246124267578, + 1.8460259437561035 + ] + ], + "corners_2d": [ + [ + 667.8700042036372, + 288.3771396918097 + ], + [ + 689.3722926703973, + 278.0281809542839 + ], + [ + 671.9599686053922, + 264.1049263329476 + ], + [ + 650.6094126035457, + 274.10742933923495 + ], + [ + 669.016041756926, + 243.86953415176794 + ], + [ + 691.3764996245109, + 233.67094775791514 + ], + [ + 673.2347078856379, + 219.966281061576 + ], + [ + 651.0379715207681, + 229.80986197894222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 698, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -115.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3759521543979645, + "y": 0.45558592677116394, + "z": 0.9506980180740356 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 860.5688086420562, + "ymin": 303.08266848439183, + "xmax": 912.74087401727, + "ymax": 376.210806269126 + }, + "corners_3d": [ + [ + -116.34452056884766, + 2.8411569595336914, + -0.006555378437042236 + ], + [ + -116.24927520751953, + 3.7473373413085938, + -0.006555378437042236 + ], + [ + -115.5014877319336, + 3.6687417030334473, + -0.006555378437042236 + ], + [ + -115.59673309326172, + 2.762561321258545, + -0.006555378437042236 + ], + [ + -116.34452056884766, + 2.8411569595336914, + 1.8948407173156738 + ], + [ + -116.24927520751953, + 3.7473373413085938, + 1.8948407173156738 + ], + [ + -115.5014877319336, + 3.6687417030334473, + 1.8948407173156738 + ], + [ + -115.59673309326172, + 2.762561321258545, + 1.8948407173156738 + ] + ], + "corners_2d": [ + [ + 877.1168932023785, + 376.210806269126 + ], + [ + 900.3750782003403, + 365.359033950696 + ], + [ + 883.6460881631126, + 350.7163039711569 + ], + [ + 860.5688086420562, + 361.22235695082105 + ], + [ + 888.5177528949163, + 328.3927263052808 + ], + [ + 912.74087401727, + 317.611294528114 + ], + [ + 895.0240220364433, + 303.08266848439183 + ], + [ + 870.9946357708635, + 313.50462030018133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 748, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -117.24694061279297, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.31782224774360657, + "y": 0.3931536376476288, + "z": 0.8657701015472412 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.2266095882196, + "ymin": 409.7956947306367, + "xmax": 717.5099482591727, + "ymax": 479.2957813160141 + }, + "corners_3d": [ + [ + -117.56476593017578, + -4.080916404724121, + 0.0783725380897522 + ], + [ + -117.56476593017578, + -3.294609308242798, + 0.0783725380897522 + ], + [ + -116.92911529541016, + -3.294609308242798, + 0.0783725380897522 + ], + [ + -116.92911529541016, + -4.080916404724121, + 0.0783725380897522 + ], + [ + -117.56476593017578, + -4.080916404724121, + 1.8099126815795898 + ], + [ + -117.56476593017578, + -3.294609308242798, + 1.8099126815795898 + ], + [ + -116.92911529541016, + -3.294609308242798, + 1.8099126815795898 + ], + [ + -116.92911529541016, + -4.080916404724121, + 1.8099126815795898 + ] + ], + "corners_2d": [ + [ + 687.8200090480078, + 479.2957813160141 + ], + [ + 713.9301522877993, + 469.7663022611013 + ], + [ + 703.0165523062196, + 453.46881577184365 + ], + [ + 677.2266095882196, + 462.69529380403765 + ], + [ + 690.1581729734133, + 435.70858758245487 + ], + [ + 717.5099482591727, + 426.14001776083694 + ], + [ + 706.016900564834, + 409.7956947306367 + ], + [ + 679.0160948624201, + 419.04558811784125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 993, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -117.28268432617188, + "y": -14.81512451171875, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.41737306118011475, + "y": 0.3934546113014221, + "z": 0.8862287998199463 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 233.6540478464521, + "ymin": 557.7872804838315, + "xmax": 292.3452293654692, + "ymax": 640.5031806384668 + }, + "corners_3d": [ + [ + -117.65664672851562, + -15.250051498413086, + 0.05791383981704712 + ], + [ + -117.73889923095703, + -14.467453002929688, + 0.05791383981704712 + ], + [ + -116.90872192382812, + -14.380197525024414, + 0.05791383981704712 + ], + [ + -116.82646942138672, + -15.162796020507812, + 0.05791383981704712 + ], + [ + -117.65664672851562, + -15.250051498413086, + 1.830371379852295 + ], + [ + -117.73889923095703, + -14.467453002929688, + 1.830371379852295 + ], + [ + -116.90872192382812, + -14.380197525024414, + 1.830371379852295 + ], + [ + -116.82646942138672, + -15.162796020507812, + 1.830371379852295 + ] + ], + "corners_2d": [ + [ + 257.16266651295695, + 640.5031806384668 + ], + [ + 292.3452293654692, + 630.7132615684336 + ], + [ + 289.802644063783, + 601.1178506219342 + ], + [ + 255.48719568594947, + 610.4219420276693 + ], + [ + 234.82920145558927, + 597.9036451957844 + ], + [ + 272.2403539051653, + 587.9175822747274 + ], + [ + 270.08611953370496, + 557.7872804838315 + ], + [ + 233.6540478464521, + 567.2501385733015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 405, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -103.93820190429688, + "y": -10.756282806396484, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.5074071884155273, + "y": 0.31742551922798157, + "z": 0.9046266078948975 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 306.76613275787696, + "ymin": 202.00018698662615, + "xmax": 339.26081627756963, + "ymax": 266.7238076597604 + }, + "corners_3d": [ + [ + -104.36852264404297, + -11.17226791381836, + 0.19192826747894287 + ], + [ + -104.50051879882812, + -10.551290512084961, + 0.19192826747894287 + ], + [ + -103.50788116455078, + -10.34029769897461, + 0.19192826747894287 + ], + [ + -103.37588500976562, + -10.961275100708008, + 0.19192826747894287 + ], + [ + -104.36852264404297, + -11.17226791381836, + 2.0011816024780273 + ], + [ + -104.50051879882812, + -10.551290512084961, + 2.0011816024780273 + ], + [ + -103.50788116455078, + -10.34029769897461, + 2.0011816024780273 + ], + [ + -103.37588500976562, + -10.961275100708008, + 2.0011816024780273 + ] + ], + "corners_2d": [ + [ + 319.72493966704394, + 266.7238076597604 + ], + [ + 339.2311229928984, + 264.13824428023474 + ], + [ + 339.26081627756963, + 246.31701391609522 + ], + [ + 320.18208340390987, + 248.79069601375022 + ], + [ + 306.76613275787696, + 222.0537119009981 + ], + [ + 327.1015566050829, + 219.5106700764573 + ], + [ + 327.40778562643186, + 202.00018698662615 + ], + [ + 307.53649066011053, + 204.42889338188948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 346, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 327.34081211938343, + "ymin": 0.0, + "xmax": 412.7177827645722, + "ymax": 21.772078892552486 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 381.44022590574116, + -32.80312122321811 + ], + [ + 336.32216253005237, + -25.281488696366807 + ], + [ + 364.06149587679494, + 21.772078892552486 + ], + [ + 412.7177827645722, + 12.85740145649629 + ], + [ + 373.9056770318591, + -73.70296936038244 + ], + [ + 327.34081211938343, + -66.5691501428268 + ], + [ + 355.1476726451342, + -21.80448278373501 + ], + [ + 405.4934739885632, + -30.30371736915339 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 5812, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 749.172815957378, + "ymin": 216.75740057293999, + "xmax": 871.9918423618544, + "ymax": 342.91075000140523 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 813.2474410500951, + 342.91075000140523 + ], + [ + 863.4288668145589, + 326.16668603204437 + ], + [ + 796.4437493060643, + 255.9448813341882 + ], + [ + 749.172815957378, + 270.0961678734726 + ], + [ + 820.0187766385706, + 302.7383302832428 + ], + [ + 871.9918423618544, + 286.1331580030777 + ], + [ + 801.9430941623315, + 216.75740057293999 + ], + [ + 753.0801222399475, + 230.7040537696171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3734, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 493.3604218122704, + "ymin": 43.30689394069725, + "xmax": 581.3341072193386, + "ymax": 140.1072294166584 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 537.9205816016051, + 76.59912708836936 + ], + [ + 497.0889575270012, + 85.27724431604929 + ], + [ + 537.6394846081341, + 140.1072294166584 + ], + [ + 581.3341072193386, + 129.8830764815279 + ], + [ + 535.2945499869577, + 43.30689394069725 + ], + [ + 493.3604218122704, + 51.73967169566242 + ], + [ + 534.7325412195044, + 105.15843683553817 + ], + [ + 579.6933576226971, + 95.17920520091582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3474, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 422.22865705928837, + "ymin": 69.5102911047922, + "xmax": 504.53583193185545, + "ymax": 168.03770432445197 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 474.03560555944466, + 111.68041598980449 + ], + [ + 429.39048610562395, + 121.48680488736409 + ], + [ + 457.28595867329676, + 168.03770432445197 + ], + [ + 504.53583193185545, + 156.83970882007222 + ], + [ + 468.4768966759942, + 69.5102911047922 + ], + [ + 422.22865705928837, + 79.00567790642731 + ], + [ + 450.627490962799, + 124.20885235678438 + ], + [ + 499.67879225744565, + 113.31560706352897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 785.5467900232437, + "ymin": 147.40662751726387, + "xmax": 806.6791276546471, + "ymax": 183.60434667672286 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 785.5467900232437, + 178.48220501066626 + ], + [ + 790.8472216993841, + 183.60434667672286 + ], + [ + 802.8544108011192, + 180.360475538548 + ], + [ + 797.4939351957736, + 175.28326479375718 + ], + [ + 788.9560544034922, + 150.55497917993463 + ], + [ + 794.4060100627914, + 155.59746415673172 + ], + [ + 806.6791276546471, + 152.40384749331542 + ], + [ + 801.1665110738929, + 147.40662751726387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 948.8608301945262, + "ymin": 104.7983732764381, + "xmax": 972.7005188311737, + "ymax": 139.27898062448807 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 948.8608301945262, + 134.75377990978996 + ], + [ + 954.9181972083552, + 139.27898062448807 + ], + [ + 965.524413099376, + 136.41359674306491 + ], + [ + 959.4228345079075, + 131.9257211431478 + ], + [ + 955.6528092210938, + 107.57395075407408 + ], + [ + 961.890035370931, + 112.01622187801178 + ], + [ + 972.7005188311737, + 109.20319995419166 + ], + [ + 966.4175088654055, + 104.7983732764381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 577.4997681685895, + "ymin": 629.397308834382, + "xmax": 607.9214276373839, + "ymax": 680.6876117080176 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 586.3512474561768, + 680.6876117080176 + ], + [ + 607.9214276373839, + 671.6037176620371 + ], + [ + 601.2544425266078, + 657.4943253746335 + ], + [ + 579.8859254301668, + 666.3691418009064 + ], + [ + 584.1956873754823, + 652.9619553159062 + ], + [ + 606.6424168690327, + 643.7283702667714 + ], + [ + 599.7281292517077, + 629.397308834382 + ], + [ + 577.4997681685895, + 638.4100177602656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 430.0445179975322, + "ymin": 353.71608506151233, + "xmax": 452.6618829672449, + "ymax": 389.7481260365748 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 438.2035860661043, + 389.7481260365748 + ], + [ + 452.6618829672449, + 385.32070977894483 + ], + [ + 449.5208156909752, + 378.3590553178397 + ], + [ + 435.15569981129704, + 382.72078288567263 + ], + [ + 433.1296392159385, + 365.0822033852826 + ], + [ + 447.9741776187258, + 360.66288836270695 + ], + [ + 444.7907990671026, + 353.71608506151233 + ], + [ + 430.0445179975322, + 358.06820571000935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 523.6938917841992, + "ymin": 514.1420382164144, + "xmax": 552.8762363565432, + "ymax": 562.5423529860857 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 533.0042076607983, + 562.5423529860857 + ], + [ + 552.8762363565432, + 555.1112759140665 + ], + [ + 547.412455589337, + 543.5482330199168 + ], + [ + 527.7130976781433, + 550.8243584925455 + ], + [ + 529.1322187239919, + 533.2951481785233 + ], + [ + 549.7451615738818, + 525.7990562898921 + ], + [ + 544.1210166536471, + 514.1420382164144 + ], + [ + 523.6938917841992, + 521.4762774260616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 471.6106250940836, + "ymin": 402.41309351336645, + "xmax": 499.2402705922808, + "ymax": 447.58221240282785 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 481.0953793503308, + 447.58221240282785 + ], + [ + 499.2402705922808, + 441.6011637472408 + ], + [ + 494.83489307568095, + 432.2780270698695 + ], + [ + 476.83503385776737, + 438.14700674468645 + ], + [ + 475.95732197587733, + 417.73266055857573 + ], + [ + 494.7170279525062, + 411.74379496711435 + ], + [ + 490.2152582240976, + 402.41309351336645 + ], + [ + 471.6106250940836, + 408.2861790445414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1052.9288469392022, + "ymin": 156.60599965273803, + "xmax": 1076.3896957647016, + "ymax": 186.7695670271097 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1052.9288469392022, + 182.43853862735676 + ], + [ + 1058.9636452312936, + 186.7695670271097 + ], + [ + 1068.0247038297348, + 184.04248448376453 + ], + [ + 1061.9591187927088, + 179.74328723567544 + ], + [ + 1060.9808835825966, + 159.26690111208117 + ], + [ + 1067.1824945575775, + 163.54353020279328 + ], + [ + 1076.3896957647016, + 160.85058610771006 + ], + [ + 1070.1564537587274, + 156.60599965273803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.2867804284941, + "ymin": 127.37330041755706, + "xmax": 884.7559148249366, + "ymax": 162.7714856420985 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 862.2867804284941, + 157.93448101405662 + ], + [ + 867.9600573571079, + 162.7714856420985 + ], + [ + 879.2980199343192, + 159.708413239532 + ], + [ + 873.5724776666543, + 154.912648580479 + ], + [ + 867.3437562948784, + 130.343445881517 + ], + [ + 873.1822523677873, + 135.09891370908537 + ], + [ + 884.7559148249366, + 132.08730390389331 + ], + [ + 878.863064294196, + 127.37330041755706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.1565370159311, + "ymin": 0.840175900027873, + "xmax": 1127.7158745445115, + "ymax": 342.1227457152203 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1042.287231292322, + 245.55494385726018 + ], + [ + 1033.7584951242993, + 238.74245669153936 + ], + [ + 728.1565370159311, + 333.56907842053494 + ], + [ + 734.7657361540521, + 342.1227457152203 + ], + [ + 1127.7158745445115, + 6.613893575844372 + ], + [ + 1116.511448708109, + 0.840175900027873 + ], + [ + 749.4425932666205, + 83.1366702332495 + ], + [ + 757.9227150104726, + 90.76986135900444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 714.1441273052203, + "ymin": 0.0, + "xmax": 806.2664121388046, + "ymax": 19.203134110964697 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 787.4292260618288, + 5.108348094216467 + ], + [ + 782.8084905985936, + 1.7116124665868142 + ], + [ + 714.1441273052203, + 15.632840572605346 + ], + [ + 718.4497765310083, + 19.203134110964697 + ], + [ + 806.2664121388046, + -169.37968493844085 + ], + [ + 800.9298680217285, + -172.00816405467856 + ], + [ + 723.8199907675147, + -161.2094946597574 + ], + [ + 728.7604115885928, + -158.42887499378799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 379.5510431512186, + "ymin": 186.4055368124719, + "xmax": 627.3736044674645, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 452.18192294588596, + 446.0048803180641 + ], + [ + 436.9184814226888, + 450.8718615149862 + ], + [ + 606.7364963440194, + 884.2758174228724 + ], + [ + 627.3736044674645, + 874.3129498860741 + ], + [ + 399.45600210017096, + 186.4055368124719 + ], + [ + 379.5510431512186, + 191.02344000022686 + ], + [ + 591.4066841447059, + 660.0845585057025 + ], + [ + 621.6133922767456, + 647.8414719317401 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00128/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00128/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a684584337eed2affc0c463affbd0ff855bccd9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00128/meta.json @@ -0,0 +1,2478 @@ +{ + "frame_id": 128, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 64.0, + "sim_timestamp": 1684.2489724818151 + }, + "drone_pose": { + "x": -131.51040074846952, + "y": -11.823480025111852, + "z": 20.0, + "pitch": -43.52023184888178, + "yaw": 23.918590551694024, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6628587245941162, + -0.2939959168434143, + 0.6886106729507446, + 76.87666320800781 + ], + [ + 0.4054381847381592, + 0.914122462272644, + 0.0, + -42.511234283447266 + ], + [ + -0.6294745206832886, + 0.2791890799999237, + 0.7251312732696533, + -100.58605194091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -131.12529314247882, + "y": -11.571718211398652, + "z": 20.0 + }, + "t1_image_uv": [ + 855.7486540718235, + -551.6504579401582 + ], + "t1_depth": 0.32928889808917433 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -113.16718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 27.67289020750529, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 618, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -113.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5841357111930847, + "y": 0.37625011801719666, + "z": 0.8879432678222656 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 619.605732980042, + "ymin": 321.1036424321696, + "xmax": 660.8154709541083, + "ymax": 398.57823088612554 + }, + "corners_3d": [ + [ + -113.7513198852539, + -4.0640130043029785, + 0.05620914697647095 + ], + [ + -113.7513198852539, + -3.3115129470825195, + 0.05620914697647095 + ], + [ + -112.58304595947266, + -3.3115129470825195, + 0.05620914697647095 + ], + [ + -112.58304595947266, + -4.0640130043029785, + 0.05620914697647095 + ], + [ + -113.7513198852539, + -4.0640130043029785, + 1.8320956230163574 + ], + [ + -113.7513198852539, + -3.3115129470825195, + 1.8320956230163574 + ], + [ + -112.58304595947266, + -3.3115129470825195, + 1.8320956230163574 + ], + [ + -112.58304595947266, + -4.0640130043029785, + 1.8320956230163574 + ] + ], + "corners_2d": [ + [ + 636.2995490585964, + 398.57823088612554 + ], + [ + 659.9066111027265, + 391.0724184463679 + ], + [ + 643.5724594433465, + 365.70791040494873 + ], + [ + 620.4789553012847, + 372.8137376733558 + ], + [ + 636.1291935316738, + 353.8153802280734 + ], + [ + 660.8154709541083, + 346.3366038367972 + ], + [ + 643.730981140219, + 321.1036424321696 + ], + [ + 619.605732980042, + 328.1663717556516 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 128, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 65, + "semantic_pixel_counts": { + "1": 455454, + "2": 219195, + "3": 132356, + "4": 36216, + "6": 14202, + "7": 3493, + "9": 12665, + "10": 126, + "12": 3991, + "14": 13779, + "20": 3070, + "22": 4552, + "24": 22501 + }, + "instance_pixel_counts": { + "6744": 71, + "7768": 68, + "11605": 83579, + "15701": 17601, + "15967": 7606, + "15970": 1843, + "16213": 236, + "16479": 32595, + "16482": 3475, + "16725": 64, + "17547": 8021, + "18018": 2312, + "18059": 7343, + "19554": 3253, + "20107": 15172, + "20565": 24556, + "21395": 18739, + "21397": 787, + "21643": 15090, + "21907": 147864, + "21909": 9822, + "22421": 366, + "22931": 27072, + "23957": 1157, + "24467": 35727, + "25344": 6900, + "25600": 10691, + "26754": 863, + "29779": 2977, + "29835": 941, + "30859": 7, + "33419": 1432, + "33931": 602, + "34443": 361, + "36096": 618, + "36352": 606, + "36608": 693, + "36864": 691, + "37120": 975, + "37376": 408, + "37632": 471, + "37888": 5996, + "40448": 3787, + "40704": 3525, + "42071": 104, + "45409": 2769, + "45442": 4552, + "45971": 22497, + "46483": 161633, + "46995": 6608, + "48225": 5240, + "49043": 35314, + "49761": 10817, + "51526": 36216, + "53857": 4008, + "56458": 19418, + "56970": 12671, + "57482": 44653, + "58506": 22909, + "59992": 330, + "60307": 1314, + "60819": 6349, + "61254": 14403, + "61331": 608, + "62867": 2098 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 618, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -113.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5172509551048279, + "y": 0.3688053488731384, + "z": 0.8887400031089783 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.766967981111, + "ymin": 322.5586012736626, + "xmax": 659.569210450117, + "ymax": 397.00903949286896 + }, + "corners_3d": [ + [ + -113.68443298339844, + -4.056568145751953, + 0.0554124116897583 + ], + [ + -113.68443298339844, + -3.318957567214966, + 0.0554124116897583 + ], + [ + -112.64993286132812, + -3.318957567214966, + 0.0554124116897583 + ], + [ + -112.64993286132812, + -4.056568145751953, + 0.0554124116897583 + ], + [ + -113.68443298339844, + -4.056568145751953, + 1.8328924179077148 + ], + [ + -113.68443298339844, + -3.318957567214966, + 1.8328924179077148 + ], + [ + -112.64993286132812, + -3.318957567214966, + 1.8328924179077148 + ], + [ + -112.64993286132812, + -4.056568145751953, + 1.8328924179077148 + ] + ], + "corners_2d": [ + [ + 635.605198271128, + 397.00903949286896 + ], + [ + 658.7153007478728, + 389.6750721786114 + ], + [ + 644.2567861148727, + 367.21234957228637 + ], + [ + 621.592410850579, + 374.1991752145816 + ], + [ + 635.403045659732, + 352.21125420754146 + ], + [ + 659.569210450117, + 344.9047928065368 + ], + [ + 644.4461665941151, + 322.5586012736626 + ], + [ + 620.766967981111, + 329.50397111958256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 606, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -109.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5514892339706421, + "y": 0.4477740526199341, + "z": 0.9052647352218628 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 651.4221062294916, + "ymin": 219.01783508491172, + "xmax": 695.1364838501025, + "ymax": 290.0059445145328 + }, + "corners_3d": [ + [ + -109.67373657226562, + -1.0133860111236572, + 0.03888767957687378 + ], + [ + -109.48754119873047, + -0.1374078392982483, + 0.03888767957687378 + ], + [ + -108.40866088867188, + -0.36673086881637573, + 0.03888767957687378 + ], + [ + -108.59485626220703, + -1.2427089214324951, + 0.03888767957687378 + ], + [ + -109.67373657226562, + -1.0133860111236572, + 1.8494172096252441 + ], + [ + -109.48754119873047, + -0.1374078392982483, + 1.8494172096252441 + ], + [ + -108.40866088867188, + -0.36673086881637573, + 1.8494172096252441 + ], + [ + -108.59485626220703, + -1.2427089214324951, + 1.8494172096252441 + ] + ], + "corners_2d": [ + [ + 671.4412574687625, + 290.0059445145328 + ], + [ + 692.9733852532027, + 279.91651351371536 + ], + [ + 672.759315188218, + 263.3059980807167 + ], + [ + 651.4221062294916, + 272.99403396636797 + ], + [ + 672.7413411705326, + 245.31082866275307 + ], + [ + 695.1364838501025, + 235.36707382388568 + ], + [ + 674.0692101974636, + 219.01783508491172 + ], + [ + 651.8844731035296, + 228.55024177901234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 693, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -115.76744842529297, + "y": 3.3026626110076904, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.565478503704071, + "y": 0.4607488811016083, + "z": 0.942542314529419 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 865.1018485798863, + "ymin": 308.5496567041948, + "xmax": 927.1432027400252, + "ymax": 389.4969674300145 + }, + "corners_3d": [ + [ + -116.37799072265625, + 2.9035463333129883, + 0.001610100269317627 + ], + [ + -116.28166961669922, + 3.8199961185455322, + 0.001610100269317627 + ], + [ + -115.15690612792969, + 3.7017788887023926, + 0.001610100269317627 + ], + [ + -115.25322723388672, + 2.7853291034698486, + 0.001610100269317627 + ], + [ + -116.37799072265625, + 2.9035463333129883, + 1.8866946697235107 + ], + [ + -116.28166961669922, + 3.8199961185455322, + 1.8866946697235107 + ], + [ + -115.15690612792969, + 3.7017788887023926, + 1.8866946697235107 + ], + [ + -115.25322723388672, + 2.7853291034698486, + 1.8866946697235107 + ] + ], + "corners_2d": [ + [ + 890.0393169251065, + 389.4969674300145 + ], + [ + 914.0484832521795, + 378.4775228345985 + ], + [ + 888.810946397444, + 355.8167942729603 + ], + [ + 865.1018485798863, + 366.3028189625987 + ], + [ + 902.1352108398455, + 342.019979978638 + ], + [ + 927.1432027400252, + 331.05644575923543 + ], + [ + 900.3966190282033, + 308.5496567041948 + ], + [ + 875.7103535927668, + 318.957937694402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 691, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -116.74694061279297, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.41078120470046997, + "y": 0.39007991552352905, + "z": 0.8899953961372375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.1809321334364, + "ymin": 407.4953906792694, + "xmax": 717.2748791411652, + "ymax": 482.83873153814596 + }, + "corners_3d": [ + [ + -117.15772247314453, + -4.077842712402344, + 0.05414724349975586 + ], + [ + -117.15772247314453, + -3.297683000564575, + 0.05414724349975586 + ], + [ + -116.3361587524414, + -3.297683000564575, + 0.05414724349975586 + ], + [ + -116.3361587524414, + -4.077842712402344, + 0.05414724349975586 + ], + [ + -117.15772247314453, + -4.077842712402344, + 1.834138035774231 + ], + [ + -117.15772247314453, + -3.297683000564575, + 1.834138035774231 + ], + [ + -116.3361587524414, + -3.297683000564575, + 1.834138035774231 + ], + [ + -116.3361587524414, + -4.077842712402344, + 1.834138035774231 + ] + ], + "corners_2d": [ + [ + 687.4374173664437, + 482.83873153814596 + ], + [ + 713.597286308767, + 473.62608127860057 + ], + [ + 699.9147302003472, + 452.39608553297927 + ], + [ + 674.1809321334364, + 461.22951688464445 + ], + [ + 689.8301978522791, + 438.04353111632594 + ], + [ + 717.2748791411652, + 428.78939051643516 + ], + [ + 702.8435938116054, + 407.4953906792694 + ], + [ + 675.8672537220439, + 416.3501032295929 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 975, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -116.78268432617188, + "y": -14.81512451171875, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.568540096282959, + "y": 0.34135621786117554, + "z": 0.8792593479156494 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 233.03858716660926, + "ymin": 548.7741914883611, + "xmax": 286.63850042030015, + "ymax": 640.2969522690471 + }, + "corners_3d": [ + [ + -117.31243133544922, + -15.21403980255127, + 0.064883291721344 + ], + [ + -117.3837890625, + -14.535066604614258, + 0.064883291721344 + ], + [ + -116.25293731689453, + -14.41620922088623, + 0.064883291721344 + ], + [ + -116.18157958984375, + -15.095182418823242, + 0.064883291721344 + ], + [ + -117.31243133544922, + -15.21403980255127, + 1.823401927947998 + ], + [ + -117.3837890625, + -14.535066604614258, + 1.823401927947998 + ], + [ + -116.25293731689453, + -14.41620922088623, + 1.823401927947998 + ], + [ + -116.18157958984375, + -15.095182418823242, + 1.823401927947998 + ] + ], + "corners_2d": [ + [ + 256.0434696700225, + 640.2969522690471 + ], + [ + 286.63850042030015, + 632.1535309036211 + ], + [ + 284.0984680533346, + 591.9114531325806 + ], + [ + 254.53351540037187, + 599.5088554864527 + ], + [ + 233.83022326110347, + 598.0281794063775 + ], + [ + 266.34297562871166, + 589.7224037570292 + ], + [ + 264.3904168702943, + 548.7741914883611 + ], + [ + 233.03858716660926, + 556.4926818187681 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 408, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -103.43629455566406, + "y": -10.75766372680664, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.4447900354862213, + "y": 0.31109678745269775, + "z": 0.8953857421875 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 310.6897494130256, + "ymin": 200.77720295883697, + "xmax": 342.66818712107226, + "ymax": 262.5264703983958 + }, + "corners_3d": [ + [ + -103.80668640136719, + -11.154439926147461, + 0.20116913318634033 + ], + [ + -103.93604278564453, + -10.545842170715332, + 0.20116913318634033 + ], + [ + -103.06590270996094, + -10.36088752746582, + 0.20116913318634033 + ], + [ + -102.9365463256836, + -10.96948528289795, + 0.20116913318634033 + ], + [ + -103.80668640136719, + -11.154439926147461, + 1.9919406175613403 + ], + [ + -103.93604278564453, + -10.545842170715332, + 1.9919406175613403 + ], + [ + -103.06590270996094, + -10.36088752746582, + 1.9919406175613403 + ], + [ + -102.9365463256836, + -10.96948528289795, + 1.9919406175613403 + ] + ], + "corners_2d": [ + [ + 323.30348748060504, + 262.5264703983958 + ], + [ + 342.3183719967999, + 260.17677213116906 + ], + [ + 342.66818712107226, + 244.61131195585904 + ], + [ + 324.0199098731115, + 246.871645331945 + ], + [ + 310.6897494130256, + 218.38039836056896 + ], + [ + 330.4975557916652, + 216.0698583974993 + ], + [ + 331.09645075649604, + 200.77720295883697 + ], + [ + 311.68613747116865, + 202.99647676703506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 471, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 338.91455084318227, + "ymin": 0.0, + "xmax": 423.44677341363695, + "ymax": 24.26439272175395 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 392.851183214004, + -30.78809485311109 + ], + [ + 347.5908545196919, + -23.449912681270746 + ], + [ + 374.56789688888995, + 24.26439272175395 + ], + [ + 423.44677341363695, + 15.551494094194993 + ], + [ + 385.62269511743915, + -71.78438755648716 + ], + [ + 338.91455084318227, + -64.82318338946965 + ], + [ + 365.957517204683, + -19.4197068695525 + ], + [ + 416.53165106163885, + -27.72883982929278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 5996, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 758.8605715047536, + "ymin": 226.29848439843303, + "xmax": 883.240870239405, + "ymax": 354.7731262540499 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 823.0045844559827, + 354.7731262540499 + ], + [ + 874.1422038510925, + 338.11427766058137 + ], + [ + 806.9147755251015, + 265.6258117860342 + ], + [ + 758.8605715047536, + 279.6595873472465 + ], + [ + 830.2544859598786, + 314.5177436232833 + ], + [ + 883.240870239405, + 297.9801290163132 + ], + [ + 812.8537817207005, + 226.29848439843303 + ], + [ + 763.1650086847526, + 240.1407207394265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3787, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 503.5133397113392, + "ymin": 47.535016389786165, + "xmax": 591.1255950821177, + "ymax": 145.4285926923585 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 548.1773406458776, + 80.94658268390509 + ], + [ + 507.00564727811013, + 89.46574928734498 + ], + [ + 546.9889066355022, + 145.4285926923585 + ], + [ + 591.1255950821177, + 135.36891161717776 + ], + [ + 545.7990329617576, + 47.535016389786165 + ], + [ + 503.5133397113392, + 55.816120394360496 + ], + [ + 544.3272261612481, + 110.35912037491693 + ], + [ + 589.7477186031504, + 100.53619703207346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3525, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 431.5674565787931, + "ymin": 73.78242664822676, + "xmax": 513.4383303561723, + "ymax": 173.18419191255185 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 483.4484101248543, + 116.08869550356974 + ], + [ + 438.46349123076885, + 125.71021356321 + ], + [ + 465.7629807361621, + 173.18419191255185 + ], + [ + 513.4383303561723, + 162.1776879586629 + ], + [ + 478.17029304426245, + 73.78242664822676 + ], + [ + 431.5674565787931, + 83.10271323428549 + ], + [ + 459.36787290163164, + 129.22332853628185 + ], + [ + 508.8661602944303, + 118.51085790185061 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 796.4049853197614, + "ymin": 157.81290308332842, + "xmax": 818.116776380339, + "ymax": 194.3455078971335 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 796.4049853197614, + 189.0404071858375 + ], + [ + 801.7308281791941, + 194.3455078971335 + ], + [ + 813.9705080456921, + 191.11132291685593 + ], + [ + 808.580926229799, + 185.85195922706475 + ], + [ + 800.12197150452, + 160.95302271280337 + ], + [ + 805.602571746618, + 166.17913636520063 + ], + [ + 818.116776380339, + 162.99289309646187 + ], + [ + 812.5696211808086, + 157.81290308332842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.0070282227505, + "ymin": 115.26888268124443, + "xmax": 987.5869272790601, + "ymax": 150.1099832723616 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 963.0070282227505, + 145.41340132084355 + ], + [ + 969.1395589719382, + 150.1099832723616 + ], + [ + 979.9735022105696, + 147.24724620553943 + ], + [ + 973.7936084155815, + 142.58877705943667 + ], + [ + 970.2210992649461, + 118.04295443062415 + ], + [ + 976.5412371734252, + 122.65659300317381 + ], + [ + 987.5869272790601, + 119.84424769004372 + ], + [ + 981.2177072408128, + 115.26888268124443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.0030024002698, + "ymin": 654.9540409992867, + "xmax": 608.9423367649617, + "ymax": 706.625258974254 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 586.79217701517, + 706.625258974254 + ], + [ + 608.9423367649617, + 697.4515479745829 + ], + [ + 602.3522538589514, + 682.6497459844454 + ], + [ + 580.4186556992677, + 691.6065495516161 + ], + [ + 584.6078007268854, + 679.3537791916076 + ], + [ + 607.6769803788496, + 670.0132402335764 + ], + [ + 600.8373107029037, + 654.9540409992867 + ], + [ + 578.0030024002698, + 664.0648627406104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 434.3123055734534, + "ymin": 364.3490649093444, + "xmax": 456.99973048198706, + "ymax": 400.56953850364476 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 442.33496254242476, + 400.56953850364476 + ], + [ + 456.99973048198706, + 396.1818987202914 + ], + [ + 453.94296782641135, + 389.01364423221054 + ], + [ + 439.3755732600605, + 393.33501810971484 + ], + [ + 437.30722011088227, + 375.8881840205504 + ], + [ + 452.36698728706017, + 371.50607475271306 + ], + [ + 449.2693576341337, + 364.3490649093444 + ], + [ + 434.3123055734534, + 368.6633319225148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 525.0945377572432, + "ymin": 534.21828278253, + "xmax": 554.6584551688029, + "ymax": 582.9910283988866 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 534.3251990849959, + 582.9910283988866 + ], + [ + 554.6584551688029, + 575.5261632873335 + ], + [ + 549.2858912548024, + 563.4589954357556 + ], + [ + 529.1365450940921, + 570.7643655649252 + ], + [ + 530.4288495479932, + 553.9394250171639 + ], + [ + 551.5332758018067, + 546.3993301895429 + ], + [ + 546.0008215817194, + 534.21828278253 + ], + [ + 525.0945377572432, + 541.5914540764321 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 474.1582104813667, + "ymin": 417.81037115979524, + "xmax": 502.03959478355887, + "ymax": 463.31789203387575 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 483.539211565418, + 463.31789203387575 + ], + [ + 502.03959478355887, + 457.34050866291517 + ], + [ + 497.72976696585295, + 447.6603219524765 + ], + [ + 479.3826308780435, + 453.5232291090655 + ], + [ + 478.3987728759024, + 433.4992965598254 + ], + [ + 497.53454197302636, + 427.5080666992681 + ], + [ + 493.1299905218354, + 417.81037115979524 + ], + [ + 474.1582104813667, + 423.68315719178446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1068.447152373823, + "ymin": 167.74533022932087, + "xmax": 1092.6429908216269, + "ymax": 198.20675639963503 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1068.447152373823, + 193.7131530556722 + ], + [ + 1074.5701013863074, + 198.20675639963503 + ], + [ + 1083.8334857776013, + 195.48313581689501 + ], + [ + 1077.677332216757, + 191.0220192907362 + ], + [ + 1076.9307137321439, + 170.40373532019234 + ], + [ + 1083.227811135096, + 174.8435362912321 + ], + [ + 1092.6429908216269, + 172.15239935957544 + ], + [ + 1086.3117507369152, + 167.74533022932087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6468485926614, + "ymin": 137.82072521359345, + "xmax": 897.7719291126037, + "ymax": 173.56630226790514 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 874.6468485926614, + 168.55163255344823 + ], + [ + 880.3691331409776, + 173.56630226790514 + ], + [ + 891.937854200879, + 170.50940990625395 + ], + [ + 886.1598642310174, + 165.53678125919032 + ], + [ + 880.0654482524632, + 140.78599623688336 + ], + [ + 885.9594230092426, + 145.71946801818785 + ], + [ + 897.7719291126037, + 142.7118843034905 + ], + [ + 891.8199860562773, + 137.82072521359345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 736.8228589422891, + "ymin": 10.535634115306266, + "xmax": 1146.9337311829674, + "ymax": 353.1881540622227 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1056.8608348336843, + 257.19653048920526 + ], + [ + 1048.2260369999485, + 250.14186032048065 + ], + [ + 736.8228589422891, + 344.3687937211347 + ], + [ + 743.417312740077, + 353.1881540622227 + ], + [ + 1146.9337311829674, + 16.55090259599018 + ], + [ + 1135.4993701817846, + 10.535634115306266 + ], + [ + 760.5510685647974, + 92.79520237286499 + ], + [ + 769.0729588165902, + 100.71197308762953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.4611058448988, + "ymin": 0.0, + "xmax": 821.2846432376643, + "ymax": 23.928398017255915 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 800.5698968925919, + 10.045278322609931 + ], + [ + 795.939710415474, + 6.567207808499575 + ], + [ + 726.4611058448988, + 20.2768305492217 + ], + [ + 730.7621360353138, + 23.928398017255915 + ], + [ + 821.2846432376643, + -165.51717845648727 + ], + [ + 815.9166003132993, + -168.21444949347983 + ], + [ + 737.845180454065, + -157.55748606502357 + ], + [ + 742.7989323662204, + -154.70764200522103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 383.90181736937853, + "ymin": 196.40393159569942, + "xmax": 627.6384631775747, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 456.35422043962456, + 456.52000794838995 + ], + [ + 440.8898876042239, + 461.32958473010854 + ], + [ + 606.5059357057894, + 909.8453974971605 + ], + [ + 627.6384631775747, + 899.8548744456 + ], + [ + 404.1128101432053, + 196.40393159569942 + ], + [ + 383.90181736937853, + 200.99400093661035 + ], + [ + 590.66776900784, + 691.8223575009986 + ], + [ + 621.8517891775266, + 679.3431133328672 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00129/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00129/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce12c05a95832df193fd2742afdc28178a5a87a8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00129/meta.json @@ -0,0 +1,2478 @@ +{ + "frame_id": 129, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 64.5, + "sim_timestamp": 1697.9694248537999 + }, + "drone_pose": { + "x": -131.12529314247882, + "y": -11.571718211398652, + "z": 20.0, + "pitch": -43.5132969447838, + "yaw": 23.12863042098878, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6669257283210754, + -0.28486189246177673, + 0.6885229349136353, + 76.97671508789062 + ], + [ + 0.39279666543006897, + 0.9196253418922424, + -1.4901161193847656e-08, + -40.863929748535156 + ], + [ + -0.6331831216812134, + 0.27044951915740967, + 0.7252146005630493, + -100.66017150878906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -130.73422064333676, + "y": -11.331519418696354, + "z": 20.0 + }, + "t1_image_uv": [ + 836.1782071184147, + -551.4295018927199 + ], + "t1_depth": 0.3292397925263408 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -112.66718292236328, + "y": -3.687763214111328, + "z": 0.9441573762892586 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.676410847449432, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 608, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -112.66718292236328, + "y": -3.687762975692749, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.35032710433006287, + "y": 0.38266780972480774, + "z": 0.8657951354980469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.7260266274882, + "ymin": 326.63113230899427, + "xmax": 657.4337276092923, + "ymax": 392.7632040864146 + }, + "corners_3d": [ + [ + -113.01750946044922, + -4.070430755615234, + 0.07836216688156128 + ], + [ + -113.01750946044922, + -3.3050951957702637, + 0.07836216688156128 + ], + [ + -112.31685638427734, + -3.3050951957702637, + 0.07836216688156128 + ], + [ + -112.31685638427734, + -4.070430755615234, + 0.07836216688156128 + ], + [ + -113.01750946044922, + -4.070430755615234, + 1.8099524974822998 + ], + [ + -113.01750946044922, + -3.3050951957702637, + 1.8099524974822998 + ], + [ + -112.31685638427734, + -3.3050951957702637, + 1.8099524974822998 + ], + [ + -112.31685638427734, + -4.070430755615234, + 1.8099524974822998 + ] + ], + "corners_2d": [ + [ + 632.6339998302274, + 392.7632040864146 + ], + [ + 656.6953001260018, + 385.45011343654113 + ], + [ + 647.1896082025746, + 370.15094567808256 + ], + [ + 623.4512650434333, + 377.2262402601266 + ], + [ + 632.3055476397162, + 349.1362446564341 + ], + [ + 657.4337276092923, + 341.8525494250236 + ], + [ + 647.5021835660849, + 326.63113230899427 + ], + [ + 622.7260266274882, + 333.66773818889305 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 129, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 65, + "semantic_pixel_counts": { + "1": 442912, + "2": 224172, + "3": 140229, + "4": 36292, + "6": 14412, + "7": 3498, + "9": 12844, + "10": 120, + "12": 4042, + "14": 14205, + "20": 3005, + "22": 3846, + "24": 22023 + }, + "instance_pixel_counts": { + "6744": 73, + "7768": 58, + "11605": 86074, + "15701": 18901, + "15967": 8365, + "15970": 1957, + "16213": 241, + "16479": 32606, + "16482": 3607, + "16725": 68, + "17547": 8637, + "18018": 2050, + "18059": 7671, + "19554": 3351, + "20107": 14179, + "20565": 26259, + "21395": 19340, + "21397": 817, + "21643": 15653, + "21907": 141713, + "21909": 9531, + "22421": 142, + "22931": 22567, + "23957": 1186, + "24467": 36677, + "25344": 7150, + "25600": 10618, + "26754": 898, + "29779": 3880, + "29835": 1440, + "30859": 97, + "33419": 1854, + "33931": 870, + "34443": 545, + "36096": 608, + "36352": 559, + "36608": 749, + "36864": 708, + "37120": 971, + "37376": 447, + "37632": 614, + "37888": 6173, + "40448": 3862, + "40704": 3556, + "42071": 142, + "45409": 2803, + "45442": 3846, + "45971": 23666, + "46483": 157617, + "46995": 4847, + "48225": 5417, + "49043": 36485, + "49761": 11314, + "51526": 36292, + "53857": 4119, + "56458": 20085, + "56970": 13039, + "57482": 45409, + "58506": 23910, + "59992": 206, + "60307": 1373, + "60819": 6311, + "61254": 14614, + "61331": 493, + "62867": 2170 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 608, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -112.66718292236328, + "y": -3.687762975692749, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.29389646649360657, + "y": 0.4036582410335541, + "z": 0.8760757446289062 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.7949291449521, + "ymin": 327.3760821439721, + "xmax": 657.3083752121411, + "ymax": 391.94223849434076 + }, + "corners_3d": [ + [ + -112.9610824584961, + -4.091421127319336, + 0.0680815577507019 + ], + [ + -112.9610824584961, + -3.284104824066162, + 0.0680815577507019 + ], + [ + -112.37328338623047, + -3.284104824066162, + 0.0680815577507019 + ], + [ + -112.37328338623047, + -4.091421127319336, + 0.0680815577507019 + ], + [ + -112.9610824584961, + -4.091421127319336, + 1.8202331066131592 + ], + [ + -112.9610824584961, + -3.284104824066162, + 1.8202331066131592 + ], + [ + -112.37328338623047, + -3.284104824066162, + 1.8202331066131592 + ], + [ + -112.37328338623047, + -4.091421127319336, + 1.8202331066131592 + ] + ], + "corners_2d": [ + [ + 631.2208580714935, + 391.94223849434076 + ], + [ + 656.5678855287983, + 384.24856753739164 + ], + [ + 648.5881653880851, + 371.4190754013925 + ], + [ + 623.5267935474392, + 378.90236651634063 + ], + [ + 630.825108874658, + 347.8007736846752 + ], + [ + 657.3083752121411, + 340.1393252566455 + ], + [ + 648.9665123567596, + 327.3760821439721 + ], + [ + 622.7949291449521, + 334.8188303282207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 559, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -108.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4376269578933716, + "y": 0.4430297613143921, + "z": 0.8564926981925964 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 655.6843692441371, + "ymin": 222.29606438426688, + "xmax": 694.8780000126122, + "ymax": 287.2953142354364 + }, + "corners_3d": [ + [ + -109.06137084960938, + -1.0324187278747559, + 0.08764517307281494 + ], + [ + -108.87715148925781, + -0.16572189331054688, + 0.08764517307281494 + ], + [ + -108.02102661132812, + -0.3476981222629547, + 0.08764517307281494 + ], + [ + -108.20524597167969, + -1.2143949270248413, + 0.08764517307281494 + ], + [ + -109.06137084960938, + -1.0324187278747559, + 1.8006305694580078 + ], + [ + -108.87715148925781, + -0.16572189331054688, + 1.8006305694580078 + ], + [ + -108.02102661132812, + -0.3476981222629547, + 1.8006305694580078 + ], + [ + -108.20524597167969, + -1.2143949270248413, + 1.8006305694580078 + ] + ], + "corners_2d": [ + [ + 671.3277449796716, + 287.2953142354364 + ], + [ + 692.8424454034181, + 277.5422841142087 + ], + [ + 677.0324382881251, + 264.2255385676977 + ], + [ + 655.6843692441371, + 273.665952378867 + ], + [ + 672.5492790939146, + 245.0332147574366 + ], + [ + 694.8780000126122, + 235.4148577853558 + ], + [ + 678.4351882640025, + 222.29606438426688 + ], + [ + 656.2856165341619, + 231.5944724465872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 749, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -115.75389099121094, + "y": 3.3920059204101562, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5017236471176147, + "y": 0.4517066776752472, + "z": 0.936216413974762 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 879.155725048715, + "ymin": 321.8209812640057, + "xmax": 939.1813354459462, + "ymax": 400.46383568019206 + }, + "corners_3d": [ + [ + -116.30007934570312, + 2.995218276977539, + 0.007931113243103027 + ], + [ + -116.20565032958984, + 3.8936824798583984, + 0.007931113243103027 + ], + [ + -115.20770263671875, + 3.7887935638427734, + 0.007931113243103027 + ], + [ + -115.30213165283203, + 2.890329360961914, + 0.007931113243103027 + ], + [ + -116.30007934570312, + 2.995218276977539, + 1.880363941192627 + ], + [ + -116.20565032958984, + 3.8936824798583984, + 1.880363941192627 + ], + [ + -115.20770263671875, + 3.7887935638427734, + 1.880363941192627 + ], + [ + -115.30213165283203, + 2.890329360961914, + 1.880363941192627 + ] + ], + "corners_2d": [ + [ + 901.490084817127, + 400.46383568019206 + ], + [ + 925.4652067967581, + 389.66850022295966 + ], + [ + 902.8485561351001, + 368.86499521750994 + ], + [ + 879.155725048715, + 379.18571480174535 + ], + [ + 914.2053804315044, + 353.2625279533826 + ], + [ + 939.1813354459462, + 342.50952084558276 + ], + [ + 915.1857077379875, + 321.8209812640057 + ], + [ + 890.5126844250016, + 332.07917570709947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 708, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -116.24694061279297, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5042772889137268, + "y": 0.4052850008010864, + "z": 0.9037238359451294 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.6869487557157, + "ymin": 405.1879383845415, + "xmax": 717.633957569389, + "ymax": 486.35458474015576 + }, + "corners_3d": [ + [ + -116.751220703125, + -4.093048095703125, + 0.040418803691864014 + ], + [ + -116.751220703125, + -3.282477855682373, + 0.040418803691864014 + ], + [ + -115.74266052246094, + -3.282477855682373, + 0.040418803691864014 + ], + [ + -115.74266052246094, + -4.093048095703125, + 0.040418803691864014 + ], + [ + -116.751220703125, + -4.093048095703125, + 1.8478665351867676 + ], + [ + -116.751220703125, + -3.282477855682373, + 1.8478665351867676 + ], + [ + -115.74266052246094, + -3.282477855682373, + 1.8478665351867676 + ], + [ + -115.74266052246094, + -4.093048095703125, + 1.8478665351867676 + ] + ], + "corners_2d": [ + [ + 686.4356693718007, + 486.35458474015576 + ], + [ + 713.873283134521, + 477.0271567351841 + ], + [ + 697.5624448448176, + 450.7867477336405 + ], + [ + 670.6869487557157, + 459.6422319523096 + ], + [ + 688.8221154034901, + 440.8822649068289 + ], + [ + 717.633957569389, + 431.50950774560374 + ], + [ + 700.4143120011069, + 405.1879383845415 + ], + [ + 672.2214048203984, + 414.0631748101788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 971, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -116.28268432617188, + "y": -14.81512451171875, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.30888187885284424, + "y": 0.38871949911117554, + "z": 0.865432620048523 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 226.2248891330397, + "ymin": 549.3504329640367, + "xmax": 283.00702569680556, + "ymax": 622.6348786424528 + }, + "corners_3d": [ + [ + -116.54924011230469, + -15.234001159667969, + 0.23110270500183105 + ], + [ + -116.63050842285156, + -14.460821151733398, + 0.23110270500183105 + ], + [ + -116.01612854003906, + -14.396247863769531, + 0.23110270500183105 + ], + [ + -115.93486022949219, + -15.169427871704102, + 0.23110270500183105 + ], + [ + -116.54924011230469, + -15.234001159667969, + 1.961967945098877 + ], + [ + -116.63050842285156, + -14.460821151733398, + 1.961967945098877 + ], + [ + -116.01612854003906, + -14.396247863769531, + 1.961967945098877 + ], + [ + -115.93486022949219, + -15.169427871704102, + 1.961967945098877 + ] + ], + "corners_2d": [ + [ + 248.3482336384999, + 622.6348786424528 + ], + [ + 283.00702569680556, + 613.9530517942853 + ], + [ + 282.05339311110845, + 592.1491885023507 + ], + [ + 248.04082316858296, + 600.5080220083624 + ], + [ + 226.2248891330397, + 580.3527930205398 + ], + [ + 262.99893752789023, + 571.5145689399951 + ], + [ + 262.3878225386289, + 549.3504329640367 + ], + [ + 226.34048772633668, + 557.841891711246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 447, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -102.93441772460938, + "y": -10.759026527404785, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.49564939737319946, + "y": 0.31156980991363525, + "z": 0.8946325778961182 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 314.1026166446781, + "ymin": 197.5561357040062, + "xmax": 346.2584564762726, + "ymax": 260.7605626910781 + }, + "corners_3d": [ + [ + -103.35445404052734, + -11.166839599609375, + 0.20192229747772217 + ], + [ + -103.48401641845703, + -10.557316780090332, + 0.20192229747772217 + ], + [ + -102.5143814086914, + -10.351213455200195, + 0.20192229747772217 + ], + [ + -102.38481903076172, + -10.960736274719238, + 0.20192229747772217 + ], + [ + -103.35445404052734, + -11.166839599609375, + 1.9911874532699585 + ], + [ + -103.48401641845703, + -10.557316780090332, + 1.9911874532699585 + ], + [ + -102.5143814086914, + -10.351213455200195, + 1.9911874532699585 + ], + [ + -102.38481903076172, + -10.960736274719238, + 1.9911874532699585 + ] + ], + "corners_2d": [ + [ + 326.54500982934877, + 260.7605626910781 + ], + [ + 345.53143905339977, + 258.5710973098172 + ], + [ + 346.2584564762726, + 241.28873884686902 + ], + [ + 327.6801207508745, + 243.38565014358397 + ], + [ + 314.1026166446781, + 216.68402085858784 + ], + [ + 333.8754571412157, + 214.531412428027 + ], + [ + 334.888935050859, + 197.5561357040062 + ], + [ + 315.5582906209299, + 199.61426071532907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 614, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 349.9389515749647, + "ymin": 0.0, + "xmax": 433.69353107737663, + "ymax": 26.96678208338892 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 403.7436433349661, + -28.583799851620995 + ], + [ + 358.3260926859929, + -21.419757878387372 + ], + [ + 384.5774835850962, + 26.96678208338892 + ], + [ + 433.69353107737663, + 18.445482912552677 + ], + [ + 396.80673806538385, + -69.68272412048708 + ], + [ + 349.9389515749647, + -62.885271455874204 + ], + [ + 376.25505015070667, + -16.83103614134575 + ], + [ + 427.07365788188395, + -24.959801255033994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 6173, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 768.2785667000906, + "ymin": 236.14734061068606, + "xmax": 894.2865633035722, + "ymax": 367.0123149500949 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 832.5389986427399, + 367.0123149500949 + ], + [ + 884.6455533633416, + 350.4293297034042 + ], + [ + 817.1261926063444, + 275.6100689422004 + ], + [ + 768.2785667000906, + 289.5345947563409 + ], + [ + 840.2717102120713, + 326.6839891339385 + ], + [ + 894.2865633035722, + 310.2043460802109 + ], + [ + 823.5064496875507, + 236.14734061068606 + ], + [ + 772.979933342115, + 249.89342719761464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3862, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 513.2392423687559, + "ymin": 51.96960474568732, + "xmax": 600.5438024417518, + "ymax": 150.98784863830372 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 558.0248263803256, + 85.5032491225416 + ], + [ + 516.503820663044, + 93.87127580595421 + ], + [ + 555.9557665321689, + 150.98784863830372 + ], + [ + 600.5438024417518, + 141.08429747782017 + ], + [ + 555.8866749699364, + 51.96960474568732 + ], + [ + 513.2392423687559, + 60.10662585784422 + ], + [ + 553.5317706919633, + 115.7957921341245 + ], + [ + 599.4223113950237, + 106.12103000065909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3556, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 440.46763888762825, + "ymin": 78.28189011328874, + "xmax": 521.9543499415671, + "ymax": 178.58973900460313 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 492.4464439528446, + 120.72787807121401 + ], + [ + 447.1104765122199, + 130.17400056367822 + ], + [ + 473.842216522972, + 178.58973900460313 + ], + [ + 521.9543499415671, + 167.764655733254 + ], + [ + 487.437725645205, + 78.28189011328874 + ], + [ + 440.46763888762825, + 87.43626836662116 + ], + [ + 467.69849005223034, + 134.49419189887914 + ], + [ + 517.656661177691, + 123.95267560781895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 807.0308514065109, + "ymin": 168.6043709468308, + "xmax": 829.3357845847494, + "ymax": 205.4785720459338 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 807.0308514065109, + 199.98381427908163 + ], + [ + 812.3868316689934, + 205.4785720459338 + ], + [ + 824.8636167596754, + 202.2519154271152 + ], + [ + 819.4401140039186, + 196.80373639317972 + ], + [ + 811.0591606745014, + 171.73840224763737 + ], + [ + 816.5754524912825, + 177.155105543445 + ], + [ + 829.3357845847494, + 173.97405285667386 + ], + [ + 823.7489447187055, + 168.6043709468308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.9824979302077, + "ymin": 126.09763189614995, + "xmax": 1002.3225988431141, + "ymax": 161.3052733631918 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 976.9824979302077, + 156.43108301356807 + ], + [ + 983.196143180029, + 161.3052733631918 + ], + [ + 994.2618816854927, + 158.44353076445668 + ], + [ + 987.9976416066155, + 153.60827035339844 + ], + [ + 984.6278174738978, + 128.87184199774964 + ], + [ + 991.037275190861, + 133.66329155025795 + ], + [ + 1002.3225988431141, + 130.84994640041418 + ], + [ + 995.8606721226015, + 126.09763189614995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.1731442375209, + "ymin": 681.8093599471188, + "xmax": 609.666827316202, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 586.9163130035477, + 733.8546236041502 + ], + [ + 609.666827316202, + 724.5784931205856 + ], + [ + 603.1513085321857, + 709.0407387836673 + ], + [ + 580.6330283321557, + 718.0915354554855 + ], + [ + 584.688321324816, + 707.1061331264918 + ], + [ + 608.4032755476535, + 697.6446885934499 + ], + [ + 601.6358074884664, + 681.8093599471188 + ], + [ + 578.1731442375209, + 691.0315417287254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 438.2246680551208, + "ymin": 375.4514877185768, + "xmax": 460.99807818249974, + "ymax": 411.8662334591077 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 446.12164759324526, + 411.8662334591077 + ], + [ + 460.99807818249974, + 407.5145427724933 + ], + [ + 458.0234399589495, + 400.13237367184234 + ], + [ + 443.248652664165, + 404.41717195682065 + ], + [ + 441.1314500119713, + 387.1751857113819 + ], + [ + 456.41212888572113, + 382.82640617019587 + ], + [ + 453.398084348671, + 375.4514877185768 + ], + [ + 438.2246680551208, + 379.73172335051225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 526.1500133611, + "ymin": 555.2565851509261, + "xmax": 556.1253307893506, + "ymax": 604.4037563605227 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 535.3161703069273, + 604.4037563605227 + ], + [ + 556.1253307893506, + 596.89661250566 + ], + [ + 550.8420689933399, + 584.2974570445563 + ], + [ + 530.2285399333709, + 591.6402448043193 + ], + [ + 531.3816107214856, + 575.5851357384465 + ], + [ + 552.9941265656855, + 567.9919004266875 + ], + [ + 547.551496980172, + 555.2565851509261 + ], + [ + 526.1500133611, + 562.6774587426105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 476.3455843519145, + "ymin": 433.91893998954754, + "xmax": 504.5031996889413, + "ymax": 479.77151352049333 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 485.63678025736556, + 479.77151352049333 + ], + [ + 504.5031996889413, + 473.79187001657414 + ], + [ + 500.2870305996636, + 463.7374418151859 + ], + [ + 481.58235576246375, + 469.60003940591764 + ], + [ + 480.48150379161746, + 450.0018046109254 + ], + [ + 500.0051174319456, + 444.0020119024764 + ], + [ + 495.69596471697446, + 433.91893998954754 + ], + [ + 476.3455843519145, + 439.7974414263204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1083.8105400641139, + "ymin": 179.21855398893368, + "xmax": 1108.759928772164, + "ymax": 209.98108090043274 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1083.8105400641139, + 205.31958679540034 + ], + [ + 1090.0271833717031, + 209.98108090043274 + ], + [ + 1099.4957621632138, + 207.25966113146754 + ], + [ + 1093.2434402839094, + 202.6313282545093 + ], + [ + 1092.7351263879914, + 181.87572474947387 + ], + [ + 1099.1336527466399, + 186.4842120133156 + ], + [ + 1108.759928772164, + 183.79359937740668 + ], + [ + 1102.32468674742, + 179.21855398893368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.8035711371434, + "ymin": 148.64020346727054, + "xmax": 910.6012547326369, + "ymax": 184.7395487521842 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 886.8035711371434, + 179.54074121794483 + ], + [ + 892.5801609243088, + 184.7395487521842 + ], + [ + 904.383975945053, + 181.6869308231923 + ], + [ + 898.5481560316741, + 176.53099793875938 + ], + [ + 892.5900383706114, + 151.6024943557652 + ], + [ + 898.5451764257039, + 156.72068356715658 + ], + [ + 910.6012547326369, + 153.7151959349164 + ], + [ + 904.5844404818591, + 148.64020346727054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.2335113785563, + "ymin": 20.564624309590613, + "xmax": 1166.0927327207155, + "ymax": 364.62238447223115 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1071.2600145475712, + 269.1577751058315 + ], + [ + 1062.512181596656, + 261.85381510643856 + ], + [ + 745.2335113785563, + 355.52954219273266 + ], + [ + 751.8181093677517, + 364.62238447223115 + ], + [ + 1166.0927327207155, + 26.83121314926541 + ], + [ + 1154.414426603472, + 20.564624309590613 + ], + [ + 771.4157074145658, + 102.8400225921431 + ], + [ + 779.9877432732472, + 111.05197722129373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 738.3920740754954, + "ymin": 0.0, + "xmax": 835.9195758566243, + "ymax": 28.82681118131171 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 813.3383305538582, + 15.14630825695923 + ], + [ + 808.6957730450866, + 11.585748682058522 + ], + [ + 738.3920740754954, + 25.09279622865438 + ], + [ + 742.6913880498013, + 28.82681118131171 + ], + [ + 835.9195758566243, + -161.50505078006142 + ], + [ + 830.5162484342435, + -164.27242899613293 + ], + [ + 751.4647905319752, + -153.7502652448385 + ], + [ + 756.4355226380899, + -150.82985184229653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 387.8280558907605, + "ymin": 206.8895116830162, + "xmax": 627.666439710444, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 460.2034765626513, + 467.48131182762427 + ], + [ + 444.53374514878817, + 472.23760826810906 + ], + [ + 606.0262847160736, + 936.5002887869047 + ], + [ + 627.666439710444, + 926.4725712825934 + ], + [ + 408.35588920901716, + 206.8895116830162 + ], + [ + 387.8280558907605, + 211.45628719044203 + ], + [ + 589.5299595224718, + 725.446867413429 + ], + [ + 621.7375006005136, + 712.7047895416192 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00130/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00130/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b3fb90d80b1f8d6e4864e8952dfd91921fe898df --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00130/meta.json @@ -0,0 +1,2477 @@ +{ + "frame_id": 130, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 65.0, + "sim_timestamp": 1711.229456539033 + }, + "drone_pose": { + "x": -130.73422064333676, + "y": -11.331519418696354, + "z": 20.0, + "pitch": -43.50253820110484, + "yaw": 22.376191344009538, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6707286238670349, + -0.2761283814907074, + 0.6883866786956787, + 77.04840850830078 + ], + [ + 0.3806861340999603, + 0.9247043132781982, + 0.0, + -39.2904052734375 + ], + [ + -0.6365541219711304, + 0.2620592713356018, + 0.7253438830375671, + -100.69581604003906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -130.33781910082917, + "y": -11.10446189443446, + "z": 20.0 + }, + "t1_image_uv": [ + 812.5458449548103, + -551.0868132822163 + ], + "t1_depth": 0.328574878065444 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -112.16718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.6818934113808, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 624, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -112.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5187450647354126, + "y": 0.4041132628917694, + "z": 0.9062168002128601 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 619.9110010460895, + "ymin": 321.85375283292586, + "xmax": 660.4430671311646, + "ymax": 397.6960900617887 + }, + "corners_3d": [ + [ + -112.68592834472656, + -4.091876029968262, + 0.037935614585876465 + ], + [ + -112.68592834472656, + -3.2836496829986572, + 0.037935614585876465 + ], + [ + -111.6484375, + -3.2836496829986572, + 0.037935614585876465 + ], + [ + -111.6484375, + -4.091876029968262, + 0.037935614585876465 + ], + [ + -112.68592834472656, + -4.091876029968262, + 1.8503692150115967 + ], + [ + -112.68592834472656, + -3.2836496829986572, + 1.8503692150115967 + ], + [ + -111.6484375, + -3.2836496829986572, + 1.8503692150115967 + ], + [ + -111.6484375, + -4.091876029968262, + 1.8503692150115967 + ] + ], + "corners_2d": [ + [ + 633.9252949402138, + 397.6960900617887 + ], + [ + 659.5343934331574, + 390.1524977390951 + ], + [ + 645.8806404303343, + 367.3824956517993 + ], + [ + 620.7891483833898, + 374.56412849587844 + ], + [ + 633.6403493397817, + 352.0161272074636 + ], + [ + 660.4430671311646, + 344.50171975095964 + ], + [ + 646.147270302228, + 321.85375283292586 + ], + [ + 619.9110010460895, + 328.99139717824687 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 130, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 431141, + "2": 229059, + "3": 147804, + "4": 36486, + "6": 14512, + "7": 2940, + "9": 13340, + "10": 113, + "12": 4021, + "14": 14683, + "20": 2926, + "22": 3109, + "24": 21466 + }, + "instance_pixel_counts": { + "6744": 78, + "9045": 173, + "11605": 88432, + "15701": 20198, + "15967": 9135, + "15970": 2082, + "16213": 248, + "16479": 32448, + "16482": 3766, + "16725": 92, + "17547": 9273, + "18018": 1785, + "18059": 8000, + "19554": 3437, + "20107": 13132, + "20565": 28025, + "21395": 19925, + "21397": 844, + "21643": 16243, + "21907": 136401, + "21909": 9041, + "22931": 18036, + "23957": 1231, + "24467": 37448, + "25344": 7354, + "25600": 9937, + "26754": 930, + "29779": 4880, + "29835": 1885, + "30859": 327, + "33419": 2110, + "33931": 1215, + "34443": 219, + "36096": 624, + "36352": 607, + "36608": 723, + "36864": 681, + "37120": 964, + "37376": 422, + "37632": 775, + "37888": 6375, + "40448": 3921, + "40704": 3612, + "42071": 161, + "45409": 2912, + "45442": 3109, + "45971": 24887, + "46483": 153333, + "46995": 3372, + "48225": 5596, + "49043": 37739, + "49761": 11386, + "51526": 36486, + "53857": 4235, + "56458": 20723, + "56970": 13289, + "57482": 46423, + "58506": 25194, + "59992": 73, + "60307": 1440, + "60819": 6296, + "61254": 15185, + "61331": 372, + "62867": 2242 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 624, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -112.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5197802186012268, + "y": 0.3847341537475586, + "z": 0.8999415636062622 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.5347675264115, + "ymin": 322.16621407332417, + "xmax": 659.8170913460192, + "ymax": 397.386413047395 + }, + "corners_3d": [ + [ + -112.68696594238281, + -4.072497367858887, + 0.044210851192474365 + ], + [ + -112.68696594238281, + -3.3030288219451904, + 0.044210851192474365 + ], + [ + -111.64739990234375, + -3.3030288219451904, + 0.044210851192474365 + ], + [ + -111.64739990234375, + -4.072497367858887, + 0.044210851192474365 + ], + [ + -112.68696594238281, + -4.072497367858887, + 1.8440940380096436 + ], + [ + -112.68696594238281, + -3.3030288219451904, + 1.8440940380096436 + ], + [ + -111.64739990234375, + -3.3030288219451904, + 1.8440940380096436 + ], + [ + -111.64739990234375, + -4.072497367858887, + 1.8440940380096436 + ] + ], + "corners_2d": [ + [ + 634.5567555017384, + 397.386413047395 + ], + [ + 658.942017998098, + 390.20425874729864 + ], + [ + 645.271048353793, + 367.3803360500625 + ], + [ + 621.3797051000754, + 374.2171500625967 + ], + [ + 634.3032833200673, + 352.02364733495597 + ], + [ + 659.8170913460192, + 344.8690665117416 + ], + [ + 645.5083871241857, + 322.16621407332417 + ], + [ + 620.5347675264115, + 328.96143025624906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 607, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -108.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5384325981140137, + "y": 0.47447988390922546, + "z": 0.932397186756134 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 655.1476413067013, + "ymin": 218.9015072055896, + "xmax": 699.6918942160935, + "ymax": 291.357750653147 + }, + "corners_3d": [ + [ + -108.66651916503906, + -1.0422228574752808, + 0.011745452880859375 + ], + [ + -108.4692153930664, + -0.11400026082992554, + 0.011745452880859375 + ], + [ + -107.41587829589844, + -0.3378939926624298, + 0.011745452880859375 + ], + [ + -107.6131820678711, + -1.2661166191101074, + 0.011745452880859375 + ], + [ + -108.66651916503906, + -1.0422228574752808, + 1.8765398263931274 + ], + [ + -108.4692153930664, + -0.11400026082992554, + 1.8765398263931274 + ], + [ + -107.41587829589844, + -0.3378939926624298, + 1.8765398263931274 + ], + [ + -107.6131820678711, + -1.2661166191101074, + 1.8765398263931274 + ] + ], + "corners_2d": [ + [ + 674.0466254566275, + 291.357750653147 + ], + [ + 697.2815672205752, + 281.05880948851245 + ], + [ + 678.1472223490808, + 264.5193313616667 + ], + [ + 655.1476413067013, + 274.4105107829986 + ], + [ + 675.497745618542, + 245.3187374804649 + ], + [ + 699.6918942160935, + 235.17294460290736 + ], + [ + 679.7191844933321, + 218.9015072055896 + ], + [ + 655.7797277060824, + 228.6291187774402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 723, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -115.73004913330078, + "y": 3.5213818550109863, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.6027978658676147, + "y": 0.45276764035224915, + "z": 0.9404341578483582 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 890.1630176485435, + "ymin": 331.1525471147167, + "xmax": 956.5550007515649, + "ymax": 415.17215560882175 + }, + "corners_3d": [ + [ + -116.37686920166016, + 3.134104013442993, + 0.003718256950378418 + ], + [ + -116.28221893310547, + 4.034678936004639, + 0.003718256950378418 + ], + [ + -115.0832290649414, + 3.9086596965789795, + 0.003718256950378418 + ], + [ + -115.1778793334961, + 3.008085012435913, + 0.003718256950378418 + ], + [ + -116.37686920166016, + 3.134104013442993, + 1.8845865726470947 + ], + [ + -116.28221893310547, + 4.034678936004639, + 1.8845865726470947 + ], + [ + -115.0832290649414, + 3.9086596965789795, + 1.8845865726470947 + ], + [ + -115.1778793334961, + 3.008085012435913, + 1.8845865726470947 + ] + ], + "corners_2d": [ + [ + 917.2729525626758, + 415.17215560882175 + ], + [ + 941.7593058798109, + 404.2837416519578 + ], + [ + 914.2848816750601, + 378.46583032466845 + ], + [ + 890.1630176485435, + 388.7705235754993 + ], + [ + 931.0306782312587, + 367.71914976242726 + ], + [ + 956.5550007515649, + 356.8578100574547 + ], + [ + 927.3527163985696, + 331.1525471147167 + ], + [ + 902.220100677459, + 341.4041170857627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 681, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -115.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4758739769458771, + "y": 0.37715068459510803, + "z": 0.8888238072395325 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.6245514776598, + "ymin": 407.1444408524567, + "xmax": 714.301668102796, + "ymax": 485.33347039842016 + }, + "corners_3d": [ + [ + -116.22281646728516, + -4.064913749694824, + 0.05532371997833252 + ], + [ + -116.22281646728516, + -3.310612201690674, + 0.05532371997833252 + ], + [ + -115.27106475830078, + -3.310612201690674, + 0.05532371997833252 + ], + [ + -115.27106475830078, + -4.064913749694824, + 0.05532371997833252 + ], + [ + -116.22281646728516, + -4.064913749694824, + 1.8329713344573975 + ], + [ + -116.22281646728516, + -3.310612201690674, + 1.8329713344573975 + ], + [ + -115.27106475830078, + -3.310612201690674, + 1.8329713344573975 + ], + [ + -115.27106475830078, + -4.064913749694824, + 1.8329713344573975 + ] + ], + "corners_2d": [ + [ + 685.0487604846827, + 485.33347039842016 + ], + [ + 710.7607066144127, + 476.926559855773 + ], + [ + 695.8269478389202, + 451.9892922113092 + ], + [ + 670.6245514776598, + 459.9916971338665 + ], + [ + 687.3224271270303, + 440.6055729269885 + ], + [ + 714.301668102796, + 432.15893449755436 + ], + [ + 698.5495311754592, + 407.1444408524567 + ], + [ + 672.1305586190812, + 415.1650159433935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 964, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -115.78268432617188, + "y": -14.81512451171875, + "z": 1.0962618589401245 + }, + "extent": { + "x": 0.5331055521965027, + "y": 0.37408754229545593, + "z": 0.9089534282684326 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 223.13201890209376, + "ymin": 536.3465016477866, + "xmax": 280.00511609561374, + "ymax": 627.0307512854577 + }, + "corners_3d": [ + [ + -116.27376556396484, + -15.242887496948242, + 0.1873084306716919 + ], + [ + -116.35197448730469, + -14.498810768127441, + 0.1873084306716919 + ], + [ + -115.2916030883789, + -14.387361526489258, + 0.1873084306716919 + ], + [ + -115.21339416503906, + -15.131438255310059, + 0.1873084306716919 + ], + [ + -116.27376556396484, + -15.242887496948242, + 2.0052151679992676 + ], + [ + -116.35197448730469, + -14.498810768127441, + 2.0052151679992676 + ], + [ + -115.2916030883789, + -14.387361526489258, + 2.0052151679992676 + ], + [ + -115.21339416503906, + -15.131438255310059, + 2.0052151679992676 + ] + ], + "corners_2d": [ + [ + 246.57001527928736, + 627.0307512854577 + ], + [ + 280.00511609561374, + 618.9874685697116 + ], + [ + 279.0777113718986, + 581.489181734709 + ], + [ + 246.71509013332576, + 589.0235267981379 + ], + [ + 223.13201890209376, + 582.6777880481317 + ], + [ + 258.714042698006, + 574.4795206720931 + ], + [ + 258.45496644562263, + 536.3465016477866 + ], + [ + 224.0850828181279, + 543.996793473675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 422, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -102.43251037597656, + "y": -10.760416984558105, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.5519189238548279, + "y": 0.28539183735847473, + "z": 0.8948087692260742 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 318.19398039775666, + "ymin": 194.48020493007093, + "xmax": 348.97736229363164, + "ymax": 259.19791150879627 + }, + "corners_3d": [ + [ + -102.91303253173828, + -11.154322624206543, + 0.2017461061477661 + ], + [ + -103.03170776367188, + -10.596012115478516, + 0.2017461061477661 + ], + [ + -101.95198822021484, + -10.366511344909668, + 0.2017461061477661 + ], + [ + -101.83331298828125, + -10.924821853637695, + 0.2017461061477661 + ], + [ + -102.91303253173828, + -11.154322624206543, + 1.9913636445999146 + ], + [ + -103.03170776367188, + -10.596012115478516, + 1.9913636445999146 + ], + [ + -101.95198822021484, + -10.366511344909668, + 1.9913636445999146 + ], + [ + -101.83331298828125, + -10.924821853637695, + 1.9913636445999146 + ] + ], + "corners_2d": [ + [ + 330.4534123045447, + 259.19791150879627 + ], + [ + 347.7945137217619, + 257.33383113983814 + ], + [ + 348.97736229363164, + 238.15669908044617 + ], + [ + 332.0512102908775, + 239.93329282547018 + ], + [ + 318.19398039775666, + 215.14421338265706 + ], + [ + 336.2495421734445, + 213.31183444897087 + ], + [ + 337.76239396116495, + 194.48020493007093 + ], + [ + 320.15622368770045, + 196.2233085255735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 775, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 360.39714206520523, + "ymin": 0.0, + "xmax": 443.44264610713446, + "ymax": 29.90153637163371 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 414.0987330942418, + -26.165687684594786 + ], + [ + 368.51087854729354, + -19.16584399905804 + ], + [ + 394.07690972873354, + 29.90153637163371 + ], + [ + 443.44264610713446, + 21.560844233225225 + ], + [ + 407.4389006280022, + -67.37165489731052 + ], + [ + 360.39714206520523, + -60.7285186184921 + ], + [ + 386.02707382109895, + -14.014481420650611 + ], + [ + 437.10405047936507, + -21.97335355399082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 6375, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 777.4286229807471, + "ymin": 246.30043708816595, + "xmax": 905.1319770500014, + "ymax": 379.6190867820567 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 841.8589926382481, + 379.6190867820567 + ], + [ + 894.9425569605459, + 363.10074016533576 + ], + [ + 827.0758382539134, + 285.89281769329637 + ], + [ + 777.4286229807471, + 299.7179057389233 + ], + [ + 850.0785066847141, + 339.2290057641279 + ], + [ + 905.1319770500014, + 322.79596354944914 + ], + [ + 833.8982973044494, + 246.30043708816595 + ], + [ + 782.5263564658327, + 259.960109753874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3921, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 522.5275740352636, + "ymin": 56.62652320182235, + "xmax": 609.5804372338966, + "ymax": 156.79640772316975 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 567.4503833568245, + 90.28368199123503 + ], + [ + 525.5730199872771, + 98.509254492671 + ], + [ + 564.534288546875, + 156.79640772316975 + ], + [ + 609.5804372338966, + 147.0395620793518 + ], + [ + 565.5445854983697, + 56.62652320182235 + ], + [ + 522.5275740352636, + 64.62787611318822 + ], + [ + 562.340328373152, + 121.48106790761798 + ], + [ + 608.7086099138409, + 111.94529656217281 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3612, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 448.9243960056035, + "ymin": 83.0250903395642, + "xmax": 530.0808350337622, + "ymax": 184.26740908099566 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 501.0226450882432, + 125.61288285661811 + ], + [ + 455.32641938923547, + 134.89410587500544 + ], + [ + 481.5228656334185, + 184.26740908099566 + ], + [ + 530.0808350337622, + 173.612454466543 + ], + [ + 496.2721724391638, + 83.0250903395642 + ], + [ + 448.9243960056035, + 92.02370395130458 + ], + [ + 475.61883469623024, + 140.03585957433776 + ], + [ + 526.0473328505611, + 129.6543327982332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 817.4326340740769, + "ymin": 179.78123623383874, + "xmax": 840.3437237181463, + "ymax": 217.0022482743279 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 817.4326340740769, + 211.31153360466894 + ], + [ + 822.8240297027271, + 217.0022482743279 + ], + [ + 835.5414047973823, + 213.7806332719693 + ], + [ + 830.0786277634226, + 208.13738003811397 + ], + [ + 821.7758068469633, + 182.91163348338392 + ], + [ + 827.3333997338382, + 188.52549820748058 + ], + [ + 840.3437237181463, + 185.34713736793964 + ], + [ + 834.7115043361753, + 179.78123623383874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 990.7783823708926, + "ymin": 137.28096494130875, + "xmax": 1016.8969995289997, + "ymax": 172.85937150691456 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 990.7783823708926, + 167.80180681929872 + ], + [ + 997.0794471712345, + 172.85937150691456 + ], + [ + 1008.37978983654, + 169.9967239506213 + ], + [ + 1002.0248321011593, + 164.97893908659563 + ], + [ + 998.8633787497532, + 140.05718878910884 + ], + [ + 1005.3689210142841, + 145.03244132519976 + ], + [ + 1016.8969995289997, + 142.2161853326722 + ], + [ + 1010.3355273922798, + 137.28096494130875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.0963331373744, + "ymin": 709.9942051316435, + "xmax": 610.1794844280738, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 586.8089428525517, + 762.4052311768655 + ], + [ + 610.1794844280738, + 753.0121863509432 + ], + [ + 603.7342594911158, + 736.6928997183956 + ], + [ + 580.6124150497626, + 745.8515038360104 + ], + [ + 584.5253915585647, + 736.2544330624671 + ], + [ + 608.9088017767618, + 726.6561192627642 + ], + [ + 602.2090903701769, + 709.9942051316435 + ], + [ + 578.0963331373744, + 719.3429090854154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 441.8144449810389, + "ymin": 387.03119851698887, + "xmax": 464.6890679483945, + "ymax": 423.6458275546692 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 449.59635694970234, + 423.6458275546692 + ], + [ + 464.6890679483945, + 419.3256552479428 + ], + [ + 461.7935750220815, + 411.7224435081609 + ], + [ + 446.8068492018564, + 415.97503531932176 + ], + [ + 444.6359928202926, + 398.95146737853855 + ], + [ + 460.14266401757607, + 394.63154620838384 + ], + [ + 457.20922222724556, + 387.03119851698887 + ], + [ + 441.8144449810389, + 391.2818078134259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 526.9305684115194, + "ymin": 577.2737994941455, + "xmax": 557.3457174228049, + "ymax": 626.7966481594651 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 536.0467581935586, + 626.7966481594651 + ], + [ + 557.3457174228049, + 619.2374294357958 + ], + [ + 552.1483053493969, + 606.0775988142822 + ], + [ + 531.0571832719926, + 613.467235810074 + ], + [ + 532.0623448845973, + 598.2514871910096 + ], + [ + 554.198775212011, + 590.5946291767189 + ], + [ + 548.8425057195623, + 577.2737994941455 + ], + [ + 526.9305684115194, + 584.752438379201 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 478.22785052996915, + "ymin": 450.74981121052747, + "xmax": 506.6849925834792, + "ymax": 496.95351590265227 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 487.4427580735711, + 496.95351590265227 + ], + [ + 506.6849925834792, + 490.9647739437541 + ], + [ + 502.55937746511586, + 480.5187283897661 + ], + [ + 483.487662963821, + 486.38766576182564 + ], + [ + 482.26187552721507, + 467.2523657008434 + ], + [ + 502.1843252388759, + 461.2368947572127 + ], + [ + 497.9674979607654, + 450.74981121052747 + ], + [ + 478.22785052996915, + 456.64093152784994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1098.9977291176133, + "ymin": 191.01405977336324, + "xmax": 1124.7170303508485, + "ymax": 222.07941754296255 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1098.9977291176133, + 217.24523663473911 + ], + [ + 1105.313805716201, + 222.07941754296255 + ], + [ + 1114.989251034659, + 219.3587114046743 + ], + [ + 1108.6349780343278, + 214.5583871620883 + ], + [ + 1108.3716887604194, + 193.67147129310098 + ], + [ + 1114.8777759706163, + 198.45364337166782 + ], + [ + 1124.7170303508485, + 195.7620569100434 + ], + [ + 1118.1716060413435, + 191.01405977336324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 898.7576552017608, + "ymin": 159.83004378154604, + "xmax": 923.2434628803393, + "ymax": 196.28788194402267 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 898.7576552017608, + 190.89889445555434 + ], + [ + 904.5943114644283, + 196.28788194402267 + ], + [ + 916.6363597085943, + 193.23734337031684 + ], + [ + 910.7368776770461, + 187.89210094619835 + ], + [ + 904.9178702599766, + 162.7915211472179 + ], + [ + 910.9403268221527, + 168.10071990892646 + ], + [ + 923.2434628803393, + 165.09512174718597 + ], + [ + 917.1555424369012, + 159.83004378154604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 753.3991202852307, + "ymin": 30.926194347077114, + "xmax": 1185.1612269188954, + "ymax": 376.42010601178345 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1085.4654405184913, + 281.4227450613063 + ], + [ + 1076.5972818874125, + 273.86319464485905 + ], + [ + 753.3991202852307, + 367.04659665806895 + ], + [ + 759.9795803495376, + 376.42010601178345 + ], + [ + 1185.1612269188954, + 37.45316967620602 + ], + [ + 1173.2247350385946, + 30.926194347077114 + ], + [ + 782.0476599901132, + 113.27703184415503 + ], + [ + 790.679207431757, + 121.7952430582165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.9101010528723, + "ymin": 0.0, + "xmax": 850.1316619221243, + "ymax": 33.91037751384425 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 825.7019660074723, + 20.422142207097522 + ], + [ + 821.044003107596, + 16.778337334238472 + ], + [ + 749.9101010528723, + 30.093121854543085 + ], + [ + 754.2107814347396, + 33.91037751384425 + ], + [ + 850.1316619221243, + -157.32168502901357 + ], + [ + 844.6892453567959, + -160.1601282137134 + ], + [ + 764.646609895167, + -149.76506568502987 + ], + [ + 769.6380804858579, + -146.77308476852954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 391.36908211823504, + "ymin": 217.87685807623185, + "xmax": 627.534730111384, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 463.75853009354853, + 478.8951472087136 + ], + [ + 447.87942154445227, + 483.6029869825382 + ], + [ + 605.3755189827447, + 964.2549505402089 + ], + [ + 627.534730111384, + 954.178547091924 + ], + [ + 412.22371250364927, + 217.87685807623185 + ], + [ + 391.36908211823504, + 222.42547251530527 + ], + [ + 588.0994357982044, + 761.038155106177 + ], + [ + 621.376900961323, + 748.0028733846157 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00131/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00131/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b8d827053740ef9d1f5578dd378f50c9aeee199 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00131/meta.json @@ -0,0 +1,2373 @@ +{ + "frame_id": 131, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 65.5, + "sim_timestamp": 1724.978783479659 + }, + "drone_pose": { + "x": -130.33781910082917, + "y": -11.10446189443446, + "z": 20.0, + "pitch": -43.487000167348825, + "yaw": 21.66488961046215, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6742783188819885, + -0.26784947514533997, + 0.6881899833679199, + 77.09449005126953 + ], + [ + 0.36917737126350403, + 0.929358959197998, + -1.4901161193847656e-08, + -37.79773712158203 + ], + [ + -0.6395754814147949, + 0.25406414270401, + 0.7255305647850037, + -100.69273376464844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -129.93635659493123, + "y": -10.891730406568971, + "z": 20.0 + }, + "t1_image_uv": [ + 785.0003328217174, + -550.5921097478004 + ], + "t1_depth": 0.32767746660180547 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -111.66718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 27.689806767386624, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 619, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -111.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.49287593364715576, + "y": 0.3718438148498535, + "z": 0.8882744312286377 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.4569929874325, + "ymin": 323.21375532176336, + "xmax": 658.8645436068414, + "ymax": 396.3127232249236 + }, + "corners_3d": [ + [ + -112.1600570678711, + -4.059606552124023, + 0.05587798357009888 + ], + [ + -112.1600570678711, + -3.3159191608428955, + 0.05587798357009888 + ], + [ + -111.17430877685547, + -3.3159191608428955, + 0.05587798357009888 + ], + [ + -111.17430877685547, + -4.059606552124023, + 0.05587798357009888 + ], + [ + -112.1600570678711, + -4.059606552124023, + 1.8324267864227295 + ], + [ + -112.1600570678711, + -3.3159191608428955, + 1.8324267864227295 + ], + [ + -111.17430877685547, + -3.3159191608428955, + 1.8324267864227295 + ], + [ + -111.17430877685547, + -4.059606552124023, + 1.8324267864227295 + ] + ], + "corners_2d": [ + [ + 634.3639070518545, + 396.3127232249236 + ], + [ + 658.042841196157, + 389.5927083541599 + ], + [ + 645.4666648353227, + 367.8438298932054 + ], + [ + 622.251513941165, + 374.2554783894627 + ], + [ + 634.1053107729772, + 351.5419851779912 + ], + [ + 658.8645436068414, + 344.8481290522384 + ], + [ + 645.7096112146444, + 323.21375532176336 + ], + [ + 621.4569929874325, + 329.5869126468969 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 131, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 419273, + "2": 233115, + "3": 155052, + "4": 36860, + "6": 14641, + "7": 2946, + "9": 14074, + "10": 356, + "12": 4014, + "14": 15173, + "20": 2901, + "22": 2370, + "24": 20825 + }, + "instance_pixel_counts": { + "6744": 81, + "9045": 798, + "11605": 90408, + "15701": 21491, + "15967": 9910, + "15970": 2206, + "16213": 120, + "16479": 31977, + "16482": 3935, + "16725": 99, + "17547": 9935, + "18018": 1497, + "18059": 8366, + "19554": 3532, + "20107": 12037, + "20565": 30062, + "21395": 20578, + "21397": 880, + "21643": 16848, + "21907": 130488, + "21909": 8267, + "22931": 13671, + "23957": 1256, + "24467": 38474, + "25344": 7604, + "25600": 9803, + "26754": 922, + "29779": 6044, + "29835": 2181, + "30859": 684, + "31371": 28, + "33419": 2205, + "33931": 932, + "36096": 619, + "36352": 596, + "36608": 760, + "36864": 683, + "37120": 943, + "37376": 413, + "37632": 940, + "37888": 6587, + "40448": 3994, + "40704": 3652, + "42071": 180, + "45409": 3005, + "45442": 2370, + "45971": 26163, + "46483": 148754, + "46995": 2131, + "48225": 5802, + "49043": 39014, + "49761": 10874, + "51526": 36860, + "53857": 4368, + "56458": 21231, + "56970": 13568, + "57482": 47603, + "58506": 26421, + "59992": 7, + "60307": 1515, + "60819": 6273, + "61254": 15965, + "61331": 308, + "62867": 2326 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 619, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -111.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5799316167831421, + "y": 0.3779592514038086, + "z": 0.8780344128608704 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.1740022920593, + "ymin": 321.56989805642144, + "xmax": 660.2548480415766, + "ymax": 398.1205210584073 + }, + "corners_3d": [ + [ + -112.24711608886719, + -4.065722465515137, + 0.06611800193786621 + ], + [ + -112.24711608886719, + -3.3098037242889404, + 0.06611800193786621 + ], + [ + -111.08724975585938, + -3.3098037242889404, + 0.06611800193786621 + ], + [ + -111.08724975585938, + -4.065722465515137, + 0.06611800193786621 + ], + [ + -112.24711608886719, + -4.065722465515137, + 1.822186827659607 + ], + [ + -112.24711608886719, + -3.3098037242889404, + 1.822186827659607 + ], + [ + -111.08724975585938, + -3.3098037242889404, + 1.822186827659607 + ], + [ + -111.08724975585938, + -4.065722465515137, + 1.822186827659607 + ] + ], + "corners_2d": [ + [ + 635.2637873910465, + 398.1205210584073 + ], + [ + 659.3807608691268, + 391.2612749393941 + ], + [ + 644.5742328907914, + 365.67281913937103 + ], + [ + 621.0122338934874, + 372.1631373165716 + ], + [ + 635.0485542402638, + 353.8593653909021 + ], + [ + 660.2548480415766, + 347.02520540534175 + ], + [ + 644.7746838501222, + 321.56989805642144 + ], + [ + 620.1740022920593, + 328.0205449123162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 596, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -107.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.49165526032447815, + "y": 0.4533393085002899, + "z": 0.9109154939651489 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 658.3767860934726, + "ymin": 220.72273346797607, + "xmax": 700.1334071369197, + "ymax": 290.18875159929837 + }, + "corners_3d": [ + [ + -108.11636352539062, + -1.0312697887420654, + 0.03324180841445923 + ], + [ + -107.9278564453125, + -0.14440447092056274, + 0.03324180841445923 + ], + [ + -106.96603393554688, + -0.34884700179100037, + 0.03324180841445923 + ], + [ + -107.154541015625, + -1.2357122898101807, + 0.03324180841445923 + ], + [ + -108.11636352539062, + -1.0312697887420654, + 1.8550727367401123 + ], + [ + -107.9278564453125, + -0.14440447092056274, + 1.8550727367401123 + ], + [ + -106.96603393554688, + -0.34884700179100037, + 1.8550727367401123 + ], + [ + -107.154541015625, + -1.2357122898101807, + 1.8550727367401123 + ] + ], + "corners_2d": [ + [ + 675.3771027347981, + 290.18875159929837 + ], + [ + 697.7615908419673, + 280.54355797149753 + ], + [ + 680.5422501764376, + 265.3028241441694 + ], + [ + 658.3767860934726, + 274.59555085419504 + ], + [ + 676.8473218389116, + 245.2266186148356 + ], + [ + 700.1334071369197, + 235.72234448078652 + ], + [ + 682.1752464053067, + 220.72273346797607 + ], + [ + 659.1257565107923, + 229.86575368403814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 760, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -115.68235778808594, + "y": 3.724231481552124, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.42113280296325684, + "y": 0.4470757842063904, + "z": 0.9534831047058105 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 909.1776136687765, + "ymin": 345.40448416563606, + "xmax": 968.492076085166, + "ymax": 422.68342543914775 + }, + "corners_3d": [ + [ + -116.14791870117188, + 3.323625087738037, + -0.009330689907073975 + ], + [ + -116.05445098876953, + 4.212878704071045, + -0.009330689907073975 + ], + [ + -115.216796875, + 4.124837875366211, + -0.009330689907073975 + ], + [ + -115.31026458740234, + 3.2355844974517822, + -0.009330689907073975 + ], + [ + -116.14791870117188, + 3.323625087738037, + 1.8976354598999023 + ], + [ + -116.05445098876953, + 4.212878704071045, + 1.8976354598999023 + ], + [ + -115.216796875, + 4.124837875366211, + 1.8976354598999023 + ], + [ + -115.31026458740234, + 3.2355844974517822, + 1.8976354598999023 + ] + ], + "corners_2d": [ + [ + 928.3341095822091, + 422.68342543914775 + ], + [ + 952.8180155678897, + 412.02459628159005 + ], + [ + 933.3947530036237, + 393.44750863491726 + ], + [ + 909.1776136687765, + 403.69671569001565 + ], + [ + 942.9494594302009, + 374.55907933677526 + ], + [ + 968.492076085166, + 363.9196202936529 + ], + [ + 947.797959386367, + 345.40448416563606 + ], + [ + 922.5425510142898, + 355.61508569839094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 683, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -115.24694061279297, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.34773433208465576, + "y": 0.38305675983428955, + "z": 0.8656027913093567 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.9074361090766, + "ymin": 411.48892333227025, + "xmax": 710.623481671375, + "ymax": 481.7084651978905 + }, + "corners_3d": [ + [ + -115.59467315673828, + -4.070819854736328, + 0.07853507995605469 + ], + [ + -115.59467315673828, + -3.30470609664917, + 0.07853507995605469 + ], + [ + -114.89920806884766, + -3.30470609664917, + 0.07853507995605469 + ], + [ + -114.89920806884766, + -4.070819854736328, + 0.07853507995605469 + ], + [ + -115.59467315673828, + -4.070819854736328, + 1.809740662574768 + ], + [ + -115.59467315673828, + -3.30470609664917, + 1.809740662574768 + ], + [ + -114.89920806884766, + -3.30470609664917, + 1.809740662574768 + ], + [ + -114.89920806884766, + -4.070819854736328, + 1.809740662574768 + ] + ], + "corners_2d": [ + [ + 681.1277893696099, + 481.7084651978905 + ], + [ + 707.3545990856859, + 473.4787775751529 + ], + [ + 696.7450078286622, + 455.1557658955468 + ], + [ + 670.9074361090766, + 463.09245040696607 + ], + [ + 683.1406467204702, + 438.13188444246146 + ], + [ + 710.623481671375, + 429.8670506559133 + ], + [ + 699.4473595331291, + 411.48892333227025 + ], + [ + 672.3915052671241, + 419.4455649401711 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 943, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -115.28268432617188, + "y": -14.81512451171875, + "z": 1.0959151983261108 + }, + "extent": { + "x": 0.47632327675819397, + "y": 0.38990360498428345, + "z": 0.8878198266029358 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 219.92832959771545, + "ymin": 534.6962123496223, + "xmax": 277.5750264816835, + "ymax": 620.142244316417 + }, + "corners_3d": [ + [ + -115.71564483642578, + -15.252681732177734, + 0.20809537172317505 + ], + [ + -115.79715728759766, + -14.47714614868164, + 0.20809537172317505 + ], + [ + -114.84972381591797, + -14.377567291259766, + 0.20809537172317505 + ], + [ + -114.7682113647461, + -15.15310287475586, + 0.20809537172317505 + ], + [ + -115.71564483642578, + -15.252681732177734, + 1.9837350845336914 + ], + [ + -115.79715728759766, + -14.47714614868164, + 1.9837350845336914 + ], + [ + -114.84972381591797, + -14.377567291259766, + 1.9837350845336914 + ], + [ + -114.7682113647461, + -15.15310287475586, + 1.9837350845336914 + ] + ], + "corners_2d": [ + [ + 242.87617000271337, + 620.142244316417 + ], + [ + 277.5750264816835, + 612.2011439214056 + ], + [ + 277.3274153971476, + 578.8272735384587 + ], + [ + 243.62942966815962, + 586.3176049759003 + ], + [ + 219.92832959771545, + 576.6909418681998 + ], + [ + 256.7824676989435, + 568.6058947401896 + ], + [ + 257.1510584646585, + 534.6962123496223 + ], + [ + 221.42393604400718, + 542.2970930546898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 413, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -101.93060302734375, + "y": -10.761802673339844, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.48478513956069946, + "y": 0.3231140077114105, + "z": 0.8978465795516968 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 320.3417137028587, + "ymin": 193.37562066077544, + "xmax": 353.3300962746486, + "ymax": 255.8960426047704 + }, + "corners_3d": [ + [ + -102.33761596679688, + -11.178648948669434, + 0.19870829582214355 + ], + [ + -102.47197723388672, + -10.546542167663574, + 0.19870829582214355 + ], + [ + -101.52359008789062, + -10.344956398010254, + 0.19870829582214355 + ], + [ + -101.38922882080078, + -10.977063179016113, + 0.19870829582214355 + ], + [ + -102.33761596679688, + -11.178648948669434, + 1.994401454925537 + ], + [ + -102.47197723388672, + -10.546542167663574, + 1.994401454925537 + ], + [ + -101.52359008789062, + -10.344956398010254, + 1.994401454925537 + ], + [ + -101.38922882080078, + -10.977063179016113, + 1.994401454925537 + ] + ], + "corners_2d": [ + [ + 332.50120397708037, + 255.8960426047704 + ], + [ + 352.0240942704886, + 253.94673709274937 + ], + [ + 353.3300962746486, + 237.17173323800722 + ], + [ + 334.21833100526857, + 239.0405039597474 + ], + [ + 320.3417137028587, + 211.75819834931843 + ], + [ + 340.6652113506144, + 209.84289512521406 + ], + [ + 342.267589010697, + 193.37562066077544 + ], + [ + 322.38923087632236, + 195.2087700098499 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 940, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 370.2668100124792, + "ymin": 0.0, + "xmax": 452.67534999126667, + "ymax": 33.07947583902154 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 423.893314488527, + -23.522399965903503 + ], + [ + 378.1232779158398, + -16.675835353674813 + ], + [ + 403.0487493227273, + 33.07947583902154 + ], + [ + 452.67534999126667, + 24.907165948540353 + ], + [ + 417.4955757288185, + -64.8388234486107 + ], + [ + 370.2668100124792, + -58.33965351779767 + ], + [ + 395.25582036692333, + -10.958290820368802 + ], + [ + 446.6036132899113, + -18.758906114551223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 6587, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 786.31762723658, + "ymin": 256.7471590736684, + "xmax": 915.788221160871, + "ymax": 392.5799598445941 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 850.9800838516212, + 392.5799598445941 + ], + [ + 905.0444548815385, + 376.11217935419415 + ], + [ + 836.7670599327882, + 296.4625638086418 + ], + [ + 786.31762723658, + 310.2003689080929 + ], + [ + 859.6905620211846, + 352.14017287646834 + ], + [ + 915.788221160871, + 335.7395590547761 + ], + [ + 844.0323011144701, + 256.7471590736684 + ], + [ + 791.8110301861383, + 270.3324412134641 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3994, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 531.3662920322237, + "ymin": 61.51070754454952, + "xmax": 618.2277763750642, + "ymax": 162.85720462182294 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 576.4406327549926, + 95.29203272159589 + ], + [ + 534.2015098439317, + 103.38514149689604 + ], + [ + 572.7186888781071, + 162.85720462182294 + ], + [ + 618.2277763750642, + 153.2360350650603 + ], + [ + 574.758987055635, + 61.51070754454952 + ], + [ + 531.3662920322237, + 69.38606486039822 + ], + [ + 570.746894791573, + 127.41860353841736 + ], + [ + 617.5985574165696, + 118.0110976286229 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3652, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 456.9305301366821, + "ymin": 88.01874039820535, + "xmax": 537.8143673118818, + "ymax": 190.2230368099927 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 509.1685778036252, + 130.74956110506173 + ], + [ + 463.1042700278198, + 139.87788872713892 + ], + [ + 488.80307955096725, + 190.2230368099927 + ], + [ + 537.8143673118818, + 179.72512648584907 + ], + [ + 504.6649463677932, + 88.01874039820535 + ], + [ + 456.9305301366821, + 96.87318112025719 + ], + [ + 483.12703833460284, + 145.85494854048736 + ], + [ + 534.0346166164646, + 135.62071580101616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.6261886435283, + "ymin": 191.3372368389835, + "xmax": 851.1563998514847, + "ymax": 228.9095718595144 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 827.6261886435283, + 223.0168501910404 + ], + [ + 833.0590489313871, + 228.9095718595144 + ], + [ + 846.0195071599899, + 225.68995708512256 + ], + [ + 840.5113452962037, + 219.8456299164338 + ], + [ + 832.2879523567926, + 194.46698958246853 + ], + [ + 837.893250211991, + 200.28435010667712 + ], + [ + 851.1563998514847, + 197.1056376089783 + ], + [ + 845.4723264577526, + 191.3372368389835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1004.3949223667578, + "ymin": 148.80576451062595, + "xmax": 1031.309279834111, + "ymax": 184.75807826560663 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1004.3949223667578, + 179.5117376258846 + ], + [ + 1010.7902635113628, + 184.75807826560663 + ], + [ + 1022.3268226446709, + 181.8921853205094 + ], + [ + 1015.874240193364, + 176.6865135556353 + ], + [ + 1012.9276103812098, + 151.58630103770366 + ], + [ + 1019.5365666102834, + 156.7509953771866 + ], + [ + 1031.309279834111, + 153.92948754733686 + ], + [ + 1024.6408756686415, + 148.80576451062595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 445.11637399183144, + "ymin": 399.09812354055896, + "xmax": 468.10731462136835, + "ymax": 435.91864192775563 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 452.79400106938874, + 435.91864192775563 + ], + [ + 468.10731462136835, + 431.62466426418814 + ], + [ + 465.28700539462733, + 423.7932058584145 + ], + [ + 450.0840873241035, + 428.0188353078989 + ], + [ + 447.8566000748125, + 411.2279424533482 + ], + [ + 463.5940405680701, + 406.9315134323155 + ], + [ + 460.73720869791055, + 399.09812354055896 + ], + [ + 445.11637399183144, + 403.3243877945536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 527.5172116856859, + "ymin": 600.3014406703601, + "xmax": 558.3997951154897, + "ymax": 650.2013128502999 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 536.5974524580909, + 650.2013128502999 + ], + [ + 558.3997951154897, + 642.5782314596244 + ], + [ + 553.282763199069, + 628.8275584873702 + ], + [ + 531.700954754407, + 636.2753997850107 + ], + [ + 532.5541654043022, + 621.973787856101 + ], + [ + 555.2300748204439, + 614.2407512472573 + ], + [ + 549.9545842869129, + 600.3014406703601 + ], + [ + 527.5172116856859, + 607.8499057421845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 479.8663008115144, + "ymin": 468.32237378872077, + "xmax": 508.6457514021005, + "ymax": 514.8836054272274 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 489.01826646059544, + 514.8836054272274 + ], + [ + 508.6457514021005, + 508.87751492273304 + ], + [ + 504.6060302676286, + 498.02182888926507 + ], + [ + 485.1581184996908, + 503.9051273290951 + ], + [ + 483.80279584738537, + 485.27255272751586 + ], + [ + 504.13474321816614, + 479.23284915609645 + ], + [ + 500.0055503959213, + 468.32237378872077 + ], + [ + 479.8663008115144, + 474.2344127167946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1113.9961377841528, + "ymin": 203.10988199549817, + "xmax": 1140.499952753096, + "ymax": 234.47885033944297 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1113.9961377841528, + 229.46764791811182 + ], + [ + 1120.4177269413003, + 234.47885033944297 + ], + [ + 1130.3005268427637, + 231.75697809961176 + ], + [ + 1123.8381941861985, + 226.78035338261355 + ], + [ + 1123.8269415692657, + 205.7693883021367 + ], + [ + 1130.4470623785464, + 210.72978716189277 + ], + [ + 1140.499952753096, + 208.03534525070992 + ], + [ + 1133.8378401296009, + 203.10988199549817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 910.5182291201655, + "ymin": 171.3806685751442, + "xmax": 935.7071631846444, + "ymax": 208.200842702294 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 910.5182291201655, + 202.61594033415943 + ], + [ + 916.421388222522, + 208.200842702294 + ], + [ + 928.7037140496591, + 205.14968841442524 + ], + [ + 922.7340778198928, + 199.60944626409645 + ], + [ + 917.0579970068097, + 174.34398049784147 + ], + [ + 923.1546210707371, + 179.8501853353917 + ], + [ + 935.7071631846444, + 176.84178057634747 + ], + [ + 929.5412236923695, + 171.3806685751442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 761.3360779914822, + "ymin": 41.606267977957145, + "xmax": 1204.1184111948373, + "ymax": 388.57242923796514 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1099.4657683656988, + 293.96631668774364 + ], + [ + 1090.469484929663, + 286.1455977312199 + ], + [ + 761.3360779914822, + 378.91146347886905 + ], + [ + 767.9191920111936, + 388.57242923796514 + ], + [ + 1204.1184111948373, + 48.40208481943483 + ], + [ + 1191.908965480366, + 41.606267977957145 + ], + [ + 792.4656635341425, + 124.10517023062516 + ], + [ + 801.1674839140958, + 132.94044696639892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.9893668739483, + "ymin": 0.0, + "xmax": 863.8833996192722, + "ymax": 39.178289709666274 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 837.6301076664184, + 25.8699610122203 + ], + [ + 832.9534951179062, + 22.142482665001523 + ], + [ + 760.9893668739483, + 35.27730029816672 + ], + [ + 765.2947742777307, + 39.178289709666274 + ], + [ + 863.8833996192722, + -152.962477267562 + ], + [ + 858.397947280105, + -155.8726518018425 + ], + [ + 777.3594336987826, + -145.59555479530434 + ], + [ + 782.37563642754, + -142.5312779607675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 394.5646304173638, + "ymin": 229.38118174187116, + "xmax": 627.3344508654934, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 467.05050593239235, + 490.770067769422 + ], + [ + 450.9583089636086, + 495.4352615035839 + ], + [ + 604.645177853264, + 993.1428936537314 + ], + [ + 627.3344508654934, + 983.0035821357254 + ], + [ + 415.755692601836, + 229.38118174187116 + ], + [ + 394.5646304173638, + 233.91774708302833 + ], + [ + 586.5053394122428, + 798.7135175540029 + ], + [ + 620.900380147212, + 785.3492012554386 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00132/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00132/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..230c575bdc93707c28880249f80fa5a41e8394af --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00132/meta.json @@ -0,0 +1,2371 @@ +{ + "frame_id": 132, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 66.0, + "sim_timestamp": 1738.211201564176 + }, + "drone_pose": { + "x": -129.93635659493123, + "y": -10.891730406568971, + "z": 20.0, + "pitch": -43.466496751667144, + "yaw": 20.99775561597366, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6775811910629272, + -0.2600685954093933, + 0.6879302859306335, + 77.11641693115234 + ], + [ + 0.3583313822746277, + 0.9335944652557373, + 0.0, + -36.391815185546875 + ], + [ + -0.6422478556632996, + 0.24650698900222778, + 0.7257767915725708, + -100.65177917480469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -129.529931130166, + "y": -10.69425125225384, + "z": 20.0 + }, + "t1_image_uv": [ + 753.7930263895637, + -549.9397065841628 + ], + "t1_depth": 0.32674436317779726 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -111.16718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.700258985303503, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 613, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -111.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5299950838088989, + "y": 0.3684603273868561, + "z": 0.8938776850700378 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.2586095724001, + "ymin": 322.3542125507786, + "xmax": 659.1093471916662, + "ymax": 397.2134364529617 + }, + "corners_3d": [ + [ + -111.69718170166016, + -4.056223392486572, + 0.05027472972869873 + ], + [ + -111.69718170166016, + -3.319302558898926, + 0.05027472972869873 + ], + [ + -110.6371841430664, + -3.319302558898926, + 0.05027472972869873 + ], + [ + -110.6371841430664, + -4.056223392486572, + 0.05027472972869873 + ], + [ + -111.69718170166016, + -4.056223392486572, + 1.8380300998687744 + ], + [ + -111.69718170166016, + -3.319302558898926, + 1.8380300998687744 + ], + [ + -110.6371841430664, + -3.319302558898926, + 1.8380300998687744 + ], + [ + -110.6371841430664, + -4.056223392486572, + 1.8380300998687744 + ] + ], + "corners_2d": [ + [ + 634.6908537622937, + 397.2134364529617 + ], + [ + 658.2715551771204, + 390.7425054179534 + ], + [ + 645.1412539767737, + 367.25876106964864 + ], + [ + 622.0651297927042, + 373.40958044090394 + ], + [ + 634.4456655037565, + 352.15800186124443 + ], + [ + 659.1093471916662, + 345.71229599874476 + ], + [ + 645.370844154868, + 322.3542125507786 + ], + [ + 621.2586095724001, + 328.46695457957867 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 132, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 407790, + "2": 236466, + "3": 162337, + "4": 37510, + "6": 14757, + "7": 3035, + "9": 14640, + "10": 482, + "12": 4136, + "14": 15718, + "20": 3003, + "22": 1629, + "24": 20097 + }, + "instance_pixel_counts": { + "6744": 81, + "9045": 1483, + "11605": 92355, + "15701": 22778, + "15967": 10753, + "15970": 2333, + "16479": 31318, + "16482": 4086, + "16725": 104, + "17547": 10617, + "18018": 1209, + "18059": 8743, + "19554": 3633, + "20107": 10893, + "20565": 32204, + "21395": 21245, + "21397": 912, + "21643": 17481, + "21907": 124364, + "21909": 7430, + "22931": 9694, + "23957": 1298, + "24467": 39581, + "25344": 7893, + "25600": 9709, + "26754": 970, + "29779": 7365, + "29835": 2306, + "30859": 1117, + "31371": 179, + "33419": 2219, + "33931": 227, + "36096": 613, + "36352": 601, + "36608": 845, + "36864": 688, + "37120": 964, + "37376": 425, + "37632": 1127, + "37888": 6803, + "40448": 4066, + "40704": 3722, + "42071": 190, + "45409": 3104, + "45442": 1629, + "45971": 27492, + "46483": 143930, + "46995": 1163, + "48225": 6008, + "49043": 40321, + "49761": 9898, + "51526": 37510, + "53857": 4502, + "56458": 21739, + "56970": 13910, + "57482": 48691, + "58506": 27548, + "60307": 1587, + "60819": 6201, + "61254": 16592, + "61331": 243, + "62867": 2426 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 613, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -111.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4328612685203552, + "y": 0.37776392698287964, + "z": 0.8704376816749573 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.1415099110445, + "ymin": 324.9818366200269, + "xmax": 658.1174311178581, + "ymax": 394.49803331760813 + }, + "corners_3d": [ + [ + -111.60004425048828, + -4.065526962280273, + 0.0737147331237793 + ], + [ + -111.60004425048828, + -3.3099989891052246, + 0.0737147331237793 + ], + [ + -110.73432159423828, + -3.3099989891052246, + 0.0737147331237793 + ], + [ + -110.73432159423828, + -4.065526962280273, + 0.0737147331237793 + ], + [ + -111.60004425048828, + -4.065526962280273, + 1.8145900964736938 + ], + [ + -111.60004425048828, + -3.3099989891052246, + 1.8145900964736938 + ], + [ + -110.73432159423828, + -3.3099989891052246, + 1.8145900964736938 + ], + [ + -110.73432159423828, + -4.065526962280273, + 1.8145900964736938 + ] + ], + "corners_2d": [ + [ + 633.2037114638152, + 394.49803331760813 + ], + [ + 657.345389847494, + 387.894998944939 + ], + [ + 646.6108043142948, + 368.7203803522647 + ], + [ + 622.8920980593782, + 375.05525667553854 + ], + [ + 632.8989841283307, + 350.6329552856291 + ], + [ + 658.1174311178581, + 344.0563536290917 + ], + [ + 646.8987723331869, + 324.9818366200269 + ], + [ + 622.1415099110445, + 331.2798037206554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 601, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -107.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441720247268677 + }, + "extent": { + "x": 0.4421093761920929, + "y": 0.4508194625377655, + "z": 0.8955310583114624 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 661.0504245696617, + "ymin": 222.2713316602465, + "xmax": 700.8953282341025, + "ymax": 289.32447871897637 + }, + "corners_3d": [ + [ + -107.56737518310547, + -1.0391062498092651, + 0.04864096641540527 + ], + [ + -107.37991333007812, + -0.15717041492462158, + 0.04864096641540527 + ], + [ + -106.51502227783203, + -0.34101057052612305, + 0.04864096641540527 + ], + [ + -106.70248413085938, + -1.2229464054107666, + 0.04864096641540527 + ], + [ + -107.56737518310547, + -1.0391062498092651, + 1.83970308303833 + ], + [ + -107.37991333007812, + -0.15717041492462158, + 1.83970308303833 + ], + [ + -106.51502227783203, + -0.34101057052612305, + 1.83970308303833 + ], + [ + -106.70248413085938, + -1.2229464054107666, + 1.83970308303833 + ] + ], + "corners_2d": [ + [ + 676.1125356872544, + 289.32447871897637 + ], + [ + 698.535922902465, + 279.9190000894382 + ], + [ + 683.26660389875, + 266.10749859899596 + ], + [ + 661.0504245696617, + 275.20079277226523 + ], + [ + 677.5852925365699, + 245.13713183447976 + ], + [ + 700.8953282341025, + 235.86770633364202 + ], + [ + 684.9803748533461, + 222.2713316602465 + ], + [ + 661.8938859067737, + 231.22093846889848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 845, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -115.56613159179688, + "y": 4.081655979156494, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3896435499191284, + "y": 0.45657026767730713, + "z": 0.949608564376831 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 927.9151122959969, + "ymin": 354.1789582468333, + "xmax": 987.7695182037747, + "ymax": 430.4455884699273 + }, + "corners_3d": [ + [ + -116.0013656616211, + 3.6683156490325928, + -0.0054610371589660645 + ], + [ + -115.90591430664062, + 4.576454162597656, + -0.0054610371589660645 + ], + [ + -115.13089752197266, + 4.494996070861816, + -0.0054610371589660645 + ], + [ + -115.22634887695312, + 3.586858034133911, + -0.0054610371589660645 + ], + [ + -116.0013656616211, + 3.6683156490325928, + 1.8937561511993408 + ], + [ + -115.90591430664062, + 4.576454162597656, + 1.8937561511993408 + ], + [ + -115.13089752197266, + 4.494996070861816, + 1.8937561511993408 + ], + [ + -115.22634887695312, + 3.586858034133911, + 1.8937561511993408 + ] + ], + "corners_2d": [ + [ + 945.8731400791669, + 430.4455884699273 + ], + [ + 971.1209621353714, + 419.6382424494173 + ], + [ + 952.8995378718865, + 402.05934040177726 + ], + [ + 927.9151122959969, + 412.47624496651883 + ], + [ + 961.432393722816, + 382.50886963421783 + ], + [ + 987.7695182037747, + 371.71314007844205 + ], + [ + 968.332627759091, + 354.1789582468333 + ], + [ + 942.279038813736, + 364.5655049506335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 688, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -114.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3235448896884918, + "y": 0.3884258568286896, + "z": 0.865150511264801 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.7060759858605, + "ymin": 412.5179377297549, + "xmax": 708.842284971366, + "ymax": 481.3845516243608 + }, + "corners_3d": [ + [ + -115.07048797607422, + -4.076189041137695, + 0.07899701595306396 + ], + [ + -115.07048797607422, + -3.299337148666382, + 0.07899701595306396 + ], + [ + -114.42339324951172, + -3.299337148666382, + 0.07899701595306396 + ], + [ + -114.42339324951172, + -4.076189041137695, + 0.07899701595306396 + ], + [ + -115.07048797607422, + -4.076189041137695, + 1.809298038482666 + ], + [ + -115.07048797607422, + -3.299337148666382, + 1.809298038482666 + ], + [ + -114.42339324951172, + -3.299337148666382, + 1.809298038482666 + ], + [ + -114.42339324951172, + -4.076189041137695, + 1.809298038482666 + ] + ], + "corners_2d": [ + [ + 678.9283046223336, + 481.3845516243608 + ], + [ + 705.6601650906666, + 473.29328496015563 + ], + [ + 696.0615491707612, + 456.16291970438937 + ], + [ + 669.7060759858605, + 463.9845002383122 + ], + [ + 680.8305529926398, + 437.824450217185 + ], + [ + 708.842284971366, + 429.6993663860068 + ], + [ + 698.730835662934, + 412.5179377297549 + ], + [ + 671.1320098277482, + 420.35937614853503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 964, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -114.78268432617188, + "y": -14.81512451171875, + "z": 1.0955636501312256 + }, + "extent": { + "x": 0.4945361912250519, + "y": 0.3896588385105133, + "z": 0.8882831931114197 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 217.42544760243806, + "ymin": 530.2512291719877, + "xmax": 275.33193028262696, + "ymax": 616.5494270660631 + }, + "corners_3d": [ + [ + -115.23377990722656, + -15.254342079162598, + 0.2072804570198059 + ], + [ + -115.31523895263672, + -14.479293823242188, + 0.2072804570198059 + ], + [ + -114.33158874511719, + -14.375906944274902, + 0.2072804570198059 + ], + [ + -114.25012969970703, + -15.150955200195312, + 0.2072804570198059 + ], + [ + -115.23377990722656, + -15.254342079162598, + 1.98384690284729 + ], + [ + -115.31523895263672, + -14.479293823242188, + 1.98384690284729 + ], + [ + -114.33158874511719, + -14.375906944274902, + 1.98384690284729 + ], + [ + -114.25012969970703, + -15.150955200195312, + 1.98384690284729 + ] + ], + "corners_2d": [ + [ + 240.43648953765643, + 616.5494270660631 + ], + [ + 275.0156786890372, + 608.9912262610475 + ], + [ + 275.33193028262696, + 574.4776969915481 + ], + [ + 241.79104164319864, + 581.5910456205092 + ], + [ + 217.42544760243806, + 572.9957901830937 + ], + [ + 254.14005299276863, + 565.303635120247 + ], + [ + 255.12995105234523, + 530.2512291719877 + ], + [ + 219.58361472410206, + 537.4658858924665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 425, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -101.42869567871094, + "y": -10.763184547424316, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.48109862208366394, + "y": 0.3057659864425659, + "z": 0.8828085064888 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 324.0931680234835, + "ymin": 192.0174866233605, + "xmax": 355.85346530002374, + "ymax": 253.324544441575 + }, + "corners_3d": [ + [ + -101.83570861816406, + -11.1622953414917, + 0.21374636888504028 + ], + [ + -101.96285247802734, + -10.564126968383789, + 0.21374636888504028 + ], + [ + -101.02168273925781, + -10.364073753356934, + 0.21374636888504028 + ], + [ + -100.89453887939453, + -10.962242126464844, + 0.21374636888504028 + ], + [ + -101.83570861816406, + -11.1622953414917, + 1.9793634414672852 + ], + [ + -101.96285247802734, + -10.564126968383789, + 1.9793634414672852 + ], + [ + -101.02168273925781, + -10.364073753356934, + 1.9793634414672852 + ], + [ + -100.89453887939453, + -10.962242126464844, + 1.9793634414672852 + ] + ], + "corners_2d": [ + [ + 335.8699508717423, + 253.324544441575 + ], + [ + 354.27537770229173, + 251.61684602282597 + ], + [ + 355.85346530002374, + 235.03445132349916 + ], + [ + 337.8328919599766, + 236.67215157962318 + ], + [ + 324.0931680234835, + 209.9747061857544 + ], + [ + 343.2357359329065, + 208.2967471509186 + ], + [ + 345.11050756444325, + 192.0174866233605 + ], + [ + 326.3838781621933, + 193.6240915668679 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1127, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 379.52935650347047, + "ymin": 0.0, + "xmax": 461.3771290771706, + "ymax": 36.50013449124634 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 433.10858740809124, + -20.65513665934475 + ], + [ + 387.1452097495087, + -13.949896292173037 + ], + [ + 411.47927735322287, + 36.50013449124634 + ], + [ + 461.3771290771706, + 28.48266832554509 + ], + [ + 426.9574003129229, + -62.085041687377384 + ], + [ + 379.52935650347047, + -55.71850601173287 + ], + [ + 403.92708791639427, + -7.662591970987819 + ], + [ + 455.5573058699203, + -15.317841245453849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 6803, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 794.9594293904555, + "ymin": 267.4722083031965, + "xmax": 926.275526394991, + "ymax": 405.8794730674988 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 859.9255734458623, + 405.8794730674988 + ], + [ + 914.971041638993, + 389.44487560412296 + ], + [ + 846.2108831752792, + 307.30345341004454 + ], + [ + 794.9594293904555, + 320.9688142966525 + ], + [ + 869.1318568093935, + 365.4027044593852 + ], + [ + 926.275526394991, + 349.0170354206884 + ], + [ + 853.9195196555747, + 267.4722083031965 + ], + [ + 800.848020274096, + 280.9977837780302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4066, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 539.7479598724929, + "ymin": 66.61721166036, + "xmax": 626.4834125581865, + "ymax": 169.16533317927326 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 584.9873296560654, + 100.5229939826786 + ], + [ + 542.3821590413057, + 108.4950506995724 + ], + [ + 580.5079022074221, + 169.16533317927326 + ], + [ + 626.4834125581865, + 159.6670457961968 + ], + [ + 583.521275827525, + 66.61721166036 + ], + [ + 539.7479598724929, + 74.37763080540708 + ], + [ + 578.7502235418979, + 133.60383357339975 + ], + [ + 626.089496924933, + 124.31213880616613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3722, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 464.48234606429855, + "ymin": 93.26032885088694, + "xmax": 545.1557427947349, + "ymax": 196.45512288736424 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 516.8799634020324, + 136.13502989947816 + ], + [ + 470.44056594265516, + 145.12409641576824 + ], + [ + 495.6845919301856, + 196.45512288736424 + ], + [ + 545.1557427947349, + 186.09922162897217 + ], + [ + 512.6114884295183, + 93.26032885088694 + ], + [ + 464.48234606429855, + 101.98377477346645 + ], + [ + 490.22475450721856, + 151.9503103925174 + ], + [ + 541.6191724217372, + 141.84876601736357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 837.6361420159061, + "ymin": 203.26215074079278, + "xmax": 861.799063803955, + "ymax": 241.19025700115122 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 837.6361420159061, + 235.08954481605497 + ], + [ + 843.1173980917242, + 241.19025700115122 + ], + [ + 856.3226568254345, + 237.9689245943813 + ], + [ + 850.7621305753675, + 231.91760266357159 + ], + [ + 842.6207370306813, + 206.3949074104354 + ], + [ + 848.2810595393956, + 212.4220480739934 + ], + [ + 861.799063803955, + 209.2392688856487 + ], + [ + 856.0557595300465, + 203.26215074079278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1017.8439264626145, + "ymin": 160.653249491364, + "xmax": 1045.570903503784, + "ymax": 196.98217750474635 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1017.8439264626145, + 191.54187976078123 + ], + [ + 1024.3410740203146, + 196.98217750474635 + ], + [ + 1036.1144351457601, + 194.11014596143588 + ], + [ + 1029.5566634794973, + 188.71145417458206 + ], + [ + 1026.8323452680131, + 163.44093379705973 + ], + [ + 1033.5527419791451, + 168.80050149667605 + ], + [ + 1045.570903503784, + 165.97085564957464 + ], + [ + 1038.7875002266228, + 160.653249491364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 448.16694234293686, + "ymin": 411.6628753477407, + "xmax": 471.2895416664599, + "ymax": 448.6960471260537 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 455.75133518541304, + 448.6960471260537 + ], + [ + 471.2895416664599, + 444.42192792198836 + ], + [ + 468.53944261112207, + 436.3546877432077 + ], + [ + 453.11611020392354, + 440.55958991389383 + ], + [ + 450.830802793447, + 424.01660595544257 + ], + [ + 466.8037679432815, + 419.7372793824379 + ], + [ + 464.0185090894155, + 411.6628753477407 + ], + [ + 448.16694234293686, + 415.8710769398909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 527.9953993986994, + "ymin": 624.385114899715, + "xmax": 559.372704875852, + "ymax": 674.6638506167172 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 537.0531687018216, + 674.6638506167172 + ], + [ + 559.372704875852, + 666.9626999191686 + ], + [ + 554.328356387806, + 652.5888279411669 + ], + [ + 532.2425602046944, + 660.1085612781335 + ], + [ + 532.9448588246204, + 646.8026858751849 + ], + [ + 556.1761397617406, + 638.9783705008437 + ], + [ + 550.9734927368577, + 624.385114899715 + ], + [ + 527.9953993986994, + 632.0179149803625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 481.3248933126785, + "ymin": 486.6634050083196, + "xmax": 510.4494459995237, + "ymax": 533.5893993380176 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 490.42717953873813, + 533.5893993380176 + ], + [ + 510.4494459995237, + 527.556021908232 + ], + [ + 506.48928633094647, + 516.2715445286487 + ], + [ + 486.6559311630522, + 522.1788636797569 + ], + [ + 485.16996196627514, + 504.0921404924088 + ], + [ + 505.92221631992084, + 498.01791103799826 + ], + [ + 501.8742177385818, + 486.6634050083196 + ], + [ + 481.3248933126785, + 492.6063470966631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1128.8053040980121, + "ymin": 215.47831055561906, + "xmax": 1156.1071145036647, + "ymax": 247.15121985159828 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1128.8053040980121, + 241.95901117840083 + ], + [ + 1135.3389188899146, + 247.15121985159828 + ], + [ + 1145.4285027951942, + 244.4258148887941 + ], + [ + 1138.8515828835086, + 239.26893694929532 + ], + [ + 1139.0999576608817, + 218.1422401029726 + ], + [ + 1145.841026871521, + 223.2850640138722 + ], + [ + 1156.1071145036647, + 220.5854041391991 + ], + [ + 1149.321380926815, + 215.47831055561906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 922.1045451201949, + "ymin": 183.27774613361117, + "xmax": 948.0118045071144, + "ymax": 220.46386198892765 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 922.1045451201949, + 214.6774526413805 + ], + [ + 928.0814360091692, + 220.46386198892765 + ], + [ + 940.6051830270093, + 217.40877969661574 + ], + [ + 934.5581223995658, + 211.6680010832979 + ], + [ + 929.0299805139864, + 186.24614071846406 + ], + [ + 935.2084433990319, + 191.95522006957725 + ], + [ + 948.0118045071144, + 188.94070176656837 + ], + [ + 941.7601259545651, + 183.27774613361117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.0672867880062, + "ymin": 52.58239263229922, + "xmax": 1222.9590413563574, + "ymax": 401.0684224116203 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1113.2608020975035, + 306.7586434717387 + ], + [ + 1104.1279755251921, + 298.67173901874656 + ], + [ + 769.0672867880062, + 391.11335996547194 + ], + [ + 775.6610045745524, + 401.0684224116203 + ], + [ + 1222.9590413563574, + 59.65507108986759 + ], + [ + 1210.4611086569212, + 52.58239263229922 + ], + [ + 802.6974079733056, + 135.31869376655106 + ], + [ + 811.4818752082734, + 144.48189950589045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 771.6116975624532, + "ymin": 0.0, + "xmax": 877.1472440918947, + "ymax": 44.619237895618596 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 849.1006857712648, + 31.476185193076617 + ], + [ + 844.4019317989664, + 27.664842611925735 + ], + [ + 771.6116975624532, + 40.6342255237667 + ], + [ + 775.9255018013149, + 44.619237895618596 + ], + [ + 877.1472440918947, + -148.43675560137888 + ], + [ + 871.6146004064225, + -151.41912041749964 + ], + [ + 789.580721729503, + -141.2491286442779 + ], + [ + 794.6259439964399, + -138.112006377821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 397.4551806637927, + "ymin": 241.4175409737889, + "xmax": 627.1618914415194, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 470.1125696135705, + 503.11505167542316 + ], + [ + 453.8035956709598, + 507.7444958560384 + ], + [ + 603.931516975627, + 1023.214996323584 + ], + [ + 627.1618914415194, + 1012.995387907143 + ], + [ + 418.9924671898242, + 241.4175409737889 + ], + [ + 397.4551806637927, + 245.94934576243026 + ], + [ + 584.8877231940994, + 838.6300735031698 + ], + [ + 620.4505538500391, + 824.8939576217556 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00133/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00133/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..388e00c2b0ed44abb8cb7479f62bf5df140adbb5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00133/meta.json @@ -0,0 +1,2476 @@ +{ + "frame_id": 133, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 66.5, + "sim_timestamp": 1755.3517281718086 + }, + "drone_pose": { + "x": -129.529931130166, + "y": -10.69425125225384, + "z": 20.0, + "pitch": -43.44121241301977, + "yaw": 20.377301165438908, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6806421279907227, + -0.2528216540813446, + 0.6876099705696106, + 77.11508178710938 + ], + [ + 0.3482007086277008, + 0.9374200105667114, + 0.0, + -35.07740783691406 + ], + [ + -0.6445793509483337, + 0.23942627012729645, + 0.7260802984237671, + -100.57441711425781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -129.1186101194624, + "y": -10.512799394785926, + "z": 20.0 + }, + "t1_image_uv": [ + 719.1786541240988, + -549.1357872087506 + ], + "t1_depth": 0.32583738429301357 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -110.66718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.713164178264865, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 611, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -110.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5394530892372131, + "y": 0.3718191087245941, + "z": 0.9082326889038086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.1806226653172, + "ymin": 321.8021378010506, + "xmax": 659.2028116561308, + "ymax": 397.75025218912344 + }, + "corners_3d": [ + [ + -111.20663452148438, + -4.059582233428955, + 0.03591972589492798 + ], + [ + -111.20663452148438, + -3.315943956375122, + 0.03591972589492798 + ], + [ + -110.12773132324219, + -3.315943956375122, + 0.03591972589492798 + ], + [ + -110.12773132324219, + -4.059582233428955, + 0.03591972589492798 + ], + [ + -111.20663452148438, + -4.059582233428955, + 1.8523850440979004 + ], + [ + -111.20663452148438, + -3.315943956375122, + 1.8523850440979004 + ], + [ + -110.12773132324219, + -3.315943956375122, + 1.8523850440979004 + ], + [ + -110.12773132324219, + -4.059582233428955, + 1.8523850440979004 + ] + ], + "corners_2d": [ + [ + 634.465422223659, + 397.75025218912344 + ], + [ + 658.3481844626755, + 391.4069362806217 + ], + [ + 645.357326602821, + 367.42387084876475 + ], + [ + 622.0021912987552, + 373.4467767752569 + ], + [ + 634.2058108347969, + 351.9707429388574 + ], + [ + 659.2028116561308, + 345.652933989285 + ], + [ + 645.6002103387907, + 321.8021378010506 + ], + [ + 621.1806226653172, + 327.7865040212191 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 133, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 63, + "semantic_pixel_counts": { + "1": 396666, + "2": 239300, + "3": 169698, + "4": 38277, + "6": 14774, + "7": 3114, + "9": 15204, + "10": 494, + "12": 4064, + "14": 16339, + "20": 3060, + "22": 947, + "24": 19663 + }, + "instance_pixel_counts": { + "6744": 4, + "9045": 1962, + "11605": 94367, + "15701": 24053, + "15967": 11533, + "15970": 2466, + "16479": 30603, + "16482": 4259, + "16725": 109, + "17547": 11324, + "18018": 902, + "18059": 9138, + "19554": 3731, + "20107": 9686, + "20565": 34385, + "21395": 21919, + "21397": 932, + "21643": 18135, + "21907": 117727, + "21909": 6814, + "22931": 6226, + "23957": 1331, + "24467": 40800, + "25344": 8131, + "25600": 9544, + "26754": 1026, + "29523": 44, + "29779": 8824, + "29835": 2381, + "30859": 1449, + "31371": 377, + "33419": 1747, + "36096": 611, + "36352": 598, + "36608": 754, + "36864": 703, + "37120": 986, + "37376": 412, + "37632": 1319, + "37888": 7036, + "38912": 52, + "40448": 4152, + "40704": 3780, + "42071": 213, + "45409": 3209, + "45442": 947, + "45971": 28872, + "46483": 138864, + "46995": 490, + "48225": 6239, + "49043": 41768, + "49761": 8752, + "51526": 38277, + "53857": 4649, + "56458": 22286, + "56970": 14343, + "57482": 49300, + "58506": 28745, + "60307": 1660, + "60819": 6276, + "61254": 17234, + "61331": 167, + "62867": 2483 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 611, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -110.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5850927233695984, + "y": 0.38050577044487, + "z": 0.8943387269973755 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.3649350674597, + "ymin": 321.11652033537536, + "xmax": 660.0777203937072, + "ymax": 398.54675027152496 + }, + "corners_3d": [ + [ + -111.25227355957031, + -4.068268775939941, + 0.049813687801361084 + ], + [ + -111.25227355957031, + -3.3072571754455566, + 0.049813687801361084 + ], + [ + -110.08209228515625, + -3.3072571754455566, + 0.049813687801361084 + ], + [ + -110.08209228515625, + -4.068268775939941, + 0.049813687801361084 + ], + [ + -111.25227355957031, + -4.068268775939941, + 1.8384912014007568 + ], + [ + -111.25227355957031, + -3.3072571754455566, + 1.8384912014007568 + ], + [ + -110.08209228515625, + -3.3072571754455566, + 1.8384912014007568 + ], + [ + -110.08209228515625, + -4.068268775939941, + 1.8384912014007568 + ] + ], + "corners_2d": [ + [ + 634.724162920428, + 398.54675027152496 + ], + [ + 659.1966183763901, + 392.04087073271313 + ], + [ + 645.0948429452085, + 366.0326511343461 + ], + [ + 621.208430629881, + 372.1827605212676 + ], + [ + 634.480256976926, + 353.46421673553215 + ], + [ + 660.0777203937072, + 346.9834238677112 + ], + [ + 645.3219400830867, + 321.11652033537536 + ], + [ + 620.3649350674597, + 327.22729514957535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 598, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -106.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.500927746295929, + "y": 0.4510130286216736, + "z": 0.9220902919769287 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 661.6982273372256, + "ymin": 221.10253526371275, + "xmax": 703.6333167484986, + "ymax": 291.25404808196316 + }, + "corners_3d": [ + [ + -107.12495422363281, + -1.0270664691925049, + 0.02206212282180786 + ], + [ + -106.93740844726562, + -0.14475202560424805, + 0.02206212282180786 + ], + [ + -105.95744323730469, + -0.3530502915382385, + 0.02206212282180786 + ], + [ + -106.14498901367188, + -1.2353647947311401, + 0.02206212282180786 + ], + [ + -107.12495422363281, + -1.0270664691925049, + 1.8662426471710205 + ], + [ + -106.93740844726562, + -0.14475202560424805, + 1.8662426471710205 + ], + [ + -105.95744323730469, + -0.3530502915382385, + 1.8662426471710205 + ], + [ + -106.14498901367188, + -1.2353647947311401, + 1.8662426471710205 + ] + ], + "corners_2d": [ + [ + 678.508394120209, + 291.25404808196316 + ], + [ + 701.0943649000359, + 281.9800853237695 + ], + [ + 684.037876196882, + 266.21914331040256 + ], + [ + 661.6982273372256, + 275.1428179657736 + ], + [ + 680.1273289654862, + 245.74642228008847 + ], + [ + 703.6333167484986, + 236.6101141173566 + ], + [ + 685.8318771714705, + 221.10253526371275 + ], + [ + 662.5922356657976, + 229.87975768136806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 754, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -115.17285919189453, + "y": 4.822038650512695, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5182958841323853, + "y": 0.4299459755420685, + "z": 0.9416625499725342 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 950.1401915875974, + "ymin": 350.3533726821321, + "xmax": 1015.8921572438637, + "ymax": 431.2322811832589 + }, + "corners_3d": [ + [ + -115.73326110839844, + 4.448624610900879, + 0.0024898648262023926 + ], + [ + -115.64337158203125, + 5.303806304931641, + 0.0024898648262023926 + ], + [ + -114.61245727539062, + 5.195452690124512, + 0.0024898648262023926 + ], + [ + -114.70234680175781, + 4.34027099609375, + 0.0024898648262023926 + ], + [ + -115.73326110839844, + 4.448624610900879, + 1.885814905166626 + ], + [ + -115.64337158203125, + 5.303806304931641, + 1.885814905166626 + ], + [ + -114.61245727539062, + 5.195452690124512, + 1.885814905166626 + ], + [ + -114.70234680175781, + 4.34027099609375, + 1.885814905166626 + ] + ], + "corners_2d": [ + [ + 974.2874694484391, + 431.2322811832589 + ], + [ + 998.0267353664502, + 421.2515080408888 + ], + [ + 973.5460585764122, + 397.81691939203506 + ], + [ + 950.1401915875974, + 407.3190872849673 + ], + [ + 991.148531377159, + 383.6948293933969 + ], + [ + 1015.8921572438637, + 373.7241299564284 + ], + [ + 989.7684090971634, + 350.3533726821321 + ], + [ + 965.3829728459289, + 359.8228741506476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 703, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -114.24694061279297, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5543261170387268, + "y": 0.3774862289428711, + "z": 0.8799777030944824 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.6696397610044, + "ymin": 406.61026328183215, + "xmax": 710.5880758804601, + "ymax": 488.23417305924136 + }, + "corners_3d": [ + [ + -114.80126953125, + -4.065249443054199, + 0.06417471170425415 + ], + [ + -114.80126953125, + -3.310276746749878, + 0.06417471170425415 + ], + [ + -113.69261169433594, + -3.310276746749878, + 0.06417471170425415 + ], + [ + -113.69261169433594, + -4.065249443054199, + 0.06417471170425415 + ], + [ + -114.80126953125, + -4.065249443054199, + 1.8241300582885742 + ], + [ + -114.80126953125, + -3.310276746749878, + 1.8241300582885742 + ], + [ + -113.69261169433594, + -3.310276746749878, + 1.8241300582885742 + ], + [ + -113.69261169433594, + -4.065249443054199, + 1.8241300582885742 + ] + ], + "corners_2d": [ + [ + 681.0171420535601, + 488.23417305924136 + ], + [ + 707.2512177089098, + 480.49950314379953 + ], + [ + 691.2637178025943, + 451.018254115755 + ], + [ + 665.6696397610044, + 458.31476662624357 + ], + [ + 683.0683757676619, + 443.9522535824267 + ], + [ + 710.5880758804601, + 436.18035615598916 + ], + [ + 693.7309760455361, + 406.61026328183215 + ], + [ + 666.9145374030545, + 413.92094867707027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 986, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -114.28268432617188, + "y": -14.81512451171875, + "z": 1.095104694366455 + }, + "extent": { + "x": 0.5387451648712158, + "y": 0.39120426774024963, + "z": 0.9044306874275208 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 214.83950477045482, + "ymin": 524.7181317171776, + "xmax": 273.87118639815924, + "ymax": 614.5212128718822 + }, + "corners_3d": [ + [ + -114.777587890625, + -15.260499954223633, + 0.19067400693893433 + ], + [ + -114.85936737060547, + -14.482378005981445, + 0.19067400693893433 + ], + [ + -113.78778076171875, + -14.369749069213867, + 0.19067400693893433 + ], + [ + -113.70600128173828, + -15.147871017456055, + 0.19067400693893433 + ], + [ + -114.777587890625, + -15.260499954223633, + 1.999535322189331 + ], + [ + -114.85936737060547, + -14.482378005981445, + 1.999535322189331 + ], + [ + -113.78778076171875, + -14.369749069213867, + 1.999535322189331 + ], + [ + -113.70600128173828, + -15.147871017456055, + 1.999535322189331 + ] + ], + "corners_2d": [ + [ + 238.3341567926687, + 614.5212128718822 + ], + [ + 272.96062515598965, + 607.2735997758869 + ], + [ + 273.87118639815924, + 569.8322329592847 + ], + [ + 240.37814660110166, + 576.6167512232922 + ], + [ + 214.83950477045482, + 570.1139632380002 + ], + [ + 251.63286718950826, + 562.737862605456 + ], + [ + 253.32381723360174, + 524.7181317171776 + ], + [ + 217.80746845325206, + 531.5968554032809 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 412, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -100.92679595947266, + "y": -10.764570236206055, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.3451562523841858, + "y": 0.3002764880657196, + "z": 0.8803314566612244 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 327.57204078163085, + "ymin": 192.68040936897268, + "xmax": 358.3767619759418, + "ymax": 248.96765199055704 + }, + "corners_3d": [ + [ + -101.20198059082031, + -11.130046844482422, + 0.21622341871261597 + ], + [ + -101.32684326171875, + -10.542617797851562, + 0.21622341871261597 + ], + [ + -100.651611328125, + -10.399093627929688, + 0.21622341871261597 + ], + [ + -100.52674865722656, + -10.986522674560547, + 0.21622341871261597 + ], + [ + -101.20198059082031, + -11.130046844482422, + 1.97688627243042 + ], + [ + -101.32684326171875, + -10.542617797851562, + 1.97688627243042 + ], + [ + -100.651611328125, + -10.399093627929688, + 1.97688627243042 + ], + [ + -100.52674865722656, + -10.986522674560547, + 1.97688627243042 + ] + ], + "corners_2d": [ + [ + 339.1127269606924, + 248.96765199055704 + ], + [ + 357.0642690025744, + 247.42365428327727 + ], + [ + 358.3767619759418, + 235.5739986693976 + ], + [ + 340.6952839597319, + 237.07235768896837 + ], + [ + 327.57204078163085, + 205.827582135234 + ], + [ + 346.2339214695447, + 204.31113526707503 + ], + [ + 347.7630638337977, + 192.68040936897268 + ], + [ + 329.39286170560604, + 194.15035408578177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1319, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 388.1712469430589, + "ymin": 0.0, + "xmax": 469.5385272031381, + "ymax": 40.15752040390964 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 441.7310175755083, + -17.57124113243998 + ], + [ + 395.5636270045732, + -10.994356800742764 + ], + [ + 419.35955157256467, + 40.15752040390964 + ], + [ + 469.5385272031381, + 32.28006155396548 + ], + [ + 435.8103275757187, + -59.11755149083206 + ], + [ + 388.1712469430589, + -52.871350952461114 + ], + [ + 412.03149343249555, + -4.133315024514161 + ], + [ + 463.955206230073, + -11.657337013208235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 7036, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 803.3738487093052, + "ymin": 278.45873372221087, + "xmax": 936.6214496700442, + "ymax": 419.50214500594404 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 868.72520295953, + 419.50214500594404 + ], + [ + 924.749002493995, + 403.0797805787335 + ], + [ + 855.424719713949, + 318.3982388975917 + ], + [ + 803.3738487093052, + 332.00884423027503 + ], + [ + 878.4332228306838, + 379.0017179311631 + ], + [ + 936.6214496700442, + 362.6099092209332 + ], + [ + 863.5777199679649, + 278.45873372221087 + ], + [ + 809.65765929946, + 291.9421350379462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 52, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 463.31910795139345, + "ymin": 0.0, + "xmax": 522.9786567971006, + "ymax": 7.853397210795492 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 503.6455731218124, + -26.174940822313715 + ], + [ + 466.898219401512, + -20.937849007653483 + ], + [ + 484.43242283721173, + 7.853397210795492 + ], + [ + 522.9786567971006, + 2.032959351666193 + ], + [ + 500.85478813228804, + -54.82657942393837 + ], + [ + 463.31910795139345, + -49.774062679501014 + ], + [ + 481.0366973325548, + -21.96048844114631 + ], + [ + 520.4515864137684, + -27.58834067833095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4152, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 547.6702129503617, + "ymin": 71.93650093846964, + "xmax": 634.3501841598421, + "ymax": 175.71236034015854 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 593.0875076661523, + 105.96687391758516 + ], + [ + 550.112829868604, + 113.83072722267192 + ], + [ + 587.9057783764385, + 175.71236034015854 + ], + [ + 634.3501841598421, + 166.32235775103095 + ], + [ + 591.8282228532668, + 71.93650093846964 + ], + [ + 547.6702129503617, + 79.5944472536143 + ], + [ + 586.3540860383715, + 140.02848534909413 + ], + [ + 634.1841413757871, + 130.83836957713524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3780, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 471.58060669407064, + "ymin": 98.74303850168769, + "xmax": 552.1103779496405, + "ymax": 202.95882273030898 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 524.1572264073784, + 141.76233141023582 + ], + [ + 477.3362455998396, + 150.62741302030804 + ], + [ + 502.1734124938447, + 202.95882273030898 + ], + [ + 552.1103779496405, + 192.72791362766887 + ], + [ + 520.1120266732911, + 98.74303850168769 + ], + [ + 471.58060669407064, + 107.35027668108901 + ], + [ + 496.91798730631433, + 158.31725456776755 + ], + [ + 548.8063867128546, + 148.3318378231173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 847.4945664632606, + "ymin": 215.54476285256084, + "xmax": 872.3048947557795, + "ymax": 253.83336287795447 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 847.4945664632606, + 247.5186328099998 + ], + [ + 853.0321043161445, + 253.83336287795447 + ], + [ + 866.4832257767561, + 250.60584714915484 + ], + [ + 860.862412887496, + 244.34158036866438 + ], + [ + 852.8070227197613, + 218.68490357265975 + ], + [ + 858.5306866404378, + 224.92817195822545 + ], + [ + 872.3048947557795, + 221.73686431100282 + ], + [ + 866.4939984092748, + 215.54476285256084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1031.1461749958862, + "ymin": 172.80263364032078, + "xmax": 1059.7027996499958, + "ymax": 209.5107967410016 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1031.1461749958862, + 203.87150075656893 + ], + [ + 1037.7534087501422, + 209.5107967410016 + ], + [ + 1049.763219816955, + 206.62911401527526 + ], + [ + 1043.09196076553, + 201.03241983311287 + ], + [ + 1040.5987071672516, + 175.60090435979154 + ], + [ + 1047.4393520027966, + 181.16065126000512 + ], + [ + 1059.7027996499958, + 178.31936669759048 + ], + [ + 1052.7955659811278, + 172.80263364032078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 451.0057971247717, + "ymin": 424.73759595573085, + "xmax": 474.2757568373869, + "ymax": 461.99111333295286 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 458.5082406942447, + 461.99111333295286 + ], + [ + 474.2757568373869, + 457.72944037678485 + ], + [ + 471.58986679579414, + 449.4183856223067 + ], + [ + 455.94177403262614, + 453.60984751579076 + ], + [ + 453.5993084218186, + 437.3312275426565 + ], + [ + 469.8127007442321, + 433.06152004662323 + ], + [ + 467.0929145321883, + 424.73759595573085 + ], + [ + 451.0057971247717, + 428.9350856529637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 528.4564461922864, + "ymin": 649.5821945524573, + "xmax": 560.3556144408642, + "ymax": 700.2422618464986 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 537.5044886070435, + 700.2422618464986 + ], + [ + 560.3556144408642, + 692.4460875169991 + ], + [ + 555.373837259468, + 677.4138977870088 + ], + [ + 532.7701920506521, + 685.0218554785763 + ], + [ + 533.328275733881, + 672.8016020454535 + ], + [ + 557.1315476272025, + 664.867994995056 + ], + [ + 551.9912384134583, + 649.5821945524573 + ], + [ + 528.4564461922864, + 657.3166352268272 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 482.67187926679765, + "ymin": 505.8062046790634, + "xmax": 512.1645353128653, + "ymax": 553.1052811358076 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 491.7375792621692, + 553.1052811358076 + ], + [ + 512.1645353128653, + 547.0327989860245 + ], + [ + 508.27583500929234, + 535.2988960731076 + ], + [ + 488.04742645924506, + 541.2417162368087 + ], + [ + 486.43346824344025, + 523.7480220068942 + ], + [ + 507.61729350763915, + 517.6270238143665 + ], + [ + 503.64218890533516, + 505.8062046790634 + ], + [ + 482.67187926679765, + 511.79192008272287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.433795610348, + "ymin": 228.08950575327736, + "xmax": 1171.546362551307, + "ymax": 260.06651324503116 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1143.433795610348, + 254.68960590444274 + ], + [ + 1150.0864367097581, + 260.06651324503116 + ], + [ + 1160.3812406831096, + 257.33466662478696 + ], + [ + 1153.6827335118194, + 251.99388280415565 + ], + [ + 1154.1991145809475, + 230.76071769305415 + ], + [ + 1161.0685475917542, + 236.08987927661826 + ], + [ + 1171.546362551307, + 233.38210032111556 + ], + [ + 1164.6295907655926, + 228.08950575327736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 933.5440497354186, + "ymin": 195.5054818761165, + "xmax": 960.1855245684844, + "ymax": 233.06125206745185 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 933.5440497354186, + 227.06779037588652 + ], + [ + 939.602770110939, + 233.06125206745185 + ], + [ + 952.3682870370222, + 229.99824302498362 + ], + [ + 946.2356772892555, + 224.05145064360653 + ], + [ + 940.8618785215499, + 198.48287760446243 + ], + [ + 947.1307581571942, + 204.4006698754763 + ], + [ + 960.1855245684844, + 201.37604765892553 + ], + [ + 953.8394953178596, + 195.5054818761165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.6213359492008, + "ymin": 63.82856839736354, + "xmax": 1241.6891351454606, + "ymax": 413.8970612954637 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1126.858703792987, + 319.7683199412517 + ], + [ + 1117.5802350018594, + 311.4106894070282 + ], + [ + 776.6213359492008, + 403.64126185101725 + ], + [ + 783.2348141251442, + 413.8970612954637 + ], + [ + 1241.6891351454606, + 71.18578071289761 + ], + [ + 1228.8862775753514, + 63.82856839736354 + ], + [ + 812.778458250338, + 146.9105527204109 + ], + [ + 821.6597094309259, + 156.41280185719276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 781.7656388206661, + "ymin": 0.0, + "xmax": 889.9039558300556, + "ymax": 50.21716009364246 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 860.0988947805325, + 37.22240487894908 + ], + [ + 855.3742480263243, + 33.327194408575565 + ], + [ + 781.7656388206661, + 46.14798579993675 + ], + [ + 786.0918267641207, + 50.21716009364246 + ], + [ + 889.9039558300556, + -143.7602989666616 + ], + [ + 884.3197278203554, + -146.8151509929197 + ], + [ + 801.2955525370706, + -136.73956700615656 + ], + [ + 806.3743990743983, + -133.52917914622253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.0843982245916, + "ymin": 254.00245315273924, + "xmax": 627.1188681302675, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 472.9808990089464, + 515.9402571674935 + ], + [ + 456.4513354315002, + 520.5419802888522 + ], + [ + 603.3359973669278, + 1054.5358698655346 + ], + [ + 627.1188681302675, + 1044.2150602330717 + ], + [ + 421.97814554596926, + 254.00245315273924 + ], + [ + 400.0843982245916, + 258.5380812234588 + ], + [ + 583.3995114510636, + 880.981177492145 + ], + [ + 620.1839464762786, + 866.822163442776 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00134/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00134/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..027288c6aa4afa04fde09dccf54fa86ce87c4718 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00134/meta.json @@ -0,0 +1,2475 @@ +{ + "frame_id": 134, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 67.0, + "sim_timestamp": 1768.7443998239469 + }, + "drone_pose": { + "x": -129.1186101194624, + "y": -10.512799394785926, + "z": 20.0, + "pitch": -43.41144554283771, + "yaw": 19.805627069804164, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6834667921066284, + -0.2461390197277069, + 0.6872326731681824, + 77.09123992919922 + ], + [ + 0.3388303220272064, + 0.9408475160598755, + 0.0, + -33.85835647583008 + ], + [ + -0.6465811133384705, + 0.23285527527332306, + 0.7264373898506165, + -100.46236419677734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -128.70248625320377, + "y": -10.347983761855154, + "z": 20.0 + }, + "t1_image_uv": [ + 681.5668169668867, + -548.1902058011385 + ], + "t1_depth": 0.3249744103549712 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -110.16718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.728379611263428, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 611, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -110.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.37996578216552734, + "y": 0.39074474573135376, + "z": 0.8674182891845703 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.5423410421876, + "ymin": 326.23562491987354, + "xmax": 657.669365781204, + "ymax": 393.1843176093889 + }, + "corners_3d": [ + [ + -110.54714965820312, + -4.078507900238037, + 0.07673412561416626 + ], + [ + -110.54714965820312, + -3.29701828956604, + 0.07673412561416626 + ], + [ + -109.78721618652344, + -3.29701828956604, + 0.07673412561416626 + ], + [ + -109.78721618652344, + -4.078507900238037, + 0.07673412561416626 + ], + [ + -110.54714965820312, + -4.078507900238037, + 1.811570644378662 + ], + [ + -110.54714965820312, + -3.29701828956604, + 1.811570644378662 + ], + [ + -109.78721618652344, + -3.29701828956604, + 1.811570644378662 + ], + [ + -109.78721618652344, + -4.078507900238037, + 1.811570644378662 + ] + ], + "corners_2d": [ + [ + 631.8004039848811, + 393.1843176093889 + ], + [ + 656.9213073554461, + 386.7542085224461 + ], + [ + 647.9961188235841, + 369.82276271772946 + ], + [ + 623.2729519462478, + 376.02131549452366 + ], + [ + 631.4353116003158, + 349.4787767056583 + ], + [ + 657.669365781204, + 343.0761354817543 + ], + [ + 648.3429325810205, + 326.23562491987354 + ], + [ + 622.5423410421876, + 332.39775931180276 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 134, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 385976, + "2": 241724, + "3": 176922, + "4": 39044, + "6": 14680, + "7": 3216, + "9": 15642, + "10": 497, + "12": 3814, + "14": 17050, + "20": 3235, + "22": 385, + "24": 19415 + }, + "instance_pixel_counts": { + "9045": 2242, + "11605": 96497, + "15701": 25307, + "15967": 12305, + "15970": 2609, + "16479": 29820, + "16482": 4436, + "16725": 111, + "17547": 12037, + "18018": 584, + "18059": 9546, + "19554": 3834, + "20107": 8422, + "20565": 36569, + "21395": 22560, + "21397": 965, + "21643": 18814, + "21907": 110675, + "21909": 6452, + "22931": 3390, + "23957": 1371, + "24467": 42159, + "25344": 8408, + "25600": 9254, + "26754": 1051, + "29523": 127, + "29779": 10323, + "29835": 2457, + "30859": 1595, + "31371": 647, + "33419": 1047, + "36096": 611, + "36352": 546, + "36608": 759, + "36864": 709, + "37120": 763, + "37376": 426, + "37632": 1536, + "37888": 7270, + "38912": 196, + "40448": 4217, + "40704": 3831, + "42071": 234, + "45409": 3319, + "45442": 385, + "45971": 30289, + "46483": 133592, + "46995": 104, + "48225": 6460, + "49043": 43207, + "49761": 7458, + "51526": 39044, + "53857": 4800, + "56458": 22885, + "56970": 14724, + "57482": 50289, + "58506": 29382, + "60307": 1741, + "60819": 6220, + "61254": 17826, + "61331": 87, + "62867": 2579 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 611, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -110.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.34962397813796997, + "y": 0.41057702898979187, + "z": 0.8800198435783386 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.2253554581048, + "ymin": 326.4098422257432, + "xmax": 657.9563184933288, + "ymax": 392.9547584170323 + }, + "corners_3d": [ + [ + -110.51680755615234, + -4.098340034484863, + 0.06413257122039795 + ], + [ + -110.51680755615234, + -3.2771859169006348, + 0.06413257122039795 + ], + [ + -109.81755828857422, + -3.2771859169006348, + 0.06413257122039795 + ], + [ + -109.81755828857422, + -4.098340034484863, + 0.06413257122039795 + ], + [ + -110.51680755615234, + -4.098340034484863, + 1.8241722583770752 + ], + [ + -110.51680755615234, + -3.2771859169006348, + 1.8241722583770752 + ], + [ + -109.81755828857422, + -3.2771859169006348, + 1.8241722583770752 + ], + [ + -109.81755828857422, + -4.098340034484863, + 1.8241722583770752 + ] + ], + "corners_2d": [ + [ + 630.8151191423317, + 392.9547584170323 + ], + [ + 657.1860051330601, + 386.20814918076326 + ], + [ + 648.9670612396588, + 370.6339492246784 + ], + [ + 622.980488700571, + 377.1567478646744 + ], + [ + 630.4003264939621, + 348.6158231942635 + ], + [ + 657.9563184933288, + 341.8989072161455 + ], + [ + 649.3619898860233, + 326.4098422257432 + ], + [ + 622.2253554581048, + 332.89416916585975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 546, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -106.04119873046875, + "y": -0.6900584101676941, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4382031261920929, + "y": 0.44320857524871826, + "z": 0.8643295168876648 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 664.4575005916138, + "ymin": 224.0085824456217, + "xmax": 703.7036657606197, + "ymax": 289.11529106816374 + }, + "corners_3d": [ + [ + -106.56197357177734, + -1.0324738025665283, + 0.0798180103302002 + ], + [ + -106.37767791748047, + -0.16542714834213257, + 0.0798180103302002 + ], + [ + -105.52042388916016, + -0.3476429879665375, + 0.0798180103302002 + ], + [ + -105.70471954345703, + -1.2146897315979004, + 0.0798180103302002 + ], + [ + -106.56197357177734, + -1.0324738025665283, + 1.8084770441055298 + ], + [ + -106.37767791748047, + -0.16542714834213257, + 1.8084770441055298 + ], + [ + -105.52042388916016, + -0.3476429879665375, + 1.8084770441055298 + ], + [ + -105.70471954345703, + -1.2146897315979004, + 1.8084770441055298 + ] + ], + "corners_2d": [ + [ + 678.9822461645313, + 289.11529106816374 + ], + [ + 701.3222657889579, + 280.17364897787036 + ], + [ + 686.5760576822298, + 266.3065701632638 + ], + [ + 664.4575005916138, + 274.9497848158295 + ], + [ + 680.5130724201213, + 246.48199363338063 + ], + [ + 703.7036657606197, + 237.66607464131494 + ], + [ + 688.3533663722694, + 224.0085824456217 + ], + [ + 665.4010669320269, + 232.51907960561718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 759, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -113.24250793457031, + "y": 6.192124366760254, + "z": 0.9441720247268677 + }, + "extent": { + "x": 0.5355859398841858, + "y": 0.4451330602169037, + "z": 0.9361791610717773 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 962.2089794335352, + "ymin": 309.8856645071369, + "xmax": 1027.1476549614522, + "ymax": 388.3282890478372 + }, + "corners_3d": [ + [ + -113.82168579101562, + 5.805413722991943, + 0.007992863655090332 + ], + [ + -113.72863006591797, + 6.690803050994873, + 0.007992863655090332 + ], + [ + -112.663330078125, + 6.5788350105285645, + 0.007992863655090332 + ], + [ + -112.75638580322266, + 5.693445682525635, + 0.007992863655090332 + ], + [ + -113.82168579101562, + 5.805413722991943, + 1.880351185798645 + ], + [ + -113.72863006591797, + 6.690803050994873, + 1.880351185798645 + ], + [ + -112.663330078125, + 6.5788350105285645, + 1.880351185798645 + ], + [ + -112.75638580322266, + 5.693445682525635, + 1.880351185798645 + ] + ], + "corners_2d": [ + [ + 986.0782717579536, + 388.3282890478372 + ], + [ + 1009.663537195667, + 379.0746106859529 + ], + [ + 985.4584605636808, + 356.82304062773335 + ], + [ + 962.2089794335352, + 365.6358163345109 + ], + [ + 1002.6180261656431, + 341.1845388289814 + ], + [ + 1027.1476549614522, + 331.98104230340016 + ], + [ + 1001.387568438779, + 309.8856645071369 + ], + [ + 977.2174656084318, + 318.63058552552553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 709, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -113.74694061279297, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5719286799430847, + "y": 0.40223947167396545, + "z": 0.9077976942062378 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.4781836663684, + "ymin": 405.4917296779795, + "xmax": 710.3340303151059, + "ymax": 489.8419303455225 + }, + "corners_3d": [ + [ + -114.3188705444336, + -4.090002536773682, + 0.03635472059249878 + ], + [ + -114.3188705444336, + -3.2855234146118164, + 0.03635472059249878 + ], + [ + -113.17501068115234, + -3.2855234146118164, + 0.03635472059249878 + ], + [ + -113.17501068115234, + -4.090002536773682, + 0.03635472059249878 + ], + [ + -114.3188705444336, + -4.090002536773682, + 1.8519501686096191 + ], + [ + -114.3188705444336, + -3.2855234146118164, + 1.8519501686096191 + ], + [ + -113.17501068115234, + -3.2855234146118164, + 1.8519501686096191 + ], + [ + -113.17501068115234, + -4.090002536773682, + 1.8519501686096191 + ] + ], + "corners_2d": [ + [ + 678.8398081904043, + 489.8419303455225 + ], + [ + 706.9078058654292, + 481.8171438538791 + ], + [ + 690.8300944416952, + 451.31006595451663 + ], + [ + 663.4781836663684, + 458.86478760329754 + ], + [ + 680.8450182532131, + 444.15536456581845 + ], + [ + 710.3340303151059, + 436.0909222644638 + ], + [ + 693.352090110785, + 405.4917296779795 + ], + [ + 664.6523269213716, + 413.06062554132683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 763, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -112.38488006591797, + "y": -10.513161659240723, + "z": 1.096559762954712 + }, + "extent": { + "x": 0.40351566672325134, + "y": 0.40376344323158264, + "z": 0.8721659183502197 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 394.09766524850096, + "ymin": 437.1491288493541, + "xmax": 439.51455344188537, + "ymax": 511.0319401081624 + }, + "corners_3d": [ + [ + -112.74398040771484, + -10.956892013549805, + 0.2243938446044922 + ], + [ + -112.8283920288086, + -10.153788566589355, + 0.2243938446044922 + ], + [ + -112.0257797241211, + -10.06943130493164, + 0.2243938446044922 + ], + [ + -111.94136810302734, + -10.87253475189209, + 0.2243938446044922 + ], + [ + -112.74398040771484, + -10.956892013549805, + 1.9687256813049316 + ], + [ + -112.8283920288086, + -10.153788566589355, + 1.9687256813049316 + ], + [ + -112.0257797241211, + -10.06943130493164, + 1.9687256813049316 + ], + [ + -111.94136810302734, + -10.87253475189209, + 1.9687256813049316 + ] + ], + "corners_2d": [ + [ + 407.8643008993415, + 511.0319401081624 + ], + [ + 439.51455344188537, + 505.0562491371976 + ], + [ + 436.7276162633567, + 481.43171341687423 + ], + [ + 405.7757670758766, + 487.1416122341607 + ], + [ + 396.0096219528275, + 466.92289985659096 + ], + [ + 429.33687875912926, + 460.9053295245333 + ], + [ + 426.65139655941516, + 437.1491288493541 + ], + [ + 394.09766524850096, + 442.8858967554224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 426, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -100.42488098144531, + "y": -10.765958786010742, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.38856932520866394, + "y": 0.32063597440719604, + "z": 0.8714255094528198 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 329.64816020196224, + "ymin": 190.65865566342575, + "xmax": 361.74174761062363, + "ymax": 247.874340091633 + }, + "corners_3d": [ + [ + -100.73829650878906, + -11.16037654876709, + 0.2251293659210205 + ], + [ + -100.87162017822266, + -10.53311824798584, + 0.2251293659210205 + ], + [ + -100.11146545410156, + -10.371541023254395, + 0.2251293659210205 + ], + [ + -99.97814178466797, + -10.998799324035645, + 0.2251293659210205 + ], + [ + -100.73829650878906, + -11.16037654876709, + 1.9679803848266602 + ], + [ + -100.87162017822266, + -10.53311824798584, + 1.9679803848266602 + ], + [ + -100.11146545410156, + -10.371541023254395, + 1.9679803848266602 + ], + [ + -99.97814178466797, + -10.998799324035645, + 1.9679803848266602 + ] + ], + "corners_2d": [ + [ + 340.9716413529508, + 247.874340091633 + ], + [ + 360.09050513601045, + 246.34298996984512 + ], + [ + 361.74174761062363, + 233.0578041664658 + ], + [ + 342.94630048549624, + 234.5383240902831 + ], + [ + 329.64816020196224, + 205.20169939153396 + ], + [ + 349.512169439878, + 203.6976660030579 + ], + [ + 351.4081797343353, + 190.65865566342575 + ], + [ + 331.8930499569733, + 192.11092601082643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1536, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 396.18403305595723, + "ymin": 0.0, + "xmax": 477.1549299747166, + "ymax": 44.04371295865468 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 449.75211156157116, + -14.280150596876297 + ], + [ + 403.37046179258357, + -7.817692231568174 + ], + [ + 426.6853912130058, + 44.04371295865468 + ], + [ + 477.1549299747166, + 36.29018019367504 + ], + [ + 444.0454626545278, + -55.945765674837105 + ], + [ + 396.18403305595723, + -49.806680420057944 + ], + [ + 419.5645306254297, + -0.3783905627080344 + ], + [ + 471.79235468165314, + -7.786525094117053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 7270, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 811.5856013038149, + "ymin": 289.6895471504391, + "xmax": 946.8592055577108, + "ymax": 433.4327453201288 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 877.4139084634323, + 433.4327453201288 + ], + [ + 934.4103695627728, + 416.9979568246186 + ], + [ + 864.4310300277109, + 329.7293978008232 + ], + [ + 811.5856013038149, + 343.30585774696203 + ], + [ + 887.6310008167206, + 392.9225546628679 + ], + [ + 946.8592055577108, + 376.49975741056807 + ], + [ + 873.0299537783924, + 289.6895471504391 + ], + [ + 818.2654114307147, + 303.1512418461292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 196, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 471.61769974009957, + "ymin": 0.0, + "xmax": 531.1419712432316, + "ymax": 11.622036106043367 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 511.9904131765472, + -22.73288670126675 + ], + [ + 475.04406582703916, + -17.582929957510373 + ], + [ + 492.36010700295776, + 11.622036106043367 + ], + [ + 531.1419712432316, + 5.892624562886056 + ], + [ + 509.3578123466102, + -51.473352537040284 + ], + [ + 471.61769974009957, + -46.50395745768992 + ], + [ + 489.1209236483535, + -18.28499791890914 + ], + [ + 528.7786265365658, + -23.82606749382319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4217, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 555.1354320971035, + "ymin": 77.45757210044832, + "xmax": 641.8899788238764, + "ymax": 182.4887340226969 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 600.7429392323832, + 111.61257292351624 + ], + [ + 557.3960235615256, + 119.38247979080987 + ], + [ + 594.9206930249821, + 182.4887340226969 + ], + [ + 641.8355763485771, + 173.1906320223939 + ], + [ + 599.6814485630628, + 77.45757210044832 + ], + [ + 555.1354320971035, + 85.02689495491842 + ], + [ + 593.5669028337007, + 146.68311570727448 + ], + [ + 641.8899788238764, + 137.57857925341568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3831, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 478.23060300709506, + "ymin": 104.45863152218811, + "xmax": 558.6880990630427, + "ymax": 209.72817707774112 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 531.0052965919098, + 147.62315013043795 + ], + [ + 483.79664996013105, + 156.3811301596043 + ], + [ + 508.27983757062185, + 209.72817707774112 + ], + [ + 558.6880990630427, + 199.60328643527492 + ], + [ + 527.1714265631812, + 104.45863152218811 + ], + [ + 478.23060300709506, + 112.96603012127545 + ], + [ + 503.21716827511534, + 164.9499283878382 + ], + [ + 555.6062048541933, + 155.06213957828774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 857.2396681505842, + "ymin": 228.17380822501815, + "xmax": 882.7135219714112, + "ymax": 266.82802891695127 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 857.2396681505842, + 260.29316558682194 + ], + [ + 862.8423807556047, + 266.82802891695127 + ], + [ + 876.539807178769, + 263.58907440336384 + ], + [ + 870.8497907705272, + 257.10584103193446 + ], + [ + 862.8860281590678, + 231.3264877959632 + ], + [ + 868.682405750298, + 237.7923404000912 + ], + [ + 882.7135219714112, + 234.58725091489046 + ], + [ + 876.8256298798307, + 228.17380822501815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1044.3289538832123, + "ymin": 185.23248698798292, + "xmax": 1073.732667486556, + "ymax": 222.32255789687673 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1044.3289538832123, + 216.47934164402287 + ], + [ + 1051.0553477250203, + 222.32255789687673 + ], + [ + 1063.3003332683197, + 219.42705325375007 + ], + [ + 1056.506511476266, + 213.62750557281666 + ], + [ + 1054.2545291813458, + 188.0454256301659 + ], + [ + 1061.2250600053617, + 193.81055284215992 + ], + [ + 1073.732667486556, + 190.95347350376545 + ], + [ + 1066.6919598734066, + 185.23248698798292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.6768459190271, + "ymin": 438.33566924033073, + "xmax": 477.11018706001977, + "ymax": 475.81820240406927 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 461.1087478286399, + 475.81820240406927 + ], + [ + 477.11018706001977, + 471.56045015402043 + ], + [ + 474.48145514175826, + 462.9969590194225 + ], + [ + 458.6040632744893, + 467.1833546651368 + ], + [ + 456.20710938102854, + 451.18695796756157 + ], + [ + 472.66605362843524, + 446.91825029427446 + ], + [ + 470.0045500388784, + 438.33566924033073 + ], + [ + 453.6768459190271, + 442.530905995379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 528.9994368538878, + "ymin": 675.9586182525196, + "xmax": 561.4473256949718, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 538.049429308843, + 727.0030837164893 + ], + [ + 561.4473256949718, + 719.0919014901037 + ], + [ + 556.5153842746392, + 703.36306768038 + ], + [ + 533.379276577436, + 711.0784919870006 + ], + [ + 533.8062681224126, + 700.0433530186348 + ], + [ + 558.1991014364634, + 691.9792081104442 + ], + [ + 553.1078150571813, + 675.9586182525196 + ], + [ + 528.9994368538878, + 683.8151026324308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 483.98150269727887, + "ymin": 525.7887195825576, + "xmax": 513.865403962981, + "ymax": 573.4703480796801 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 493.0233308818275, + 573.4703480796801 + ], + [ + 513.865403962981, + 567.3449155363344 + ], + [ + 510.038182031004, + 555.1392256526807 + ], + [ + 489.40460789533915, + 561.1309880059741 + ], + [ + 487.6695217948735, + 544.2821730381581 + ], + [ + 509.29679362894944, + 538.1000477690916 + ], + [ + 505.3842980609917, + 525.7887195825576 + ], + [ + 483.98150269727887, + 531.8311205766236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1157.8962847283378, + "ymin": 240.9128144441815, + "xmax": 1186.83182466353, + "ymax": 273.194022353176 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1157.8962847283378, + 267.6290099594252 + ], + [ + 1164.6754636357111, + 273.194022353176 + ], + [ + 1175.1729377560387, + 270.4522516811782 + ], + [ + 1168.3453485593845, + 264.9242041509065 + ], + [ + 1169.1390405629213, + 243.59473030301086 + ], + [ + 1176.1447787084217, + 249.11386211513945 + ], + [ + 1186.83182466353, + 246.3944915985748 + ], + [ + 1179.7760884522156, + 240.9128144441815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 944.8705290458256, + "ymin": 208.04775488220855, + "xmax": 972.26309797142, + "ymax": 245.97713346891794 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 944.8705290458256, + 239.77108782919282 + ], + [ + 951.020095218225, + 245.97713346891794 + ], + [ + 964.0269611274236, + 242.90147197290295 + ], + [ + 957.7997736931793, + 236.74321658281073 + ], + [ + 952.5883062963662, + 211.03878191915433 + ], + [ + 958.9571427780422, + 217.17112923860785 + ], + [ + 972.26309797142, + 214.13168630272258 + ], + [ + 965.8131598511975, + 208.04775488220855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 784.031671753104, + "ymin": 75.3173943072847, + "xmax": 1260.3218966671718, + "ymax": 427.0475823979283 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1140.2733495922612, + 332.9634211035843 + ], + [ + 1130.8394335832172, + 324.3309882834408 + ], + [ + 784.031671753104, + 416.4843442610979 + ], + [ + 790.6753084490831, + 427.0475823979283 + ], + [ + 1260.3218966671718, + 82.9664657527012 + ], + [ + 1247.1967137082768, + 75.3173943072847 + ], + [ + 822.7511055166774, + 158.87364294110188 + ], + [ + 831.7451553872716, + 168.72638681025663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.445044889569, + "ymin": 0.0, + "xmax": 902.1404767625748, + "ymax": 55.95459735360288 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 870.6154373682413, + 43.08882638481214 + ], + [ + 865.860889633946, + 39.10991449283989 + ], + [ + 791.445044889569, + 51.801253700440895 + ], + [ + 795.787916250867, + 55.95459735360288 + ], + [ + 902.1404767625748, + -138.95083674779846 + ], + [ + 896.5000306704885, + -142.0783246418892 + ], + [ + 812.4949712956543, + -132.08259668593098 + ], + [ + 817.6123668825028, + -128.79863645544538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 402.5009975895958, + "ymin": 267.15407416421107, + "xmax": 627.3139599917484, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 475.69545273078836, + 529.2567470515919 + ], + [ + 458.9412972782451, + 533.8399331837232 + ], + [ + 602.9666588260213, + 1087.1796030715273 + ], + [ + 627.3139599917484, + 1076.7328574738926 + ], + [ + 424.7620167280709, + 267.15407416421107 + ], + [ + 402.5009975895958, + 271.7034834746381 + ], + [ + 582.2100457272121, + 925.9922246648345 + ], + [ + 620.2742569873403, + 911.3494436339022 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00135/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00135/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef2e4a7ed9fe58634f5515ff6d2b95f2b7cc4b3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00135/meta.json @@ -0,0 +1,2475 @@ +{ + "frame_id": 135, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 67.5, + "sim_timestamp": 1781.0218251950573 + }, + "drone_pose": { + "x": -128.70248625320377, + "y": -10.347983761855154, + "z": 20.0, + "pitch": -43.377535502925596, + "yaw": 19.284319376478987, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6860617399215698, + -0.24004466831684113, + 0.6868026256561279, + 77.0457763671875 + ], + [ + 0.3302561044692993, + 0.9438913464546204, + 0.0, + -32.737403869628906 + ], + [ + -0.6482670307159424, + 0.22682073712348938, + 0.7268440127372742, + -100.31759643554688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -128.28166594128393, + "y": -10.200184222036125, + "z": 20.0 + }, + "t1_image_uv": [ + 641.5642596242561, + -547.1141433799545 + ], + "t1_depth": 0.32418722474452866 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -109.66718292236328, + "y": -3.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.745756558763517, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 598, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -109.66718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4222509264945984, + "y": 0.40967538952827454, + "z": 0.8841040730476379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.5186482617601, + "ymin": 324.80172149798256, + "xmax": 658.7438348865323, + "ymax": 394.646544593409 + }, + "corners_3d": [ + [ + -110.08943176269531, + -4.097438335418701, + 0.06003856658935547 + ], + [ + -110.08943176269531, + -3.278087615966797, + 0.06003856658935547 + ], + [ + -109.24493408203125, + -3.278087615966797, + 0.06003856658935547 + ], + [ + -109.24493408203125, + -4.097438335418701, + 0.06003856658935547 + ], + [ + -110.08943176269531, + -4.097438335418701, + 1.8282467126846313 + ], + [ + -110.08943176269531, + -3.278087615966797, + 1.8282467126846313 + ], + [ + -109.24493408203125, + -3.278087615966797, + 1.8282467126846313 + ], + [ + -109.24493408203125, + -4.097438335418701, + 1.8282467126846313 + ] + ], + "corners_2d": [ + [ + 631.5126195328531, + 394.646544593409 + ], + [ + 657.9355467077836, + 388.06928615505865 + ], + [ + 648.2582209913363, + 369.21731534668737 + ], + [ + 622.3049323542175, + 375.5311750176533 + ], + [ + 631.1273127024728, + 350.0968380710353 + ], + [ + 658.7438348865323, + 343.5483240718699 + ], + [ + 648.6225548528655, + 324.80172149798256 + ], + [ + 621.5186482617601, + 331.0765002013862 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 135, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 375803, + "2": 243599, + "3": 184085, + "4": 39800, + "6": 14418, + "7": 2850, + "9": 15423, + "10": 502, + "12": 3721, + "14": 17858, + "20": 3470, + "22": 164, + "24": 19907 + }, + "instance_pixel_counts": { + "9045": 2359, + "11605": 98718, + "15189": 143, + "15701": 26396, + "15967": 13117, + "15970": 2771, + "16479": 29298, + "16482": 4639, + "16725": 91, + "17547": 12753, + "18018": 248, + "18059": 9950, + "19554": 3916, + "20107": 7100, + "20565": 38805, + "21395": 23212, + "21397": 984, + "21643": 19530, + "21907": 103398, + "21909": 6602, + "22931": 1326, + "23957": 1421, + "24467": 43525, + "25344": 8699, + "25600": 8314, + "26754": 1114, + "29523": 236, + "29779": 11910, + "29835": 2536, + "30859": 1624, + "31371": 910, + "33419": 357, + "36096": 598, + "36352": 558, + "36608": 668, + "36864": 729, + "37120": 770, + "37376": 398, + "37632": 1779, + "37888": 7525, + "38912": 352, + "40448": 4307, + "40704": 3895, + "42071": 255, + "45409": 3436, + "45442": 164, + "45971": 31741, + "46483": 128563, + "48225": 6694, + "49043": 44038, + "49761": 6017, + "51526": 39800, + "53857": 4957, + "56458": 23592, + "56970": 15596, + "57482": 49524, + "58506": 30461, + "60307": 1821, + "60819": 6417, + "61254": 17779, + "61331": 3, + "62867": 2659 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 598, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -109.66718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.31699705123901367, + "y": 0.390191912651062, + "z": 0.86545330286026 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.3523325488031, + "ymin": 327.73317610500146, + "xmax": 656.8002101370846, + "ymax": 391.6146621681306 + }, + "corners_3d": [ + [ + -109.98417663574219, + -4.0779547691345215, + 0.0786893367767334 + ], + [ + -109.98417663574219, + -3.2975711822509766, + 0.0786893367767334 + ], + [ + -109.35018920898438, + -3.2975711822509766, + 0.0786893367767334 + ], + [ + -109.35018920898438, + -4.0779547691345215, + 0.0786893367767334 + ], + [ + -109.98417663574219, + -4.0779547691345215, + 1.8095959424972534 + ], + [ + -109.98417663574219, + -3.2975711822509766, + 1.8095959424972534 + ], + [ + -109.35018920898438, + -3.2975711822509766, + 1.8095959424972534 + ], + [ + -109.35018920898438, + -4.0779547691345215, + 1.8095959424972534 + ] + ], + "corners_2d": [ + [ + 630.9713203339935, + 391.6146621681306 + ], + [ + 656.0923953789353, + 385.3824869493036 + ], + [ + 648.832599585037, + 371.2262794123523 + ], + [ + 624.0476186281339, + 377.27005672723743 + ], + [ + 630.5714274073185, + 348.01621609300224 + ], + [ + 656.8002101370846, + 341.8121014119728 + ], + [ + 649.2149433380838, + 327.73317610500146 + ], + [ + 623.3523325488031, + 333.7416597971517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 558, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -105.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4392968714237213, + "y": 0.44568702578544617, + "z": 0.874418318271637 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 665.7351234157402, + "ymin": 224.12218601440554, + "xmax": 705.1452993279665, + "ymax": 289.7345052285543 + }, + "corners_3d": [ + [ + -106.06356048583984, + -1.0346707105636597, + 0.06973409652709961 + ], + [ + -105.87823486328125, + -0.162775456905365, + 0.06973409652709961 + ], + [ + -105.01883697509766, + -0.3454461097717285, + 0.06973409652709961 + ], + [ + -105.20416259765625, + -1.217341423034668, + 0.06973409652709961 + ], + [ + -106.06356048583984, + -1.0346707105636597, + 1.8185707330703735 + ], + [ + -105.87823486328125, + -0.162775456905365, + 1.8185707330703735 + ], + [ + -105.01883697509766, + -0.3454461097717285, + 1.8185707330703735 + ], + [ + -105.20416259765625, + -1.217341423034668, + 1.8185707330703735 + ] + ], + "corners_2d": [ + [ + 680.1058492232298, + 289.7345052285543 + ], + [ + 702.6840952186883, + 280.8785349439439 + ], + [ + 688.0818381888715, + 266.90480361619404 + ], + [ + 665.7351234157402, + 275.4628338640358 + ], + [ + 681.6980609953083, + 246.6107303150485 + ], + [ + 705.1452993279665, + 237.88131926182623 + ], + [ + 689.9366150314206, + 224.12218601440554 + ], + [ + 666.7387104924904, + 232.54662494266836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 668, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -109.99488830566406, + "y": 5.451816082000732, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5671435594558716, + "y": 0.4786112904548645, + "z": 0.9421001076698303 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 892.9784473638931, + "ymin": 261.4349996248777, + "xmax": 953.1917211867344, + "ymax": 338.01899451950516 + }, + "corners_3d": [ + [ + -110.60895538330078, + 5.035109519958496, + 0.00205230712890625 + ], + [ + -110.50889587402344, + 5.987088203430176, + 0.00205230712890625 + ], + [ + -109.38082122802734, + 5.868522644042969, + 0.00205230712890625 + ], + [ + -109.48088073730469, + 4.916543960571289, + 0.00205230712890625 + ], + [ + -110.60895538330078, + 5.035109519958496, + 1.886252522468567 + ], + [ + -110.50889587402344, + 5.987088203430176, + 1.886252522468567 + ], + [ + -109.38082122802734, + 5.868522644042969, + 1.886252522468567 + ], + [ + -109.48088073730469, + 4.916543960571289, + 1.886252522468567 + ] + ], + "corners_2d": [ + [ + 914.8840467212121, + 338.01899451950516 + ], + [ + 939.7436838280283, + 329.29139027493966 + ], + [ + 917.4487950529938, + 308.13644143556013 + ], + [ + 892.9784473638931, + 316.44579425238885 + ], + [ + 927.3451349538557, + 290.966468823397 + ], + [ + 953.1917211867344, + 282.33206270907147 + ], + [ + 929.5829603166633, + 261.4349996248777 + ], + [ + 904.1546500362643, + 269.6376646838458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 729, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -113.24694061279297, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5153661370277405, + "y": 0.38045254349708557, + "z": 0.9008994698524475 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.9507933408324, + "ymin": 407.6036568710121, + "xmax": 707.3151427655358, + "ymax": 488.0256345033197 + }, + "corners_3d": [ + [ + -113.7623062133789, + -4.068215370178223, + 0.04325294494628906 + ], + [ + -113.7623062133789, + -3.3073103427886963, + 0.04325294494628906 + ], + [ + -112.73157501220703, + -3.3073103427886963, + 0.04325294494628906 + ], + [ + -112.73157501220703, + -4.068215370178223, + 0.04325294494628906 + ], + [ + -113.7623062133789, + -4.068215370178223, + 1.845051884651184 + ], + [ + -113.7623062133789, + -3.3073103427886963, + 1.845051884651184 + ], + [ + -112.73157501220703, + -3.3073103427886963, + 1.845051884651184 + ], + [ + -112.73157501220703, + -4.068215370178223, + 1.845051884651184 + ] + ], + "corners_2d": [ + [ + 677.4494722936894, + 488.0256345033197 + ], + [ + 704.0670669087974, + 480.65344252879504 + ], + [ + 689.9477119198989, + 453.0752349287475 + ], + [ + 663.9507933408324, + 460.05575365428393 + ], + [ + 679.3624022510098, + 442.66922015691927 + ], + [ + 707.3151427655358, + 435.2626742777696 + ], + [ + 692.4086678370818, + 407.6036568710121 + ], + [ + 665.1395090567944, + 414.5975238331034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 770, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -111.88533782958984, + "y": -10.514540672302246, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.4310937821865082, + "y": 0.3910507559776306, + "z": 0.8855094909667969 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 393.5176572087789, + "ymin": 434.53191703718363, + "xmax": 437.8890951888781, + "ymax": 510.2666786695819 + }, + "corners_3d": [ + [ + -112.273193359375, + -10.948511123657227, + 0.21104538440704346 + ], + [ + -112.35494232177734, + -10.170693397521973, + 0.21104538440704346 + ], + [ + -111.49748229980469, + -10.080570220947266, + 0.21104538440704346 + ], + [ + -111.41573333740234, + -10.85838794708252, + 0.21104538440704346 + ], + [ + -112.273193359375, + -10.948511123657227, + 1.9820643663406372 + ], + [ + -112.35494232177734, + -10.170693397521973, + 1.9820643663406372 + ], + [ + -111.49748229980469, + -10.080570220947266, + 1.9820643663406372 + ], + [ + -111.41573333740234, + -10.85838794708252, + 1.9820643663406372 + ] + ], + "corners_2d": [ + [ + 407.25905172005605, + 510.2666786695819 + ], + [ + 437.8890951888781, + 504.70826203380966 + ], + [ + 435.2604748285455, + 479.5104521931077 + ], + [ + 405.35444268609314, + 484.8050699646978 + ], + [ + 395.21366160357394, + 465.4626840758792 + ], + [ + 427.48676424336014, + 459.86583121758116 + ], + [ + 424.9879616768633, + 434.53191703718363 + ], + [ + 393.5176572087789, + 439.8499540259728 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 398, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -99.9229736328125, + "y": -10.767340660095215, + "z": 1.0965744256973267 + }, + "extent": { + "x": 0.47785642743110657, + "y": 0.31114500761032104, + "z": 0.8948850631713867 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 332.0714783812793, + "ymin": 187.33148781619835, + "xmax": 364.3370775286199, + "ymax": 248.4631106866577 + }, + "corners_3d": [ + [ + -100.32569885253906, + -11.171038627624512, + 0.20168936252593994 + ], + [ + -100.455078125, + -10.562347412109375, + 0.20168936252593994 + ], + [ + -99.52024841308594, + -10.363642692565918, + 0.20168936252593994 + ], + [ + -99.390869140625, + -10.972333908081055, + 0.20168936252593994 + ], + [ + -100.32569885253906, + -11.171038627624512, + 1.9914594888687134 + ], + [ + -100.455078125, + -10.562347412109375, + 1.9914594888687134 + ], + [ + -99.52024841308594, + -10.363642692565918, + 1.9914594888687134 + ], + [ + -99.390869140625, + -10.972333908081055, + 1.9914594888687134 + ] + ], + "corners_2d": [ + [ + 343.5875218883457, + 248.4631106866577 + ], + [ + 362.1012807310337, + 247.07734547768314 + ], + [ + 364.3370775286199, + 230.79760487422965 + ], + [ + 346.207292792637, + 232.12709257552615 + ], + [ + 332.0714783812793, + 204.6579076338468 + ], + [ + 351.3240584164623, + 203.29766144660024 + ], + [ + 353.8740191885652, + 187.33148781619835 + ], + [ + 335.0363180201611, + 188.6344168353032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1779, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 403.5656767465849, + "ymin": 0.0, + "xmax": 484.2275756086998, + "ymax": 48.149698460018556 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 457.169617784457, + -10.792369672341977 + ], + [ + 410.5638856524459, + -4.429553851330638 + ], + [ + 433.4584513688872, + 48.149698460018556 + ], + [ + 484.2275756086998, + 40.50288823669257 + ], + [ + 451.66032130862993, + -52.58017512585036 + ], + [ + 403.5656767465849, + -46.53416604178926 + ], + [ + 426.5277065516443, + 3.5931530286243287 + ], + [ + 479.069819975962, + -3.7155204129289814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 7525, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 819.6238780802598, + "ymin": 301.1477788626054, + "xmax": 957.0268551596834, + "ymax": 447.6566855190674 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 886.0310287804944, + 447.6566855190674 + ], + [ + 943.9917431921065, + 431.1811209252287 + ], + [ + 873.2569006875013, + 341.2797630910301 + ], + [ + 819.6238780802598, + 354.84555333764536 + ], + [ + 896.7662175873475, + 407.151185857207 + ], + [ + 957.0268551596834, + 390.6687773071705 + ], + [ + 882.304120297963, + 301.1477788626054 + ], + [ + 826.7014380365492, + 314.61112754274563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 352, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 479.30603199740847, + "ymin": 0.0, + "xmax": 538.7457202095032, + "ymax": 15.582108737422459 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 519.7413949467608, + -19.11318852235661 + ], + [ + 482.59093984127423, + -14.039124010337105 + ], + [ + 499.7237148661332, + 15.582108737422459 + ], + [ + 538.7457202095032, + 9.931467630320583 + ], + [ + 517.2561468824581, + -47.94377175057036 + ], + [ + 479.30603199740847, + -43.04666100544853 + ], + [ + 496.63009240840853, + -14.419569368723614 + ], + [ + 536.535594339897, + -19.885694300629666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4307, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 562.1514097679942, + "ymin": 83.16881611764882, + "xmax": 649.2196367526973, + "ymax": 189.48439790852785 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 607.960731774621, + 117.44840496033748 + ], + [ + 564.239515450475, + 125.13993025990248 + ], + [ + 601.5659297880686, + 189.48439790852785 + ], + [ + 648.9520651459321, + 180.26012894584557 + ], + [ + 607.0880461779157, + 83.16881611764882 + ], + [ + 562.1514097679942, + 90.66465398434946 + ], + [ + 600.402150191359, + 153.5577641260208 + ], + [ + 649.2196367526973, + 144.52113653053027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3895, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 484.44284905455015, + "ymin": 110.39813868237064, + "xmax": 564.9035294092924, + "ymax": 216.7565365563749 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 537.4342003226866, + 153.70845010969893 + ], + [ + 489.8321703740545, + 162.37770360077974 + ], + [ + 514.0188957033929, + 216.7565365563749 + ], + [ + 564.9035294092924, + 206.71685287134838 + ], + [ + 533.7998229210975, + 110.39813868237064 + ], + [ + 484.44284905455015, + 118.82353917386945 + ], + [ + 509.1376432898578, + 171.84178939337747 + ], + [ + 562.0335523441383, + 162.03129978798341 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.9150198602556, + "ymin": 241.1384793547731, + "xmax": 893.0702051734969, + "ymax": 280.1639090284101 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 866.9150198602556, + 273.4026761979004 + ], + [ + 872.592826721893, + 280.1639090284101 + ], + [ + 886.5364116954293, + 276.90746024535684 + ], + [ + 880.7672607112137, + 270.1991353759632 + ], + [ + 872.9025472685797, + 244.30963915202096 + ], + [ + 878.7820912113225, + 251.00467543627576 + ], + [ + 893.0702051734969, + 247.7797457722238 + ], + [ + 887.0948463293253, + 241.1384793547731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1057.4253157308658, + "ymin": 197.9216627026527, + "xmax": 1087.6941982861354, + "ymax": 235.39644379856287 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1057.4253157308658, + 229.3444890165684 + ], + [ + 1064.2807534213189, + 235.39644379856287 + ], + [ + 1076.758737416098, + 232.48227739904502 + ], + [ + 1069.8324851150317, + 226.47514212081612 + ], + [ + 1067.8335964271125, + 200.75400577373145 + ], + [ + 1074.944500955542, + 206.72962481318174 + ], + [ + 1087.6941982861354, + 203.85192599934157 + ], + [ + 1080.5095419406387, + 197.9216627026527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.227901077041, + "ymin": 452.4711242868411, + "xmax": 479.8408449216564, + "ymax": 490.1922966183897 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 463.600631519353, + 490.1922966183897 + ], + [ + 479.8408449216564, + 485.92882944737016 + ], + [ + 477.2611800874299, + 477.1036240551588 + ], + [ + 461.14971803720385, + 481.2944096902604 + ], + [ + 458.70309518321505, + 465.5996665970791 + ], + [ + 475.4129819997016, + 461.32220234121775 + ], + [ + 472.8014875579714, + 452.4711242868411 + ], + [ + 456.227901077041, + 456.6736747232957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 529.7297713402205, + "ymin": 703.5876692899376, + "xmax": 562.7527143031144, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 538.7919248843078, + 755.0200355859799 + ], + [ + 562.7527143031144, + 746.9706058410461 + ], + [ + 557.8550898078306, + 730.503161565289 + ], + [ + 534.1710036843108, + 738.3484131081289 + ], + [ + 534.4871868366389, + 728.6088688322421 + ], + [ + 559.4882825150436, + 720.3894402126396 + ], + [ + 554.4297030648019, + 703.5876692899376 + ], + [ + 529.7297713402205, + 711.5899441536747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 485.3330455938168, + "ymin": 546.6525311403337, + "xmax": 515.6313059112183, + "ymax": 594.7272866255329 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 494.36306800329055, + 594.7272866255329 + ], + [ + 515.6313059112183, + 588.5329351911797 + ], + [ + 511.8536369863233, + 575.8311522758485 + ], + [ + 490.8041857034189, + 581.887346177657 + ], + [ + 488.95944350774926, + 565.7405612108932 + ], + [ + 511.0427619261952, + 559.4807222659429 + ], + [ + 507.1805254597174, + 546.6525311403337 + ], + [ + 485.3330455938168, + 552.767676051998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1172.213010165341, + "ymin": 253.91795640645768, + "xmax": 1201.983352098312, + "ymax": 286.50348843213555 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1172.213010165341, + 280.7472447927471 + ], + [ + 1179.126750591639, + 286.50348843213555 + ], + [ + 1189.8233826155556, + 283.7477320883629 + ], + [ + 1182.858720976465, + 278.02935275916434 + ], + [ + 1183.9400628830667, + 256.61456677482164 + ], + [ + 1191.0905763526855, + 262.32702616515024 + ], + [ + 1201.983352098312, + 259.59201276373693 + ], + [ + 1194.7802139612454, + 253.91795640645768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 956.1233318657528, + "ymin": 220.88882284022762, + "xmax": 984.2851119527784, + "ymax": 259.19607269627016 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 956.1233318657528, + 252.77190084244904 + ], + [ + 962.3736975680376, + 259.19607269627016 + ], + [ + 975.6207493529358, + 256.10229546854504 + ], + [ + 969.289033273492, + 249.72713268089836 + ], + [ + 964.2496423851628, + 223.89883506811435 + ], + [ + 970.728961585646, + 230.2516081964781 + ], + [ + 984.2851119527784, + 227.1918879587301 + ], + [ + 977.7207370148765, + 220.88882284022762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.3359612301888, + "ymin": 87.02139840983102, + "xmax": 1278.8770935490859, + "ymax": 440.50972503366313 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1153.5238405950352, + 346.31264027854957 + ], + [ + 1143.92397199299, + 337.4017807848133 + ], + [ + 791.3359612301888, + 429.63223994803457 + ], + [ + 798.0213879364925, + 440.50972503366313 + ], + [ + 1278.8770935490859, + 94.96930475947505 + ], + [ + 1265.4112038796516, + 87.02139840983102 + ], + [ + 832.6636258662899, + 171.20129724525512 + ], + [ + 841.7884255852107, + 181.416388872398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.6496759826132, + "ymin": 0.0, + "xmax": 913.8506228768623, + "ymax": 61.813883888283954 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 880.6471212655563, + 49.055583105076096 + ], + [ + 875.8584260966325, + 44.99329224888936 + ], + [ + 800.6496759826132, + 57.57648078538455 + ], + [ + 805.0138218962268, + 61.813883888283954 + ], + [ + 913.8506228768623, + -134.0265043364463 + ], + [ + 908.14909868017, + -137.22663890746907 + ], + [ + 823.176692791333, + -127.29444413684598 + ], + [ + 828.3378653717195, + -123.93670711424767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 404.7585971255884, + "ymin": 280.8917743942975, + "xmax": 627.8603564995237, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 478.29956499717696, + 543.075864070378 + ], + [ + 461.3165887539217, + 547.6508330522535 + ], + [ + 602.9359985613168, + 1121.2280468306567 + ], + [ + 627.8603564995237, + 1110.6265595787017 + ], + [ + 427.3983496346387, + 280.8917743942975 + ], + [ + 404.7585971255884, + 285.4663301293188 + ], + [ + 581.5033804547049, + 973.9215251930178 + ], + [ + 620.9106348664326, + 958.7228192319408 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00136/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00136/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8922d0075ea67d73fb9c3185f9af594f7ddf0b90 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00136/meta.json @@ -0,0 +1,2370 @@ +{ + "frame_id": 136, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 68.0, + "sim_timestamp": 1793.0449495136272 + }, + "drone_pose": { + "x": -128.28166594128393, + "y": -10.200184222036125, + "z": 20.0, + "pitch": -43.339829055697095, + "yaw": 18.814289923035325, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6884355545043945, + -0.2345542162656784, + 0.6863240599632263, + 76.97968292236328 + ], + [ + 0.3225017786026001, + 0.9465688467025757, + 7.450580596923828e-09, + -31.71588706970215 + ], + [ + -0.6496530175209045, + 0.22134074568748474, + 0.7272958755493164, + -100.14219665527344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -127.85621131820947, + "y": -10.069497066085924, + "z": 20.0 + }, + "t1_image_uv": [ + 599.9282601503209, + -545.9190224074387 + ], + "t1_depth": 0.32355132551834914 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -109.16718292236328, + "y": -3.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.765100123023846, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 611, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -109.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.48037105798721313, + "y": 0.4066445529460907, + "z": 0.8968164920806885 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.0755883701421, + "ymin": 323.2952570511339, + "xmax": 659.2553566472665, + "ymax": 396.2073141506366 + }, + "corners_3d": [ + [ + -109.64755249023438, + -4.094407558441162, + 0.04732614755630493 + ], + [ + -109.64755249023438, + -3.281118392944336, + 0.04732614755630493 + ], + [ + -108.68681335449219, + -3.281118392944336, + 0.04732614755630493 + ], + [ + -108.68681335449219, + -4.094407558441162, + 0.04732614755630493 + ], + [ + -109.64755249023438, + -4.094407558441162, + 1.840959072113037 + ], + [ + -109.64755249023438, + -3.281118392944336, + 1.840959072113037 + ], + [ + -108.68681335449219, + -3.281118392944336, + 1.840959072113037 + ], + [ + -108.68681335449219, + -4.094407558441162, + 1.840959072113037 + ] + ], + "corners_2d": [ + [ + 632.1015660753862, + 396.2073141506366 + ], + [ + 658.4131692249174, + 389.82186096616516 + ], + [ + 647.6647953331592, + 368.3370751090405 + ], + [ + 621.8896875760399, + 374.43171720903206 + ], + [ + 631.7377261891025, + 351.013026269801 + ], + [ + 659.2553566472665, + 344.65583694359736 + ], + [ + 648.0069615993548, + 323.2952570511339 + ], + [ + 621.0755883701421, + 329.35011052250866 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 136, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 366288, + "2": 244611, + "3": 191327, + "4": 40546, + "6": 14195, + "7": 2774, + "9": 14950, + "10": 503, + "12": 3693, + "14": 18707, + "20": 3621, + "22": 22, + "24": 20363 + }, + "instance_pixel_counts": { + "9045": 2300, + "11605": 101082, + "15189": 393, + "15701": 27363, + "15967": 13942, + "15970": 2893, + "16479": 28918, + "16482": 4723, + "16725": 71, + "17547": 13531, + "18018": 3, + "18059": 10394, + "19554": 4055, + "20107": 5704, + "20565": 41052, + "21395": 23874, + "21397": 1030, + "21643": 20209, + "21907": 95726, + "21909": 6758, + "22931": 181, + "23957": 1462, + "24467": 44843, + "25344": 9007, + "25600": 7683, + "26754": 1107, + "29523": 355, + "29779": 13665, + "29835": 2371, + "30859": 1720, + "31371": 950, + "33419": 5, + "36096": 611, + "36352": 583, + "36608": 620, + "36864": 677, + "37120": 790, + "37376": 412, + "37632": 2018, + "37888": 7796, + "38912": 530, + "40448": 4400, + "40704": 3963, + "42071": 279, + "45409": 3560, + "45442": 22, + "45971": 33225, + "46483": 122790, + "48225": 6938, + "49043": 45649, + "49761": 4421, + "51526": 40546, + "53857": 5121, + "56458": 24320, + "56970": 16430, + "57482": 47837, + "58506": 31612, + "60307": 1909, + "60819": 6455, + "61254": 17464, + "62867": 2749 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 611, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -109.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5198290348052979, + "y": 0.3847239315509796, + "z": 0.8999544382095337 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.3773727368906, + "ymin": 322.51928963338514, + "xmax": 658.9934774336272, + "ymax": 397.0257211012302 + }, + "corners_3d": [ + [ + -109.68701171875, + -4.072486877441406, + 0.04418820142745972 + ], + [ + -109.68701171875, + -3.303039073944092, + 0.04418820142745972 + ], + [ + -108.64735412597656, + -3.303039073944092, + 0.04418820142745972 + ], + [ + -108.64735412597656, + -4.072486877441406, + 0.04418820142745972 + ], + [ + -109.68701171875, + -4.072486877441406, + 1.8440971374511719 + ], + [ + -109.68701171875, + -3.303039073944092, + 1.8440971374511719 + ], + [ + -108.64735412597656, + -3.303039073944092, + 1.8440971374511719 + ], + [ + -108.64735412597656, + -4.072486877441406, + 1.8440971374511719 + ] + ], + "corners_2d": [ + [ + 633.2463506476968, + 397.0257211012302 + ], + [ + 658.1589431935568, + 390.9727510213161 + ], + [ + 646.5437255574129, + 367.7140556139874 + ], + [ + 622.1803258435444, + 373.4692984789377 + ], + [ + 632.9338737713384, + 351.6700937014653 + ], + [ + 658.9934774336272, + 345.64347414943836 + ], + [ + 646.8366569051307, + 322.51928963338514 + ], + [ + 621.3773727368906, + 328.23633985444525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 583, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -105.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5157226324081421, + "y": 0.47775161266326904, + "z": 0.9319433569908142 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 664.9002453154618, + "ymin": 221.5946741582245, + "xmax": 708.6039819761721, + "ymax": 293.0179319040782 + }, + "corners_3d": [ + [ + -105.64498138427734, + -1.0501446723937988, + 0.012213945388793945 + ], + [ + -105.44631958007812, + -0.11552166938781738, + 0.012213945388793945 + ], + [ + -104.43741607666016, + -0.3299720883369446, + 0.012213945388793945 + ], + [ + -104.63607788085938, + -1.2645951509475708, + 0.012213945388793945 + ], + [ + -105.64498138427734, + -1.0501446723937988, + 1.8761006593704224 + ], + [ + -105.44631958007812, + -0.11552166938781738, + 1.8761006593704224 + ], + [ + -104.43741607666016, + -0.3299720883369446, + 1.8761006593704224 + ], + [ + -104.63607788085938, + -1.2645951509475708, + 1.8761006593704224 + ] + ], + "corners_2d": [ + [ + 681.5394621347949, + 293.0179319040782 + ], + [ + 705.844585562468, + 283.6276683475724 + ], + [ + 688.905336943962, + 267.15698639280424 + ], + [ + 664.9002453154618, + 276.1760369929179 + ], + [ + 683.3008275209348, + 247.04156426543977 + ], + [ + 708.6039819761721, + 237.79395835056403 + ], + [ + 690.912484850124, + 221.5946741582245 + ], + [ + 665.9339950177091, + 230.46177420317878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 620, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -109.16303253173828, + "y": 4.365856170654297, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.6092870831489563, + "y": 0.46041518449783325, + "z": 0.925470232963562 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 858.3171226661085, + "ymin": 263.5417049381863, + "xmax": 916.9028968200571, + "ymax": 340.63713644977497 + }, + "corners_3d": [ + [ + -109.81710815429688, + 3.971651077270508, + 0.018687069416046143 + ], + [ + -109.72085571289062, + 4.887436866760254, + 0.018687069416046143 + ], + [ + -108.50895690917969, + 4.760061264038086, + 0.018687069416046143 + ], + [ + -108.60520935058594, + 3.8442752361297607, + 0.018687069416046143 + ], + [ + -109.81710815429688, + 3.971651077270508, + 1.8696274757385254 + ], + [ + -109.72085571289062, + 4.887436866760254, + 1.8696274757385254 + ], + [ + -108.50895690917969, + 4.760061264038086, + 1.8696274757385254 + ], + [ + -108.60520935058594, + 3.8442752361297607, + 1.8696274757385254 + ] + ], + "corners_2d": [ + [ + 880.7234957384774, + 340.63713644977497 + ], + [ + 905.1893765913867, + 332.33955946093175 + ], + [ + 882.3489682251318, + 309.4270542593667 + ], + [ + 858.3171226661085, + 317.2953971550015 + ], + [ + 891.46128592891, + 294.39499472097697 + ], + [ + 916.9028968200571, + 286.1828229592923 + ], + [ + 892.7623497988204, + 263.5417049381863 + ], + [ + 867.7879282526654, + 271.3109728707379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 677, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -112.74694061279297, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.53883296251297, + "y": 0.3661361336708069, + "z": 0.9028345942497253 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.2305510461689, + "ymin": 407.2735220080393, + "xmax": 705.9057428914253, + "ymax": 488.6857053161938 + }, + "corners_3d": [ + [ + -113.28577423095703, + -4.05389928817749, + 0.04131782054901123 + ], + [ + -113.28577423095703, + -3.321626901626587, + 0.04131782054901123 + ], + [ + -112.2081069946289, + -3.321626901626587, + 0.04131782054901123 + ], + [ + -112.2081069946289, + -4.05389928817749, + 0.04131782054901123 + ], + [ + -113.28577423095703, + -4.05389928817749, + 1.846987009048462 + ], + [ + -113.28577423095703, + -3.321626901626587, + 1.846987009048462 + ], + [ + -112.2081069946289, + -3.321626901626587, + 1.846987009048462 + ], + [ + -112.2081069946289, + -4.05389928817749, + 1.846987009048462 + ] + ], + "corners_2d": [ + [ + 677.0103899389613, + 488.6857053161938 + ], + [ + 702.7196856965795, + 481.7537905497069 + ], + [ + 688.3064552787617, + 452.8486334034094 + ], + [ + 663.2305510461689, + 459.39484487645075 + ], + [ + 678.9037873636704, + 443.2250130831021 + ], + [ + 705.9057428914253, + 436.2610304652093 + ], + [ + 690.687921312511, + 407.2735220080393 + ], + [ + 664.3836757836772, + 413.83113619174935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 790, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -111.38578796386719, + "y": -10.515920639038086, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.5493066906929016, + "y": 0.3684048652648926, + "z": 0.9103557467460632 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 393.28011187932975, + "ymin": 429.2155285602186, + "xmax": 436.34096706251887, + "ymax": 512.6068106722032 + }, + "corners_3d": [ + [ + -111.8935775756836, + -10.939725875854492, + 0.18619424104690552 + ], + [ + -111.97059631347656, + -10.206952095031738, + 0.18619424104690552 + ], + [ + -110.87799835205078, + -10.09211540222168, + 0.18619424104690552 + ], + [ + -110.80097961425781, + -10.824889183044434, + 0.18619424104690552 + ], + [ + -111.8935775756836, + -10.939725875854492, + 2.0069057941436768 + ], + [ + -111.97059631347656, + -10.206952095031738, + 2.0069057941436768 + ], + [ + -110.87799835205078, + -10.09211540222168, + 2.0069057941436768 + ], + [ + -110.80097961425781, + -10.824889183044434, + 2.0069057941436768 + ] + ], + "corners_2d": [ + [ + 407.44568257811886, + 512.6068106722032 + ], + [ + 436.34096706251887, + 507.53923863115847 + ], + [ + 433.402407603097, + 475.4846383342684 + ], + [ + 405.37674465416217, + 480.2478131560661 + ], + [ + 395.05748880368117, + 466.5440060238839 + ], + [ + 425.54671909375367, + 461.4400530890404 + ], + [ + 422.8026920569804, + 429.2155285602186 + ], + [ + 393.28011187932975, + 433.9973874857367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 412, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -99.42107391357422, + "y": -10.768726348876953, + "z": 1.0965744256973267 + }, + "extent": { + "x": 0.45732420682907104, + "y": 0.32399168610572815, + "z": 0.887559711933136 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 334.1362041743007, + "ymin": 186.72031261930096, + "xmax": 366.9559440744208, + "ymax": 246.6531182561588 + }, + "corners_3d": [ + [ + -99.80104064941406, + -11.180721282958984, + 0.20901471376419067 + ], + [ + -99.9357681274414, + -10.546897888183594, + 0.20901471376419067 + ], + [ + -99.04110717773438, + -10.356731414794922, + 0.20901471376419067 + ], + [ + -98.90637969970703, + -10.990554809570312, + 0.20901471376419067 + ], + [ + -99.80104064941406, + -11.180721282958984, + 1.9841341972351074 + ], + [ + -99.9357681274414, + -10.546897888183594, + 1.9841341972351074 + ], + [ + -99.04110717773438, + -10.356731414794922, + 1.9841341972351074 + ], + [ + -98.90637969970703, + -10.990554809570312, + 1.9841341972351074 + ] + ], + "corners_2d": [ + [ + 345.44187059101046, + 246.6531182561588 + ], + [ + 364.6489392457989, + 245.31084686041112 + ], + [ + 366.9559440744208, + 229.79192544816584 + ], + [ + 348.130059848679, + 231.08201654881142 + ], + [ + 334.1362041743007, + 203.25651072216868 + ], + [ + 354.0990585157415, + 201.93912197358324 + ], + [ + 356.7073444568484, + 186.72031261930096 + ], + [ + 337.1559334165727, + 187.98458424399104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 2018, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 410.3219637734562, + "ymin": 0.0, + "xmax": 490.7646693314398, + "ymax": 52.46611622127625 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 463.98889346062896, + -7.118678521899312 + ], + [ + 417.14967288181583, + -0.8400364309050019 + ], + [ + 439.6873261173422, + 52.46611622127625 + ], + [ + 490.7646693314398, + 44.907896778858685 + ], + [ + 458.66024597169337, + -49.03154253970541 + ], + [ + 410.3219637734562, + -43.06390953573322 + ], + [ + 432.92969105164104, + 7.771950213531568 + ], + [ + 485.79585904863507, + 0.5454083173096933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 7796, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 827.5220579270793, + "ymin": 312.8186486366518, + "xmax": 967.1668517848956, + "ymax": 462.1619840625662 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 894.6196554944393, + 462.1619840625662 + ], + [ + 953.533823228943, + 445.6137492606372 + ], + [ + 881.9338974032373, + 353.0342934054137 + ], + [ + 827.5220579270793, + 366.6155785021522 + ], + [ + 905.8839373841947, + 421.6761887869982 + ], + [ + 967.1668517848956, + 405.1019019988718 + ], + [ + 891.432836656639, + 312.8186486366518 + ], + [ + 835.0003192943209, + 326.3097437543868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 530, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 486.38917790502387, + "ymin": 0.0, + "xmax": 545.7961339358037, + "ymax": 19.72266173950129 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 526.9031394944973, + -15.327582280937406 + ], + [ + 489.5439358300794, + -10.317591953063186 + ], + [ + 506.52996463350394, + 19.72266173950129 + ], + [ + 545.7961339358037, + 14.137851026230123 + ], + [ + 524.5543708938494, + -44.24953612169696 + ], + [ + 486.38917790502387, + -39.41331164346332 + ], + [ + 503.5709245997572, + -10.375132886145366 + ], + [ + 543.7287008484503, + -15.778820393982357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4400, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 568.732069447924, + "ymin": 89.05903603504117, + "xmax": 656.1913423030703, + "ymax": 196.68981982919473 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 614.7540608089722, + 123.46311292557107 + ], + [ + 570.6570484485012, + 131.09295683621272 + ], + [ + 607.860064069113, + 196.68981982919473 + ], + [ + 655.7175562667405, + 187.5198225623969 + ], + [ + 614.0613417779518, + 89.05903603504117 + ], + [ + 568.732069447924, + 96.4976509951245 + ], + [ + 606.8787632628105, + 160.64298337790896 + ], + [ + 656.1913423030703, + 151.65510470980072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3963, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 490.23364314835067, + "ymin": 116.5527676900501, + "xmax": 570.7763895026853, + "ymax": 224.03743311219893 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 543.459619886047, + 160.00937744295481 + ], + [ + 495.45878136425887, + 168.60957470043797 + ], + [ + 519.4106110022279, + 224.03743311219893 + ], + [ + 570.7763895026853, + 214.0605195507706 + ], + [ + 540.0132079028833, + 116.5527676900501 + ], + [ + 490.23364314835067, + 124.91529793328345 + ], + [ + 514.6999560909246, + 178.98648271818104 + ], + [ + 568.1086562299099, + 169.23133618795777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.5689350343322, + "ymin": 254.43026198423468, + "xmax": 903.4252268212169, + "ymax": 293.83300716551173 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 876.5689350343322, + 286.83898919440264 + ], + [ + 882.3327721960842, + 293.83300716551173 + ], + [ + 896.5218531365745, + 290.55222569435637 + ], + [ + 890.6626314625651, + 283.61252375230026 + ], + [ + 882.9063281998338, + 257.62661535757366 + ], + [ + 888.8805668626089, + 264.55763786073703 + ], + [ + 903.4252268212169, + 261.30601814508316 + ], + [ + 897.3508667693898, + 254.43026198423468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1070.474114219244, + "ymin": 210.85148960071828, + "xmax": 1101.627180764639, + "ymax": 248.71400564084843 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1070.474114219244, + 242.44855300887173 + ], + [ + 1077.469288731617, + 248.71400564084843 + ], + [ + 1090.1772696730857, + 245.77568144224853 + ], + [ + 1083.1079269284037, + 239.5562974942498 + ], + [ + 1081.3757128503698, + 213.7086176586812 + ], + [ + 1088.638332484866, + 219.89979527436978 + ], + [ + 1101.627180764639, + 216.99599365713587 + ], + [ + 1094.2872654991181, + 210.85148960071828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 458.7092753819819, + "ymin": 467.1596455734546, + "xmax": 482.5181157961068, + "ymax": 505.129977983326 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 466.033986669065, + 505.129977983326 + ], + [ + 482.5181157961068, + 500.85009006094197 + ], + [ + 479.97844276500456, + 491.75315345204774 + ], + [ + 463.6278561456222, + 495.9588265260169 + ], + [ + 461.13859993263196, + 480.5869317164518 + ], + [ + 478.10514175824017, + 476.2898525085544 + ], + [ + 475.5343533742425, + 467.1596455734546 + ], + [ + 458.7092753819819, + 471.3801474710306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 486.80825244401706, + "ymin": 568.4444650929694, + "xmax": 517.5438116807866, + "ymax": 616.9239334911435 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 495.83761052913053, + 616.9239334911435 + ], + [ + 517.5438116807866, + 610.6425177056814 + ], + [ + 513.8018270466832, + 597.4181253035002 + ], + [ + 492.3250625841667, + 603.5563348205809 + ], + [ + 490.38702280174977, + 588.1747702365209 + ], + [ + 512.9398564660868, + 581.8183287560284 + ], + [ + 509.1134521723611, + 568.4444650929694 + ], + [ + 486.80825244401706, + 574.6506233065693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1186.4103469898355, + "ymin": 267.0775476896867, + "xmax": 1217.027185716816, + "ymax": 299.9676411532005 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1186.4103469898355, + 294.0172826125376 + ], + [ + 1193.46717902088, + 299.9676411532005 + ], + [ + 1204.358571361708, + 297.1932750706725 + ], + [ + 1197.2483566946505, + 291.2817484821304 + ], + [ + 1198.628825016815, + 269.79339693043823 + ], + [ + 1205.933109424069, + 275.7023030078326 + ], + [ + 1217.027185716816, + 272.9470312480915 + ], + [ + 1209.6677000106401, + 267.0775476896867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.3470239724977, + "ymin": 234.01532613650295, + "xmax": 996.2976623184765, + "ymax": 272.70509311216244 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 967.3470239724977, + 266.0571901574691 + ], + [ + 973.7090754465166, + 272.70509311216244 + ], + [ + 987.1944817868796, + 269.5870143981132 + ], + [ + 980.7473679810262, + 262.9894536643523 + ], + [ + 975.8916996010221, + 237.0503882861334 + ], + [ + 982.4930132720424, + 243.62953935298475 + ], + [ + 996.2976623184765, + 240.54335726726998 + ], + [ + 989.6073521465166, + 234.01532613650295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.5754076599854, + "ymin": 98.91542890376843, + "xmax": 1280.0, + "ymax": 454.2754360005813 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1166.6350052585653, + 359.7878379828521 + ], + [ + 1156.8579975809398, + 350.59531983691363 + ], + [ + 798.5754076599854, + 443.0767107263294 + ], + [ + 805.3154351093615, + 454.2754360005813 + ], + [ + 1297.3821083822363, + 107.16884314890629 + ], + [ + 1283.556129203169, + 98.91542890376843 + ], + [ + 842.5695841090542, + 183.88897515077173 + ], + [ + 851.8450286625516, + 194.47877284456922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 809.3863445444731, + "ymin": 0.0, + "xmax": 925.0366651631266, + "ymax": 67.77847243195549 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 890.1981676910631, + 55.10418119482483 + ], + [ + 885.3708710719695, + 50.958963344638846 + ], + [ + 809.3863445444731, + 63.45721218313366 + ], + [ + 813.7766106078607, + 67.77847243195549 + ], + [ + 925.0366651631266, + -129.00446362699944 + ], + [ + 919.2690011685627, + -132.27713885179617 + ], + [ + 833.3464776590043, + -122.39056120307595 + ], + [ + 838.5569266829137, + -118.9589250883975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 406.9141692999259, + "ymin": 295.2372054931572, + "xmax": 628.8720230440703, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 480.83866807302763, + 557.410175838093 + ], + [ + 463.62236805906014, + 561.9883220582517 + ], + [ + 603.3570826966247, + 1156.7735539707282 + ], + [ + 628.8720230440703, + 1145.9842635584846 + ], + [ + 429.94485771939947, + 295.2372054931572 + ], + [ + 406.9141692999259, + 299.8496757520674 + ], + [ + 581.4737487504262, + 1025.0683994820652 + ], + [ + 622.2933458558159, + 1009.2286016146558 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00137/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00137/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5493dc889c0cb950e6ea1d81eaf1757ce80b12f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00137/meta.json @@ -0,0 +1,2364 @@ +{ + "frame_id": 137, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 68.5, + "sim_timestamp": 1806.5867315835785 + }, + "drone_pose": { + "x": -127.85621131820947, + "y": -10.069497066085924, + "z": 20.0, + "pitch": -43.298858448273734, + "yaw": 18.3956815995156, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6905964016914368, + -0.22967305779457092, + 0.6858038306236267, + 76.89364624023438 + ], + [ + 0.31557753682136536, + 0.9488998055458069, + 0.0, + -30.79360580444336 + ], + [ + -0.6507591605186462, + 0.21642430126667023, + 0.7277864217758179, + -99.9385986328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -127.4260744847447, + "y": -9.955947458783188, + "z": 20.0 + }, + "t1_image_uv": [ + 556.830614182656, + -544.6221241212899 + ], + "t1_depth": 0.3231302269573882 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -108.66718292236328, + "y": -3.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.786169584937007, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 614, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -108.66718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5198534727096558, + "y": 0.36961376667022705, + "z": 0.8886553645133972 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.9973246237362, + "ymin": 322.9826865692528, + "xmax": 658.3695589695265, + "ymax": 396.57883531209865 + }, + "corners_3d": [ + [ + -109.1870346069336, + -4.057376861572266, + 0.05548250675201416 + ], + [ + -109.1870346069336, + -3.3181490898132324, + 0.05548250675201416 + ], + [ + -108.14733123779297, + -3.3181490898132324, + 0.05548250675201416 + ], + [ + -108.14733123779297, + -4.057376861572266, + 0.05548250675201416 + ], + [ + -109.1870346069336, + -4.057376861572266, + 1.8327932357788086 + ], + [ + -109.1870346069336, + -3.3181490898132324, + 1.8327932357788086 + ], + [ + -108.14733123779297, + -3.3181490898132324, + 1.8327932357788086 + ], + [ + -108.14733123779297, + -4.057376861572266, + 1.8327932357788086 + ] + ], + "corners_2d": [ + [ + 633.5887332994623, + 396.57883531209865 + ], + [ + 657.5733563549404, + 390.89642972889396 + ], + [ + 646.2139172007317, + 367.60488627557925 + ], + [ + 622.7627039492249, + 373.0070482428957 + ], + [ + 633.2964108175154, + 351.7958049906256 + ], + [ + 658.3695589695265, + 346.138567443587 + ], + [ + 646.488134755146, + 322.9826865692528 + ], + [ + 621.9973246237362, + 328.3487343432208 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 137, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 357540, + "2": 244582, + "3": 198584, + "4": 41297, + "6": 13542, + "7": 2968, + "9": 14895, + "10": 507, + "12": 3766, + "14": 19609, + "20": 3654, + "24": 20656 + }, + "instance_pixel_counts": { + "9045": 1927, + "11605": 103569, + "15189": 870, + "15701": 28170, + "15967": 14801, + "15970": 3033, + "16479": 28515, + "16482": 4582, + "17547": 14307, + "18059": 10761, + "19554": 4173, + "20107": 4331, + "20565": 43253, + "21395": 24564, + "21397": 1075, + "21643": 20947, + "21907": 87924, + "21909": 6741, + "23957": 1511, + "24467": 46109, + "25344": 8858, + "25600": 7352, + "26754": 983, + "29523": 521, + "29779": 15720, + "29835": 1796, + "30859": 1841, + "31371": 917, + "36096": 614, + "36352": 580, + "36608": 694, + "36864": 688, + "37120": 809, + "37376": 381, + "37632": 2277, + "37888": 8073, + "38912": 723, + "40448": 4494, + "40704": 4042, + "42071": 300, + "45409": 3690, + "45971": 34716, + "46483": 116974, + "48225": 7138, + "49043": 47253, + "49761": 2671, + "51526": 41297, + "53857": 5296, + "56458": 25157, + "56970": 17329, + "57482": 45060, + "58506": 32791, + "60307": 2019, + "60819": 6537, + "61254": 17566, + "62867": 2773 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 614, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -108.66718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44973140954971313, + "y": 0.3689891993999481, + "z": 0.8737193942070007 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.768056341091, + "ymin": 324.9025238569609, + "xmax": 657.520640181656, + "ymax": 394.58619149049946 + }, + "corners_3d": [ + [ + -109.11691284179688, + -4.0567522048950195, + 0.07041847705841064 + ], + [ + -109.11691284179688, + -3.3187737464904785, + 0.07041847705841064 + ], + [ + -108.21745300292969, + -3.3187737464904785, + 0.07041847705841064 + ], + [ + -108.21745300292969, + -4.0567522048950195, + 0.07041847705841064 + ], + [ + -109.11691284179688, + -4.0567522048950195, + 1.817857265472412 + ], + [ + -109.11691284179688, + -3.3187737464904785, + 1.817857265472412 + ], + [ + -108.21745300292969, + -3.3187737464904785, + 1.817857265472412 + ], + [ + -108.21745300292969, + -4.0567522048950195, + 1.817857265472412 + ] + ], + "corners_2d": [ + [ + 632.8588682666061, + 394.58619149049946 + ], + [ + 656.7750050065258, + 388.93304623263504 + ], + [ + 646.9449671139364, + 368.7844525398086 + ], + [ + 623.4898283127362, + 374.1955042014404 + ], + [ + 632.5394427354684, + 350.563369453224 + ], + [ + 657.520640181656, + 344.9357002200334 + ], + [ + 647.246713193296, + 324.9025238569609 + ], + [ + 622.768056341091, + 330.2788068391314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 580, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -104.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.44287109375, + "y": 0.4490896165370941, + "z": 0.8907381892204285 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 667.8889140150826, + "ymin": 224.43002343062702, + "xmax": 707.5720313913753, + "ymax": 290.86945109831294 + }, + "corners_3d": [ + [ + -105.06776428222656, + -1.0372557640075684, + 0.05341911315917969 + ], + [ + -104.88101959228516, + -0.15870410203933716, + 0.05341911315917969 + ], + [ + -104.01463317871094, + -0.34286099672317505, + 0.05341911315917969 + ], + [ + -104.20137786865234, + -1.2214126586914062, + 0.05341911315917969 + ], + [ + -105.06776428222656, + -1.0372557640075684, + 1.8348954916000366 + ], + [ + -104.88101959228516, + -0.15870410203933716, + 1.8348954916000366 + ], + [ + -104.01463317871094, + -0.34286099672317505, + 1.8348954916000366 + ], + [ + -104.20137786865234, + -1.2214126586914062, + 1.8348954916000366 + ] + ], + "corners_2d": [ + [ + 682.0431728986168, + 290.86945109831294 + ], + [ + 704.9777574695189, + 282.18576711262403 + ], + [ + 690.5742325106008, + 267.98712332164047 + ], + [ + 667.8889140150826, + 276.37360847283173 + ], + [ + 683.7401117998124, + 246.95989086363682 + ], + [ + 707.5720313913753, + 238.40410098813973 + ], + [ + 692.5574022804368, + 224.43002343062702 + ], + [ + 668.9942571758129, + 232.6815517549524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 694, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -108.9643325805664, + "y": 3.868757486343384, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.38172850012779236, + "y": 0.45322737097740173, + "z": 0.9464322924613953 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 853.6131451334836, + "ymin": 277.4804152986592, + "xmax": 903.4336322559784, + "ymax": 347.45628167535193 + }, + "corners_3d": [ + [ + -109.39134216308594, + 3.457914352416992, + -0.0022798776626586914 + ], + [ + -109.29659271240234, + 4.359403610229492, + -0.0022798776626586914 + ], + [ + -108.53732299804688, + 4.279600620269775, + -0.0022798776626586914 + ], + [ + -108.63207244873047, + 3.3781113624572754, + -0.0022798776626586914 + ], + [ + -109.39134216308594, + 3.457914352416992, + 1.8905847072601318 + ], + [ + -109.29659271240234, + 4.359403610229492, + 1.8905847072601318 + ], + [ + -108.53732299804688, + 4.279600620269775, + 1.8905847072601318 + ], + [ + -108.63207244873047, + 3.3781113624572754, + 1.8905847072601318 + ] + ], + "corners_2d": [ + [ + 867.5030782461927, + 347.45628167535193 + ], + [ + 891.976810261353, + 339.31273913835736 + ], + [ + 877.8035790000172, + 324.57737372092276 + ], + [ + 853.6131451334836, + 332.4504613008179 + ], + [ + 877.946807165486, + 300.11301376188015 + ], + [ + 903.4336322559784, + 292.0510368849042 + ], + [ + 888.4276785138499, + 277.4804152986592 + ], + [ + 863.2468551263826, + 285.2627334402938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 688, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -112.24694061279297, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.32698237895965576, + "y": 0.38807612657546997, + "z": 0.8601303100585938 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.2670693810529, + "ymin": 413.9362330606031, + "xmax": 702.5148424985601, + "ymax": 482.01458098497665 + }, + "corners_3d": [ + [ + -112.57392120361328, + -4.075839042663574, + 0.08402210474014282 + ], + [ + -112.57392120361328, + -3.299686908721924, + 0.08402210474014282 + ], + [ + -111.91996002197266, + -3.299686908721924, + 0.08402210474014282 + ], + [ + -111.91996002197266, + -4.075839042663574, + 0.08402210474014282 + ], + [ + -112.57392120361328, + -4.075839042663574, + 1.8042826652526855 + ], + [ + -112.57392120361328, + -3.299686908721924, + 1.8042826652526855 + ], + [ + -111.91996002197266, + -3.299686908721924, + 1.8042826652526855 + ], + [ + -111.91996002197266, + -4.075839042663574, + 1.8042826652526855 + ] + ], + "corners_2d": [ + [ + 672.437790024206, + 482.01458098497665 + ], + [ + 699.6525750730797, + 474.912157513123 + ], + [ + 691.0686280258268, + 457.3505183003905 + ], + [ + 664.2670693810529, + 464.20954531166484 + ], + [ + 674.0055963639468, + 438.672060750745 + ], + [ + 702.5148424985601, + 431.5430841104233 + ], + [ + 693.4748208969785, + 413.9362330606031 + ], + [ + 665.418655762033, + 420.8094563825694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 809, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -110.88623046875, + "y": -10.517300605773926, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.46833500266075134, + "y": 0.39290255308151245, + "z": 0.8889217972755432 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 391.9250416307125, + "ymin": 430.63438578211617, + "xmax": 435.970731656481, + "ymax": 508.2707453580177 + }, + "corners_3d": [ + [ + -111.31092834472656, + -10.957005500793457, + 0.20762819051742554 + ], + [ + -111.39306640625, + -10.175504684448242, + 0.20762819051742554 + ], + [ + -110.46153259277344, + -10.077595710754395, + 0.20762819051742554 + ], + [ + -110.37939453125, + -10.85909652709961, + 0.20762819051742554 + ], + [ + -111.31092834472656, + -10.957005500793457, + 1.9854717254638672 + ], + [ + -111.39306640625, + -10.175504684448242, + 1.9854717254638672 + ], + [ + -110.46153259277344, + -10.077595710754395, + 1.9854717254638672 + ], + [ + -110.37939453125, + -10.85909652709961, + 1.9854717254638672 + ] + ], + "corners_2d": [ + [ + 405.24656805333177, + 508.2707453580177 + ], + [ + 435.970731656481, + 503.08352879143615 + ], + [ + 433.73579362461567, + 475.81847892847304 + ], + [ + 403.80426189514003, + 480.73859462117935 + ], + [ + 393.1064690773959, + 463.2536319817184 + ], + [ + 425.47416620960047, + 458.03274465470247 + ], + [ + 423.41421781188706, + 430.63438578211617 + ], + [ + 391.9250416307125, + 435.573138848721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 381, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -98.9191665649414, + "y": -10.770112991333008, + "z": 1.0965744256973267 + }, + "extent": { + "x": 0.4917968511581421, + "y": 0.29590940475463867, + "z": 0.8984057307243347 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 336.94249969833487, + "ymin": 185.0087403265283, + "xmax": 368.4084436958213, + "ymax": 246.3313407991085 + }, + "corners_3d": [ + [ + -99.33869171142578, + -11.1618070602417, + 0.19816869497299194 + ], + [ + -99.46173858642578, + -10.582921028137207, + 0.19816869497299194 + ], + [ + -98.49964141845703, + -10.378418922424316, + 0.19816869497299194 + ], + [ + -98.37659454345703, + -10.957304954528809, + 0.19816869497299194 + ], + [ + -99.33869171142578, + -11.1618070602417, + 1.9949800968170166 + ], + [ + -99.46173858642578, + -10.582921028137207, + 1.9949800968170166 + ], + [ + -98.49964141845703, + -10.378418922424316, + 1.9949800968170166 + ], + [ + -98.37659454345703, + -10.957304954528809, + 1.9949800968170166 + ] + ], + "corners_2d": [ + [ + 348.2510190168988, + 246.3313407991085 + ], + [ + 365.74675477803225, + 245.18385336374575 + ], + [ + 368.4084436958213, + 228.5523051935821 + ], + [ + 351.2854385436857, + 229.65194077607413 + ], + [ + 336.94249969833487, + 202.43682266719838 + ], + [ + 355.1324089346479, + 201.311069584268 + ], + [ + 358.1268370174671, + 185.0087403265283 + ], + [ + 340.33947432729985, + 186.08578904367013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 2277, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 416.46663561240325, + "ymin": 0.0, + "xmax": 496.7815400856624, + "ymax": 56.980621674998474 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 470.223166827996, + -3.272978224808867 + ], + [ + 423.14136042340454, + 2.937460729329416 + ], + [ + 445.38759599989476, + 56.980621674998474 + ], + [ + 496.7815400856624, + 49.4921489627356 + ], + [ + 465.0586517462977, + -45.313879390915645 + ], + [ + 416.46663561240325, + -39.40943272070888 + ], + [ + 438.78633496854894, + 12.14554021851012 + ], + [ + 491.9860584208594, + 4.9830989947996045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 8073, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 835.3173068841111, + "ymin": 324.6886063442156, + "xmax": 977.3256602373266, + "ymax": 476.9388288744024 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 903.2259530520089, + 476.9388288744024 + ], + [ + 963.0809434209823, + 460.28272941656377 + ], + [ + 890.4978475999776, + 364.97921989342683 + ], + [ + 835.3173068841111, + 378.60460811809094 + ], + [ + 915.0326391779645, + 436.4883607589659 + ], + [ + 977.3256602373266, + 419.78649554761074 + ], + [ + 900.4532870017435, + 324.6886063442156 + ], + [ + 843.2006978107077, + 338.23604833333997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 723, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 492.8802962310844, + "ymin": 0.0, + "xmax": 552.3070996200486, + "ymax": 24.029935201497267 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 533.4883363427889, + -11.390680289754357 + ], + [ + 495.91608932826705, + -6.432515032740355 + ], + [ + 512.7930868472862, + 24.029935201497267 + ], + [ + 552.3070996200486, + 18.497488889664055 + ], + [ + 531.2652824008128, + -40.4053201027221 + ], + [ + 492.8802962310844, + -35.618160397514714 + ], + [ + 509.9578004006545, + -6.165516857966679 + ], + [ + 550.3719678917607, + -11.519792547776547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4494, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 574.8974842593474, + "ymin": 95.11519790693342, + "xmax": 662.8289111914045, + "ymax": 204.09408096801087 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 621.1422999347927, + 129.64369754580648 + ], + [ + 576.6683541864275, + 137.2294953171201 + ], + [ + 613.826820396385, + 204.09408096801087 + ], + [ + 662.1553622354267, + 194.95752697874553 + ], + [ + 620.6210322513563, + 95.11519790693342 + ], + [ + 574.8974842593474, + 102.51378515708905 + ], + [ + 613.0209926543138, + 167.92786876484905 + ], + [ + 662.8289111914045, + 158.96830477654214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4042, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 495.6248189120507, + "ymin": 122.91168874832013, + "xmax": 576.3312339034368, + "ymax": 231.56263530386587 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 549.1027715362344, + 166.51513134128504 + ], + [ + 500.69781947475286, + 175.06700962371988 + ], + [ + 524.4796347939579, + 231.56263530386587 + ], + [ + 576.3312339034368, + 221.6246826615265 + ], + [ + 545.8332949720609, + 122.91168874832013 + ], + [ + 495.6248189120507, + 131.231547939704 + ], + [ + 519.9294500083305, + 186.37583188416727 + ], + [ + 573.8567677685814, + 176.65268257221743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2539564770847, + "ymin": 268.04233650005267, + "xmax": 913.8334769181688, + "ymax": 307.82914175753166 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 886.2539564770847, + 300.59563539926114 + ], + [ + 892.1157491445799, + 307.82914175753166 + ], + [ + 906.5492808650916, + 304.5164351411716 + ], + [ + 900.5880730402381, + 297.33880253471534 + ], + [ + 892.9516085330515, + 271.27134382807003 + ], + [ + 899.0331252319324, + 278.4454704776795 + ], + [ + 913.8334769181688, + 275.1595432282767 + ], + [ + 907.6475367682125, + 268.04233650005267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1083.5204353425927, + "ymin": 224.00531212763238, + "xmax": 1115.5781161693217, + "ymax": 262.2589873045159 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1083.5204353425927, + 255.77523956334812 + ], + [ + 1090.6668433660536, + 262.2589873045159 + ], + [ + 1103.6011405134116, + 259.2903761192229 + ], + [ + 1096.3772593737094, + 252.8540592844959 + ], + [ + 1094.9272429713712, + 226.89322995045575 + ], + [ + 1102.3537743454508, + 233.30508703594313 + ], + [ + 1115.5781161693217, + 230.3690596649498 + ], + [ + 1108.0707935065652, + 224.00531212763238 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.17203567048216, + "ymin": 482.4176686776593, + "xmax": 485.19306486717164, + "ymax": 520.6484951416021 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 468.4595117559521, + 520.6484951416021 + ], + [ + 485.19306486717164, + 516.3404704477217 + ], + [ + 482.68341194972186, + 506.9609294243136 + ], + [ + 466.088288804738, + 511.1929678922143 + ], + [ + 463.5656229748743, + 496.16715507819345 + ], + [ + 480.7949366463513, + 491.83855454766535 + ], + [ + 478.25460823406144, + 482.4176686776593 + ], + [ + 461.17203567048216, + 486.667776061259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 488.4885709164565, + "ymin": 591.216979871174, + "xmax": 519.6841464526432, + "ymax": 640.1135792080738 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 497.52725711641665, + 640.1135792080738 + ], + [ + 519.6841464526432, + 633.7247396127019 + ], + [ + 515.962084061337, + 619.9486630656161 + ], + [ + 494.04567598118933, + 626.1885962548806 + ], + [ + 492.03570737463474, + 611.6424697614755 + ], + [ + 515.072591323616, + 605.1681728785765 + ], + [ + 511.26555314027325, + 591.216979871174 + ], + [ + 488.4885709164565, + 597.5346841417462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1200.521724916558, + "ymin": 280.36690425427435, + "xmax": 1231.9970706670522, + "ymax": 313.56205789560727 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1200.521724916558, + 307.4148573654738 + ], + [ + 1207.7306779075761, + 313.56205789560727 + ], + [ + 1218.8116904396265, + 310.7639242001733 + ], + [ + 1211.5469579286853, + 304.65660192165785 + ], + [ + 1213.239330835735, + 283.1070643784089 + ], + [ + 1220.70690487807, + 289.21538511916157 + ], + [ + 1231.9970706670522, + 286.43470106097806 + ], + [ + 1224.4717847822483, + 280.36690425427435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 978.5912872123306, + "ymin": 247.41575487165346, + "xmax": 1008.352388681909, + "ymax": 286.4932150062256 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 978.5912872123306, + 279.6158106547064 + ], + [ + 985.0768263587956, + 286.4932150062256 + ], + [ + 998.7982276521731, + 283.3439527376081 + ], + [ + 992.223944254617, + 276.518355343053 + ], + [ + 987.565699808903, + 250.4826199601576 + ], + [ + 994.3014956691704, + 257.2942883259041 + ], + [ + 1008.352388681909, + 254.17475351971862 + ], + [ + 1001.5236827643805, + 247.41575487165346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.7939658160878, + "ymin": 110.9760560126052, + "xmax": 1280.0, + "ymax": 468.338192498439 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1179.6380590743747, + 373.3638908806392 + ], + [ + 1169.6720739367568, + 363.8867494921713 + ], + [ + 805.7939658160878, + 456.8109189494276 + ], + [ + 812.6024941033609, + 468.338192498439 + ], + [ + 1315.8740659636842, + 119.54148534799688 + ], + [ + 1301.6675581337292, + 110.9760560126052 + ], + [ + 852.5272908521223, + 196.93344995482417 + ], + [ + 861.9752024444832, + 207.91100894758338 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 817.6697436913166, + "ymin": 0.0, + "xmax": 935.7109460719553, + "ymax": 73.83080141221677 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 899.281333811824, + 61.215413462365404 + ], + [ + 894.4108065751282, + 56.987797066879864 + ], + [ + 817.6697436913166, + 69.42592820727481 + ], + [ + 822.0911882288896, + 73.83080141221677 + ], + [ + 935.7109460719553, + -123.90368573721042 + ], + [ + 929.8718956776632, + -127.24872713198613 + ], + [ + 843.0193194335378, + -117.38845734919443 + ], + [ + 848.2847868231477, + -113.88283489250557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 409.02582159934684, + "ymin": 310.2134907769098, + "xmax": 630.4601729511224, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 483.3587933460191, + 572.2723527410253 + ], + [ + 465.9043289449656, + 576.8660576456931 + ], + [ + 604.3399986778555, + 1193.919582392053 + ], + [ + 630.4601729511224, + 1182.9050453345974 + ], + [ + 432.4605392125264, + 310.2134907769098 + ], + [ + 409.02582159934684, + 314.87803286599717 + ], + [ + 582.3213830554768, + 1079.7831732852828 + ], + [ + 624.6298405042417, + 1063.202070753683 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00138/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00138/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..63107015ab5590f24c259c9ac9a9f37701adff5c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00138/meta.json @@ -0,0 +1,2364 @@ +{ + "frame_id": 138, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 69.0, + "sim_timestamp": 1821.5112629856449 + }, + "drone_pose": { + "x": -127.4260744847447, + "y": -9.955947458783188, + "z": 20.0, + "pitch": -43.25523153186873, + "yaw": 18.028495266891227, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6925504207611084, + -0.22540414333343506, + 0.6852495074272156, + 76.7881088256836 + ], + [ + 0.3094899654388428, + 0.9509027004241943, + -7.450580596923828e-09, + -29.969955444335938 + ], + [ + -0.6516056656837463, + 0.21207782626152039, + 0.7283084392547607, + -99.70913696289062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -126.99132439258449, + "y": -9.859283566711952, + "z": 20.0 + }, + "t1_image_uv": [ + 513.2402980334347, + -543.2430620756569 + ], + "t1_depth": 0.3228748074817227 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -108.16718292236328, + "y": -3.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.80864830238189, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 594, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -108.16718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3418993651866913, + "y": 0.3869253098964691, + "z": 0.859994113445282 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.3828939850191, + "ymin": 327.5444709376799, + "xmax": 656.800739464208, + "ymax": 391.8420778319681 + }, + "corners_3d": [ + [ + -108.50907897949219, + -4.07468843460083, + 0.0841437578201294 + ], + [ + -108.50907897949219, + -3.300837755203247, + 0.0841437578201294 + ], + [ + -107.82528686523438, + -3.300837755203247, + 0.0841437578201294 + ], + [ + -107.82528686523438, + -4.07468843460083, + 0.0841437578201294 + ], + [ + -108.50907897949219, + -4.07468843460083, + 1.8041319847106934 + ], + [ + -108.50907897949219, + -3.300837755203247, + 1.8041319847106934 + ], + [ + -107.82528686523438, + -3.300837755203247, + 1.8041319847106934 + ], + [ + -107.82528686523438, + -4.07468843460083, + 1.8041319847106934 + ] + ], + "corners_2d": [ + [ + 631.0368819284371, + 391.8420778319681 + ], + [ + 656.0997542695927, + 386.0680822322737 + ], + [ + 648.7609107170135, + 370.7458279957595 + ], + [ + 624.06895245897, + 376.3304206913758 + ], + [ + 630.6440957219141, + 348.5243605282353 + ], + [ + 656.800739464208, + 342.77809029687603 + ], + [ + 649.135803400714, + 327.5444709376799 + ], + [ + 623.3828939850191, + 333.09422639413646 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 138, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 349953, + "2": 243200, + "3": 206071, + "4": 42060, + "6": 12942, + "7": 3115, + "9": 14747, + "10": 510, + "12": 3726, + "14": 20540, + "20": 3707, + "24": 21029 + }, + "instance_pixel_counts": { + "9045": 1322, + "11605": 106207, + "15189": 1332, + "15701": 28792, + "15967": 15722, + "15970": 3188, + "16479": 28106, + "16482": 4424, + "17547": 15088, + "18059": 10901, + "19554": 4294, + "20107": 3145, + "20565": 45669, + "21395": 25308, + "21397": 1115, + "21643": 21707, + "21907": 80813, + "21909": 6766, + "23957": 1555, + "24467": 47435, + "25344": 8520, + "25600": 7219, + "26754": 993, + "29523": 747, + "29779": 18009, + "29835": 1137, + "30859": 1897, + "31371": 959, + "36096": 594, + "36352": 562, + "36608": 675, + "36864": 734, + "37120": 766, + "37376": 395, + "37632": 2537, + "37888": 8366, + "38912": 932, + "40448": 4586, + "40704": 4119, + "42071": 318, + "45409": 3822, + "45971": 36300, + "46483": 111173, + "48225": 7239, + "49043": 48924, + "49761": 867, + "51526": 42060, + "53857": 5474, + "56458": 25999, + "56970": 18146, + "57482": 41023, + "58506": 34055, + "60307": 2082, + "60819": 6623, + "61254": 17461, + "62867": 2888 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 594, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -108.16718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.37639155983924866, + "y": 0.39557093381881714, + "z": 0.8876007795333862 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.7219946562083, + "ymin": 326.0049527218078, + "xmax": 657.4972873253969, + "ymax": 393.3690966079093 + }, + "corners_3d": [ + [ + -108.54357147216797, + -4.083333969116211, + 0.056537091732025146 + ], + [ + -108.54357147216797, + -3.292191982269287, + 0.056537091732025146 + ], + [ + -107.7907943725586, + -3.292191982269287, + 0.056537091732025146 + ], + [ + -107.7907943725586, + -4.083333969116211, + 0.056537091732025146 + ], + [ + -108.54357147216797, + -4.083333969116211, + 1.8317387104034424 + ], + [ + -108.54357147216797, + -3.292191982269287, + 1.8317387104034424 + ], + [ + -107.7907943725586, + -3.292191982269287, + 1.8317387104034424 + ], + [ + -107.7907943725586, + -4.083333969116211, + 1.8317387104034424 + ] + ], + "corners_2d": [ + [ + 631.1186091085721, + 393.3690966079093 + ], + [ + 656.7437238525987, + 387.45581167561454 + ], + [ + 648.6653931678392, + 370.5888509061619 + ], + [ + 623.4571861104579, + 376.2890899175926 + ], + [ + 630.7162409760158, + 348.6554981953673 + ], + [ + 657.4972873253969, + 342.771085167173 + ], + [ + 649.0480056283878, + 326.0049527218078 + ], + [ + 622.7219946562083, + 331.66805849404017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 562, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -104.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.444282203912735, + "y": 0.43609336018562317, + "z": 0.861323356628418 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 669.162017627348, + "ymin": 225.66089931356464, + "xmax": 708.11959669389, + "ymax": 290.3816445889023 + }, + "corners_3d": [ + [ + -104.56644439697266, + -1.0242502689361572, + 0.08283394575119019 + ], + [ + -104.38510131835938, + -0.1711229681968689, + 0.08283394575119019 + ], + [ + -103.51595306396484, + -0.35586661100387573, + 0.08283394575119019 + ], + [ + -103.69729614257812, + -1.208993911743164, + 0.08283394575119019 + ], + [ + -104.56644439697266, + -1.0242502689361572, + 1.805480718612671 + ], + [ + -104.38510131835938, + -0.1711229681968689, + 1.805480718612671 + ], + [ + -103.51595306396484, + -0.35586661100387573, + 1.805480718612671 + ], + [ + -103.69729614257812, + -1.208993911743164, + 1.805480718612671 + ] + ], + "corners_2d": [ + [ + 683.23560622188, + 290.3816445889023 + ], + [ + 705.5917986013621, + 282.0511730296274 + ], + [ + 691.2694675550073, + 267.7667717992433 + ], + [ + 669.162017627348, + 275.80996193619404 + ], + [ + 684.9193078651609, + 247.93661316345072 + ], + [ + 708.11959669389, + 239.72560169738432 + ], + [ + 693.2098143900071, + 225.66089931356464 + ], + [ + 670.2770489392068, + 233.57807510682147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 675, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -108.89327239990234, + "y": 3.6067984104156494, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.44972166419029236, + "y": 0.45892804861068726, + "z": 0.9350199103355408 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 851.6201928787674, + "ymin": 287.7139420332138, + "xmax": 904.791337770426, + "ymax": 360.54668172717743 + }, + "corners_3d": [ + [ + -109.38850402832031, + 3.1973931789398193, + 0.0091325044631958 + ], + [ + -109.29255676269531, + 4.110220909118652, + 0.0091325044631958 + ], + [ + -108.39804077148438, + 4.016203880310059, + 0.0091325044631958 + ], + [ + -108.49398803710938, + 3.1033756732940674, + 0.0091325044631958 + ], + [ + -109.38850402832031, + 3.1973931789398193, + 1.8791723251342773 + ], + [ + -109.29255676269531, + 4.110220909118652, + 1.8791723251342773 + ], + [ + -108.39804077148438, + 4.016203880310059, + 1.8791723251342773 + ], + [ + -108.49398803710938, + 3.1033756732940674, + 1.8791723251342773 + ] + ], + "corners_2d": [ + [ + 868.0222204808078, + 360.54668172717743 + ], + [ + 893.2608593499026, + 352.18670571210106 + ], + [ + 876.504627951271, + 334.34413875605935 + ], + [ + 851.6201928787674, + 342.37277760217466 + ], + [ + 878.5050118833506, + 313.664819865353 + ], + [ + 904.791337770426, + 305.37762677590524 + ], + [ + 887.0481043956221, + 287.7139420332138 + ], + [ + 861.1445034950228, + 295.65812500289303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 734, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -111.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.49128901958465576, + "y": 0.41674768924713135, + "z": 0.8974547982215881 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.5103451927489, + "ymin": 408.4968934631311, + "xmax": 704.9817051311825, + "ymax": 487.7495427798655 + }, + "corners_3d": [ + [ + -112.23822784423828, + -4.10451078414917, + 0.046692728996276855 + ], + [ + -112.23822784423828, + -3.271015167236328, + 0.046692728996276855 + ], + [ + -111.25565338134766, + -3.271015167236328, + 0.046692728996276855 + ], + [ + -111.25565338134766, + -4.10451078414917, + 0.046692728996276855 + ], + [ + -112.23822784423828, + -4.10451078414917, + 1.8416023254394531 + ], + [ + -112.23822784423828, + -3.271015167236328, + 1.8416023254394531 + ], + [ + -111.25565338134766, + -3.271015167236328, + 1.8416023254394531 + ], + [ + -111.25565338134766, + -4.10451078414917, + 1.8416023254394531 + ] + ], + "corners_2d": [ + [ + 672.5011957578689, + 487.7495427798655 + ], + [ + 701.8715613771029, + 480.21219070706735 + ], + [ + 689.2084526276974, + 453.81039998988575 + ], + [ + 660.5103451927489, + 460.9625312151566 + ], + [ + 674.1475990435198, + 442.5346994981697 + ], + [ + 704.9817051311825, + 434.96563344167174 + ], + [ + 691.6151189398639, + 408.4968934631311 + ], + [ + 661.5210066856656, + 415.66038815029555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 766, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -110.38668060302734, + "y": -10.518680572509766, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.30427250266075134, + "y": 0.3906601369380951, + "z": 0.8607755899429321 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 391.85123548379727, + "ymin": 434.9130969163514, + "xmax": 434.5469444509277, + "ymax": 501.2812504050743 + }, + "corners_3d": [ + [ + -110.64845275878906, + -10.939005851745605, + 0.23577439785003662 + ], + [ + -110.73011779785156, + -10.161965370178223, + 0.23577439785003662 + ], + [ + -110.12490844726562, + -10.098355293273926, + 0.23577439785003662 + ], + [ + -110.04324340820312, + -10.875395774841309, + 0.23577439785003662 + ], + [ + -110.64845275878906, + -10.939005851745605, + 1.9573255777359009 + ], + [ + -110.73011779785156, + -10.161965370178223, + 1.9573255777359009 + ], + [ + -110.12490844726562, + -10.098355293273926, + 1.9573255777359009 + ], + [ + -110.04324340820312, + -10.875395774841309, + 1.9573255777359009 + ] + ], + "corners_2d": [ + [ + 404.1569457873651, + 501.2812504050743 + ], + [ + 434.5469444509277, + 496.3382238997942 + ], + [ + 433.26474319868845, + 478.66164681389256 + ], + [ + 403.3879050673381, + 483.4376182776959 + ], + [ + 392.4479959054165, + 457.63926106743725 + ], + [ + 424.39742834604783, + 452.66877641280854 + ], + [ + 423.2339661112338, + 434.9130969163514 + ], + [ + 391.85123548379727, + 439.7075016471235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 395, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -98.41725158691406, + "y": -10.77149772644043, + "z": 1.0965744256973267 + }, + "extent": { + "x": 0.3193408250808716, + "y": 0.30229735374450684, + "z": 0.8685927987098694 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 339.4796228322346, + "ymin": 187.77916743523969, + "xmax": 369.84095275848733, + "ymax": 241.741381390945 + }, + "corners_3d": [ + [ + -98.66676330566406, + -11.133584022521973, + 0.22798162698745728 + ], + [ + -98.79246520996094, + -10.542201042175293, + 0.22798162698745728 + ], + [ + -98.16773986816406, + -10.409411430358887, + 0.22798162698745728 + ], + [ + -98.04203796386719, + -11.000794410705566, + 0.22798162698745728 + ], + [ + -98.66676330566406, + -11.133584022521973, + 1.9651672840118408 + ], + [ + -98.79246520996094, + -10.542201042175293, + 1.9651672840118408 + ], + [ + -98.16773986816406, + -10.409411430358887, + 1.9651672840118408 + ], + [ + -98.04203796386719, + -11.000794410705566, + 1.9651672840118408 + ] + ], + "corners_2d": [ + [ + 350.25476518927655, + 241.741381390945 + ], + [ + 368.01887298894496, + 240.649493908129 + ], + [ + 369.84095275848733, + 229.8923528145454 + ], + [ + 352.32345489737753, + 230.95445827171912 + ], + [ + 339.4796228322346, + 199.39941514434943 + ], + [ + 357.9189396104305, + 198.32806413814527 + ], + [ + 359.95139143455486, + 187.77916743523969 + ], + [ + 341.7776431288352, + 188.82023376379485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 2537, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 422.01482507448975, + "ymin": 0.0, + "xmax": 502.2950881970852, + "ymax": 61.6809700059419 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 475.88718037815727, + 0.7306853981211816 + ], + [ + 428.5538657593447, + 6.889410626203812 + ], + [ + 450.5762772206151, + 61.6809700059419 + ], + [ + 502.2950881970852, + 54.24266503970591 + ], + [ + 470.87049197846443, + -41.441441101048156 + ], + [ + 422.01482507448975, + -35.58448247272753 + ], + [ + 444.11494700432314, + 16.701472070860518 + ], + [ + 497.65761322094386, + 9.584373775606082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 8366, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 843.049400913316, + "ymin": 336.74563475618515, + "xmax": 987.5531427515459, + "ymax": 491.9795227538634 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 911.8991185904586, + 491.9795227538634 + ], + [ + 972.6805118189462, + 475.1769122207585 + ], + [ + 898.9872621839337, + 377.10230298230204 + ], + [ + 843.049400913316, + 390.80293708382953 + ], + [ + 924.2641582979309, + 451.58069052069965 + ], + [ + 987.5531427515459, + 434.71193562763835 + ], + [ + 909.4055671979933, + 336.74563475618515 + ], + [ + 851.3440489080517, + 350.38063792134153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 932, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 498.7941545146091, + "ymin": 0.0, + "xmax": 558.2942329456741, + "ymax": 28.49014528037668 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 539.5113690263012, + -7.317255466064864 + ], + [ + 501.72202294764475, + -2.3982258843205955 + ], + [ + 518.5289325325385, + 28.49014528037668 + ], + [ + 558.2942329456741, + 22.996060380140534 + ], + [ + 537.4034019426762, + -36.42602849153252 + ], + [ + 498.7941545146091, + -31.675678319434837 + ], + [ + 515.8067476855565, + -1.8046399845718497 + ], + [ + 556.4811803010672, + -7.1230603005132025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4586, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 580.669554876146, + "ymin": 101.32465969204395, + "xmax": 669.1582396174219, + "ymax": 211.68704351851997 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 627.1466986776361, + 135.97760787282104 + ], + [ + 582.2949354998472, + 143.53795238305466 + ], + [ + 619.4918113389167, + 211.68704351851997 + ], + [ + 668.290787117986, + 202.56180200740891 + ], + [ + 626.7887557326574, + 101.32465969204395 + ], + [ + 580.669554876146, + 108.70137327445866 + ], + [ + 618.855056181815, + 175.40225911275135 + ], + [ + 669.1582396174219, + 166.44926095979207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4119, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 500.63987050505796, + "ymin": 129.4646136614836, + "xmax": 581.5944342824736, + "ymax": 239.32482403390463 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 554.3865881454308, + 173.21550975426632 + ], + [ + 505.5722279759542, + 181.7409091754653 + ], + [ + 529.2523258882806, + 239.32482403390463 + ], + [ + 581.5944342824736, + 229.40060099021937 + ], + [ + 551.2835816728342, + 129.4646136614836 + ], + [ + 500.63987050505796, + 137.76311322844043 + ], + [ + 524.8532515703018, + 194.0025415011968 + ], + [ + 579.3050461296627, + 184.28659675001938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.0266876857888, + "ymin": 281.9700845502124, + "xmax": 924.3542551317348, + "ymax": 322.14843066183084 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 896.0266876857888, + 314.66838498870396 + ], + [ + 901.9994217625657, + 322.14843066183084 + ], + [ + 916.6759905382389, + 318.7954012817759 + ], + [ + 910.5998311050236, + 311.37295830679585 + ], + [ + 903.0969407570692, + 285.2400060198472 + ], + [ + 909.299454254035, + 292.6647343000652 + ], + [ + 924.3542551317348, + 289.33605947682815 + ], + [ + 918.0430320495361, + 281.9700845502124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1096.6135683152497, + "ymin": 237.36802919732716, + "xmax": 1129.5980198744846, + "ymax": 276.01679135821996 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1096.6135683152497, + 269.30987766686496 + ], + [ + 1103.9235662554909, + 276.01679135821996 + ], + [ + 1117.0798236093417, + 273.01109359388465 + ], + [ + 1109.6891133419476, + 266.3531022598911 + ], + [ + 1108.5390000446373, + 240.29340420600568 + ], + [ + 1116.1425580328614, + 246.9311532971098 + ], + [ + 1129.5980198744846, + 243.95609766400824 + ], + [ + 1121.9102414359054, + 237.36802919732716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 463.670159143459, + "ymin": 498.26560606429473, + "xmax": 487.9196396162926, + "ymax": 536.7691004094459 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 470.93074305609423, + 536.7691004094459 + ], + [ + 487.9196396162926, + 532.420130953217 + ], + [ + 485.42907936744706, + 522.7461433025225 + ], + [ + 468.58360621959594, + 527.0170842201684 + ], + [ + 466.0391388656412, + 512.3629271797784 + ], + [ + 483.5377960919491, + 507.9897621433989 + ], + [ + 481.0166730147066, + 498.26560606429473 + ], + [ + 463.670159143459, + 502.5580744655696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 490.4612898818942, + "ymin": 615.0317294310607, + "xmax": 522.1392479816408, + "ymax": 664.3586641079173 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 499.5179136914759, + 664.3586641079173 + ], + [ + 522.1392479816408, + 657.8395705966742 + ], + [ + 518.4192592896295, + 643.4798105405341 + ], + [ + 496.04988051081375, + 649.8435425303294 + ], + [ + 493.9950013792047, + 636.2112300649305 + ], + [ + 517.5316624259483, + 629.5951734101125 + ], + [ + 513.725265897415, + 615.0317294310607 + ], + [ + 490.4612898818942, + 621.484047576104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1214.5841894078862, + "ymin": 293.76264563253744, + "xmax": 1246.9305789935534, + "ymax": 327.26369530724975 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1214.5841894078862, + 320.9170640351357 + ], + [ + 1221.9548188805416, + 327.26369530724975 + ], + [ + 1233.2195739690524, + 324.43607990555364 + ], + [ + 1225.7908486116264, + 318.13046311065415 + ], + [ + 1227.809377169343, + 296.5327396893813 + ], + [ + 1235.4503129221985, + 302.8433107186895 + ], + [ + 1246.9305789935534, + 300.031497692204 + ], + [ + 1239.2295041152697, + 293.76264563253744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 989.9099468710712, + "ymin": 261.08048090206114, + "xmax": 1020.5054086511367, + "ymax": 300.5514416004087 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 989.9099468710712, + 293.4385522475178 + ], + [ + 996.5317563710485, + 300.5514416004087 + ], + [ + 1010.4862733129289, + 297.36337318974887 + ], + [ + 1003.7720816341691, + 290.30390603891567 + ], + [ + 999.3272617507116, + 264.18663584502724 + ], + [ + 1006.2110767887905, + 271.2371989489778 + ], + [ + 1020.5054086511367, + 268.0766667724501 + ], + [ + 1013.5248122965668, + 261.08048090206114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.0383698946804, + "ymin": 123.18076908231708, + "xmax": 1280.0, + "ymax": 482.6936204694104 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1192.5673736155677, + 387.01709037077444 + ], + [ + 1182.3998941683103, + 377.25260359853866 + ], + [ + 813.0383698946804, + 470.8301095913162 + ], + [ + 819.9304420410747, + 482.6936204694104 + ], + [ + 1334.3951652372282, + 132.06458687290637 + ], + [ + 1319.7865487626168, + 123.18076908231708 + ], + [ + 862.5998685935951, + 210.3338462824098 + ], + [ + 872.2441611846295, + 221.71304493111396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 825.5169597956287, + "ymin": 0.0, + "xmax": 945.8890673900763, + "ymax": 79.95361830305882 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 907.9119971497694, + 67.37037569607503 + ], + [ + 902.993427388913, + 63.06094711885265 + ], + [ + 825.5169597956287, + 75.46539892892145 + ], + [ + 829.9748613489903, + 79.95361830305882 + ], + [ + 945.8890673900763, + -118.74337958940157 + ], + [ + 939.9731810169224, + -122.16056255700852 + ], + [ + 852.2131643441389, + -112.30587110638868 + ], + [ + 857.5396525195789, + -108.72619039459221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 411.15538426458124, + "ymin": 325.8487623738059, + "xmax": 632.7439881138079, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 485.9083916541534, + 587.6783991943396 + ], + [ + 468.2105487079996, + 592.3010998141483 + ], + [ + 606.0027218003723, + 1232.7845288035953 + ], + [ + 632.7439881138079, + 1221.5023994273524 + ], + [ + 435.0082388499113, + 325.8487623738059 + ], + [ + 411.15538426458124, + 330.58107244983603 + ], + [ + 584.2720617342871, + 1138.479441648216 + ], + [ + 628.1541298388856, + 1121.038710570852 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00139/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00139/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..203690f4a54fa1295abe65d83607897db885eb7c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00139/meta.json @@ -0,0 +1,2364 @@ +{ + "frame_id": 139, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 69.5, + "sim_timestamp": 1835.5169840853196 + }, + "drone_pose": { + "x": -126.99132439258449, + "y": -9.859283566711952, + "z": 20.0, + "pitch": -43.20944093504873, + "yaw": 17.71183960064338, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6943069696426392, + -0.2217397838830948, + 0.6846672892570496, + 76.663818359375 + ], + [ + 0.3042299747467041, + 0.9525986313819885, + 7.450580596923828e-09, + -29.242618560791016 + ], + [ + -0.6522131562232971, + 0.2082962691783905, + 0.7288557291030884, + -99.45616912841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -126.55195563879349, + "y": -9.779296160653516, + "z": 20.0 + }, + "t1_image_uv": [ + 469.07232202539615, + -541.797729103969 + ], + "t1_depth": 0.3227932147832715 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -107.66718292236328, + "y": -3.687763214111328, + "z": 0.9441573762892586 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.832269852157545, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 606, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -107.66718292236328, + "y": -3.687762975692749, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.3895311951637268, + "y": 0.3748249411582947, + "z": 0.8692222237586975 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.3527367793201, + "ymin": 326.40011976542627, + "xmax": 656.8778800249651, + "ymax": 393.02166584371 + }, + "corners_3d": [ + [ + -108.05671691894531, + -4.062587738037109, + 0.07493507862091064 + ], + [ + -108.05671691894531, + -3.3129379749298096, + 0.07493507862091064 + ], + [ + -107.27764892578125, + -3.3129379749298096, + 0.07493507862091064 + ], + [ + -107.27764892578125, + -4.062587738037109, + 0.07493507862091064 + ], + [ + -108.05671691894531, + -4.062587738037109, + 1.8133795261383057 + ], + [ + -108.05671691894531, + -3.3129379749298096, + 1.8133795261383057 + ], + [ + -107.27764892578125, + -3.3129379749298096, + 1.8133795261383057 + ], + [ + -107.27764892578125, + -4.062587738037109, + 1.8133795261383057 + ] + ], + "corners_2d": [ + [ + 631.8426707747703, + 393.02166584371 + ], + [ + 656.1665146858109, + 387.5191143123027 + ], + [ + 647.9569288735795, + 370.0534398838123 + ], + [ + 624.0451946912698, + 375.350514535541 + ], + [ + 631.4815093462868, + 349.23700445536707 + ], + [ + 656.8778800249651, + 343.76139415055866 + ], + [ + 648.3001886531771, + 326.40011976542627 + ], + [ + 623.3527367793201, + 331.6624994220164 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 139, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 343384, + "2": 240724, + "3": 213720, + "4": 42821, + "6": 12391, + "7": 3240, + "9": 14482, + "10": 523, + "12": 3743, + "14": 21514, + "20": 3703, + "24": 21355 + }, + "instance_pixel_counts": { + "9045": 842, + "11605": 108947, + "15189": 1759, + "15701": 29328, + "15967": 16646, + "15970": 3342, + "16479": 27766, + "16482": 4302, + "17547": 15883, + "18059": 10821, + "19554": 4424, + "20107": 2139, + "20565": 48291, + "21395": 26079, + "21397": 1166, + "21643": 22469, + "21907": 74412, + "21909": 6752, + "23957": 1600, + "24467": 48986, + "25344": 8179, + "25600": 7113, + "26754": 903, + "29523": 1041, + "29779": 20103, + "29835": 535, + "30859": 1833, + "31371": 1041, + "36096": 606, + "36352": 576, + "36608": 707, + "36864": 676, + "37120": 776, + "37376": 402, + "37632": 2801, + "37888": 8679, + "38912": 1142, + "40448": 4696, + "40704": 4196, + "42071": 339, + "45409": 3962, + "45971": 37894, + "46483": 105344, + "48225": 6509, + "49043": 50669, + "49761": 16, + "51526": 42821, + "53857": 5659, + "56458": 26891, + "56970": 19023, + "57482": 35555, + "58506": 35317, + "60307": 2166, + "60819": 6696, + "61254": 17282, + "62867": 2975 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 606, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -107.66718292236328, + "y": -3.687762975692749, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.3308202624320984, + "y": 0.3968636691570282, + "z": 0.8787768483161926 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.2111769177423, + "ymin": 327.28023648479507, + "xmax": 656.9644675420418, + "ymax": 392.0588112609553 + }, + "corners_3d": [ + [ + -107.99800109863281, + -4.0846266746521, + 0.06538045406341553 + ], + [ + -107.99800109863281, + -3.2908992767333984, + 0.06538045406341553 + ], + [ + -107.33636474609375, + -3.2908992767333984, + 0.06538045406341553 + ], + [ + -107.33636474609375, + -4.0846266746521, + 0.06538045406341553 + ], + [ + -107.99800109863281, + -4.0846266746521, + 1.8229341506958008 + ], + [ + -107.99800109863281, + -3.2908992767333984, + 1.8229341506958008 + ], + [ + -107.33636474609375, + -3.2908992767333984, + 1.8229341506958008 + ], + [ + -107.33636474609375, + -4.0846266746521, + 1.8229341506958008 + ] + ], + "corners_2d": [ + [ + 630.528234176188, + 392.0588112609553 + ], + [ + 656.2429267835861, + 386.2494607935809 + ], + [ + 649.2624652809559, + 371.4215987356708 + ], + [ + 623.9181658147077, + 377.0462320208146 + ], + [ + 630.1047292953875, + 347.79806560971144 + ], + [ + 656.9644675420418, + 342.018222094533 + ], + [ + 649.6670598776791, + 327.28023648479507 + ], + [ + 623.2111769177423, + 332.8683153890277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 576, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -103.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4487646520137787, + "y": 0.43717142939567566, + "z": 0.8583647012710571 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 669.8766638503894, + "ymin": 226.02963559444188, + "xmax": 708.9897021637623, + "ymax": 290.69526101001975 + }, + "corners_3d": [ + [ + -104.07105255126953, + -1.0243726968765259, + 0.08579260110855103 + ], + [ + -103.88926696777344, + -0.16913652420043945, + 0.08579260110855103 + ], + [ + -103.01134490966797, + -0.3557440936565399, + 0.08579260110855103 + ], + [ + -103.19313049316406, + -1.2109802961349487, + 0.08579260110855103 + ], + [ + -104.07105255126953, + -1.0243726968765259, + 1.8025219440460205 + ], + [ + -103.88926696777344, + -0.16913652420043945, + 1.8025219440460205 + ], + [ + -103.01134490966797, + -0.3557440936565399, + 1.8025219440460205 + ], + [ + -103.19313049316406, + -1.2109802961349487, + 1.8025219440460205 + ] + ], + "corners_2d": [ + [ + 683.9696621229791, + 290.69526101001975 + ], + [ + 706.4415723528148, + 282.4325213292135 + ], + [ + 692.0918244189384, + 267.9749056005013 + ], + [ + 669.8766638503894, + 275.94891626128 + ], + [ + 685.6735217577763, + 248.40792995234742 + ], + [ + 708.9897021637623, + 240.26411326833417 + ], + [ + 694.0532584427094, + 226.02963559444188 + ], + [ + 671.0131207516882, + 233.87820803397707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 707, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -108.860595703125, + "y": 3.4479613304138184, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4556982219219208, + "y": 0.457731157541275, + "z": 0.9340579509735107 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 854.1790843734957, + "ymin": 299.10645872376847, + "xmax": 908.2980924059088, + "ymax": 372.82234924908505 + }, + "corners_3d": [ + [ + -109.36164093017578, + 3.0403711795806885, + 0.01009446382522583 + ], + [ + -109.26595306396484, + 3.9508185386657715, + 0.01009446382522583 + ], + [ + -108.35955047607422, + 3.8555514812469482, + 0.01009446382522583 + ], + [ + -108.45523834228516, + 2.9451041221618652, + 0.01009446382522583 + ], + [ + -109.36164093017578, + 3.0403711795806885, + 1.8782103061676025 + ], + [ + -109.26595306396484, + 3.9508185386657715, + 1.8782103061676025 + ], + [ + -108.35955047607422, + 3.8555514812469482, + 1.8782103061676025 + ], + [ + -108.45523834228516, + 2.9451041221618652, + 1.8782103061676025 + ] + ], + "corners_2d": [ + [ + 870.9264136771906, + 372.82234924908505 + ], + [ + 896.4874889099087, + 364.37610708171155 + ], + [ + 879.3675649728611, + 345.79677034808634 + ], + [ + 854.1790843734957, + 353.8986671767884 + ], + [ + 881.6637156120785, + 325.9009031337231 + ], + [ + 908.2980924059088, + 317.5189908792106 + ], + [ + 890.1536653872001, + 299.10645872376847 + ], + [ + 863.9222729164668, + 307.13134446857646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 676, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -111.24694061279297, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4467235803604126, + "y": 0.40868404507637024, + "z": 0.8895499110221863 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.6795972451959, + "ymin": 410.02398265827344, + "xmax": 703.206699749527, + "ymax": 486.20675504149074 + }, + "corners_3d": [ + [ + -111.69366455078125, + -4.096446990966797, + 0.05460250377655029 + ], + [ + -111.69366455078125, + -3.279078960418701, + 0.05460250377655029 + ], + [ + -110.80021667480469, + -3.279078960418701, + 0.05460250377655029 + ], + [ + -110.80021667480469, + -4.096446990966797, + 0.05460250377655029 + ], + [ + -111.69366455078125, + -4.096446990966797, + 1.8337023258209229 + ], + [ + -111.69366455078125, + -3.279078960418701, + 1.8337023258209229 + ], + [ + -110.80021667480469, + -3.279078960418701, + 1.8337023258209229 + ], + [ + -110.80021667480469, + -4.096446990966797, + 1.8337023258209229 + ] + ], + "corners_2d": [ + [ + 671.3925009727157, + 486.20675504149074 + ], + [ + 700.2151487168102, + 478.9672370920881 + ], + [ + 688.8975463233146, + 454.94262966575104 + ], + [ + 660.6795972451959, + 461.84422889565946 + ], + [ + 672.9637277524597, + 441.3734560206163 + ], + [ + 703.206699749527, + 434.1056867149051 + ], + [ + 691.2668814241895, + 410.02398265827344 + ], + [ + 661.6889059025997, + 416.9362236082061 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 776, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -109.88712310791016, + "y": -10.520058631896973, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.33142581582069397, + "y": 0.37880831956863403, + "z": 0.8648868203163147 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 391.837443453324, + "ymin": 433.0564985771864, + "xmax": 433.5250970407088, + "ymax": 500.90452345078825 + }, + "corners_3d": [ + [ + -110.17713928222656, + -10.931435585021973, + 0.23166316747665405 + ], + [ + -110.25633239746094, + -10.177968978881836, + 0.23166316747665405 + ], + [ + -109.59710693359375, + -10.108681678771973, + 0.23166316747665405 + ], + [ + -109.51791381835938, + -10.86214828491211, + 0.23166316747665405 + ], + [ + -110.17713928222656, + -10.931435585021973, + 1.9614367485046387 + ], + [ + -110.25633239746094, + -10.177968978881836, + 1.9614367485046387 + ], + [ + -109.59710693359375, + -10.108681678771973, + 1.9614367485046387 + ], + [ + -109.51791381835938, + -10.86214828491211, + 1.9614367485046387 + ] + ], + "corners_2d": [ + [ + 404.07861543457955, + 500.90452345078825 + ], + [ + 433.5250970407088, + 496.24502257533607 + ], + [ + 432.2927543821333, + 477.03002083319575 + ], + [ + 403.3883231128672, + 481.51824318101956 + ], + [ + 392.33238303586563, + 457.0379334080552 + ], + [ + 423.29318343339787, + 452.3532696195213 + ], + [ + 422.1995616380259, + 433.0564985771864 + ], + [ + 391.837443453324, + 437.5606539059049 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 402, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -97.91535186767578, + "y": -10.772884368896484, + "z": 1.0965744256973267 + }, + "extent": { + "x": 0.5385205149650574, + "y": 0.2901049852371216, + "z": 0.9029539823532104 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 340.50922085067515, + "ymin": 182.78313120347522, + "xmax": 371.9655435255244, + "ymax": 245.53366117260765 + }, + "corners_3d": [ + [ + -98.38179016113281, + -11.168615341186523, + 0.1936204433441162 + ], + [ + -98.5024185180664, + -10.601083755493164, + 0.1936204433441162 + ], + [ + -97.44891357421875, + -10.377153396606445, + 0.1936204433441162 + ], + [ + -97.32828521728516, + -10.944684982299805, + 0.1936204433441162 + ], + [ + -98.38179016113281, + -11.168615341186523, + 1.999528408050537 + ], + [ + -98.5024185180664, + -10.601083755493164, + 1.999528408050537 + ], + [ + -97.44891357421875, + -10.377153396606445, + 1.999528408050537 + ], + [ + -97.32828521728516, + -10.944684982299805, + 1.999528408050537 + ] + ], + "corners_2d": [ + [ + 351.6850939820081, + 245.53366117260765 + ], + [ + 368.7566254556145, + 244.5347651880753 + ], + [ + 371.9655435255244, + 226.44706122822438 + ], + [ + 355.29117175696905, + 227.4005034482683 + ], + [ + 340.50922085067515, + 201.48272464584628 + ], + [ + 358.2563472930344, + 200.50321117124454 + ], + [ + 361.83718328147404, + 182.78313120347522 + ], + [ + 344.5188710570765, + 183.71640791578108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 2801, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 426.99145290796275, + "ymin": 0.0, + "xmax": 507.3304486294678, + "ymax": 66.5559048697429 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 481.00504264994106, + 4.87969694041584 + ], + [ + 433.4115689442821, + 11.003416401605705 + ], + [ + 455.2787011742145, + 66.5559048697429 + ], + [ + 507.3304486294678, + 59.147811712528494 + ], + [ + 476.1203982363098, + -37.42693455599442 + ], + [ + 426.99145290796275, + -31.60154316888128 + ], + [ + 448.9414714823391, + 21.428410326208336 + ], + [ + 502.8362594457559, + 14.337513110426357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 8679, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 850.7598679835813, + "ymin": 348.9814844296279, + "xmax": 997.9001013546746, + "ymax": 507.28026841907376 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 920.6886161681787, + 507.28026841907376 + ], + [ + 982.3806964878701, + 490.28962395641565 + ], + [ + 907.4427840895498, + 389.39504439361514 + ], + [ + 850.7598679835813, + 403.2040821866904 + ], + [ + 933.6307566051114, + 466.9501305161708 + ], + [ + 997.9001013546746, + 449.8721210431187 + ], + [ + 918.3320760277406, + 348.9814844296279 + ], + [ + 859.4737570004834, + 362.7373706690251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 1142, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 504.1550612326971, + "ymin": 0.0, + "xmax": 563.7818107705699, + "ymax": 33.09106566990573 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 544.9959254297971, + -3.1202500756421045 + ], + [ + 506.98568703143087, + 1.7725354604953623 + ], + [ + 523.7620240688454, + 33.09106566990573 + ], + [ + 563.7818107705699, + 27.621065855761913 + ], + [ + 542.9927625530617, + -32.324667561652575 + ], + [ + 504.1550612326971, + -27.598668041368114 + ], + [ + 521.1426767019783, + 2.6952096119576368 + ], + [ + 562.0809900793968, + -2.6011872370568767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4696, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 586.0766683066361, + "ymin": 107.6767179085831, + "xmax": 675.2104356515536, + "ymax": 219.46016793533175 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 632.794843486005, + 142.45417701599862 + ], + [ + 587.5645806459036, + 150.008270855353 + ], + [ + 624.8855815824794, + 219.46016793533175 + ], + [ + 674.1541645869717, + 210.32321207231038 + ], + [ + 632.5926844464817, + 107.6767179085831 + ], + [ + 586.0766683066361, + 115.0503319299109 + ], + [ + 624.4122881441098, + 183.05764857758382 + ], + [ + 675.2104356515536, + 174.08854967534228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4196, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 505.3083785786389, + "ymin": 136.20256788221633, + "xmax": 586.5970588536488, + "ymax": 247.31748051619564 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 559.3398112927246, + 180.1015380662472 + ], + [ + 510.1107792032751, + 188.6230079540075 + ], + [ + 533.7597318073202, + 247.31748051619564 + ], + [ + 586.5970588536488, + 237.3807800646212 + ], + [ + 556.3936214747812, + 136.20256788221633 + ], + [ + 505.3083785786389, + 144.5017494547643 + ], + [ + 529.5034146393434, + 201.86020881096815 + ], + [ + 584.4855762231078, + 192.12566370482568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 905.9448479435532, + "ymin": 296.2126852623718, + "xmax": 935.0481225076488, + "ymax": 336.7906916072052 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 905.9448479435532, + 329.05664735398324 + ], + [ + 912.042466992077, + 336.7906916072052 + ], + [ + 926.9603856364677, + 333.3882405615382 + ], + [ + 920.7553602120286, + 325.7137204108309 + ], + [ + 913.4021418960431, + 299.5324814154751 + ], + [ + 919.7404063911636, + 307.21575140932475 + ], + [ + 935.0481225076488, + 303.83516606646276 + ], + [ + 928.5968877110836, + 296.2126852623718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1109.8055577769524, + "ymin": 250.92968000188384, + "xmax": 1143.7409134502418, + "ymax": 289.9779353339563 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1109.8055577769524, + 283.04284577723035 + ], + [ + 1117.2922880578622, + 289.9779353339563 + ], + [ + 1130.665611123582, + 286.92777188575974 + ], + [ + 1123.095009825322, + 280.04324122696994 + ], + [ + 1122.2647341127054, + 253.89975520045294 + ], + [ + 1130.0592816424842, + 260.7687667138446 + ], + [ + 1143.7409134502418, + 257.7472880459448 + ], + [ + 1135.8587990326, + 250.92968000188384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 466.25699235543067, + "ymin": 514.7241570157809, + "xmax": 490.75090217779365, + "ymax": 553.5130942429748 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 473.5003384805548, + 553.5130942429748 + ], + [ + 490.75090217779365, + 549.1094265125448 + ], + [ + 488.26770544516415, + 539.1281383856507 + ], + [ + 471.1656757367665, + 543.4514321049836 + ], + [ + 468.6133351743033, + 529.1970314454989 + ], + [ + 486.38835479347597, + 524.765264277885 + ], + [ + 483.87432861691104, + 514.7241570157809 + ], + [ + 466.25699235543067, + 519.0727015414604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 492.8107252942105, + "ymin": 639.9540597225619, + "xmax": 524.9927833634853, + "ymax": 689.7249043999079 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 501.8921653115954, + 689.7249043999079 + ], + [ + 524.9927833634853, + 683.0503360181627 + ], + [ + 521.2550782538198, + 668.0717028111274 + ], + [ + 498.41836003788745, + 674.5835891863003 + ], + [ + 496.3512958098504, + 661.9525704092314 + ], + [ + 520.4047127000442, + 655.1682528111342 + ], + [ + 516.5781090382757, + 639.9540597225619 + ], + [ + 492.8107252942105, + 646.5665310969409 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1228.6388032857158, + "ymin": 307.24772753057596, + "xmax": 1261.8695826107555, + "ymax": 341.05585374652696 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1228.6388032857158, + 334.50727069071763 + ], + [ + 1236.1811353291378, + 341.05585374652696 + ], + [ + 1247.6231729617161, + 338.192575357671 + ], + [ + 1240.020523108045, + 331.6862437438704 + ], + [ + 1242.3809553083765, + 310.05384328196317 + ], + [ + 1250.2058249607037, + 316.56943854902596 + ], + [ + 1261.8695826107555, + 313.7203038910426 + ], + [ + 1253.982244883413, + 307.24772753057596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1001.3586138982528, + "ymin": 275.00430615333534, + "xmax": 1032.8148179955606, + "ymax": 314.8751426191672 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1001.3586138982528, + 307.5205084834518 + ], + [ + 1008.1303672917911, + 314.8751426191672 + ], + [ + 1022.3147161107088, + 311.64000281035885 + ], + [ + 1015.4469985314045, + 304.34057522240573 + ], + [ + 1011.233951445613, + 278.1578780527575 + ], + [ + 1018.280285285312, + 285.4540158413254 + ], + [ + 1032.8148179955606, + 282.24418180261466 + ], + [ + 1025.6678869076986, + 275.00430615333534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 820.3557336592057, + "ymin": 135.5130795818404, + "xmax": 1280.0, + "ymax": 497.3403443968169 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1205.4610239792341, + 400.7301841121656 + ], + [ + 1195.0789475414676, + 390.6757655809796 + ], + [ + 820.3557336592057, + 485.1324561919133 + ], + [ + 827.3473569111134, + 497.3403443968169 + ], + [ + 1352.9932888151334, + 144.72162928280895 + ], + [ + 1337.9598908198038, + 135.5130795818404 + ], + [ + 872.8519722745748, + 224.09277918935229 + ], + [ + 882.7184990810317, + 235.88842215436227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.9526738831318, + "ymin": 0.0, + "xmax": 955.5959811470358, + "ymax": 86.1331131500092 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 916.1136068783759, + 73.55416126428264 + ], + [ + 911.1420675760012, + 69.16353381435124 + ], + [ + 832.9526738831318, + 81.56181234407006 + ], + [ + 837.4524522408605, + 86.1331131500092 + ], + [ + 955.5959811470358, + -113.53881379518583 + ], + [ + 949.5976697459234, + -117.02788828622306 + ], + [ + 860.954748496819, + -107.1570525417842 + ], + [ + 866.3484425712002, + -103.5032376992695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 413.3649288822179, + "ymin": 342.1725285941533, + "xmax": 635.8348294389865, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 488.53504010423705, + 603.6440449547407 + ], + [ + 470.58824307479347, + 608.3100578503702 + ], + [ + 608.4552626658036, + 1273.4948904382102 + ], + [ + 635.8348294389865, + 1261.8979273594603 + ], + [ + 437.6510249416768, + 342.1725285941533 + ], + [ + 413.3649288822179, + 346.98972263014394 + ], + [ + 587.554493189933, + 1201.629455412261 + ], + [ + 633.1042781198794, + 1183.1899871594894 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00140/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00140/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..908606b9722202408f6371f8f5a1d9fcbd536361 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00140/meta.json @@ -0,0 +1,2363 @@ +{ + "frame_id": 140, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 70.0, + "sim_timestamp": 1847.9325522470754 + }, + "drone_pose": { + "x": -126.55195563879349, + "y": -9.779296160653516, + "z": 20.0, + "pitch": -43.162064012475135, + "yaw": 17.444971313989928, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6958721876144409, + -0.21867308020591736, + 0.6840642094612122, + 76.52116394042969 + ], + [ + 0.2997896373271942, + 0.9540053009986877, + 0.0, + -28.609468460083008 + ], + [ + -0.6526009440422058, + 0.20507539808750153, + 0.7294217348098755, + -99.18185424804688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -126.10819717171219, + "y": -9.715168901165635, + "z": 20.0 + }, + "t1_image_uv": [ + 426.3151018531863, + -540.3046078225315 + ], + "t1_depth": 0.3228220840357693 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -107.16718292236328, + "y": -3.687763214111328, + "z": 0.9441573762892586 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 27.856800336831526, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 623, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -107.16718292236328, + "y": -3.687762975692749, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.33924800157546997, + "y": 0.39405176043510437, + "z": 0.8666328191757202 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.2739686060141, + "ymin": 327.48479477031555, + "xmax": 656.910993501383, + "ymax": 391.8896033659678 + }, + "corners_3d": [ + [ + -107.50643157958984, + -4.081814765930176, + 0.07752448320388794 + ], + [ + -107.50643157958984, + -3.2937111854553223, + 0.07752448320388794 + ], + [ + -106.82793426513672, + -3.2937111854553223, + 0.07752448320388794 + ], + [ + -106.82793426513672, + -4.081814765930176, + 0.07752448320388794 + ], + [ + -107.50643157958984, + -4.081814765930176, + 1.8107900619506836 + ], + [ + -107.50643157958984, + -3.2937111854553223, + 1.8107900619506836 + ], + [ + -106.82793426513672, + -3.2937111854553223, + 1.8107900619506836 + ], + [ + -106.82793426513672, + -4.081814765930176, + 1.8107900619506836 + ] + ], + "corners_2d": [ + [ + 630.6406153953538, + 391.8896033659678 + ], + [ + 656.2024787410218, + 386.21281361763766 + ], + [ + 649.149751369051, + 371.0086324367999 + ], + [ + 623.9673879065087, + 376.5000861364631 + ], + [ + 630.2287228587105, + 348.2435538251628 + ], + [ + 656.910993501383, + 342.59593934747596 + ], + [ + 649.5430109310257, + 327.48479477031555 + ], + [ + 623.2739686060141, + 332.94014467077085 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 140, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 337395, + "2": 237428, + "3": 221657, + "4": 43594, + "6": 11862, + "7": 3372, + "9": 14095, + "10": 522, + "12": 3754, + "14": 22524, + "20": 3717, + "24": 21680 + }, + "instance_pixel_counts": { + "9045": 476, + "11605": 111821, + "15189": 2161, + "15701": 29799, + "15967": 17578, + "15970": 3493, + "16479": 27323, + "16482": 4160, + "17547": 16695, + "18059": 10541, + "19554": 4568, + "20107": 1311, + "20565": 51077, + "21395": 26898, + "21397": 1190, + "21643": 23254, + "21907": 68387, + "21909": 6701, + "23957": 1664, + "24467": 50592, + "25344": 7839, + "25600": 7035, + "26754": 849, + "29523": 1404, + "29779": 22049, + "29835": 134, + "30859": 1719, + "31371": 1017, + "36096": 623, + "36352": 594, + "36608": 681, + "36864": 704, + "37120": 760, + "37376": 392, + "37632": 3078, + "37888": 8997, + "38912": 1355, + "40448": 4806, + "40704": 4288, + "42071": 360, + "45409": 4108, + "45971": 39528, + "46483": 99518, + "48225": 5484, + "49043": 52472, + "51526": 43594, + "53857": 5864, + "56458": 27850, + "56970": 19536, + "57482": 28983, + "58506": 36680, + "60307": 2262, + "60819": 6775, + "61254": 16963, + "62867": 3088 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 623, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -107.16718292236328, + "y": -3.687762975692749, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5171483755111694, + "y": 0.4152466952800751, + "z": 0.9035834074020386 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.7641000367104, + "ymin": 322.4955784112359, + "xmax": 659.6197374504538, + "ymax": 397.05627203113653 + }, + "corners_3d": [ + [ + -107.68433380126953, + -4.1030097007751465, + 0.04057389497756958 + ], + [ + -107.68433380126953, + -3.2725162506103516, + 0.04057389497756958 + ], + [ + -106.65003204345703, + -3.2725162506103516, + 0.04057389497756958 + ], + [ + -106.65003204345703, + -4.1030097007751465, + 0.04057389497756958 + ], + [ + -107.68433380126953, + -4.1030097007751465, + 1.847740650177002 + ], + [ + -107.68433380126953, + -3.2725162506103516, + 1.847740650177002 + ], + [ + -106.65003204345703, + -3.2725162506103516, + 1.847740650177002 + ], + [ + -106.65003204345703, + -4.1030097007751465, + 1.847740650177002 + ] + ], + "corners_2d": [ + [ + 631.7404909673719, + 397.05627203113653 + ], + [ + 658.759834819231, + 391.0209654808886 + ], + [ + 648.0021500564803, + 367.8472249395701 + ], + [ + 621.5913958082934, + 373.5849955479297 + ], + [ + 631.3593296499996, + 351.5266027293417 + ], + [ + 659.6197374504538, + 345.5212384329066 + ], + [ + 648.3594137149175, + 322.4955784112359 + ], + [ + 620.7641000367104, + 328.1917963588384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 594, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -103.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4653955101966858, + "y": 0.450017511844635, + "z": 0.8862482309341431 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 669.9507769894791, + "ymin": 225.30480255374422, + "xmax": 710.2878229782707, + "ymax": 292.0368175121065 + }, + "corners_3d": [ + [ + -103.5899887084961, + -1.0334804058074951, + 0.05790907144546509 + ], + [ + -103.40286254882812, + -0.15311336517333984, + 0.05790907144546509 + ], + [ + -102.4924087524414, + -0.34663647413253784, + 0.05790907144546509 + ], + [ + -102.67953491210938, + -1.2270034551620483, + 0.05790907144546509 + ], + [ + -103.5899887084961, + -1.0334804058074951, + 1.8304054737091064 + ], + [ + -103.40286254882812, + -0.15311336517333984, + 1.8304054737091064 + ], + [ + -102.4924087524414, + -0.34663647413253784, + 1.8304054737091064 + ], + [ + -102.67953491210938, + -1.2270034551620483, + 1.8304054737091064 + ] + ], + "corners_2d": [ + [ + 684.4427658685328, + 292.0368175121065 + ], + [ + 707.6124867843375, + 283.6043477871757 + ], + [ + 692.8424429201343, + 268.5911496032295 + ], + [ + 669.9507769894791, + 276.71759187183557 + ], + [ + 686.2200249191458, + 248.38324050926303 + ], + [ + 710.2878229782707, + 240.07686399913536 + ], + [ + 694.8937687834417, + 225.30480255374422 + ], + [ + 671.1255949237008, + 233.29807705192317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 681, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -108.84302520751953, + "y": 3.342019557952881, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5619921684265137, + "y": 0.4346011281013489, + "z": 0.9354206919670105 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 857.1554223515737, + "ymin": 308.6929524380121, + "xmax": 914.9990219256346, + "ymax": 387.2552927964824 + }, + "corners_3d": [ + [ + -109.4473648071289, + 2.968543529510498, + 0.008731722831726074 + ], + [ + -109.35651397705078, + 3.832984209060669, + 0.008731722831726074 + ], + [ + -108.23868560791016, + 3.7154955863952637, + 0.008731722831726074 + ], + [ + -108.32953643798828, + 2.8510549068450928, + 0.008731722831726074 + ], + [ + -109.4473648071289, + 2.968543529510498, + 1.879573106765747 + ], + [ + -109.35651397705078, + 3.832984209060669, + 1.879573106765747 + ], + [ + -108.23868560791016, + 3.7154955863952637, + 1.879573106765747 + ], + [ + -108.32953643798828, + 2.8510549068450928, + 1.879573106765747 + ] + ], + "corners_2d": [ + [ + 878.0487001139059, + 387.2552927964824 + ], + [ + 902.7011753873835, + 379.0793468399052 + ], + [ + 881.3559863894486, + 355.5336265080068 + ], + [ + 857.1554223515737, + 363.2943902312227 + ], + [ + 889.2962712389824, + 340.17643807891966 + ], + [ + 914.9990219256346, + 332.05215230638925 + ], + [ + 892.3520549717425, + 308.6929524380121 + ], + [ + 867.138573214818, + 316.3860550444226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 704, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -110.74694061279297, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5824267268180847, + "y": 0.3841559886932373, + "z": 0.8987911939620972 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.4206183488802, + "ymin": 406.46622410998333, + "xmax": 703.4351327707993, + "ymax": 489.95045796488057 + }, + "corners_3d": [ + [ + -111.3293685913086, + -4.071918964385986, + 0.045361220836639404 + ], + [ + -111.3293685913086, + -3.3036069869995117, + 0.045361220836639404 + ], + [ + -110.16451263427734, + -3.3036069869995117, + 0.045361220836639404 + ], + [ + -110.16451263427734, + -4.071918964385986, + 0.045361220836639404 + ], + [ + -111.3293685913086, + -4.071918964385986, + 1.8429436683654785 + ], + [ + -111.3293685913086, + -3.3036069869995117, + 1.8429436683654785 + ], + [ + -110.16451263427734, + -3.3036069869995117, + 1.8429436683654785 + ], + [ + -110.16451263427734, + -4.071918964385986, + 1.8429436683654785 + ] + ], + "corners_2d": [ + [ + 673.1894635098704, + 489.95045796488057 + ], + [ + 700.3951511237337, + 483.20466369795486 + ], + [ + 685.8805757558006, + 451.86159603722183 + ], + [ + 659.4206183488802, + 458.1992823981544 + ], + [ + 674.8716192430552, + 444.6545234625454 + ], + [ + 703.4351327707993, + 437.8806929661531 + ], + [ + 688.1158019899121, + 406.46622410998333 + ], + [ + 660.3730990509414, + 412.8105462436086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 760, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -109.3875732421875, + "y": -10.52143383026123, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.43611329793930054, + "y": 0.4084625542163849, + "z": 0.8808407187461853 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 390.15776596569344, + "ymin": 428.5818889369654, + "xmax": 434.4316432555172, + "ymax": 503.5351462400422 + }, + "corners_3d": [ + [ + -109.77860260009766, + -10.973244667053223, + 0.21570926904678345 + ], + [ + -109.8639907836914, + -10.160795211791992, + 0.21570926904678345 + ], + [ + -108.99654388427734, + -10.069622993469238, + 0.21570926904678345 + ], + [ + -108.9111557006836, + -10.882072448730469, + 0.21570926904678345 + ], + [ + -109.77860260009766, + -10.973244667053223, + 1.9773907661437988 + ], + [ + -109.8639907836914, + -10.160795211791992, + 1.9773907661437988 + ], + [ + -108.99654388427734, + -10.069622993469238, + 1.9773907661437988 + ], + [ + -108.9111557006836, + -10.882072448730469, + 1.9773907661437988 + ] + ], + "corners_2d": [ + [ + 402.6430279790013, + 503.5351462400422 + ], + [ + 434.4316432555172, + 498.6105445912905 + ], + [ + 432.95367747050585, + 473.38975624637004 + ], + [ + 401.9334990553922, + 478.07762060284415 + ], + [ + 390.59399988919006, + 458.85741390496685 + ], + [ + 424.0480291645959, + 453.9054884401371 + ], + [ + 422.7617921075408, + 428.5818889369654 + ], + [ + 390.15776596569344, + 433.28416880819515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 392, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -97.41338348388672, + "y": -10.774307250976562, + "z": 1.0965744256973267 + }, + "extent": { + "x": 0.4215185344219208, + "y": 0.2984698414802551, + "z": 0.8811776041984558 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 342.31098937782997, + "ymin": 184.73966492041586, + "xmax": 373.18071945827364, + "ymax": 242.43045996298957 + }, + "corners_3d": [ + [ + -97.76363372802734, + -11.15389347076416, + 0.21539682149887085 + ], + [ + -97.88774871826172, + -10.569998741149902, + 0.21539682149887085 + ], + [ + -97.0631332397461, + -10.394721031188965, + 0.21539682149887085 + ], + [ + -96.93901824951172, + -10.978615760803223, + 0.21539682149887085 + ], + [ + -97.76363372802734, + -11.15389347076416, + 1.9777519702911377 + ], + [ + -97.88774871826172, + -10.569998741149902, + 1.9777519702911377 + ], + [ + -97.0631332397461, + -10.394721031188965, + 1.9777519702911377 + ], + [ + -96.93901824951172, + -10.978615760803223, + 1.9777519702911377 + ] + ], + "corners_2d": [ + [ + 353.0991663192745, + 242.43045996298957 + ], + [ + 370.58253751220235, + 241.4595769987045 + ], + [ + 373.18071945827364, + 227.35097288127744 + ], + [ + 356.016426218299, + 228.28710776702 + ], + [ + 342.31098937782997, + 199.51766541785074 + ], + [ + 360.46481614079914, + 198.56554861736777 + ], + [ + 363.34806938545387, + 184.73966492041586 + ], + [ + 345.53801592004027, + 185.65646060091828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 3078, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 431.4196653490017, + "ymin": 0.0, + "xmax": 511.91156375934133, + "ymax": 71.59388419076737 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 485.5992743346641, + 9.16096290321525 + ], + [ + 437.73715494603056, + 15.266698704530086 + ], + [ + 459.5189222492784, + 71.59388419076737 + ], + [ + 511.91156375934133, + 64.19555720171849 + ], + [ + 480.83134965120473, + -33.28363742676953 + ], + [ + 431.4196653490017, + -27.473576407178427 + ], + [ + 453.290513067833, + 26.314653168496307 + ], + [ + 507.5464933629172, + 19.23031947590755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 8997, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 858.4912943730125, + "ymin": 361.3870474247283, + "xmax": 1008.4189607170199, + "ymax": 522.8363635405032 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 929.6456036513841, + 522.8363635405032 + ], + [ + 992.2310532408692, + 505.6130626590209 + ], + [ + 915.9059162949259, + 401.84805040863534 + ], + [ + 858.4912943730125, + 415.8008305926483 + ], + [ + 943.1866482096982, + 482.59282587597977 + ], + [ + 1008.4189607170199, + 465.25989703962273 + ], + [ + 927.2762235570451, + 361.3870474247283 + ], + [ + 867.6344259813613, + 375.2994241800098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 1355, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 508.9857520379593, + "ymin": 0.0, + "xmax": 568.7928616743985, + "ymax": 37.81998699261186 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 549.9642315117397, + 1.1867983997532292 + ], + [ + 511.72949875265834, + 6.066502190090603 + ], + [ + 528.5155756554299, + 37.81998699261186 + ], + [ + 568.7928616743985, + 32.35944772690823 + ], + [ + 548.055902806171, + -28.11490040472279 + ], + [ + 508.9857520379593, + -23.40052160628875 + ], + [ + 525.9891567333511, + 7.321203172084552 + ], + [ + 567.1947753589744, + 2.032648339238449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4806, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 591.146712403826, + "ymin": 114.16016262871923, + "xmax": 681.0165751177991, + "ymax": 227.40457465592348 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 638.1138265661522, + 149.06226669563893 + ], + [ + 592.5045774129071, + 156.63002077823 + ], + [ + 630.0386407498262, + 227.40457465592348 + ], + [ + 679.7757613069441, + 218.23186265410553 + ], + [ + 638.0605041242775, + 114.16016262871923 + ], + [ + 591.146712403826, + 121.5501706998131 + ], + [ + 629.7240174725567, + 190.88517704435407 + ], + [ + 681.0165751177991, + 181.87627154144616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4288, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 509.6595556573635, + "ymin": 143.11628164306114, + "xmax": 591.3702306031473, + "ymax": 255.5340133380553 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 563.9908347505534, + 187.16398043557874 + ], + [ + 514.3418832116117, + 195.70490658778175 + ], + [ + 538.0329715558615, + 255.5340133380553 + ], + [ + 591.3702306031473, + 245.55750305633455 + ], + [ + 561.1926249491213, + 143.11628164306114 + ], + [ + 509.6595556573635, + 151.43904643271324 + ], + [ + 533.9120906051812, + 209.94235156668043 + ], + [ + 589.430533634103, + 200.16223462008466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0688104003891, + "ymin": 310.76892149087877, + "xmax": 945.9785420194858, + "ymax": 351.7553655820922 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 916.0688104003891, + 343.7594466902466 + ], + [ + 922.3063055066482, + 351.7553655820922 + ], + [ + 937.463541432301, + 348.2936255646996 + ], + [ + 931.1146995199856, + 340.3593678898369 + ], + [ + 923.9299071076553, + 314.1483217291087 + ], + [ + 930.4198114392339, + 322.09852899436765 + ], + [ + 945.9785420194858, + 318.6560765476115 + ], + [ + 939.3714444842196, + 310.76892149087877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.1500472565042, + "ymin": 264.6791045444391, + "xmax": 1158.062559378804, + "ymax": 304.13175038082886 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1123.1500472565042, + 296.96335097111535 + ], + [ + 1130.8274890037314, + 304.13175038082886 + ], + [ + 1144.4123670322217, + 301.0291180851515 + ], + [ + 1136.647993628417, + 293.91307629059634 + ], + [ + 1136.159962078566, + 267.7017439532551 + ], + [ + 1144.1603665855173, + 274.80753320276153 + ], + [ + 1158.062559378804, + 271.7315976808879 + ], + [ + 1149.9713434354535, + 264.6791045444391 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 468.98965260174555, + "ymin": 531.8159337133307, + "xmax": 493.7435985012393, + "ymax": 570.9036857780703 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 476.22466563664926, + 570.9036857780703 + ], + [ + 493.7435985012393, + 566.430495021988 + ], + [ + 491.2551114524646, + 556.1279749421251 + ], + [ + 473.88995016173317, + 560.5181069071572 + ], + [ + 471.34630369583294, + 546.6943750308546 + ], + [ + 489.4051290231714, + 542.1888399115412 + ], + [ + 486.8851052433746, + 531.8159337133307 + ], + [ + 468.98965260174555, + 536.2353584258324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 495.62998546878714, + "ymin": 666.0559119760243, + "xmax": 528.3368680854087, + "ymax": 716.2844583824955 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 504.74107206556647, + 716.2844583824955 + ], + [ + 528.3368680854087, + 709.4264612635047 + ], + [ + 524.5593997058754, + 693.7902499634979 + ], + [ + 501.23995756908766, + 700.4772516555204 + ], + [ + 499.2001275179964, + 688.9453752077677 + ], + [ + 523.7885181371687, + 681.9633169671579 + ], + [ + 519.9183807293914, + 666.0559119760243 + ], + [ + 495.62998546878714, + 672.856908961315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1242.7269697321708, + "ymin": 320.80342979957817, + "xmax": 1276.856320502263, + "ymax": 354.92015355233815 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1242.7269697321708, + 348.1671954642878 + ], + [ + 1250.4515118802801, + 354.92015355233815 + ], + [ + 1262.0637258968923, + 352.01453775378457 + ], + [ + 1254.2767542855263, + 345.3051801831513 + ], + [ + 1256.9964782644608, + 323.6521463819386 + ], + [ + 1265.0163665895202, + 330.37544846971855 + ], + [ + 1276.856320502263, + 327.4822962446283 + ], + [ + 1268.771750631927, + 320.80342979957817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.9950847577692, + "ymin": 289.1812303350069, + "xmax": 1045.341098515966, + "ymax": 329.4589018919816 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1012.9950847577692, + 321.855990668097 + ], + [ + 1019.931418530964, + 329.4589018919816 + ], + [ + 1034.3418349990386, + 326.1677269310905 + ], + [ + 1027.3060256033089, + 318.6219959073977 + ], + [ + 1023.3457212666594, + 292.39104343098626 + ], + [ + 1030.5701160169565, + 299.9397378732882 + ], + [ + 1045.341098515966, + 296.6715789073346 + ], + [ + 1038.0123619127257, + 289.1812303350069 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.7949090804897, + "ymin": 147.95481124797726, + "xmax": 1280.0, + "ymax": 512.2764174524984 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1218.3571516617822, + 414.4842250184798 + ], + [ + 1207.7467805998929, + 404.13747091961847 + ], + [ + 827.7949090804897, + 499.7155713979489 + ], + [ + 834.903142726657, + 512.2764174524984 + ], + [ + 1371.717271194189, + 157.49436718212917 + ], + [ + 1356.2352890377756, + 147.95481124797726 + ], + [ + 883.3518325740206, + 238.21287995398933 + ], + [ + 893.4685939843167, + 250.44074996768285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 840.0009208588436, + "ymin": 0.0, + "xmax": 964.8561740303699, + "ymax": 92.35462638616059 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 923.908954451294, + 79.75091458945974 + ], + [ + 918.8793881270373, + 75.27973122509826 + ], + [ + 840.0009208588436, + 87.70050858333838 + ], + [ + 844.548157116182, + 92.35462638616059 + ], + [ + 964.8561740303699, + -108.30651130869597 + ], + [ + 958.7696870769848, + -111.86720269009783 + ], + [ + 869.2703141653236, + -101.9574132748192 + ], + [ + 874.7376099802966, + -98.2293821589792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 415.72156995407556, + "ymin": 359.21761601953915, + "xmax": 639.8566452769976, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 491.28935775135653, + 620.1862598024045 + ], + [ + 473.08770142188, + 624.9108975530418 + ], + [ + 611.8203542316697, + 1316.187210568893 + ], + [ + 639.8566452769976, + 1304.2225980493324 + ], + [ + 440.45703583417895, + 359.21761601953915 + ], + [ + 415.72156995407556, + 364.1384402850142 + ], + [ + 592.437365501807, + 1269.7814062532002 + ], + [ + 639.7591085219285, + 1250.1787808002737 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00141/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00141/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..294eba62eea8a9053e3365e5ad92951275ecee5d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00141/meta.json @@ -0,0 +1,2362 @@ +{ + "frame_id": 141, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 70.5, + "sim_timestamp": 1863.583423076896 + }, + "drone_pose": { + "x": -126.10819717171219, + "y": -9.715168901165635, + "z": 20.0, + "pitch": -43.113484438249735, + "yaw": 17.22529483731785, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.697259247303009, + -0.2161751538515091, + 0.6834455728530884, + 76.36137390136719 + ], + [ + 0.2961297631263733, + 0.9551477432250977, + -7.450580596923828e-09, + -28.06496810913086 + ], + [ + -0.6527915000915527, + 0.20238855481147766, + 0.7300014495849609, + -98.88863372802734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -125.66076494257796, + "y": -9.664181880720616, + "z": 20.0 + }, + "t1_image_uv": [ + 390.9400899708321, + -538.775986743118 + ], + "t1_depth": 0.3229983740441865 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -106.66718292236328, + "y": -3.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.88204685507451, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 610, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -106.66718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4766015112400055, + "y": 0.3860439658164978, + "z": 0.8873485922813416 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.2169156508492, + "ymin": 324.0488265294182, + "xmax": 658.1106005202736, + "ymax": 395.4627624596932 + }, + "corners_3d": [ + [ + -107.14378356933594, + -4.0738067626953125, + 0.056789278984069824 + ], + [ + -107.14378356933594, + -3.3017189502716064, + 0.056789278984069824 + ], + [ + -106.19058227539062, + -3.3017189502716064, + 0.056789278984069824 + ], + [ + -106.19058227539062, + -4.0738067626953125, + 0.056789278984069824 + ], + [ + -107.14378356933594, + -4.0738067626953125, + 1.831486463546753 + ], + [ + -107.14378356933594, + -3.3017189502716064, + 1.831486463546753 + ], + [ + -106.19058227539062, + -3.3017189502716064, + 1.831486463546753 + ], + [ + -106.19058227539062, + -4.0738067626953125, + 1.831486463546753 + ] + ], + "corners_2d": [ + [ + 632.2170294465012, + 395.4627624596932 + ], + [ + 657.332739694022, + 389.9410831023148 + ], + [ + 647.55908828024, + 368.58604595386913 + ], + [ + 622.9674807954194, + 373.85599194653304 + ], + [ + 631.8655738877728, + 350.76041806600807 + ], + [ + 658.1106005202736, + 345.2669997638952 + ], + [ + 647.890183832141, + 324.0488265294182 + ], + [ + 622.2169156508492, + 329.28093078169394 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 141, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 331489, + "2": 234132, + "3": 229815, + "4": 44375, + "6": 11267, + "7": 3085, + "9": 13473, + "10": 538, + "12": 3775, + "14": 23557, + "20": 3730, + "24": 22364 + }, + "instance_pixel_counts": { + "9045": 222, + "11605": 114834, + "15189": 2635, + "15701": 30241, + "15967": 18526, + "15970": 3660, + "16479": 27129, + "16482": 4012, + "17547": 17508, + "18059": 10086, + "19554": 4710, + "20107": 657, + "20565": 53917, + "21395": 27776, + "21397": 1231, + "21643": 24066, + "21907": 62219, + "21909": 6953, + "23957": 1729, + "24467": 52453, + "25344": 7346, + "25600": 6626, + "26754": 772, + "29523": 1806, + "29779": 23837, + "30859": 1204, + "31371": 1119, + "36096": 610, + "36352": 573, + "36608": 767, + "36864": 667, + "37120": 772, + "37376": 386, + "37632": 3348, + "37888": 9334, + "38912": 1583, + "40448": 4914, + "40704": 4378, + "42071": 380, + "45409": 4262, + "45971": 41176, + "46483": 93625, + "48225": 5187, + "49043": 54240, + "51526": 44375, + "53857": 6070, + "56458": 28848, + "56970": 19206, + "57482": 22093, + "58506": 38112, + "60307": 2366, + "60819": 6886, + "61254": 16431, + "62867": 3199 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 610, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -106.66718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44460445642471313, + "y": 0.40880441665649414, + "z": 0.8890933990478516 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.7703434600965, + "ymin": 324.54531874263876, + "xmax": 658.5283742046879, + "ymax": 394.9264275151148 + }, + "corners_3d": [ + [ + -107.11178588867188, + -4.096567153930664, + 0.055044472217559814 + ], + [ + -107.11178588867188, + -3.278958559036255, + 0.055044472217559814 + ], + [ + -106.22257995605469, + -3.278958559036255, + 0.055044472217559814 + ], + [ + -106.22257995605469, + -4.096567153930664, + 0.055044472217559814 + ], + [ + -107.11178588867188, + -4.096567153930664, + 1.8332312107086182 + ], + [ + -107.11178588867188, + -3.278958559036255, + 1.8332312107086182 + ], + [ + -106.22257995605469, + -3.278958559036255, + 1.8332312107086182 + ], + [ + -106.22257995605469, + -4.096567153930664, + 1.8332312107086182 + ] + ], + "corners_2d": [ + [ + 631.1554284292254, + 394.9264275151148 + ], + [ + 657.7318067308323, + 389.0884335784007 + ], + [ + 648.6006546504767, + 369.1742456881845 + ], + [ + 622.5419689790155, + 374.7635794266083 + ], + [ + 630.7554900233487, + 350.13892825796864 + ], + [ + 658.5283742046879, + 344.33128842440834 + ], + [ + 648.978366044169, + 324.54531874263876 + ], + [ + 621.7703434600965, + 330.09481652463944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 573, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -102.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4443408250808716, + "y": 0.447924941778183, + "z": 0.8768256902694702 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 670.8820078813321, + "ymin": 226.22529731368675, + "xmax": 710.3718242347848, + "ymax": 291.7020301011317 + }, + "corners_3d": [ + [ + -103.06896209716797, + -1.0358110666275024, + 0.06733161211013794 + ], + [ + -102.88269805908203, + -0.15953773260116577, + 0.06733161211013794 + ], + [ + -102.01343536376953, + -0.34430578351020813, + 0.06733161211013794 + ], + [ + -102.19969940185547, + -1.2205791473388672, + 0.06733161211013794 + ], + [ + -103.06896209716797, + -1.0358110666275024, + 1.8209829330444336 + ], + [ + -102.88269805908203, + -0.15953773260116577, + 1.8209829330444336 + ], + [ + -102.01343536376953, + -0.34430578351020813, + 1.8209829330444336 + ], + [ + -102.19969940185547, + -1.2205791473388672, + 1.8209829330444336 + ] + ], + "corners_2d": [ + [ + 684.6328283402024, + 291.7020301011317 + ], + [ + 707.7264333504538, + 283.38487564735186 + ], + [ + 693.7079938610789, + 269.0400633857656 + ], + [ + 670.8820078813321, + 277.0681025883931 + ], + [ + 686.3945165121569, + 248.5332404300064 + ], + [ + 710.3718242347848, + 240.34043631634918 + ], + [ + 695.7678191383052, + 226.22529731368675 + ], + [ + 672.0786305780489, + 234.1224304848235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 767, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -108.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5558447241783142, + "y": 0.4377403259277344, + "z": 0.93069988489151 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 863.4262245435951, + "ymin": 322.5665851496844, + "xmax": 922.3913693976469, + "ymax": 401.6994312649585 + }, + "corners_3d": [ + [ + -109.52156066894531, + 2.877708673477173, + 0.013452529907226562 + ], + [ + -109.43004608154297, + 3.7483932971954346, + 0.013452529907226562 + ], + [ + -108.32444763183594, + 3.632189989089966, + 0.013452529907226562 + ], + [ + -108.41596221923828, + 2.761505365371704, + 0.013452529907226562 + ], + [ + -109.52156066894531, + 2.877708673477173, + 1.8748522996902466 + ], + [ + -109.43004608154297, + 3.7483932971954346, + 1.8748522996902466 + ], + [ + -108.32444763183594, + 3.632189989089966, + 1.8748522996902466 + ], + [ + -108.41596221923828, + 2.761505365371704, + 1.8748522996902466 + ] + ], + "corners_2d": [ + [ + 884.4473321687117, + 401.6994312649585 + ], + [ + 909.6516977033068, + 393.29395159076546 + ], + [ + 888.16423353087, + 369.27912676168796 + ], + [ + 863.4262245435951, + 377.25519791878963 + ], + [ + 896.1053415596864, + 354.7857388549077 + ], + [ + 922.3913693976469, + 346.4222424907453 + ], + [ + 899.5727623268888, + 322.5665851496844 + ], + [ + 873.791910680924, + 330.48335569090136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 667, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -110.24694061279297, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5851903557777405, + "y": 0.39340296387672424, + "z": 0.8999408483505249 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.6362623494329, + "ymin": 406.2914960770337, + "xmax": 703.1855356791515, + "ymax": 490.0451974152768 + }, + "corners_3d": [ + [ + -110.8321304321289, + -4.081165790557861, + 0.04421156644821167 + ], + [ + -110.8321304321289, + -3.2943599224090576, + 0.04421156644821167 + ], + [ + -109.66175079345703, + -3.2943599224090576, + 0.04421156644821167 + ], + [ + -109.66175079345703, + -4.081165790557861, + 0.04421156644821167 + ], + [ + -110.8321304321289, + -4.081165790557861, + 1.8440933227539062 + ], + [ + -110.8321304321289, + -3.2943599224090576, + 1.8440933227539062 + ], + [ + -109.66175079345703, + -3.2943599224090576, + 1.8440933227539062 + ], + [ + -109.66175079345703, + -4.081165790557861, + 1.8440933227539062 + ] + ], + "corners_2d": [ + [ + 672.2762600634176, + 490.0451974152768 + ], + [ + 700.1586025880719, + 483.23043869759135 + ], + [ + 685.7473550272788, + 451.7511699699893 + ], + [ + 658.6362623494329, + 458.1512708104435 + ], + [ + 673.9116461289575, + 444.6792890076406 + ], + [ + 703.1855356791515, + 437.8372565136097 + ], + [ + 687.974822047036, + 406.2914960770337 + ], + [ + 659.5498239671347, + 412.6972062665899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 772, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -108.88802337646484, + "y": -10.522814750671387, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.4584912359714508, + "y": 0.4052102863788605, + "z": 0.8841263651847839 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 390.05449398306763, + "ymin": 427.1138740559334, + "xmax": 433.9534394052589, + "ymax": 503.34544037736833 + }, + "corners_3d": [ + [ + -109.30164337158203, + -10.97373104095459, + 0.21242362260818481 + ], + [ + -109.38636016845703, + -10.167749404907227, + 0.21242362260818481 + ], + [ + -108.47440338134766, + -10.071898460388184, + 0.21242362260818481 + ], + [ + -108.38968658447266, + -10.877880096435547, + 0.21242362260818481 + ], + [ + -109.30164337158203, + -10.97373104095459, + 1.9806764125823975 + ], + [ + -109.38636016845703, + -10.167749404907227, + 1.9806764125823975 + ], + [ + -108.47440338134766, + -10.071898460388184, + 1.9806764125823975 + ], + [ + -108.38968658447266, + -10.877880096435547, + 1.9806764125823975 + ] + ], + "corners_2d": [ + [ + 402.44182037485103, + 503.34544037736833 + ], + [ + 433.9534394052589, + 498.56119422663835 + ], + [ + 432.55194410129764, + 472.1021903069915 + ], + [ + 401.84139496891663, + 476.64495438383125 + ], + [ + 390.3597570054712, + 458.484963358006 + ], + [ + 423.52458227560624, + 453.6749396046537 + ], + [ + 422.3331585962245, + 427.1138740559334 + ], + [ + 390.05449398306763, + 431.6692898554392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 386, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -96.91148376464844, + "y": -10.7756929397583, + "z": 1.0965744256973267 + }, + "extent": { + "x": 0.45249998569488525, + "y": 0.31095823645591736, + "z": 0.8954191207885742 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 342.97804187694186, + "ymin": 183.54600132960422, + "xmax": 374.9298816170052, + "ymax": 242.86943349316795 + }, + "corners_3d": [ + [ + -97.28944396972656, + -11.173935890197754, + 0.20115530490875244 + ], + [ + -97.41874694824219, + -10.5656099319458, + 0.20115530490875244 + ], + [ + -96.53352355957031, + -10.377449989318848, + 0.20115530490875244 + ], + [ + -96.40422058105469, + -10.9857759475708, + 0.20115530490875244 + ], + [ + -97.28944396972656, + -11.173935890197754, + 1.9919935464859009 + ], + [ + -97.41874694824219, + -10.5656099319458, + 1.9919935464859009 + ], + [ + -96.53352355957031, + -10.377449989318848, + 1.9919935464859009 + ], + [ + -96.40422058105469, + -10.9857759475708, + 1.9919935464859009 + ] + ], + "corners_2d": [ + [ + 353.8917238575081, + 242.86943349316795 + ], + [ + 372.07341940876825, + 241.90039679556736 + ], + [ + 374.9298816170052, + 226.79838857387347 + ], + [ + 357.1038119761283, + 227.7302739361336 + ], + [ + 342.97804187694186, + 199.28748625636305 + ], + [ + 361.8664363991211, + 198.3376215571952 + ], + [ + 365.0343582481827, + 183.54600132960422 + ], + [ + 346.52947501719746, + 184.4581031662028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 3348, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 435.3414699999801, + "ymin": 0.0, + "xmax": 516.077727742741, + "ymax": 76.78420140371833 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 489.7104216221822, + 13.563119725680053 + ], + [ + 441.57153430991497, + 19.667527534813246 + ], + [ + 463.3364893304371, + 76.78420140371833 + ], + [ + 516.077727742741, + 69.37552191453238 + ], + [ + 485.0449566098705, + -29.022877372195637 + ], + [ + 435.3414699999801, + -23.212243574328966 + ], + [ + 457.2027749316575, + 31.349566274213657 + ], + [ + 511.82873603580623, + 24.25244724968144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 9334, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 866.2860436996928, + "ymin": 373.96155030375144, + "xmax": 1019.1595881665189, + "ymax": 538.6521337839667 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 938.8171076854399, + 538.6521337839667 + ], + [ + 1002.2784837053773, + 521.1499371830106 + ], + [ + 924.4190495623768, + 414.4602386981359 + ], + [ + 866.2860436996928, + 428.5930046547769 + ], + [ + 952.9819211054491, + 498.51404243635744 + ], + [ + 1019.1595881665189, + 480.87869758765055 + ], + [ + 936.2824663841697, + 373.96155030375144 + ], + [ + 875.8705369971935, + 388.0670496965986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 1583, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 513.3273249484265, + "ymin": 0.0, + "xmax": 573.3668274142224, + "ymax": 42.66628319875218 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 554.4564294156223, + 5.592982834567749 + ], + [ + 515.9938252414983, + 10.47250357390152 + ], + [ + 532.8292083692902, + 42.66628319875218 + ], + [ + 573.3668274142224, + 37.20082551659527 + ], + [ + 552.6336788919186, + -23.807637399835528 + ], + [ + 513.3273249484265, + -19.09239552409514 + ], + [ + 530.3865641552459, + 12.062726145859585 + ], + [ + 571.8627172994861, + 6.768058450652461 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4914, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 595.9186579370564, + "ymin": 120.7669590293655, + "xmax": 686.6158069281089, + "ymax": 235.51398466951542 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 643.1416718066354, + 155.7938330391283 + ], + [ + 597.1529574270662, + 163.3950684255995 + ], + [ + 634.9889725723068, + 235.51398466951542 + ], + [ + 685.1936417492094, + 226.28140634906407 + ], + [ + 643.2311666653171, + 120.7669590293655 + ], + [ + 595.9186579370564, + 128.19279427976466 + ], + [ + 634.8293206852047, + 198.87866284848943 + ], + [ + 686.6158069281089, + 189.806134830515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4378, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 513.7325393474687, + "ymin": 150.19825255618738, + "xmax": 595.9518911963129, + "ymax": 263.9685737533364 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 568.3775857330965, + 194.39523486606228 + ], + [ + 518.303453888243, + 202.9789221260205 + ], + [ + 542.1098647401345, + 263.9685737533364 + ], + [ + 595.9518911963129, + 253.92485054694032 + ], + [ + 565.71973821663, + 150.19825255618738 + ], + [ + 513.7325393474687, + 158.56746619637656 + ], + [ + 538.1184759774079, + 218.24336319253192 + ], + [ + 594.179241939885, + 208.3905704408751 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.455352472336, + "ymin": 325.6458139679319, + "xmax": 957.2054353504583, + "ymax": 367.0499525112422 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 926.455352472336, + 358.7837031202199 + ], + [ + 932.8484428790196, + 367.0499525112422 + ], + [ + 948.2429328730713, + 363.5185803718821 + ], + [ + 941.7345998144322, + 355.3163651235538 + ], + [ + 934.7393858486354, + 329.0950327544621 + ], + [ + 941.3976318041675, + 337.32119492001243 + ], + [ + 957.2054353504583, + 333.806411988349 + ], + [ + 950.4258156812784, + 325.6458139679319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.7022876230255, + "ymin": 278.6171214243626, + "xmax": 1172.620799383113, + "ymax": 318.47953439194055 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1136.7022876230255, + 311.0723639112443 + ], + [ + 1144.5850498447776, + 318.47953439194055 + ], + [ + 1158.375777477288, + 315.3160514900998 + ], + [ + 1150.403130440319, + 307.96321423585715 + ], + [ + 1150.2820462355348, + 281.7005725068362 + ], + [ + 1158.5038764428834, + 289.04900503853645 + ], + [ + 1172.620799383113, + 285.91017965221687 + ], + [ + 1164.305025731867, + 278.6171214243626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 471.9162927920039, + "ymin": 549.5620881946413, + "xmax": 496.94517453466165, + "ymax": 588.9621242333731 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 479.1507700666224, + 588.9621242333731 + ], + [ + 496.94517453466165, + 584.4039460975158 + ], + [ + 494.4382808156385, + 573.7651354316841 + ], + [ + 476.8030263371242, + 578.2372000833172 + ], + [ + 474.28669374831543, + 564.8780293878549 + ], + [ + 492.6372121198722, + 560.2828623641594 + ], + [ + 490.0975840706297, + 549.5620881946413 + ], + [ + 471.9162927920039, + 554.0678615362953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 498.99242848740107, + "ymin": 693.4116787820669, + "xmax": 532.2437153953413, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 508.13564469231875, + 744.1111071272484 + ], + [ + 532.2437153953413, + 737.0394825623366 + ], + [ + 528.4028254872574, + 720.7031308030741 + ], + [ + 504.58412355655213, + 727.5943265806748 + ], + [ + 502.61661176685755, + 717.2709164111135 + ], + [ + 527.7595933853382, + 710.0591236305329 + ], + [ + 523.8207760758008, + 693.4116787820669 + ], + [ + 498.99242848740107, + 700.4319408113074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.8961766629104, + "ymin": 334.4261666348834, + "xmax": 1280.0, + "ymax": 368.8533966535988 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1256.8961766629104, + 361.89351051496953 + ], + [ + 1264.8137957364843, + 368.8533966535988 + ], + [ + 1276.5888765155637, + 365.8985005045021 + ], + [ + 1268.606835184459, + 358.9836854565618 + ], + [ + 1271.7047890296917, + 337.32433542652893 + ], + [ + 1279.9311766822184, + 344.2581652540559 + ], + [ + 1291.9398025974638, + 341.3140173318376 + ], + [ + 1283.6466449665422, + 334.4261666348834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1024.8757321166054, + "ymin": 303.6152739689881, + "xmax": 1058.143547875248, + "ymax": 344.3072236784041 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1024.8757321166054, + 336.44904786225607 + ], + [ + 1031.991976224671, + 344.3072236784041 + ], + [ + 1046.624583011059, + 340.95062141670996 + ], + [ + 1039.405429276181, + 333.15180619102233 + ], + [ + 1035.7212277881522, + 306.89058789146407 + ], + [ + 1043.1399989169938, + 314.6993085644528 + ], + [ + 1058.143547875248, + 311.36334745901365 + ], + [ + 1050.6167694178796, + 303.6152739689881 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.400747712267, + "ymin": 160.5020957338002, + "xmax": 1280.0, + "ymax": 527.5065357943615 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1231.2995282856332, + 428.2756119207089 + ], + [ + 1220.4467715598244, + 417.6339656001001 + ], + [ + 835.400747712267, + 514.5835128874332 + ], + [ + 842.6432191505407, + 527.5065357943615 + ], + [ + 1390.6256149517499, + 170.37921956222513 + ], + [ + 1374.6702085065706, + 160.5020957338002 + ], + [ + 894.163769510701, + 252.7038186957194 + ], + [ + 904.5603658381664, + 265.38092239020546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.6998864127575, + "ymin": 0.0, + "xmax": 973.7119971327625, + "ymax": 98.61005692517159 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 931.336193034693, + 85.95257195186457 + ], + [ + 926.2435599780927, + 81.40141867729568 + ], + [ + 846.6998864127575, + 93.8733147614613 + ], + [ + 851.300144503382, + 98.61005692517159 + ], + [ + 973.7119971327625, + -103.0555227746733 + ], + [ + 967.5315621432295, + -106.68760349475741 + ], + [ + 877.2025011530139, + -96.71592746169426 + ], + [ + 882.7498258417598, + -92.91353340064973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 418.28321595501905, + "ymin": 377.01640235514077, + "xmax": 648.3651796493666, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 494.2136646701314, + 637.3199116997039 + ], + [ + 475.7509019212169, + 642.1189970288158 + ], + [ + 616.1867338259618, + 1361.0071013550441 + ], + [ + 644.8997946028503, + 1348.6171146811726 + ], + [ + 443.4851776021489, + 377.01640235514077 + ], + [ + 418.28321595501905, + 382.0607887251363 + ], + [ + 599.1551400573345, + 1343.5648427335686 + ], + [ + 648.3651796493666, + 1322.6062324698833 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00142/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00142/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f02fcfc41831b41b7929dd0b6b6b2f67d048625 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00142/meta.json @@ -0,0 +1,2258 @@ +{ + "frame_id": 142, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 71.0, + "sim_timestamp": 1878.7429248194676 + }, + "drone_pose": { + "x": -125.66076494257796, + "y": -9.664181880720616, + "z": 20.0, + "pitch": -43.06407630350965, + "yaw": 17.04469704472654, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6985003352165222, + -0.21414898335933685, + 0.6828159093856812, + 76.18733978271484 + ], + [ + 0.2931176424026489, + 0.9560763835906982, + 7.450580596923828e-09, + -27.59368896484375 + ], + [ + -0.6528241634368896, + 0.2001453936100006, + 0.7305905222892761, + -98.58042907714844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -125.20913438230802, + "y": -9.623394051484995, + "z": 20.0 + }, + "t1_image_uv": [ + 363.4745320811198, + -537.2237811623099 + ], + "t1_depth": 0.3241987795994155 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -106.16718292236328, + "y": -3.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 27.90776240629623, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 603, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -106.16718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.34114253520965576, + "y": 0.3839286267757416, + "z": 0.865058183670044 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.6794585109436, + "ymin": 327.64234103463605, + "xmax": 656.5081154550882, + "ymax": 391.7371641608524 + }, + "corners_3d": [ + [ + -106.5083236694336, + -4.071691513061523, + 0.07907968759536743 + ], + [ + -106.5083236694336, + -3.3038344383239746, + 0.07907968759536743 + ], + [ + -105.82604217529297, + -3.3038344383239746, + 0.07907968759536743 + ], + [ + -105.82604217529297, + -4.071691513061523, + 0.07907968759536743 + ], + [ + -106.5083236694336, + -4.071691513061523, + 1.8091959953308105 + ], + [ + -106.5083236694336, + -3.3038344383239746, + 1.8091959953308105 + ], + [ + -105.82604217529297, + -3.3038344383239746, + 1.8091959953308105 + ], + [ + -105.82604217529297, + -4.071691513061523, + 1.8091959953308105 + ] + ], + "corners_2d": [ + [ + 630.9011213759094, + 391.7371641608524 + ], + [ + 655.8200333909112, + 386.34754972878056 + ], + [ + 648.8965106328748, + 371.07461047744806 + ], + [ + 624.3523120017505, + 376.28694154320243 + ], + [ + 630.50296106084, + 348.1778127002251 + ], + [ + 656.5081154550882, + 342.8174936201825 + ], + [ + 649.2767861696207, + 327.64234103463605 + ], + [ + 623.6794585109436, + 332.8188469990836 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 142, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 326037, + "2": 231495, + "3": 238281, + "4": 44624, + "6": 10688, + "7": 2389, + "9": 12361, + "10": 538, + "12": 3646, + "14": 24587, + "20": 3709, + "24": 23245 + }, + "instance_pixel_counts": { + "9045": 64, + "11605": 117988, + "15189": 3235, + "15701": 30636, + "15967": 19502, + "15970": 3820, + "16479": 27312, + "16482": 3858, + "17547": 18344, + "18059": 9461, + "19554": 4863, + "20107": 181, + "20565": 56785, + "21395": 28702, + "21397": 1290, + "21643": 24882, + "21907": 56287, + "21909": 7261, + "23957": 1780, + "24467": 54348, + "25344": 6805, + "25600": 5871, + "26754": 688, + "29523": 2293, + "29779": 25502, + "30859": 683, + "31371": 1095, + "36096": 603, + "36352": 544, + "36608": 650, + "36864": 707, + "37120": 755, + "37376": 387, + "37632": 3626, + "37888": 9693, + "38912": 1785, + "40448": 5020, + "40704": 4463, + "42071": 401, + "45409": 4417, + "45971": 42858, + "46483": 87566, + "48225": 4910, + "49043": 56276, + "51526": 44624, + "53857": 6291, + "56458": 29885, + "56970": 18670, + "57482": 15446, + "58506": 39653, + "60307": 2467, + "60819": 7114, + "61254": 15382, + "62867": 3333 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 603, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -106.16718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3091454803943634, + "y": 0.39979273080825806, + "z": 0.8772983551025391 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.45665383437, + "ymin": 327.91530484413556, + "xmax": 656.7020059549246, + "ymax": 391.4078974994691 + }, + "corners_3d": [ + [ + -106.47632598876953, + -4.087555885314941, + 0.06683951616287231 + ], + [ + -106.47632598876953, + -3.2879703044891357, + 0.06683951616287231 + ], + [ + -105.85803985595703, + -3.2879703044891357, + 0.06683951616287231 + ], + [ + -105.85803985595703, + -4.087555885314941, + 0.06683951616287231 + ], + [ + -106.47632598876953, + -4.087555885314941, + 1.8214361667633057 + ], + [ + -106.47632598876953, + -3.2879703044891357, + 1.8214361667633057 + ], + [ + -105.85803985595703, + -3.2879703044891357, + 1.8214361667633057 + ], + [ + -105.85803985595703, + -4.087555885314941, + 1.8214361667633057 + ] + ], + "corners_2d": [ + [ + 630.0744569110359, + 391.4078974994691 + ], + [ + 655.9968404145619, + 385.80431189901446 + ], + [ + 649.7177591773172, + 371.96696869203095 + ], + [ + 624.1487635500864, + 377.4033093826123 + ], + [ + 629.6341495336508, + 347.2349255239515 + ], + [ + 656.7020059549246, + 341.6626254027612 + ], + [ + 650.1394325593982, + 327.91530484413556 + ], + [ + 623.45665383437, + 333.3141118607436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 544, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -102.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4377148449420929, + "y": 0.4407494366168976, + "z": 0.8553886413574219 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 671.6268523448673, + "ymin": 227.25159221806882, + "xmax": 710.4419153227536, + "ymax": 291.2618215149682 + }, + "corners_3d": [ + [ + -102.56098937988281, + -1.03016996383667, + 0.08876866102218628 + ], + [ + -102.3777084350586, + -0.1679341197013855, + 0.08876866102218628 + ], + [ + -101.52140808105469, + -0.34994688630104065, + 0.08876866102218628 + ], + [ + -101.7046890258789, + -1.2121827602386475, + 0.08876866102218628 + ], + [ + -102.56098937988281, + -1.03016996383667, + 1.7995460033416748 + ], + [ + -102.3777084350586, + -0.1679341197013855, + 1.7995460033416748 + ], + [ + -101.52140808105469, + -0.34994688630104065, + 1.7995460033416748 + ], + [ + -101.7046890258789, + -1.2121827602386475, + 1.7995460033416748 + ] + ], + "corners_2d": [ + [ + 685.106906989279, + 291.2618215149682 + ], + [ + 707.8617999004058, + 283.13949744151057 + ], + [ + 694.1195542662433, + 269.00449448326566 + ], + [ + 671.6268523448673, + 276.84799387881696 + ], + [ + 686.8395100447008, + 249.1669102077854 + ], + [ + 710.4419153227536, + 241.1641557220536 + ], + [ + 696.1404102954712, + 227.25159221806882 + ], + [ + 672.8197401599074, + 234.96940979342742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 650, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -108.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.48188474774360657, + "y": 0.45452484488487244, + "z": 0.9356008768081665 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 864.2248955267257, + "ymin": 324.40136622767733, + "xmax": 921.2432903836703, + "ymax": 400.82555393413116 + }, + "corners_3d": [ + [ + -108.94976043701172, + 2.853285074234009, + 0.008551537990570068 + ], + [ + -108.854736328125, + 3.757354974746704, + 0.008551537990570068 + ], + [ + -107.89624786376953, + 3.65661358833313, + 0.008551537990570068 + ], + [ + -107.99127197265625, + 2.7525436878204346, + 0.008551537990570068 + ], + [ + -108.94976043701172, + 2.853285074234009, + 1.8797533512115479 + ], + [ + -108.854736328125, + 3.757354974746704, + 1.8797533512115479 + ], + [ + -107.89624786376953, + 3.65661358833313, + 1.8797533512115479 + ], + [ + -107.99127197265625, + 2.7525436878204346, + 1.8797533512115479 + ] + ], + "corners_2d": [ + [ + 882.3459830533786, + 400.82555393413116 + ], + [ + 908.529433293526, + 392.19702848498224 + ], + [ + 889.9845044448534, + 371.3680280211025 + ], + [ + 864.2248955267257, + 379.61242863289397 + ], + [ + 893.9317684629466, + 353.6716564406944 + ], + [ + 921.2432903836703, + 345.0888777505189 + ], + [ + 901.5428154203678, + 324.40136622767733 + ], + [ + 874.6906440984676, + 332.58451754215116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 707, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -109.74694061279297, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4913671314716339, + "y": 0.4060457944869995, + "z": 0.9003574848175049 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.8889511929065, + "ymin": 408.6081863658718, + "xmax": 701.8785214850146, + "ymax": 487.41967178629545 + }, + "corners_3d": [ + [ + -110.2383041381836, + -4.093808650970459, + 0.043785154819488525 + ], + [ + -110.2383041381836, + -3.281717300415039, + 0.043785154819488525 + ], + [ + -109.25557708740234, + -3.281717300415039, + 0.043785154819488525 + ], + [ + -109.25557708740234, + -4.093808650970459, + 0.043785154819488525 + ], + [ + -110.2383041381836, + -4.093808650970459, + 1.8445000648498535 + ], + [ + -110.2383041381836, + -3.281717300415039, + 1.8445000648498535 + ], + [ + -109.25557708740234, + -3.281717300415039, + 1.8445000648498535 + ], + [ + -109.25557708740234, + -4.093808650970459, + 1.8445000648498535 + ] + ], + "corners_2d": [ + [ + 670.2010635190151, + 487.41967178629545 + ], + [ + 698.9256493754992, + 480.50375411957225 + ], + [ + 686.9425054477435, + 454.09374854269487 + ], + [ + 658.8889511929065, + 460.6542307087955 + ], + [ + 671.7252975668829, + 442.0097547364514 + ], + [ + 701.8785214850146, + 435.0691250371111 + ], + [ + 689.230860438458, + 408.6081863658718 + ], + [ + 659.8161434034389, + 415.174902660483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 755, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -108.38847351074219, + "y": -10.524192810058594, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.315361350774765, + "y": 0.38605380058288574, + "z": 0.8651704788208008 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 390.86049040190795, + "ymin": 431.1096487972983, + "xmax": 432.5992338681959, + "ymax": 497.733486877477 + }, + "corners_3d": [ + [ + -108.66175079345703, + -10.941096305847168, + 0.23137950897216797 + ], + [ + -108.74246215820312, + -10.1732177734375, + 0.23137950897216797 + ], + [ + -108.11519622802734, + -10.10728931427002, + 0.23137950897216797 + ], + [ + -108.03448486328125, + -10.875167846679688, + 0.23137950897216797 + ], + [ + -108.66175079345703, + -10.941096305847168, + 1.9617204666137695 + ], + [ + -108.74246215820312, + -10.1732177734375, + 1.9617204666137695 + ], + [ + -108.11519622802734, + -10.10728931427002, + 1.9617204666137695 + ], + [ + -108.03448486328125, + -10.875167846679688, + 1.9617204666137695 + ] + ], + "corners_2d": [ + [ + 402.72084480973996, + 497.733486877477 + ], + [ + 432.5992338681959, + 493.2965384408519 + ], + [ + 431.73415937890275, + 475.13266505891573 + ], + [ + 402.3809731749771, + 479.4142563736318 + ], + [ + 390.9993041523313, + 453.7955834879551 + ], + [ + 422.39976298766055, + 449.3380654283746 + ], + [ + 421.68138491727325, + 431.1096487972983 + ], + [ + 390.86049040190795, + 435.40360960223006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 387, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -96.4095687866211, + "y": -10.777083396911621, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.3785400390625, + "y": 0.30909422039985657, + "z": 0.8739559054374695 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 344.55063494536074, + "ymin": 185.0624596699766, + "xmax": 375.56822535584627, + "ymax": 240.78732770644626 + }, + "corners_3d": [ + [ + -96.71556854248047, + -11.158125877380371, + 0.22259896993637085 + ], + [ + -96.84410095214844, + -10.553446769714355, + 0.22259896993637085 + ], + [ + -96.10356903076172, + -10.396040916442871, + 0.22259896993637085 + ], + [ + -95.97503662109375, + -11.000720024108887, + 0.22259896993637085 + ], + [ + -96.71556854248047, + -11.158125877380371, + 1.970510721206665 + ], + [ + -96.84410095214844, + -10.553446769714355, + 1.970510721206665 + ], + [ + -96.10356903076172, + -10.396040916442871, + 1.970510721206665 + ], + [ + -95.97503662109375, + -11.000720024108887, + 1.970510721206665 + ] + ], + "corners_2d": [ + [ + 355.10727068864526, + 240.78732770644626 + ], + [ + 373.12264591501537, + 239.86346975603908 + ], + [ + 375.56822535584627, + 227.26828911454515 + ], + [ + 357.84804863634395, + 228.16242440091145 + ], + [ + 344.55063494536074, + 198.30843249608387 + ], + [ + 363.2457433249042, + 197.40269220673335 + ], + [ + 365.9462231058435, + 185.0624596699766 + ], + [ + 347.56880874461405, + 185.93800820632956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 3626, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 438.85165551044815, + "ymin": 0.0, + "xmax": 519.9107618058068, + "ymax": 82.10983103931062 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 493.429840492905, + 18.07027071818635 + ], + [ + 445.00669797762345, + 24.18759336666676 + ], + [ + 466.8135020521959, + 82.10983103931062 + ], + [ + 519.9107618058068, + 74.6734726357459 + ], + [ + 488.85527988460973, + -24.660274310755085 + ], + [ + 438.85165551044815, + -18.835450183069327 + ], + [ + 460.7630823597418, + 36.51648093852867 + ], + [ + 515.7674532568794, + 29.389882500120564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 9693, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 874.1817006115141, + "ymin": 386.7276582476468, + "xmax": 1030.16043667844, + "ymax": 554.7598104086501 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 948.232856596579, + 554.7598104086501 + ], + [ + 1012.5583084800637, + 536.9355242619946 + ], + [ + 933.024109887227, + 427.25395041777585 + ], + [ + 874.1817006115141, + 441.599916886492 + ], + [ + 963.0490928468298, + 514.7473216436637 + ], + [ + 1030.16043667844, + 496.76487341447654 + ], + [ + 945.3951910117343, + 386.7276582476468 + ], + [ + 884.2218999863467, + 401.0600411782758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 1785, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 517.272772855373, + "ymin": 0.0, + "xmax": 577.5895024353446, + "ymax": 47.61639097896813 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 558.5636122985908, + 10.085555343405986 + ], + [ + 519.8698023340492, + 14.975935582299087 + ], + [ + 536.7885573563354, + 47.61639097896813 + ], + [ + 577.5895024353446, + 42.13365449392961 + ], + [ + 556.8190088547162, + -19.415552268824797 + ], + [ + 517.272772855373, + -14.688749847722079 + ], + [ + 534.4223713744896, + 16.906332803934333 + ], + [ + 576.1724212462043, + 11.593542749019775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 5020, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 600.4608109847164, + "ymin": 127.49119117848193, + "xmax": 692.0677484620705, + "ymax": 243.78402361285686 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 647.9459004052584, + 162.64298134963406 + ], + [ + 601.5762312199734, + 170.295023996024 + ], + [ + 639.792817106789, + 243.78402361285686 + ], + [ + 690.4656591359598, + 234.47027409294776 + ], + [ + 648.1739990613506, + 127.49119117848193 + ], + [ + 600.4608109847164, + 134.96987669295544 + ], + [ + 639.7861579180823, + 207.0338226958137 + ], + [ + 692.0677484620705, + 197.87656768308207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4463, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 517.5911717262319, + "ymin": 157.43919238340928, + "xmax": 600.3957204921971, + "ymax": 272.61168944788653 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 572.5622972766195, + 201.78584009021375 + ], + [ + 522.0571440820836, + 210.43270930449157 + ], + [ + 546.0430500841653, + 272.61168944788653 + ], + [ + 600.3957204921971, + 262.47652621516437 + ], + [ + 570.039368469467, + 157.43919238340928 + ], + [ + 517.5911717262319, + 165.87494916458633 + ], + [ + 542.1772643357622, + 226.75411516148148 + ], + [ + 598.7874544774637, + 216.80459653552694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 937.1438044838635, + "ymin": 340.87462996325087, + "xmax": 968.7714213154879, + "ymax": 382.70598629751 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 937.1438044838635, + 374.1596710985446 + ], + [ + 943.7078573626433, + 382.70598629751 + ], + [ + 959.3388307740634, + 379.0951129921107 + ], + [ + 952.6556569837712, + 370.6154476943111 + ], + [ + 945.87213814224, + 344.40344239383467 + ], + [ + 952.7151415235669, + 352.91591331862975 + ], + [ + 968.7714213154879, + 349.3187672376851 + ], + [ + 961.8028775262917, + 340.87462996325087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.5210297103079, + "ymin": 292.78068870446793, + "xmax": 1187.4788965499731, + "ymax": 333.0590546629827 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1150.5210297103079, + 325.4064655505848 + ], + [ + 1158.6237341921124, + 333.0590546629827 + ], + [ + 1172.6160477319195, + 329.82672322291415 + ], + [ + 1164.420589452428, + 322.23062567233865 + ], + [ + 1164.6926646486104, + 295.93284354161204 + ], + [ + 1173.1515861486382, + 303.53100789268683 + ], + [ + 1187.4788965499731, + 300.32120803291815 + ], + [ + 1178.9229879158547, + 292.78068870446793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 475.0434573426172, + "ymin": 567.976310684127, + "xmax": 500.3611894392257, + "ymax": 607.700792483341 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 482.2835014146531, + 607.700792483341 + ], + [ + 500.3611894392257, + 603.043027129394 + ], + [ + 497.8239618883937, + 592.051534403571 + ], + [ + 479.9109731605, + 596.6197565078753 + ], + [ + 477.4398179924124, + 583.7623027409571 + ], + [ + 496.09067580014624, + 579.0624554874271 + ], + [ + 493.51903557014464, + 567.976310684127 + ], + [ + 475.0434573426172, + 572.5830779166079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1271.2142603083648, + "ymin": 348.1584448167822, + "xmax": 1280.0, + "ymax": 382.8988691270316 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1271.2142603083648, + 375.7284492021227 + ], + [ + 1279.3358910440993, + 382.8988691270316 + ], + [ + 1291.267936082107, + 379.88815206421907 + ], + [ + 1283.0799902780377, + 372.76439812909774 + ], + [ + 1286.5764322338723, + 351.1125353417314 + ], + [ + 1295.0209297810593, + 358.2607904773163 + ], + [ + 1307.1921487226368, + 355.2590471082312 + ], + [ + 1298.6788983292, + 348.1584448167822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1037.0484349997594, + "ymin": 318.3404410552121, + "xmax": 1071.2739138496945, + "ymax": 359.45463872646906 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1037.0484349997594, + 351.332975855804 + ], + [ + 1044.3597398640834, + 359.45463872646906 + ], + [ + 1059.2120270940368, + 356.0236478296655 + ], + [ + 1051.7944308265705, + 347.9637391042024 + ], + [ + 1048.4109059607288, + 321.6901163032159 + ], + [ + 1056.0402648789134, + 329.7676144998826 + ], + [ + 1071.2739138496945, + 326.3547653589936 + ], + [ + 1063.5329348151581, + 318.3404410552121 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 843.2001722626242, + "ymin": 173.19355980393613, + "xmax": 1280.0, + "ymax": 543.0551530928851 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1244.3504017854807, + 442.1474111365822 + ], + [ + 1233.2412935021234, + 431.2068318558299 + ], + [ + 843.2001722626242, + 529.7592445409134 + ], + [ + 850.593487248568, + 543.0551530928851 + ], + [ + 1409.8113227296733, + 183.41661819590985 + ], + [ + 1393.3566342400484, + 173.19355980393613 + ], + [ + 905.3314076170487, + 267.5946249214617 + ], + [ + 916.0370831390172, + 280.74023972992745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 853.1292147325923, + "ymin": 0.0, + "xmax": 982.2599740621852, + "ymax": 104.90334500955498 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 938.4794448154355, + 92.1666933630018 + ], + [ + 933.3191373848404, + 87.5357453486576 + ], + [ + 853.1292147325923, + 100.08378993518744 + ], + [ + 857.787522861121, + 104.90334500955498 + ], + [ + 982.2599740621852, + -97.7822803047128 + ], + [ + 975.9801584757104, + -101.48588000875463 + ], + [ + 884.842447768187, + -91.43203395142046 + ], + [ + 890.4757555178608, + -87.55479476062175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 421.0596502248461, + "ymin": 395.5939581105421, + "xmax": 658.9601125822314, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 497.3135530816943, + 655.0510597356529 + ], + [ + 478.5828361651228, + 659.939276141188 + ], + [ + 621.5057123287562, + 1408.115949373255 + ], + [ + 650.9189946000198, + 1395.2415226497528 + ], + [ + 446.7465125628804, + 395.5939581105421 + ], + [ + 421.0596502248461, + 400.78132464899045 + ], + [ + 607.727554789362, + 1423.721705404651 + ], + [ + 658.9601125822314, + 1401.1867748381433 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00143/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00143/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..222211d277f7838c7209b79d32d6d851940917fb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00143/meta.json @@ -0,0 +1,2153 @@ +{ + "frame_id": 143, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 71.5, + "sim_timestamp": 1888.7608917194884 + }, + "drone_pose": { + "x": -125.20913438230802, + "y": -9.623394051484995, + "z": 20.0, + "pitch": -43.015976187100776, + "yaw": 16.895522771106272, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.699603796005249, + -0.21249616146087646, + 0.6822022795677185, + 75.9976806640625 + ], + [ + 0.2906274199485779, + 0.9568362832069397, + 7.450580596923828e-09, + -27.181198120117188 + ], + [ + -0.6527559161186218, + 0.19826668500900269, + 0.731163501739502, + -98.26226043701172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -124.75216059905544, + "y": -9.591148464011518, + "z": 20.0 + }, + "t1_image_uv": [ + 340.27145552728035, + -535.7150699169869 + ], + "t1_depth": 0.32655265103176034 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -105.66718292236328, + "y": -3.687763214111328, + "z": 0.9441231966025225 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 27.932884223557718, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 609, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -105.66718292236328, + "y": -3.687762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.39735835790634155, + "y": 0.39036035537719727, + "z": 0.869659423828125 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.9511180394611, + "ymin": 326.2918761041753, + "xmax": 657.2939138055555, + "ymax": 393.1519934408058 + }, + "corners_3d": [ + [ + -106.06454467773438, + -4.078123092651367, + 0.07446378469467163 + ], + [ + -106.06454467773438, + -3.2974026203155518, + 0.07446378469467163 + ], + [ + -105.26982116699219, + -3.2974026203155518, + 0.07446378469467163 + ], + [ + -105.26982116699219, + -4.078123092651367, + 0.07446378469467163 + ], + [ + -106.06454467773438, + -4.078123092651367, + 1.8137826919555664 + ], + [ + -106.06454467773438, + -3.2974026203155518, + 1.8137826919555664 + ], + [ + -105.26982116699219, + -3.2974026203155518, + 1.8137826919555664 + ], + [ + -105.26982116699219, + -4.078123092651367, + 1.8137826919555664 + ] + ], + "corners_2d": [ + [ + 631.2052805662337, + 393.1519934408058 + ], + [ + 656.5696081336575, + 387.7127755667027 + ], + [ + 648.5749613141924, + 369.93951840622907 + ], + [ + 623.6554631260757, + 375.170780423584 + ], + [ + 630.8184737919562, + 349.3573569207796 + ], + [ + 657.2939138055555, + 343.948035904638 + ], + [ + 648.9422742351371, + 326.2918761041753 + ], + [ + 622.9511180394611, + 331.485588913527 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 143, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 320734, + "2": 229034, + "3": 247084, + "4": 43550, + "6": 9737, + "7": 2397, + "9": 11156, + "10": 563, + "12": 3706, + "14": 25660, + "20": 3766, + "24": 24213 + }, + "instance_pixel_counts": { + "11605": 121293, + "15189": 4006, + "15701": 31000, + "15967": 20420, + "15970": 3986, + "16479": 27059, + "16482": 3685, + "17547": 19190, + "18059": 8641, + "19554": 5029, + "20107": 8, + "20565": 59630, + "21395": 29641, + "21397": 1330, + "21643": 25735, + "21907": 50539, + "21909": 7586, + "23957": 1848, + "24467": 56354, + "25344": 6385, + "25600": 5325, + "26754": 604, + "29523": 2867, + "29779": 27014, + "30859": 298, + "31371": 976, + "36096": 609, + "36352": 564, + "36608": 723, + "36864": 702, + "37120": 746, + "37376": 362, + "37632": 3901, + "37888": 10068, + "38912": 1979, + "40448": 5153, + "40704": 4559, + "42071": 424, + "45409": 4579, + "45971": 44550, + "46483": 81393, + "48225": 4351, + "49043": 58257, + "51526": 43550, + "53857": 6530, + "56458": 30999, + "56970": 17711, + "57482": 9819, + "58506": 41292, + "60307": 2559, + "60819": 7424, + "61254": 14318, + "62867": 3466 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 609, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -105.66718292236328, + "y": -3.687762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.3937646150588989, + "y": 0.3738209009170532, + "z": 0.8696407079696655 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.5398838827571, + "ymin": 326.48001040009717, + "xmax": 656.6979008767058, + "ymax": 392.95276995032737 + }, + "corners_3d": [ + [ + -106.06095123291016, + -4.061583995819092, + 0.0744825005531311 + ], + [ + -106.06095123291016, + -3.3139419555664062, + 0.0744825005531311 + ], + [ + -105.2734146118164, + -3.3139419555664062, + 0.0744825005531311 + ], + [ + -105.2734146118164, + -4.061583995819092, + 0.0744825005531311 + ], + [ + -106.06095123291016, + -4.061583995819092, + 1.8137638568878174 + ], + [ + -106.06095123291016, + -3.3139419555664062, + 1.8137638568878174 + ], + [ + -105.2734146118164, + -3.3139419555664062, + 1.8137638568878174 + ], + [ + -105.2734146118164, + -4.061583995819092, + 1.8137638568878174 + ] + ], + "corners_2d": [ + [ + 631.710850360512, + 392.95276995032737 + ], + [ + 655.9985475708254, + 387.7449378064431 + ], + [ + 648.0854353287417, + 370.1281110720953 + ], + [ + 624.219867060034, + 375.13860005476175 + ], + [ + 631.3463688980888, + 349.1601234217387 + ], + [ + 656.6979008767058, + 343.9809564360311 + ], + [ + 648.4318469021648, + 326.48001040009717 + ], + [ + 623.5398838827571, + 331.4545726467555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 564, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -101.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4398730397224426, + "y": 0.4440052807331085, + "z": 0.8816397190093994 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 671.8555081079267, + "ymin": 226.81895331078582, + "xmax": 710.9284654946846, + "ymax": 292.17581832126706 + }, + "corners_3d": [ + [ + -102.06377410888672, + -1.03290593624115, + 0.06251758337020874 + ], + [ + -101.87914276123047, + -0.16430068016052246, + 0.06251758337020874 + ], + [ + -101.01862335205078, + -0.3472108840942383, + 0.06251758337020874 + ], + [ + -101.20325469970703, + -1.2158161401748657, + 0.06251758337020874 + ], + [ + -102.06377410888672, + -1.03290593624115, + 1.8257970809936523 + ], + [ + -101.87914276123047, + -0.16430068016052246, + 1.8257970809936523 + ], + [ + -101.01862335205078, + -0.3472108840942383, + 1.8257970809936523 + ], + [ + -101.20325469970703, + -1.2158161401748657, + 1.8257970809936523 + ] + ], + "corners_2d": [ + [ + 685.329537088648, + 292.17581832126706 + ], + [ + 708.2566105048888, + 284.0417719258869 + ], + [ + 694.5153482868839, + 269.83554588650566 + ], + [ + 671.8555081079267, + 277.68876184261484 + ], + [ + 687.1222313126866, + 248.80258401280025 + ], + [ + 710.9284654946846, + 240.79296038019706 + ], + [ + 696.6109089206929, + 226.81895331078582 + ], + [ + 673.0924296045682, + 234.54145566640273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 723, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -107.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4744238257408142, + "y": 0.47072479128837585, + "z": 0.9457240104675293 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 863.7623673014522, + "ymin": 324.6195871863411, + "xmax": 921.4970797940413, + "ymax": 401.47202088131957 + }, + "corners_3d": [ + [ + -108.44403076171875, + 2.8363940715789795, + -0.0015715956687927246 + ], + [ + -108.34562683105469, + 3.772686243057251, + -0.0015715956687927246 + ], + [ + -107.4019775390625, + 3.673504590988159, + -0.0015715956687927246 + ], + [ + -107.50038146972656, + 2.7372124195098877, + -0.0015715956687927246 + ], + [ + -108.44403076171875, + 2.8363940715789795, + 1.889876365661621 + ], + [ + -108.34562683105469, + 3.772686243057251, + 1.889876365661621 + ], + [ + -107.4019775390625, + 3.673504590988159, + 1.889876365661621 + ], + [ + -107.50038146972656, + 2.7372124195098877, + 1.889876365661621 + ] + ], + "corners_2d": [ + [ + 881.5126277609579, + 401.47202088131957 + ], + [ + 908.6573444924311, + 392.60015107770624 + ], + [ + 890.4717101697001, + 372.09136182418 + ], + [ + 863.7623673014522, + 380.5737675566742 + ], + [ + 893.1706916553592, + 353.8079194273764 + ], + [ + 921.4970797940413, + 344.98481915430045 + ], + [ + 902.1655060924261, + 324.6195871863411 + ], + [ + 874.3113969894055, + 333.0374059269203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 702, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -109.24694061279297, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4257616698741913, + "y": 0.3900919556617737, + "z": 0.87416672706604 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.8800867353773, + "ymin": 411.1082651933461, + "xmax": 699.9530636401241, + "ymax": 484.702027693454 + }, + "corners_3d": [ + [ + -109.67269897460938, + -4.077855110168457, + 0.06997591257095337 + ], + [ + -109.67269897460938, + -3.29767107963562, + 0.06997591257095337 + ], + [ + -108.82118225097656, + -3.29767107963562, + 0.06997591257095337 + ], + [ + -108.82118225097656, + -4.077855110168457, + 0.06997591257095337 + ], + [ + -109.67269897460938, + -4.077855110168457, + 1.8183093070983887 + ], + [ + -109.67269897460938, + -3.29767107963562, + 1.8183093070983887 + ], + [ + -108.82118225097656, + -3.29767107963562, + 1.8183093070983887 + ], + [ + -108.82118225097656, + -4.077855110168457, + 1.8183093070983887 + ] + ], + "corners_2d": [ + [ + 669.6062446597382, + 484.702027693454 + ], + [ + 697.1825305882562, + 478.14751466215887 + ], + [ + 686.8953016194207, + 455.27421415228173 + ], + [ + 659.8800867353773, + 461.5354032094918 + ], + [ + 671.0504135111709, + 440.59604362708694 + ], + [ + 699.9530636401241, + 434.02099533162163 + ], + [ + 689.1137263769106, + 411.1082651933461 + ], + [ + 660.8267570538144, + 417.37527231480175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 746, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -107.88892364501953, + "y": -10.525571823120117, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.32267582416534424, + "y": 0.4010525941848755, + "z": 0.8791584372520447 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 390.07381576506026, + "ymin": 429.87169438604377, + "xmax": 433.05010861297785, + "ymax": 497.7003947951281 + }, + "corners_3d": [ + [ + -108.16790771484375, + -10.95815658569336, + 0.21739155054092407 + ], + [ + -108.25175476074219, + -10.160445213317871, + 0.21739155054092407 + ], + [ + -107.60993957519531, + -10.092987060546875, + 0.21739155054092407 + ], + [ + -107.52609252929688, + -10.890698432922363, + 0.21739155054092407 + ], + [ + -108.16790771484375, + -10.95815658569336, + 1.9757084846496582 + ], + [ + -108.25175476074219, + -10.160445213317871, + 1.9757084846496582 + ], + [ + -107.60993957519531, + -10.092987060546875, + 1.9757084846496582 + ], + [ + -107.52609252929688, + -10.890698432922363, + 1.9757084846496582 + ] + ], + "corners_2d": [ + [ + 402.05323315346004, + 497.7003947951281 + ], + [ + 433.05010861297785, + 493.16267507905417 + ], + [ + 432.22497209719756, + 474.6188859154357 + ], + [ + 401.7856091772752, + 478.9941623598755 + ], + [ + 390.1281238978338, + 453.0364712063462 + ], + [ + 422.7262745087979, + 448.47828678573774 + ], + [ + 422.0559301567349, + 429.87169438604377 + ], + [ + 390.07381576506026, + 434.25877502908327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 362, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -95.90766143798828, + "y": -10.77846622467041, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.3968603312969208, + "y": 0.32135680317878723, + "z": 0.8722903728485107 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 345.0444283032637, + "ymin": 184.6612911925199, + "xmax": 376.85113154650713, + "ymax": 240.84819724001272 + }, + "corners_3d": [ + [ + -96.22903442382812, + -11.175312995910645, + 0.2242645025253296 + ], + [ + -96.36266326904297, + -10.54664421081543, + 0.2242645025253296 + ], + [ + -95.58628845214844, + -10.381619453430176, + 0.2242645025253296 + ], + [ + -95.4526596069336, + -11.01028823852539, + 0.2242645025253296 + ], + [ + -96.22903442382812, + -11.175312995910645, + 1.968845248222351 + ], + [ + -96.36266326904297, + -10.54664421081543, + 1.968845248222351 + ], + [ + -95.58628845214844, + -10.381619453430176, + 1.968845248222351 + ], + [ + -95.4526596069336, + -11.01028823852539, + 1.968845248222351 + ] + ], + "corners_2d": [ + [ + 355.54343729507843, + 240.84819724001272 + ], + [ + 374.2482591420335, + 239.91791490155572 + ], + [ + 376.85113154650713, + 226.74808136855805 + ], + [ + 358.46735079957585, + 227.64702220884976 + ], + [ + 345.0444283032637, + 198.47479722207441 + ], + [ + 364.4518099143311, + 197.56285407723956 + ], + [ + 367.32130659130036, + 184.6612911925199 + ], + [ + 348.2593085974849, + 185.54140725242092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 3901, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 442.03066504480825, + "ymin": 0.0, + "xmax": 523.4815645455506, + "ymax": 87.53653933511538 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 496.8369349815735, + 22.645357353974077 + ], + [ + 448.1210892871633, + 28.787864080631664 + ], + [ + 470.0194089105326, + 87.53653933511538 + ], + [ + 523.4815645455506, + 80.05745343947677 + ], + [ + 492.34379711434997, + -20.23416798364741 + ], + [ + 442.03066504480825, + -14.383381231212923 + ], + [ + 464.04281380648973, + 41.78005505434885 + ], + [ + 519.4355928629375, + 34.609415288082175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 10068, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 882.2162209731864, + "ymin": 399.7133940420592, + "xmax": 1041.4664729744538, + "ymax": 571.2054755339192 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 957.9251496390087, + 571.2054755339192 + ], + [ + 1023.1106449075222, + 553.0179845961824 + ], + [ + 941.7653635685742, + 440.2566034470675 + ], + [ + 882.2162209731864, + 454.8467473835927 + ], + [ + 973.424640412456, + 531.3412893448501 + ], + [ + 1041.4664729744538, + 512.9687678876311 + ], + [ + 954.6622583966655, + 399.7133940420592 + ], + [ + 892.7295661948363, + 414.30441805523645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 1979, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 520.9036279984911, + "ymin": 0.0, + "xmax": 581.5375726503847, + "ymax": 52.63734737688782 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 562.367053545172, + 14.630042688432582 + ], + [ + 523.437481555199, + 19.540811798072298 + ], + [ + 540.4688239603234, + 52.63734737688782 + ], + [ + 581.5375726503847, + 47.126614241778384 + ], + [ + 560.6947037644443, + -14.974111991917994 + ], + [ + 520.9036279984911, + -10.226494200879415 + ], + [ + 538.1732611026499, + 21.81814208565214 + ], + [ + 580.202127204965, + 16.47678671864452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 5153, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 604.8330916510408, + "ymin": 134.31372017596254, + "xmax": 697.4267601574625, + "ymax": 252.20304142299398 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 652.5873833819788, + 169.59146139257624 + ], + [ + 605.8327729579206, + 177.3096282372417 + ], + [ + 644.4995147020717, + 252.20304142299398 + ], + [ + 695.6443894328889, + 242.7890524859536 + ], + [ + 652.9515692642195, + 134.31372017596254 + ], + [ + 604.8330916510408, + 141.86036962695164 + ], + [ + 644.6454400548648, + 215.3384650384345 + ], + [ + 697.4267601574625, + 206.0774960756477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4559, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 521.2879877743075, + "ymin": 164.81894265226933, + "xmax": 604.7472353858535, + "ymax": 281.44841212612005 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 576.5981503093491, + 209.31643552989058 + ], + [ + 525.653937864681, + 218.04457832411035 + ], + [ + 549.8752693514373, + 281.44841212612005 + ], + [ + 604.7472353858535, + 271.2001278020654 + ], + [ + 574.2064362003642, + 164.81894265226933 + ], + [ + 521.2879877743075, + 173.33914451403265 + ], + [ + 546.1326583936036, + 235.45931173014787 + ], + [ + 603.3024055264545, + 225.39140403088342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 948.1788690529354, + "ymin": 356.5008419716693, + "xmax": 980.726724050774, + "ymax": 398.77031936001384 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 948.1788690529354, + 389.93205383315524 + ], + [ + 954.9292240907415, + 398.77031936001384 + ], + [ + 970.797940481852, + 395.07026119003154 + ], + [ + 963.9245678615387, + 386.3015176920295 + ], + [ + 957.376163225834, + 360.1188826289516 + ], + [ + 964.4204217063971, + 368.9302706943534 + ], + [ + 980.726724050774, + 365.2408533282288 + ], + [ + 973.5527335279859, + 356.5008419716693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1164.6804495200986, + "ymin": 307.2169697792964, + "xmax": 1202.7185988845577, + "ymax": 347.9194854280754 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1164.6804495200986, + 340.0128600157617 + ], + [ + 1173.0181747016718, + 347.9194854280754 + ], + [ + 1187.2099175333242, + 344.6104408289589 + ], + [ + 1178.7766229914655, + 336.76265921294845 + ], + [ + 1179.4707647766202, + 310.4456232659409 + ], + [ + 1188.183041608745, + 318.3026528526191 + ], + [ + 1202.7185988845577, + 315.0138781535802 + ], + [ + 1193.9063470569217, + 307.2169697792964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 478.36254959029066, + "ymin": 587.0959502312464, + "xmax": 503.98355579640844, + "ymax": 627.1559558481032 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 485.61335872750135, + 627.1559558481032 + ], + [ + 503.98355579640844, + 622.3845398679439 + ], + [ + 501.4052224014013, + 611.0217231388431 + ], + [ + 483.2054835646121, + 615.6997788407027 + ], + [ + 480.79587110662476, + 603.386503853485 + ], + [ + 499.757248516334, + 598.5673899698337 + ], + [ + 497.1423535782062, + 587.0959502312464 + ], + [ + 478.36254959029066, + 591.8178789796857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1049.5711422882734, + "ymin": 333.4030501742537, + "xmax": 1084.796645126486, + "ymax": 374.94914895447005 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1049.5711422882734, + 366.55371306299764 + ], + [ + 1057.0928604185715, + 374.94914895447005 + ], + [ + 1072.1643884327284, + 371.4349686648697 + ], + [ + 1064.533015908963, + 363.10390600272353 + ], + [ + 1061.4767020893, + 336.83582725825164 + ], + [ + 1069.3331882710238, + 345.1930079650639 + ], + [ + 1084.796645126486, + 341.69429041046556 + ], + [ + 1076.8249430547899, + 333.4030501742537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 851.2192548734495, + "ymin": 186.07270100286794, + "xmax": 1280.0, + "ymax": 558.9594005177247 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1257.5851422546523, + 456.14999486478575 + ], + [ + 1246.2054458313823, + 444.9041394803995 + ], + [ + 851.2192548734495, + 545.277472244051 + ], + [ + 858.7792045991364, + 558.9594005177247 + ], + [ + 1429.4014414591743, + 196.65311578136954 + ], + [ + 1412.4193704621857, + 186.07270100286794 + ], + [ + 916.9042497194064, + 282.928043811978 + ], + [ + 927.9485649750904, + 296.5653346931172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.3685133050861, + "ymin": 0.0, + "xmax": 990.6037588285787, + "ymax": 111.22262526402443 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 945.4255893402237, + 98.38426847842766 + ], + [ + 940.1932565487716, + 93.6729915039466 + ], + [ + 859.3685133050861, + 106.31937991597883 + ], + [ + 864.0895209337926, + 111.22262526402443 + ], + [ + 990.6037588285787, + -92.50699331429416 + ], + [ + 984.219163112793, + -96.28291619026413 + ], + [ + 892.2842197688752, + -86.12848405025585 + ], + [ + 898.0092608857345, + -82.1752513001017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 424.03845081254804, + "ymin": 415.0031062548502, + "xmax": 671.5793399984872, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 500.58237170314976, + 673.4049658247883 + ], + [ + 481.57565493809994, + 678.3961401179549 + ], + [ + 627.7165554633482, + 1457.758344001755 + ], + [ + 657.8580879754479, + 1444.3380466714118 + ], + [ + 450.2314368457731, + 415.0031062548502 + ], + [ + 424.03845081254804, + 420.35293190766504 + ], + [ + 618.1648673156883, + 1511.3041226889256 + ], + [ + 671.5793399984872, + 1486.934898947647 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00144/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00144/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..48ac6f91162d0a45f5c09cd59313d43146704fcd --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00144/meta.json @@ -0,0 +1,2153 @@ +{ + "frame_id": 144, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 72.0, + "sim_timestamp": 1900.9993778865319 + }, + "drone_pose": { + "x": -124.75216059905544, + "y": -9.591148464011518, + "z": 20.0, + "pitch": -42.97145369133469, + "yaw": 16.774075215248434, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7005599737167358, + -0.2111656665802002, + 0.6816339492797852, + 75.78901672363281 + ], + [ + 0.28859859704971313, + 0.9574502110481262, + 0.0, + -26.82025146484375 + ], + [ + -0.6526305675506592, + 0.19671858847141266, + 0.7316933870315552, + -97.93769836425781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -124.29020035143326, + "y": -9.564505459917342, + "z": 20.0 + }, + "t1_image_uv": [ + 325.6580688840231, + -534.3206794244725 + ], + "t1_depth": 0.32925694909921543 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -105.16718292236328, + "y": -3.687763214111328, + "z": 0.9441231966025225 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.956175502946238, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 609, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -105.16718292236328, + "y": -3.687762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.57716304063797, + "y": 0.37775570154190063, + "z": 0.8785225749015808 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.6804278475335, + "ymin": 322.2848832923504, + "xmax": 658.7594877419106, + "ymax": 397.40683610184465 + }, + "corners_3d": [ + [ + -105.74434661865234, + -4.065518856048584, + 0.06560063362121582 + ], + [ + -105.74434661865234, + -3.310007333755493, + 0.06560063362121582 + ], + [ + -104.59001922607422, + -3.310007333755493, + 0.06560063362121582 + ], + [ + -104.59001922607422, + -4.065518856048584, + 0.06560063362121582 + ], + [ + -105.74434661865234, + -4.065518856048584, + 1.8226457834243774 + ], + [ + -105.74434661865234, + -3.310007333755493, + 1.8226457834243774 + ], + [ + -104.59001922607422, + -3.310007333755493, + 1.8226457834243774 + ], + [ + -104.59001922607422, + -4.065518856048584, + 1.8226457834243774 + ] + ], + "corners_2d": [ + [ + 633.3272880644031, + 397.40683610184465 + ], + [ + 657.9636262984989, + 392.14138272831786 + ], + [ + 646.4502398558908, + 366.3414474925184 + ], + [ + 622.4401567145563, + 371.3169341133704 + ], + [ + 633.0299048309673, + 353.1474549692682 + ], + [ + 658.7594877419106, + 347.909924268196 + ], + [ + 646.7277111689103, + 322.2848832923504 + ], + [ + 621.6804278475335, + 327.22172546239926 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 144, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 315925, + "2": 226980, + "3": 256122, + "4": 41033, + "6": 9123, + "7": 2481, + "9": 10032, + "10": 581, + "12": 3784, + "14": 26721, + "20": 3597, + "24": 25221 + }, + "instance_pixel_counts": { + "11605": 124678, + "15189": 4984, + "15701": 31396, + "15967": 21339, + "15970": 4157, + "16479": 26556, + "16482": 3520, + "17547": 20051, + "18059": 7921, + "19554": 5199, + "20565": 62441, + "21395": 30546, + "21397": 1375, + "21643": 26620, + "21907": 44934, + "21909": 7928, + "23957": 1920, + "24467": 58596, + "25344": 5991, + "25600": 5166, + "26754": 479, + "29523": 3451, + "29779": 28398, + "30291": 20, + "30859": 22, + "31371": 732, + "36096": 609, + "36352": 561, + "36608": 730, + "36864": 719, + "37120": 755, + "37376": 410, + "37632": 4188, + "37888": 10477, + "38912": 2135, + "40448": 5250, + "40704": 4671, + "42071": 447, + "45409": 4749, + "45971": 46347, + "46483": 75126, + "48225": 3800, + "49043": 60376, + "51526": 41033, + "53857": 6770, + "56458": 32071, + "56970": 15867, + "57482": 5321, + "58506": 43039, + "60307": 2659, + "60819": 7748, + "61254": 13150, + "62867": 3591 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 609, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -105.16718292236328, + "y": -3.687762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.45696285367012024, + "y": 0.38051462173461914, + "z": 0.8889228701591492 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.7345619658935, + "ymin": 324.59333557781207, + "xmax": 657.5708699429191, + "ymax": 394.8900766153236 + }, + "corners_3d": [ + [ + -105.6241455078125, + -4.068277359008789, + 0.05520033836364746 + ], + [ + -105.6241455078125, + -3.30724835395813, + 0.05520033836364746 + ], + [ + -104.71022033691406, + -3.30724835395813, + 0.05520033836364746 + ], + [ + -104.71022033691406, + -4.068277359008789, + 0.05520033836364746 + ], + [ + -105.6241455078125, + -4.068277359008789, + 1.8330460786819458 + ], + [ + -105.6241455078125, + -3.30724835395813, + 1.8330460786819458 + ], + [ + -104.71022033691406, + -3.30724835395813, + 1.8330460786819458 + ], + [ + -104.71022033691406, + -4.068277359008789, + 1.8330460786819458 + ] + ], + "corners_2d": [ + [ + 632.0762074887549, + 394.8900766153236 + ], + [ + 656.8190571147677, + 389.61765636802676 + ], + [ + 647.7046820298851, + 369.1926712198767 + ], + [ + 623.4610059213477, + 374.2339232603918 + ], + [ + 631.719901422831, + 350.1207484943777 + ], + [ + 657.5708699429191, + 344.8780306320674 + ], + [ + 648.0411358422302, + 324.59333557781207 + ], + [ + 622.7345619658935, + 329.5962380326053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 561, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -101.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5187304615974426, + "y": 0.4303666949272156, + "z": 0.8854345679283142 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 671.3156815889278, + "ymin": 225.87501927091841, + "xmax": 712.131206653457, + "ymax": 293.6643666275292 + }, + "corners_3d": [ + [ + -101.63806915283203, + -1.0031700134277344, + 0.058722734451293945 + ], + [ + -101.45911407470703, + -0.16124576330184937, + 0.058722734451293945 + ], + [ + -100.44432830810547, + -0.3769468665122986, + 0.058722734451293945 + ], + [ + -100.62328338623047, + -1.2188711166381836, + 0.058722734451293945 + ], + [ + -101.63806915283203, + -1.0031700134277344, + 1.8295918703079224 + ], + [ + -101.45911407470703, + -0.16124576330184937, + 1.8295918703079224 + ], + [ + -100.44432830810547, + -0.3769468665122986, + 1.8295918703079224 + ], + [ + -100.62328338623047, + -1.2188711166381836, + 1.8295918703079224 + ] + ], + "corners_2d": [ + [ + 687.1468993367326, + 293.6643666275292 + ], + [ + 709.4019675108455, + 285.7963195084835 + ], + [ + 693.2634325137587, + 269.0409201566311 + ], + [ + 671.3156815889278, + 276.5892756603539 + ], + [ + 689.0194496895771, + 250.10083860799313 + ], + [ + 712.131206653457, + 242.35362782544834 + ], + [ + 695.3135815273635, + 225.87501927091841 + ], + [ + 672.532811131922, + 233.29540375066026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 730, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -107.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4706982374191284, + "y": 0.4621330201625824, + "z": 0.9371739625930786 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 864.032408886185, + "ymin": 325.38437139968823, + "xmax": 920.9542352377105, + "ymax": 401.4355500062402 + }, + "corners_3d": [ + [ + -107.9394302368164, + 2.8445494174957275, + 0.006978452205657959 + ], + [ + -107.84281921386719, + 3.763751983642578, + 0.006978452205657959 + ], + [ + -106.90657806396484, + 3.665349245071411, + 0.006978452205657959 + ], + [ + -107.00318908691406, + 2.7461466789245605, + 0.006978452205657959 + ], + [ + -107.9394302368164, + 2.8445494174957275, + 1.88132643699646 + ], + [ + -107.84281921386719, + 3.763751983642578, + 1.88132643699646 + ], + [ + -106.90657806396484, + 3.665349245071411, + 1.88132643699646 + ], + [ + -107.00318908691406, + 2.7461466789245605, + 1.88132643699646 + ] + ], + "corners_2d": [ + [ + 881.5880213058824, + 401.4355500062402 + ], + [ + 908.2677230916509, + 392.7776179060094 + ], + [ + 890.2852457305103, + 372.4239908445302 + ], + [ + 864.032408886185, + 380.7042437179888 + ], + [ + 893.1246256401138, + 354.204408649634 + ], + [ + 920.9542352377105, + 345.59470300889876 + ], + [ + 901.8495000334226, + 325.38437139968823 + ], + [ + 874.4826046433511, + 333.60126848901905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 719, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -108.74694061279297, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3035009503364563, + "y": 0.40044382214546204, + "z": 0.8768524527549744 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.6171383340776, + "ymin": 414.1240697511968, + "xmax": 698.4058336366417, + "ymax": 481.34503464407237 + }, + "corners_3d": [ + [ + -109.0504379272461, + -4.088206768035889, + 0.06728541851043701 + ], + [ + -109.0504379272461, + -3.2873191833496094, + 0.06728541851043701 + ], + [ + -108.44344329833984, + -3.2873191833496094, + 0.06728541851043701 + ], + [ + -108.44344329833984, + -4.088206768035889, + 0.06728541851043701 + ], + [ + -109.0504379272461, + -4.088206768035889, + 1.8209903240203857 + ], + [ + -109.0504379272461, + -3.2873191833496094, + 1.8209903240203857 + ], + [ + -108.44344329833984, + -3.2873191833496094, + 1.8209903240203857 + ], + [ + -108.44344329833984, + -4.088206768035889, + 1.8209903240203857 + ] + ], + "corners_2d": [ + [ + 667.4888191817387, + 481.34503464407237 + ], + [ + 695.7120480464791, + 474.7176096021351 + ], + [ + 688.4288986592416, + 458.42955293711566 + ], + [ + 660.6171383340776, + 464.8440628992349 + ], + [ + 668.8271117810835, + 437.0827054958545 + ], + [ + 698.4058336366417, + 430.43761732437537 + ], + [ + 690.7309341162027, + 414.1240697511968 + ], + [ + 661.6037955853284, + 420.5455802586381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 755, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -107.38936614990234, + "y": -10.52694034576416, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.5259034037590027, + "y": 0.35574495792388916, + "z": 0.8792995810508728 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 391.8255131353478, + "ymin": 423.9230904699488, + "xmax": 431.3840742881953, + "ymax": 502.9025807244027 + }, + "corners_3d": [ + [ + -107.87520599365234, + -10.935708045959473, + 0.21725040674209595 + ], + [ + -107.94957733154297, + -10.228116035461426, + 0.21725040674209595 + ], + [ + -106.90352630615234, + -10.118172645568848, + 0.21725040674209595 + ], + [ + -106.82915496826172, + -10.825764656066895, + 0.21725040674209595 + ], + [ + -107.87520599365234, + -10.935708045959473, + 1.9758496284484863 + ], + [ + -107.94957733154297, + -10.228116035461426, + 1.9758496284484863 + ], + [ + -106.90352630615234, + -10.118172645568848, + 1.9758496284484863 + ], + [ + -106.82915496826172, + -10.825764656066895, + 1.9758496284484863 + ] + ], + "corners_2d": [ + [ + 403.75891358528685, + 502.9025807244027 + ], + [ + 431.3840742881953, + 498.88447511199956 + ], + [ + 430.1846817257553, + 468.69814054167955 + ], + [ + 403.3651425422464, + 472.484458148265 + ], + [ + 391.87291348139917, + 458.2447401521419 + ], + [ + 420.9306775037277, + 454.20696299740644 + ], + [ + 419.99326982769594, + 423.9230904699488 + ], + [ + 391.8255131353478, + 427.71678516520376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 410, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -95.40576171875, + "y": -10.779851913452148, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.4684081971645355, + "y": 0.3117932081222534, + "z": 0.8951457142829895 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 345.67048381444107, + "ymin": 182.8872763635033, + "xmax": 377.6669839639063, + "ymax": 242.41682298213294 + }, + "corners_3d": [ + [ + -95.79911041259766, + -11.182219505310059, + 0.20140916109085083 + ], + [ + -95.92875671386719, + -10.572259902954102, + 0.20140916109085083 + ], + [ + -95.01241302490234, + -10.377484321594238, + 0.20140916109085083 + ], + [ + -94.88276672363281, + -10.987443923950195, + 0.20140916109085083 + ], + [ + -95.79911041259766, + -11.182219505310059, + 1.9917006492614746 + ], + [ + -95.92875671386719, + -10.572259902954102, + 1.9917006492614746 + ], + [ + -95.01241302490234, + -10.377484321594238, + 1.9917006492614746 + ], + [ + -94.88276672363281, + -10.987443923950195, + 1.9917006492614746 + ] + ], + "corners_2d": [ + [ + 356.4105421539811, + 242.41682298213294 + ], + [ + 374.5503710089499, + 241.53576187769124 + ], + [ + 377.6669839639063, + 226.0230108659212 + ], + [ + 359.89372133813873, + 226.8691724821041 + ], + [ + 345.67048381444107, + 198.93667779258496 + ], + [ + 364.5091362589378, + 198.07347415434887 + ], + [ + 367.9494027331882, + 182.8872763635033 + ], + [ + 349.50579125007715, + 183.71503383218942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 4188, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 444.9173462391452, + "ymin": 0.0, + "xmax": 526.8271004230048, + "ymax": 93.03729158580063 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 499.97142677769705, + 27.25646036844512 + ], + [ + 450.9528970507138, + 33.43591049934571 + ], + [ + 472.9892876826834, + 93.03729158580063 + ], + [ + 526.8271004230048, + 85.50095342041686 + ], + [ + 495.5510437723126, + -15.778121716606961 + ], + [ + 444.9173462391452, + -9.89004520058677 + ], + [ + 467.0777231124898, + 47.111786206465354 + ], + [ + 522.8710006612824, + 39.88298594089349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 10477, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 890.4277752335207, + "ymin": 412.94176685334156, + "xmax": 1053.1294940028342, + "ymax": 588.0302412186243 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 967.9355987782258, + 588.0302412186243 + ], + [ + 1033.9818230279227, + 569.4371847467073 + ], + [ + 950.6850034694382, + 453.4901582876104 + ], + [ + 890.4277752335207, + 468.3559790999141 + ], + [ + 984.1551519807812, + 548.3402927723455 + ], + [ + 1053.1294940028342, + 529.5330721803314 + ], + [ + 964.1296210072488, + 412.94176685334156 + ], + [ + 901.4350725865468, + 427.82395468127874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2135, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 524.2611282027715, + "ymin": 0.0, + "xmax": 585.2516931386681, + "ymax": 57.7006504674946 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 565.9087699374959, + 19.195198804497977 + ], + [ + 526.7374712946212, + 24.135504670781927 + ], + [ + 543.9090822630452, + 57.7006504674946 + ], + [ + 585.2516931386681, + 52.15158963761445 + ], + [ + 564.3034989563217, + -10.51574486298773 + ], + [ + 524.2611282027715, + -5.738402881857496 + ], + [ + 541.678972554509, + 26.76853771020592 + ], + [ + 583.9932597162812, + 21.3885205880041 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 5250, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 609.0708072352811, + "ymin": 141.2181870373697, + "xmax": 702.729212993, + "ymax": 260.7637249952273 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 657.1027028735978, + 176.6238373973036 + ], + [ + 609.9569795170272, + 184.42312501261497 + ], + [ + 649.1414657399084, + 260.7637249952273 + ], + [ + 700.7648584739511, + 251.23065203350592 + ], + [ + 657.6015436286186, + 141.2181870373697 + ], + [ + 609.0708072352811, + 148.84766036896266 + ], + [ + 649.4406868924287, + 223.7847711106853 + ], + [ + 702.729212993, + 214.40123241460805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4671, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 524.85324618618, + "ymin": 172.32332830508636, + "xmax": 609.0363610163371, + "ymax": 290.4722302789818 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 580.5168772937884, + 216.97372429605554 + ], + [ + 529.1233518463448, + 225.8008829619548 + ], + [ + 553.6338525658904, + 290.4722302789818 + ], + [ + 609.0363610163371, + 280.0893992745854 + ], + [ + 578.2536654585514, + 172.32332830508636 + ], + [ + 524.85324618618, + 180.9456271268692 + ], + [ + 550.0128460573428, + 244.35209969924531 + ], + [ + 607.7551908392751, + 234.14426391140734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.6163073128043, + "ymin": 372.5697002281995, + "xmax": 993.133555838371, + "ymax": 415.28977879532994 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 959.6163073128043, + 406.1455815585839 + ], + [ + 966.569156235256, + 415.28977879532994 + ], + [ + 982.6782603388133, + 411.4903068095103 + ], + [ + 975.5984594167433, + 402.4187865126862 + ], + [ + 969.3111927594373, + 376.28718372151747 + ], + [ + 976.5742068482523, + 385.41232145033314 + ], + [ + 993.133555838371, + 381.6201150968806 + ], + [ + 985.7365719962514, + 372.5697002281995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1179.2550954992994, + "ymin": 321.96370193038473, + "xmax": 1218.4220813494467, + "ymax": 363.10047005935604 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1179.2550954992994, + 354.9294307240624 + ], + [ + 1187.8440001014649, + 363.10047005935604 + ], + [ + 1202.2342560644545, + 359.7064022511324 + ], + [ + 1193.5470076885179, + 351.5967729056733 + ], + [ + 1194.695970553471, + 325.27712005476366 + ], + [ + 1203.6791148260022, + 333.4039973537209 + ], + [ + 1218.4220813494467, + 330.02775414606464 + ], + [ + 1209.3360171926993, + 321.96370193038473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 481.88532980181304, + "ymin": 606.9816426726977, + "xmax": 507.82513152869166, + "ymax": 647.3878549078952 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 489.1517670756226, + 647.3878549078952 + ], + [ + 507.82513152869166, + 642.4881154102352 + ], + [ + 505.19496815707157, + 630.7327564602838 + ], + [ + 486.6980631586904, + 635.5348963542492 + ], + [ + 484.3665607089904, + 623.8147676481273 + ], + [ + 503.65021548562936, + 618.8610922841849 + ], + [ + 500.98083848825524, + 606.9816426726977 + ], + [ + 481.88532980181304, + 611.8335688920714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1062.5084053321762, + "ymin": 348.8447427299388, + "xmax": 1098.7833382745455, + "ymax": 390.83413462204595 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1062.5084053321762, + 382.15270759099684 + ], + [ + 1070.256857941523, + 390.83413462204595 + ], + [ + 1085.548500033683, + 387.2274681449505 + ], + [ + 1077.6870331247665, + 378.6132822061635 + ], + [ + 1074.987693057775, + 352.3698884294743 + ], + [ + 1083.0889754347459, + 361.0196969328319 + ], + [ + 1098.7833382745455, + 357.4255784375945 + ], + [ + 1090.5632443908135, + 348.8447427299388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.4927039466774, + "ymin": 199.16851634860967, + "xmax": 1280.0, + "ymax": 575.2561239810668 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1271.0680847948527, + 470.31458940650634 + ], + [ + 1259.4027818180828, + 458.7553484204628 + ], + [ + 859.4927039466774, + 561.1727836229932 + ], + [ + 867.2353947757251, + 575.2561239810668 + ], + [ + 1449.5101413568552, + 210.1203444227007 + ], + [ + 1431.9697137016115, + 199.16851634860967 + ], + [ + 928.9460256315647, + 298.75072516076557 + ], + [ + 940.3605420670851, + 312.90687048964935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.4668430156393, + "ymin": 0.0, + "xmax": 998.8100287783014, + "ymax": 117.55163656262982 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 952.2287131519379, + 104.58943108859677 + ], + [ + 946.9199381315718, + 99.79673288126094 + ], + [ + 865.4668430156393, + 112.56325635768778 + ], + [ + 870.2552051149867, + 117.55163656262982 + ], + [ + 998.8100287783014, + -87.25563582748612 + ], + [ + 992.3149540263121, + -91.10524827996414 + ], + [ + 899.5875157417346, + -80.83173562117236 + ], + [ + 905.4102489267525, + -76.80077907131516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 427.23019686128134, + "ymin": 435.32543332675266, + "xmax": 686.4362862106145, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 504.0312813402203, + 692.4278005656121 + ], + [ + 484.73931633421853, + 697.5361081465824 + ], + [ + 634.8458745879598, + 1510.2313198759439 + ], + [ + 665.7476943216784, + 1496.1978069827685 + ], + [ + 453.9537431615504, + 435.32543332675266 + ], + [ + 427.23019686128134, + 440.8587212455911 + ], + [ + 630.6525616247427, + 1607.6404720940832 + ], + [ + 686.4362862106145, + 1581.1250245312638 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00145/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00145/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1fb69ef47406261db5a3ac81ec9d368df864a1f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00145/meta.json @@ -0,0 +1,2152 @@ +{ + "frame_id": 145, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 72.5, + "sim_timestamp": 1913.4549355532508 + }, + "drone_pose": { + "x": -124.29020035143326, + "y": -9.564505459917342, + "z": 20.0, + "pitch": -42.931270624808825, + "yaw": 16.672016379670932, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7013927698135376, + -0.21005457639694214, + 0.6811205148696899, + 75.56291198730469 + ], + [ + 0.28689268231391907, + 0.9579627513885498, + 0.0, + -26.495502471923828 + ], + [ + -0.652488112449646, + 0.19540849328041077, + 0.7321712970733643, + -97.61029052734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -123.82554823883272, + "y": -9.534581797606657, + "z": 20.0 + }, + "t1_image_uv": [ + 337.60021736515864, + -533.0639267433411 + ], + "t1_depth": 0.33218924255369225 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -104.66718292236328, + "y": -3.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.977215887605716, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 612, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -104.66718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5255321860313416, + "y": 0.3683973252773285, + "z": 0.8909403681755066 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.5196018351454, + "ymin": 323.1682326161805, + "xmax": 657.8563928513869, + "ymax": 396.4106826704055 + }, + "corners_3d": [ + [ + -105.19271850585938, + -4.0561604499816895, + 0.053202271461486816 + ], + [ + -105.19271850585938, + -3.3193657398223877, + 0.053202271461486816 + ], + [ + -104.14164733886719, + -3.3193657398223877, + 0.053202271461486816 + ], + [ + -104.14164733886719, + -4.0561604499816895, + 0.053202271461486816 + ], + [ + -105.19271850585938, + -4.0561604499816895, + 1.8350830078125 + ], + [ + -105.19271850585938, + -3.3193657398223877, + 1.8350830078125 + ], + [ + -104.14164733886719, + -3.3193657398223877, + 1.8350830078125 + ], + [ + -104.14164733886719, + -4.0561604499816895, + 1.8350830078125 + ] + ], + "corners_2d": [ + [ + 633.1035420909527, + 396.4106826704055 + ], + [ + 657.0904083810572, + 391.32628183595494 + ], + [ + 646.6845640176434, + 367.8515274124399 + ], + [ + 623.2543318638386, + 372.6802974594859 + ], + [ + 632.7926691773063, + 351.5344367066003 + ], + [ + 657.8563928513869, + 346.4786391700789 + ], + [ + 646.9762229518952, + 323.1682326161805 + ], + [ + 622.5196018351454, + 327.95886519322426 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 145, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 312348, + "2": 225803, + "3": 265517, + "4": 36897, + "6": 8477, + "7": 2571, + "9": 8899, + "10": 590, + "12": 3800, + "14": 27693, + "20": 3508, + "24": 25497 + }, + "instance_pixel_counts": { + "11605": 128025, + "15189": 6150, + "15701": 31784, + "15967": 22239, + "15970": 4334, + "16479": 25782, + "16482": 3326, + "17547": 20928, + "18059": 7203, + "19554": 5372, + "20565": 65416, + "21395": 31713, + "21397": 1428, + "21643": 27549, + "21907": 40211, + "21909": 7531, + "23957": 1987, + "24467": 60888, + "25344": 5588, + "25600": 4989, + "26754": 398, + "29523": 4075, + "29779": 29651, + "30291": 71, + "31371": 345, + "36096": 612, + "36352": 579, + "36608": 788, + "36864": 675, + "37120": 789, + "37376": 357, + "37632": 4420, + "37888": 10898, + "38912": 2228, + "40448": 5377, + "40704": 4770, + "42071": 471, + "45409": 4925, + "45971": 48231, + "46483": 68757, + "48225": 3251, + "49043": 62548, + "51526": 36897, + "53857": 7026, + "56458": 33314, + "56970": 13598, + "57482": 2107, + "58506": 44849, + "60307": 2747, + "60819": 8096, + "61254": 12009, + "62867": 3708 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 612, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -104.66718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5593798160552979, + "y": 0.3682224452495575, + "z": 0.8782546520233154 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.2092950201438, + "ymin": 322.7711273444797, + "xmax": 658.2048530128679, + "ymax": 396.888437838938 + }, + "corners_3d": [ + [ + -105.2265625, + -4.055985450744629, + 0.06588798761367798 + ], + [ + -105.2265625, + -3.319540500640869, + 0.06588798761367798 + ], + [ + -104.10780334472656, + -3.319540500640869, + 0.06588798761367798 + ], + [ + -104.10780334472656, + -4.055985450744629, + 0.06588798761367798 + ], + [ + -105.2265625, + -4.055985450744629, + 1.822397232055664 + ], + [ + -105.2265625, + -3.319540500640869, + 1.822397232055664 + ], + [ + -104.10780334472656, + -3.319540500640869, + 1.822397232055664 + ], + [ + -104.10780334472656, + -4.055985450744629, + 1.822397232055664 + ] + ], + "corners_2d": [ + [ + 633.4329805061087, + 396.888437838938 + ], + [ + 657.4341570683744, + 391.79800630824013 + ], + [ + 646.3546425887812, + 366.81171191849353 + ], + [ + 622.9460343763742, + 371.6300936935853 + ], + [ + 633.1410093803062, + 352.6476492657498 + ], + [ + 658.2048530128679, + 347.585062954245 + ], + [ + 646.6276412252929, + 322.7711273444797 + ], + [ + 622.2092950201438, + 327.5516629605968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 579, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -100.96736907958984, + "y": -0.6871126890182495, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4888281226158142, + "y": 0.4527404010295868, + "z": 0.9095086455345154 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 675.4644421098068, + "ymin": 233.0625194202346, + "xmax": 717.1338058911418, + "ymax": 301.98606362673695 + }, + "corners_3d": [ + [ + -101.53964233398438, + -1.0283260345458984, + 0.03464865684509277 + ], + [ + -101.35138702392578, + -0.1426323652267456, + 0.03464865684509277 + ], + [ + -100.39509582519531, + -0.3458993136882782, + 0.03464865684509277 + ], + [ + -100.5833511352539, + -1.2315930128097534, + 0.03464865684509277 + ], + [ + -101.53964233398438, + -1.0283260345458984, + 1.8536659479141235 + ], + [ + -101.35138702392578, + -0.1426323652267456, + 1.8536659479141235 + ], + [ + -100.39509582519531, + -0.3458993136882782, + 1.8536659479141235 + ], + [ + -100.5833511352539, + -1.2315930128097534, + 1.8536659479141235 + ] + ], + "corners_2d": [ + [ + 690.5394328311941, + 301.98606362673695 + ], + [ + 714.1159524035926, + 293.5982624073831 + ], + [ + 698.7309512705333, + 277.52225866362 + ], + [ + 675.4644421098068, + 285.5854079404278 + ], + [ + 692.6190370439434, + 257.13593948805186 + ], + [ + 717.1338058911418, + 248.87545209003872 + ], + [ + 701.0739975253958, + 233.0625194202346 + ], + [ + 676.8939220189066, + 240.99059258703028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 788, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -106.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4100585877895355, + "y": 0.4476895034313202, + "z": 0.9488845467567444 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 865.4008448257362, + "ymin": 326.803015611126, + "xmax": 919.210785303479, + "ymax": 400.4969534285809 + }, + "corners_3d": [ + [ + -107.37760925292969, + 2.8525750637054443, + -0.0047321319580078125 + ], + [ + -107.28401947021484, + 3.743049144744873, + -0.0047321319580078125 + ], + [ + -106.46839904785156, + 3.6573235988616943, + -0.0047321319580078125 + ], + [ + -106.5619888305664, + 2.7668495178222656, + -0.0047321319580078125 + ], + [ + -107.37760925292969, + 2.8525750637054443, + 1.893036961555481 + ], + [ + -107.28401947021484, + 3.743049144744873, + 1.893036961555481 + ], + [ + -106.46839904785156, + 3.6573235988616943, + 1.893036961555481 + ], + [ + -106.5619888305664, + 2.7668495178222656, + 1.893036961555481 + ] + ], + "corners_2d": [ + [ + 880.6469630197175, + 400.4969534285809 + ], + [ + 906.4797879857063, + 392.1755630084831 + ], + [ + 890.8717541429284, + 374.43896900221955 + ], + [ + 865.4008448257362, + 382.44299973002586 + ], + [ + 892.252190763404, + 352.68387033458924 + ], + [ + 919.210785303479, + 344.4114755787923 + ], + [ + 902.616570236189, + 326.803015611126 + ], + [ + 876.0506820550752, + 334.74523173043326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 675, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -108.24694061279297, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3479442894458771, + "y": 0.3867490589618683, + "z": 0.860480010509491 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.3859734148856, + "ymin": 413.4406757344756, + "xmax": 698.1542553704107, + "ymax": 481.9580965223321 + }, + "corners_3d": [ + [ + -108.59488677978516, + -4.074512004852295, + 0.08365786075592041 + ], + [ + -108.59488677978516, + -3.301013946533203, + 0.08365786075592041 + ], + [ + -107.89899444580078, + -3.301013946533203, + 0.08365786075592041 + ], + [ + -107.89899444580078, + -4.074512004852295, + 0.08365786075592041 + ], + [ + -108.59488677978516, + -4.074512004852295, + 1.8046178817749023 + ], + [ + -108.59488677978516, + -3.301013946533203, + 1.8046178817749023 + ], + [ + -107.89899444580078, + -3.301013946533203, + 1.8046178817749023 + ], + [ + -107.89899444580078, + -4.074512004852295, + 1.8046178817749023 + ] + ], + "corners_2d": [ + [ + 668.222456308136, + 481.9580965223321 + ], + [ + 695.5212635536677, + 475.58808711830403 + ], + [ + 687.2279137807352, + 456.9240116210278 + ], + [ + 660.3859734148856, + 463.05974404219023 + ], + [ + 669.5697093448762, + 438.5177458255404 + ], + [ + 698.1542553704107, + 432.1311993050622 + ], + [ + 689.4242384505841, + 413.4406757344756 + ], + [ + 661.3401698327207, + 419.5814856797891 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 789, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -106.88980865478516, + "y": -10.52831745147705, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.4911133348941803, + "y": 0.3912167549133301, + "z": 0.8881567120552063 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 390.2543632339688, + "ymin": 424.06726032093627, + "xmax": 432.61768303673, + "ymax": 501.7904809788191 + }, + "corners_3d": [ + [ + -107.33734130859375, + -10.96872615814209, + 0.20839327573776245 + ], + [ + -107.41912841796875, + -10.190579414367676, + 0.20839327573776245 + ], + [ + -106.44227600097656, + -10.087908744812012, + 0.20839327573776245 + ], + [ + -106.36048889160156, + -10.866055488586426, + 0.20839327573776245 + ], + [ + -107.33734130859375, + -10.96872615814209, + 1.9847066402435303 + ], + [ + -107.41912841796875, + -10.190579414367676, + 1.9847066402435303 + ], + [ + -106.44227600097656, + -10.087908744812012, + 1.9847066402435303 + ], + [ + -106.36048889160156, + -10.866055488586426, + 1.9847066402435303 + ] + ], + "corners_2d": [ + [ + 402.3041993696707, + 501.7904809788191 + ], + [ + 432.61768303673, + 497.43081400635 + ], + [ + 431.5338511036816, + 469.30006603959396 + ], + [ + 402.0468191131759, + 473.42448255683297 + ], + [ + 390.2543632339688, + 456.66426300792483 + ], + [ + 422.15109479857506, + 452.2842675379572 + ], + [ + 421.31385564656375, + 424.06726032093627 + ], + [ + 390.3308664092528, + 428.1994653978965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 357, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -94.90385437011719, + "y": -10.781237602233887, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.48558592796325684, + "y": 0.2963702380657196, + "z": 0.8967317938804626 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 346.713267235095, + "ymin": 182.5471020331772, + "xmax": 377.91939216601725, + "ymax": 242.59523843850312 + }, + "corners_3d": [ + [ + -95.31720733642578, + -11.172090530395508, + 0.19982308149337769 + ], + [ + -95.44044494628906, + -10.592303276062012, + 0.19982308149337769 + ], + [ + -94.4905014038086, + -10.390384674072266, + 0.19982308149337769 + ], + [ + -94.36726379394531, + -10.970171928405762, + 0.19982308149337769 + ], + [ + -95.31720733642578, + -11.172090530395508, + 1.9932866096496582 + ], + [ + -95.44044494628906, + -10.592303276062012, + 1.9932866096496582 + ], + [ + -94.4905014038086, + -10.390384674072266, + 1.9932866096496582 + ], + [ + -94.36726379394531, + -10.970171928405762, + 1.9932866096496582 + ] + ], + "corners_2d": [ + [ + 357.4174193329486, + 242.59523843850312 + ], + [ + 374.64235365707907, + 241.77690012773306 + ], + [ + 377.91939216601725, + 225.7271608503769 + ], + [ + 361.0550064047352, + 226.5119316466098 + ], + [ + 346.713267235095, + 199.0578757149989 + ], + [ + 364.6016834507984, + 198.25624385431576 + ], + [ + 368.21573472353884, + 182.5471020331772 + ], + [ + 350.7158595654191, + 183.31464675701287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 4420, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 447.5982320485989, + "ymin": 0.0, + "xmax": 530.0205606834488, + "ymax": 98.59560674241709 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 502.9173632485064, + 31.887059216109037 + ], + [ + 453.5860944794134, + 38.112558999306714 + ], + [ + 475.79579382406473, + 98.59560674241709 + ], + [ + 530.0205606834488, + 90.99061520741645 + ], + [ + 498.56360422924126, + -11.308778744348615 + ], + [ + 447.5982320485989, + -5.374595578088133 + ], + [ + 469.9429053904836, + 52.495225307030296 + ], + [ + 526.1493159430239, + 45.1971120956016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 10898, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 898.83856993123, + "ymin": 426.45728964638704, + "xmax": 1065.1743532678563, + "ymax": 605.2949427091617 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 978.2763147323521, + 605.2949427091617 + ], + [ + 1045.1925639349108, + 586.2579921926413 + ], + [ + 959.8118816378146, + 466.99782454882074 + ], + [ + 898.83856993123, + 482.1669570422058 + ], + [ + 995.2561350476423, + 565.8085467920662 + ], + [ + 1065.1743532678563, + 546.5257034453105 + ], + [ + 973.8291497916234, + 426.45728964638704 + ], + [ + 910.3631366039258, + 441.6595089696166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2228, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 527.4312749045054, + "ymin": 0.0, + "xmax": 588.810743259489, + "ymax": 62.79313811234596 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 569.273597267089, + 23.76798698535481 + ], + [ + 529.8540056725294, + 28.74492515546592 + ], + [ + 547.1873472517966, + 62.79313811234596 + ], + [ + 588.810743259489, + 57.19767324352296 + ], + [ + 567.7320070662189, + -6.053699546294524 + ], + [ + 527.4312749045054, + -1.2396981680183785 + ], + [ + 545.0192614528821, + 31.744218168625252 + ], + [ + 587.6264608385893, + 26.317614175234155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 5377, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 613.2314713324595, + "ymin": 148.203194849342, + "xmax": 708.0231462135787, + "ymax": 269.4687103319696 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 661.5496759508791, + 183.73886762146734 + ], + [ + 614.0047068141331, + 191.63137799411277 + ], + [ + 653.7622208371179, + 269.4687103319696 + ], + [ + 705.8733971506852, + 259.80103728634384 + ], + [ + 662.1834892884941, + 148.203194849342 + ], + [ + 613.2314713324595, + 155.9275579868202 + ], + [ + 654.2170020928592, + 232.3755099201653 + ], + [ + 708.0231462135787, + 222.8537606916084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4770, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 528.3373769676309, + "ymin": 179.94772419251353, + "xmax": 613.3028290163672, + "ymax": 299.6800423601719 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 584.368578797301, + 224.75298806553423 + ], + [ + 532.5140077036999, + 233.69355242713112 + ], + [ + 557.3564354380542, + 299.6800423601719 + ], + [ + 613.3028290163672, + 289.1449996194058 + ], + [ + 582.2330574836506, + 179.94772419251353 + ], + [ + 528.3373769676309, + 188.68655278714334 + ], + [ + 553.8570526047382, + 253.4298441286345 + ], + [ + 612.1872874199944, + 243.06415457418217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 971.4790919563612, + "ymin": 389.1451159336204, + "xmax": 1006.0198167282379, + "ymax": 432.32844854453134 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 971.4790919563612, + 422.86205571569894 + ], + [ + 978.6502203800201, + 432.32844854453134 + ], + [ + 995.0045268102438, + 428.41993525466785 + ], + [ + 987.7024273322038, + 419.02966564832246 + ], + [ + 981.7031324226812, + 392.97170881686446 + ], + [ + 989.202105432969, + 402.42783909401396 + ], + [ + 1006.0198167282379, + 398.52286276122857 + ], + [ + 998.382539617985, + 389.1451159336204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1194.3002029944416, + "ymin": 337.0918621221216, + "xmax": 1234.6520321286334, + "ymax": 378.6739745505823 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1194.3002029944416, + 370.2259775095029 + ], + [ + 1203.1566872158219, + 378.6739745505823 + ], + [ + 1217.7469175894585, + 375.1870564156421 + ], + [ + 1208.7893139541718, + 366.8032570078179 + ], + [ + 1210.428087001702, + 340.49787197069276 + ], + [ + 1219.7000063501555, + 348.9078389431907 + ], + [ + 1234.6520321286334, + 345.4360629565488 + ], + [ + 1225.2742460331638, + 337.0918621221216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 485.58225880420184, + "ymin": 627.6729652400184, + "xmax": 511.85645128264065, + "ymax": 668.4337716778473 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 492.86804108403226, + 668.4337716778473 + ], + [ + 511.85645128264065, + 663.3921674678438 + ], + [ + 509.1654653944794, + 651.2208781733373 + ], + [ + 490.35980243657804, + 656.1602180869617 + ], + [ + 488.12053251176593, + 645.08796854642 + ], + [ + 507.73954943853676, + 639.9854999265069 + ], + [ + 505.0062286997244, + 627.6729652400184 + ], + [ + 485.58225880420184, + 632.6686550858129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1075.897474453685, + "ymin": 364.7328367084787, + "xmax": 1113.2773578386, + "ymax": 407.177476952143 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1075.897474453685, + 398.1956130475568 + ], + [ + 1083.8888791576505, + 407.177476952143 + ], + [ + 1099.4037831099008, + 403.4695723371078 + ], + [ + 1091.2959625303954, + 394.55807419437645 + ], + [ + 1088.9848248719456, + 368.3591218093165 + ], + [ + 1097.3486002082377, + 377.31684181521507 + ], + [ + 1113.2773578386, + 373.6182754368793 + ], + [ + 1104.7911276714894, + 364.7328367084787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 868.0276188588489, + "ymin": 212.5543615857998, + "xmax": 1280.0, + "ymax": 591.9945825002334 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1284.8606605150087, + 484.7150385451451 + ], + [ + 1272.8946547738005, + 472.8317443836641 + ], + [ + 868.0276188588489, + 577.4919752090103 + ], + [ + 875.9677880805756, + 591.9945825002334 + ], + [ + 1470.2502568116583, + 223.89515907218305 + ], + [ + 1452.1181935642694, + 212.5543615857998 + ], + [ + 941.4835602505884, + 315.1246280676734 + ], + [ + 953.2995130708922, + 329.83098386670594 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 871.5002079209594, + "ymin": 0.0, + "xmax": 1006.9777345905857, + "ymax": 123.90003989922462 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 958.9717968535342, + 110.79609798059093 + ], + [ + 953.5825941008652, + 105.92023248960129 + ], + [ + 871.5002079209594, + 118.8244682579832 + ], + [ + 876.3600030828361, + 123.90003989922462 + ], + [ + 1006.9777345905857, + -82.02075655867446 + ], + [ + 1000.3667236339915, + -85.94604068690256 + ], + [ + 906.8422485253762, + -75.53803677425236 + ], + [ + 912.7681899852392, + -71.42704013455005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 430.60011248369744, + "ymin": 456.6219466287609, + "xmax": 703.5242732910378, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 507.63422183836667, + 712.1452667548873 + ], + [ + 488.046763099146, + 717.3833910170214 + ], + [ + 642.7784536702691, + 1565.806165934866 + ], + [ + 674.4778645493117, + 1551.090378427825 + ], + [ + 457.8811205371428, + 456.6219466287609 + ], + [ + 430.60011248369744, + 462.35911159611373 + ], + [ + 645.149838508351, + 1714.1882541082452 + ], + [ + 703.5242732910378, + 1685.1581157459116 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00146/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00146/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..adbc19a996a40d66e70b5931d776446f6cebc947 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00146/meta.json @@ -0,0 +1,2152 @@ +{ + "frame_id": 146, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 73.0, + "sim_timestamp": 1925.141123682959 + }, + "drone_pose": { + "x": -123.82554823883272, + "y": -9.534581797606657, + "z": 20.0, + "pitch": -42.89598387195602, + "yaw": 16.563604412582674, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7021908760070801, + -0.20884659886360168, + 0.6806695461273193, + 75.3270492553711 + ], + [ + 0.28507956862449646, + 0.9585038423538208, + -1.4901161193847656e-08, + -26.16119956970215 + ], + [ + -0.6524243354797363, + 0.19404497742652893, + 0.7325905561447144, + -97.28874969482422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -123.36037757173463, + "y": -9.488748315194973, + "z": 20.0 + }, + "t1_image_uv": [ + 386.79005081980927, + -531.9616611860719 + ], + "t1_depth": 0.33621078938746174 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -104.16718292236328, + "y": -3.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.99575522897262, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 619, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -104.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4144042432308197, + "y": 0.3793984651565552, + "z": 0.8687698841094971 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.2517783210544, + "ymin": 326.1121138406024, + "xmax": 657.0090828739527, + "ymax": 393.3567748107315 + }, + "corners_3d": [ + [ + -104.58158874511719, + -4.067161560058594, + 0.07537275552749634 + ], + [ + -104.58158874511719, + -3.3083643913269043, + 0.07537275552749634 + ], + [ + -103.75277709960938, + -3.3083643913269043, + 0.07537275552749634 + ], + [ + -103.75277709960938, + -4.067161560058594, + 0.07537275552749634 + ], + [ + -104.58158874511719, + -4.067161560058594, + 1.8129124641418457 + ], + [ + -104.58158874511719, + -3.3083643913269043, + 1.8129124641418457 + ], + [ + -103.75277709960938, + -3.3083643913269043, + 1.8129124641418457 + ], + [ + -103.75277709960938, + -4.067161560058594, + 1.8129124641418457 + ] + ], + "corners_2d": [ + [ + 631.6470011835469, + 393.3567748107315 + ], + [ + 656.300140729757, + 388.1890044942894 + ], + [ + 648.1394227867632, + 369.6958282759362 + ], + [ + 623.9395820087265, + 374.6574024062351 + ], + [ + 631.281574524525, + 349.6144367247455 + ], + [ + 657.0090828739527, + 344.4768243083748 + ], + [ + 648.4860129538515, + 326.1121138406024 + ], + [ + 623.2517783210544, + 331.0360722447005 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 146, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 309784, + "2": 225394, + "3": 274988, + "4": 31274, + "6": 7950, + "7": 2670, + "9": 7975, + "10": 620, + "12": 3788, + "14": 28531, + "20": 3313, + "24": 25313 + }, + "instance_pixel_counts": { + "11605": 131321, + "15189": 7510, + "15701": 32284, + "15967": 23150, + "15970": 4510, + "16479": 24727, + "16482": 3123, + "17547": 21834, + "18059": 6209, + "19554": 5560, + "20565": 68198, + "21395": 33161, + "21397": 1480, + "21643": 28481, + "21907": 35975, + "21909": 6684, + "23957": 2062, + "24467": 63163, + "25344": 5443, + "25600": 4677, + "26754": 279, + "29523": 4691, + "29779": 30752, + "30291": 136, + "31371": 96, + "36096": 619, + "36352": 605, + "36608": 711, + "36864": 690, + "37120": 761, + "37376": 402, + "37632": 4518, + "37888": 11350, + "38912": 2267, + "40448": 5511, + "40704": 4885, + "42071": 500, + "45409": 5108, + "45971": 50164, + "46483": 62361, + "48225": 2744, + "49043": 64960, + "51526": 31274, + "53857": 7302, + "56458": 34474, + "56970": 11025, + "57482": 321, + "58506": 46826, + "60307": 2885, + "60819": 8362, + "61254": 11009, + "62867": 3840 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 619, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -104.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3107030987739563, + "y": 0.4077827036380768, + "z": 0.8806161880493164 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.281197778799, + "ymin": 327.8736916089945, + "xmax": 656.8819462231544, + "ymax": 391.45390706714824 + }, + "corners_3d": [ + [ + -104.4778823852539, + -4.095545768737793, + 0.063526451587677 + ], + [ + -104.4778823852539, + -3.279980182647705, + 0.063526451587677 + ], + [ + -103.85648345947266, + -3.279980182647705, + 0.063526451587677 + ], + [ + -103.85648345947266, + -4.095545768737793, + 0.063526451587677 + ], + [ + -104.4778823852539, + -4.095545768737793, + 1.824758768081665 + ], + [ + -104.4778823852539, + -3.279980182647705, + 1.824758768081665 + ], + [ + -103.85648345947266, + -3.279980182647705, + 1.824758768081665 + ], + [ + -103.85648345947266, + -4.095545768737793, + 1.824758768081665 + ] + ], + "corners_2d": [ + [ + 629.7427771161412, + 391.45390706714824 + ], + [ + 656.1708839418102, + 385.92784580567627 + ], + [ + 650.0419072568698, + 372.068560312489 + ], + [ + 623.9788679318942, + 377.42851732115827 + ], + [ + 629.2889134192717, + 347.1271902886459 + ], + [ + 656.8819462231544, + 341.63507016393356 + ], + [ + 650.4765119230492, + 327.8736916089945 + ], + [ + 623.281197778799, + 333.1936178926423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 605, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -100.96733093261719, + "y": -0.682607114315033, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.43788084387779236, + "y": 0.4404822587966919, + "z": 0.8601241111755371 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 681.7033727138892, + "ymin": 244.18882223066464, + "xmax": 721.6350781638567, + "ymax": 309.3826986293356 + }, + "corners_3d": [ + [ + -101.48722839355469, + -1.0224227905273438, + 0.08403319120407104 + ], + [ + -101.30406188964844, + -0.16070961952209473, + 0.08403319120407104 + ], + [ + -100.44743347167969, + -0.34279143810272217, + 0.08403319120407104 + ], + [ + -100.63059997558594, + -1.2045046091079712, + 0.08403319120407104 + ], + [ + -101.48722839355469, + -1.0224227905273438, + 1.80428147315979 + ], + [ + -101.30406188964844, + -0.16070961952209473, + 1.80428147315979 + ], + [ + -100.44743347167969, + -0.34279143810272217, + 1.80428147315979 + ], + [ + -100.63059997558594, + -1.2045046091079712, + 1.80428147315979 + ] + ], + "corners_2d": [ + [ + 695.4199321526935, + 309.3826986293356 + ], + [ + 718.5838987341774, + 301.09545105245917 + ], + [ + 704.5907805868064, + 286.3763237413772 + ], + [ + 681.7033727138892, + 294.37190151601385 + ], + [ + 697.593969279546, + 266.8651348137644 + ], + [ + 721.6350781638567, + 258.69117700493183 + ], + [ + 707.0526488376538, + 244.18882223066464 + ], + [ + 683.3090190706812, + 252.06417908239348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 711, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -106.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.47142088413238525, + "y": 0.45659834146499634, + "z": 0.9363297820091248 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 864.0311054027642, + "ymin": 326.10636500159075, + "xmax": 920.5463862397962, + "ymax": 401.9589768221095 + }, + "corners_3d": [ + [ + -106.93956756591797, + 2.8501291275024414, + 0.007822632789611816 + ], + [ + -106.8441162109375, + 3.7583231925964355, + 0.007822632789611816 + ], + [ + -105.90644073486328, + 3.6597695350646973, + 0.007822632789611816 + ], + [ + -106.00189208984375, + 2.751575469970703, + 0.007822632789611816 + ], + [ + -106.93956756591797, + 2.8501291275024414, + 1.8804821968078613 + ], + [ + -106.8441162109375, + 3.7583231925964355, + 1.8804821968078613 + ], + [ + -105.90644073486328, + 3.6597695350646973, + 1.8804821968078613 + ], + [ + -106.00189208984375, + 2.751575469970703, + 1.8804821968078613 + ] + ], + "corners_2d": [ + [ + 881.5060261266046, + 401.9589768221095 + ], + [ + 907.9140492437625, + 393.49027388159266 + ], + [ + 890.0121850385219, + 373.097525459626 + ], + [ + 864.0311054027642, + 381.1954842341225 + ], + [ + 893.0023692399711, + 354.77186500494315 + ], + [ + 920.5463862397962, + 346.3519201730825 + ], + [ + 901.5287115419527, + 326.10636500159075 + ], + [ + 874.4474713980047, + 334.1408405097035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 690, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -107.74694061279297, + "y": -3.687762975692749, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4837108850479126, + "y": 0.41710689663887024, + "z": 0.8957667350769043 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.5942313249035, + "ymin": 408.67549826433697, + "xmax": 700.7593077937399, + "ymax": 486.7379545185396 + }, + "corners_3d": [ + [ + -108.23065185546875, + -4.104869842529297, + 0.04839056730270386 + ], + [ + -108.23065185546875, + -3.270656108856201, + 0.04839056730270386 + ], + [ + -107.26322937011719, + -3.270656108856201, + 0.04839056730270386 + ], + [ + -107.26322937011719, + -4.104869842529297, + 0.04839056730270386 + ], + [ + -108.23065185546875, + -4.104869842529297, + 1.8399240970611572 + ], + [ + -108.23065185546875, + -3.270656108856201, + 1.8399240970611572 + ], + [ + -107.26322937011719, + -3.270656108856201, + 1.8399240970611572 + ], + [ + -107.26322937011719, + -4.104869842529297, + 1.8399240970611572 + ] + ], + "corners_2d": [ + [ + 668.3759361086862, + 486.7379545185396 + ], + [ + 697.8918686372527, + 479.8693097156977 + ], + [ + 686.4249002099768, + 453.94964451653743 + ], + [ + 657.5942313249035, + 460.4697601860302 + ], + [ + 669.791439986374, + 441.5186339914801 + ], + [ + 700.7593077937399, + 434.62977443833 + ], + [ + 688.6626257102653, + 408.67549826433697 + ], + [ + 658.4481711137499, + 415.198126189223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 761, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -106.39025115966797, + "y": -10.529695510864258, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.34073734283447266, + "y": 0.38131076097488403, + "z": 0.8606295585632324 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 390.73838908384243, + "ymin": 428.6589029866264, + "xmax": 431.7476518105452, + "ymax": 496.14013678616493 + }, + "corners_3d": [ + [ + -106.68926239013672, + -10.944534301757812, + 0.23592042922973633 + ], + [ + -106.76898193359375, + -10.186090469360352, + 0.23592042922973633 + ], + [ + -106.09123992919922, + -10.114856719970703, + 0.23592042922973633 + ], + [ + -106.01152038574219, + -10.873300552368164, + 0.23592042922973633 + ], + [ + -106.68926239013672, + -10.944534301757812, + 1.9571795463562012 + ], + [ + -106.76898193359375, + -10.186090469360352, + 1.9571795463562012 + ], + [ + -106.09123992919922, + -10.114856719970703, + 1.9571795463562012 + ], + [ + -106.01152038574219, + -10.873300552368164, + 1.9571795463562012 + ] + ], + "corners_2d": [ + [ + 402.3311691165183, + 496.14013678616493 + ], + [ + 431.7476518105452, + 491.9771143106269 + ], + [ + 431.06007071283966, + 472.48749306689456 + ], + [ + 402.2029913631311, + 476.49323608227274 + ], + [ + 390.73838908384243, + 452.3828409455258 + ], + [ + 421.6328500665238, + 448.2034099841156 + ], + [ + 421.1142284223787, + 428.6589029866264 + ], + [ + 390.8362105380455, + 432.67297857446925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 402, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -94.4019546508789, + "y": -10.78261947631836, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.30727049708366394, + "y": 0.3032898008823395, + "z": 0.8675513863563538 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 348.09988472589515, + "ymin": 186.0020322358396, + "xmax": 378.0000319946699, + "ymax": 238.7558802199598 + }, + "corners_3d": [ + [ + -94.63945007324219, + -11.143166542053223, + 0.22900348901748657 + ], + [ + -94.76557159423828, + -10.549842834472656, + 0.22900348901748657 + ], + [ + -94.16445922851562, + -10.422072410583496, + 0.22900348901748657 + ], + [ + -94.03833770751953, + -11.015396118164062, + 0.22900348901748657 + ], + [ + -94.63945007324219, + -11.143166542053223, + 1.9641063213348389 + ], + [ + -94.76557159423828, + -10.549842834472656, + 1.9641063213348389 + ], + [ + -94.16445922851562, + -10.422072410583496, + 1.9641063213348389 + ], + [ + -94.03833770751953, + -11.015396118164062, + 1.9641063213348389 + ] + ], + "corners_2d": [ + [ + 358.35528436049, + 238.7558802199598 + ], + [ + 375.9008511172922, + 237.946201536339 + ], + [ + 378.0000319946699, + 227.81364474338633 + ], + [ + 360.68779604561354, + 228.60214081380283 + ], + [ + 348.09988472589515, + 196.71860765707802 + ], + [ + 366.29480026001823, + 195.92524725828937 + ], + [ + 368.6002519121467, + 186.0020322358396 + ], + [ + 350.6561311868649, + 186.77389699812724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 4518, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 450.3179360542281, + "ymin": 0.0, + "xmax": 533.2585985735063, + "ymax": 104.17391930292584 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 505.9105703155839, + 36.50616748055313 + ], + [ + 456.2574406679844, + 42.777181892623844 + ], + [ + 478.63516671990885, + 104.17391930292584 + ], + [ + 533.2585985735063, + 96.5004781908296 + ], + [ + 501.62491539278176, + -6.856256772818028 + ], + [ + 450.3179360542281, + -0.8763432915625913 + ], + [ + 472.8418033021146, + 57.893945280791456 + ], + [ + 529.4742060953707, + 50.52649978542996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 11350, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 907.4289755489407, + "ymin": 440.38773366258977, + "xmax": 1077.5595494727431, + "ymax": 623.1604766510891 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 988.8725292492629, + 623.1604766510891 + ], + [ + 1056.6980751721044, + 603.6623080692705 + ], + [ + 969.1488357762669, + 480.90554842451724 + ], + [ + 907.4289755489407, + 496.3876715080123 + ], + [ + 1006.6535669043442, + 583.9123180805012 + ], + [ + 1077.5595494727431, + 564.1336639282302 + ], + [ + 983.766899438153, + 440.38773366258977 + ], + [ + 919.4956908815278, + 455.92115091832477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2267, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 530.6551310168, + "ymin": 0.0, + "xmax": 592.430076859003, + "ymax": 67.89236623873921 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 572.6985081630894, + 28.330067334255318 + ], + [ + 533.0229090106053, + 33.34326411443112 + ], + [ + 550.5170065659676, + 67.89236623873921 + ], + [ + 592.430076859003, + 62.250730330126714 + ], + [ + 571.2223901070497, + -1.6061319957493083 + ], + [ + 530.6551310168, + 3.2442424417069446 + ], + [ + 548.4125431467959, + 36.723081317819265 + ], + [ + 591.3220930804703, + 31.250017672056515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 5511, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 617.4498924715194, + "ymin": 155.27482292522913, + "xmax": 713.4029552167158, + "ymax": 278.3268647686227 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 666.0646606736806, + 190.94275994307213 + ], + [ + 618.1067845737209, + 198.92935681599533 + ], + [ + 658.4446314307424, + 278.3268647686227 + ], + [ + 711.061105230026, + 268.5224725735554 + ], + [ + 666.8379151719446, + 155.27482292522913 + ], + [ + 617.4498924715194, + 163.0951723232963 + ], + [ + 659.0601758390635, + 241.1197606000555 + ], + [ + 713.4029552167158, + 231.4572983483683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4885, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 531.8516459897246, + "ymin": 187.6812133223134, + "xmax": 617.616723509138, + "ymax": 309.0554177617264 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 588.2637540983661, + 232.6428627302421 + ], + [ + 535.932876308312, + 241.6980550556067 + ], + [ + 561.107639155015, + 309.0554177617264 + ], + [ + 617.616723509138, + 298.3657302030879 + ], + [ + 586.2594664823582, + 187.6812133223134 + ], + [ + 531.8516459897246, + 196.53816362636695 + ], + [ + 557.7328027674423, + 262.6769606148699 + ], + [ + 616.6719017037659, + 252.15042309328305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 983.6958577702746, + "ymin": 406.3799731021109, + "xmax": 1019.3184704579768, + "ymax": 450.0381936806998 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 983.6958577702746, + 440.22836194697095 + ], + [ + 991.0965899180985, + 450.0381936806998 + ], + [ + 1007.7081856089154, + 446.01519695332235 + ], + [ + 1000.1722023456127, + 436.2851783947116 + ], + [ + 994.481731312376, + 410.32129087815537 + ], + [ + 1002.2294165507478, + 420.1308352735621 + ], + [ + 1019.3184704579768, + 416.10720477922774 + ], + [ + 1011.4278598637857, + 406.3799731021109 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1209.856354164533, + "ymin": 352.80579088096636, + "xmax": 1251.4631283619563, + "ymax": 394.8460737489279 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1209.856354164533, + 386.1030409314025 + ], + [ + 1218.9949207150203, + 394.8460737489279 + ], + [ + 1233.7951282834322, + 391.2617578722895 + ], + [ + 1224.5524891494376, + 382.58590299460946 + ], + [ + 1226.7145244164885, + 356.3090614921446 + ], + [ + 1236.2914324215353, + 365.02106380872715 + ], + [ + 1251.4631283619563, + 361.44887546444556 + ], + [ + 1241.777216026674, + 352.80579088096636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 489.23767182839447, + "ymin": 649.1756594612984, + "xmax": 515.8624714305927, + "ymax": 690.2919020677308 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 496.5446099674625, + 690.2919020677308 + ], + [ + 515.8624714305927, + 685.1018996631968 + ], + [ + 513.1097790536231, + 672.4886097044134 + ], + [ + 493.98135078834093, + 677.5713695909624 + ], + [ + 491.8335805174991, + 667.2076951347804 + ], + [ + 511.80371084020544, + 661.9492284328965 + ], + [ + 509.00540463237326, + 649.1756594612984 + ], + [ + 489.23767182839447, + 654.321965644491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1089.7155491778844, + "ymin": 381.24519728489753, + "xmax": 1128.2646949031398, + "ymax": 424.15732525268214 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1089.7155491778844, + 414.85531263603036 + ], + [ + 1097.9628271008753, + 424.15732525268214 + ], + [ + 1113.7120605025543, + 420.34317544956093 + ], + [ + 1105.344745961986, + 411.11487182330666 + ], + [ + 1103.4489548268602, + 384.97777635559396 + ], + [ + 1112.0897246742481, + 394.26414374795957 + ], + [ + 1128.2646949031398, + 390.45573493778033 + ], + [ + 1119.4975883942366, + 381.24519728489753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.7412460509343, + "ymin": 226.46170711236647, + "xmax": 1280.0, + "ymax": 609.2940483333135 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1299.0685055072581, + 499.59194068476006 + ], + [ + 1286.7882100044794, + 487.3663223638777 + ], + [ + 876.7412460509343, + 594.348693121936 + ], + [ + 884.886456583687, + 609.2940483333135 + ], + [ + 1491.8347544905548, + 238.21862238300542 + ], + [ + 1473.0749067530783, + 226.46170711236647 + ], + [ + 954.4318385085973, + 332.18302360411207 + ], + [ + 966.6725457958785, + 347.4791864221652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 877.664242104652, + "ymin": 0.0, + "xmax": 1015.3662122603648, + "ymax": 130.31898665478855 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 965.8728395115911, + 117.07184744886055 + ], + [ + 960.4010386797768, + 112.10919891249608 + ], + [ + 877.664242104652, + 125.15249612450376 + ], + [ + 882.597216162731, + 130.31898665478855 + ], + [ + 1015.3662122603648, + -76.75002912907706 + ], + [ + 1008.6352606032566, + -80.75466201158815 + ], + [ + 914.2791914069292, + -70.20937065312398 + ], + [ + 920.3116874113298, + -66.01449332741083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 433.8902865959527, + "ymin": 478.9167504734299, + "xmax": 721.795270274238, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 511.20320257860124, + 732.5461163222401 + ], + [ + 491.30790804929813, + 737.9189627486154 + ], + [ + 650.8250848959527, + 1624.785057945289 + ], + [ + 683.3725241615842, + 1609.3326722613492 + ], + [ + 461.7593813728605, + 478.9167504734299 + ], + [ + 433.8902865959527, + 484.8705256631134 + ], + [ + 660.5461325976116, + 1832.725655872138 + ], + [ + 721.795270274238, + 1800.7747180901727 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00147/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00147/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60adab1f6250ce0f9a964daff3ac5804a397d6da --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00147/meta.json @@ -0,0 +1,2254 @@ +{ + "frame_id": 147, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 73.5, + "sim_timestamp": 1942.7104188099038 + }, + "drone_pose": { + "x": -123.36037757173463, + "y": -9.488748315194973, + "z": 20.0, + "pitch": -42.867560196011624, + "yaw": 16.413286729662484, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7030602693557739, + -0.2070990353822708, + 0.6803060173988342, + 75.0887680053711 + ], + [ + 0.2825638949871063, + 0.9592484831809998, + -7.450580596923828e-09, + -25.7551212310791 + ], + [ + -0.6525824666023254, + 0.19222989678382874, + 0.7329282164573669, + -96.98540496826172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -122.89115406818298, + "y": -9.419569545777874, + "z": 20.0 + }, + "t1_image_uv": [ + 455.300977170571, + -531.074697070917 + ], + "t1_depth": 0.34421925206542575 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -103.66718292236328, + "y": -3.687763214111328, + "z": 0.9441671419140403 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.01067849153839, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 611, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -103.66718292236328, + "y": -3.687762975692749, + "z": 0.9441671371459961 + }, + "extent": { + "x": 0.5854101181030273, + "y": 0.3800291121006012, + "z": 0.8936899304389954 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.656779824905, + "ymin": 321.7936523587326, + "xmax": 658.7943749659654, + "ymax": 397.8866052901427 + }, + "corners_3d": [ + [ + -104.25259399414062, + -4.067791938781738, + 0.05047720670700073 + ], + [ + -104.25259399414062, + -3.3077337741851807, + 0.05047720670700073 + ], + [ + -103.08177185058594, + -3.3077337741851807, + 0.05047720670700073 + ], + [ + -103.08177185058594, + -4.067791938781738, + 0.05047720670700073 + ], + [ + -104.25259399414062, + -4.067791938781738, + 1.8378570079803467 + ], + [ + -104.25259399414062, + -3.3077337741851807, + 1.8378570079803467 + ], + [ + -103.08177185058594, + -3.3077337741851807, + 1.8378570079803467 + ], + [ + -103.08177185058594, + -4.067791938781738, + 1.8378570079803467 + ] + ], + "corners_2d": [ + [ + 633.2039844955674, + 397.8866052901427 + ], + [ + 657.9864318333583, + 392.71703639390813 + ], + [ + 646.5671070989665, + 366.59355270235284 + ], + [ + 622.4271954978913, + 371.4741074959068 + ], + [ + 632.896924758931, + 352.8682931531865 + ], + [ + 658.7943749659654, + 347.7282847158055 + ], + [ + 646.8533932585207, + 321.7936523587326 + ], + [ + 621.656779824905, + 326.6339250262103 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 147, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 50, + "semantic_pixel_counts": { + "1": 307499, + "2": 226104, + "3": 283032, + "4": 25419, + "6": 7514, + "7": 2778, + "9": 7487, + "10": 637, + "12": 3863, + "14": 29416, + "20": 2822, + "24": 25029 + }, + "instance_pixel_counts": { + "11605": 133157, + "15189": 9087, + "15701": 32870, + "15967": 24226, + "15970": 4699, + "16479": 23414, + "16482": 2903, + "17547": 22779, + "18059": 5076, + "19554": 5763, + "20565": 70795, + "21395": 34541, + "21397": 1539, + "21643": 29297, + "21907": 31773, + "21909": 5792, + "23957": 2145, + "24467": 65728, + "25344": 5414, + "25600": 4358, + "26754": 186, + "29523": 5354, + "29779": 31570, + "30291": 199, + "36096": 611, + "36352": 642, + "36608": 749, + "36864": 691, + "37120": 758, + "37376": 412, + "37632": 4601, + "37888": 11841, + "38912": 2312, + "40448": 5653, + "40704": 5009, + "42071": 520, + "45409": 5295, + "45971": 52193, + "46483": 55854, + "48225": 2222, + "49043": 67410, + "51526": 25419, + "53857": 7595, + "56458": 35706, + "56970": 8262, + "58506": 48867, + "60307": 2979, + "60819": 8551, + "61254": 10123, + "62867": 4023 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 611, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -103.66718292236328, + "y": -3.687762975692749, + "z": 0.9441671371459961 + }, + "extent": { + "x": 0.5368847250938416, + "y": 0.3722960948944092, + "z": 0.9020619988441467 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.3637988855346, + "ymin": 322.6680313003939, + "xmax": 658.0272070786094, + "ymax": 396.9102432916178 + }, + "corners_3d": [ + [ + -104.20407104492188, + -4.060059070587158, + 0.042105138301849365 + ], + [ + -104.20407104492188, + -3.31546688079834, + 0.042105138301849365 + ], + [ + -103.13029479980469, + -3.31546688079834, + 0.042105138301849365 + ], + [ + -103.13029479980469, + -4.060059070587158, + 0.042105138301849365 + ], + [ + -104.20407104492188, + -4.060059070587158, + 1.846229076385498 + ], + [ + -104.20407104492188, + -3.31546688079834, + 1.846229076385498 + ], + [ + -103.13029479980469, + -3.31546688079834, + 1.846229076385498 + ], + [ + -103.13029479980469, + -4.060059070587158, + 1.846229076385498 + ] + ], + "corners_2d": [ + [ + 632.9995124423873, + 396.9102432916178 + ], + [ + 657.2460387525025, + 391.85801426984904 + ], + [ + 646.7816369430491, + 367.8973944065812 + ], + [ + 623.1121519911355, + 372.69002167678457 + ], + [ + 632.6806068440105, + 351.4763539140512 + ], + [ + 658.0272070786094, + 346.45384140376996 + ], + [ + 647.080488534214, + 322.6680313003939 + ], + [ + 622.3637988855346, + 327.4212215103247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 642, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -100.96728515625, + "y": -0.6763336658477783, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.564282238483429, + "y": 0.45898643136024475, + "z": 0.9168692827224731 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 684.4985534714708, + "ymin": 249.62361517604393, + "xmax": 730.4252773383337, + "ymax": 322.93910777444944 + }, + "corners_3d": [ + [ + -101.61466217041016, + -1.0079686641693115, + 0.02728801965713501 + ], + [ + -101.4238052368164, + -0.11005592346191406, + 0.02728801965713501 + ], + [ + -100.31990814208984, + -0.34469860792160034, + 0.02728801965713501 + ], + [ + -100.5107650756836, + -1.2426114082336426, + 0.02728801965713501 + ], + [ + -101.61466217041016, + -1.0079686641693115, + 1.8610265254974365 + ], + [ + -101.4238052368164, + -0.11005592346191406, + 1.8610265254974365 + ], + [ + -100.31990814208984, + -0.34469860792160034, + 1.8610265254974365 + ], + [ + -100.5107650756836, + -1.2426114082336426, + 1.8610265254974365 + ] + ], + "corners_2d": [ + [ + 702.3846525706884, + 322.93910777444944 + ], + [ + 726.7808077062252, + 314.10609822844776 + ], + [ + 708.515216070963, + 294.697108877696 + ], + [ + 684.4985534714708, + 303.1270658806958 + ], + [ + 705.0331181612806, + 277.45760334873256 + ], + [ + 730.4252773383337, + 268.74380822541787 + ], + [ + 711.3238133568346, + 249.62361517604393 + ], + [ + 686.3420450789073, + 257.92361056392485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 749, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -105.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5756982564926147, + "y": 0.45990005135536194, + "z": 0.9439206719398499 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 862.0113979887929, + "ymin": 324.1574022701287, + "xmax": 922.8085956830196, + "ymax": 404.9609435213055 + }, + "corners_3d": [ + [ + -106.54362487792969, + 2.85774564743042, + 0.00023174285888671875 + ], + [ + -106.44747924804688, + 3.7725069522857666, + 0.00023174285888671875 + ], + [ + -105.30238342285156, + 3.6521530151367188, + 0.00023174285888671875 + ], + [ + -105.39852905273438, + 2.737391710281372, + 0.00023174285888671875 + ], + [ + -106.54362487792969, + 2.85774564743042, + 1.8880730867385864 + ], + [ + -106.44747924804688, + 3.7725069522857666, + 1.8880730867385864 + ], + [ + -105.30238342285156, + 3.6521530151367188, + 1.8880730867385864 + ], + [ + -105.39852905273438, + 2.737391710281372, + 1.8880730867385864 + ] + ], + "corners_2d": [ + [ + 883.2595512517563, + 404.9609435213055 + ], + [ + 909.9483463957658, + 396.4420323032211 + ], + [ + 888.1709806868879, + 371.51037712445674 + ], + [ + 862.0113979887929, + 379.5754756455919 + ], + [ + 894.9599138053406, + 357.37753196051546 + ], + [ + 922.8085956830196, + 348.9064726605296 + ], + [ + 899.6612531338806, + 324.1574022701287 + ], + [ + 872.3866281340221, + 332.15650704463553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 691, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -107.24694061279297, + "y": -3.687762975692749, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4417724013328552, + "y": 0.3838672935962677, + "z": 0.890207827091217 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.9026781108156, + "ymin": 410.1887488697259, + "xmax": 698.5784893191994, + "ymax": 485.11409596878093 + }, + "corners_3d": [ + [ + -107.68871307373047, + -4.071630477905273, + 0.05394947528839111 + ], + [ + -107.68871307373047, + -3.3038957118988037, + 0.05394947528839111 + ], + [ + -106.80516815185547, + -3.3038957118988037, + 0.05394947528839111 + ], + [ + -106.80516815185547, + -4.071630477905273, + 0.05394947528839111 + ], + [ + -107.68871307373047, + -4.071630477905273, + 1.8343651294708252 + ], + [ + -107.68871307373047, + -3.3038957118988037, + 1.8343651294708252 + ], + [ + -106.80516815185547, + -3.3038957118988037, + 1.8343651294708252 + ], + [ + -106.80516815185547, + -4.071630477905273, + 1.8343651294708252 + ] + ], + "corners_2d": [ + [ + 668.6817254620606, + 485.11409596878093 + ], + [ + 695.8356903199772, + 478.8682131142509 + ], + [ + 685.4785745650507, + 455.18489627218975 + ], + [ + 658.9026781108156, + 461.1404162690478 + ], + [ + 670.0997929473467, + 440.1647219596222 + ], + [ + 698.5784893191994, + 433.9018719388319 + ], + [ + 687.6577056784563, + 410.1887488697259 + ], + [ + 659.8141433899295, + 416.14662682176635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 758, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -105.89070892333984, + "y": -10.531075477600098, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.5681983232498169, + "y": 0.341018408536911, + "z": 0.8784563541412354 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 391.94484964090464, + "ymin": 421.5454695499862, + "xmax": 430.2151238498725, + "ymax": 502.4834787196422 + }, + "corners_3d": [ + [ + -106.42015075683594, + -10.929618835449219, + 0.2180936336517334 + ], + [ + -106.49143981933594, + -10.251317977905273, + 0.2180936336517334 + ], + [ + -105.36126708984375, + -10.132532119750977, + 0.2180936336517334 + ], + [ + -105.28997802734375, + -10.810832977294922, + 0.2180936336517334 + ], + [ + -106.42015075683594, + -10.929618835449219, + 1.975006341934204 + ], + [ + -106.49143981933594, + -10.251317977905273, + 1.975006341934204 + ], + [ + -105.36126708984375, + -10.132532119750977, + 1.975006341934204 + ], + [ + -105.28997802734375, + -10.810832977294922, + 1.975006341934204 + ] + ], + "corners_2d": [ + [ + 403.77144447289857, + 502.4834787196422 + ], + [ + 430.2151238498725, + 498.77170543023016 + ], + [ + 429.23997518337166, + 466.29803926262866 + ], + [ + 403.62963880938514, + 469.7790243271476 + ], + [ + 391.94484964090464, + 457.83755998300074 + ], + [ + 419.75200994687714, + 454.1089921092347 + ], + [ + 419.07567280168007, + 421.5454695499862 + ], + [ + 392.1885178643769, + 425.0311923326766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 412, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -93.90003967285156, + "y": -10.78400707244873, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.4203515648841858, + "y": 0.29846739768981934, + "z": 0.881181538105011 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 348.5045477364396, + "ymin": 183.62933121029906, + "xmax": 379.1122777118245, + "ymax": 240.64640095372218 + }, + "corners_3d": [ + [ + -94.24915313720703, + -11.163348197937012, + 0.21537333726882935 + ], + [ + -94.37326049804688, + -10.579458236694336, + 0.21537333726882935 + ], + [ + -93.5509262084961, + -10.40466594696045, + 0.21537333726882935 + ], + [ + -93.42681884765625, + -10.988555908203125, + 0.21537333726882935 + ], + [ + -94.24915313720703, + -11.163348197937012, + 1.977736473083496 + ], + [ + -94.37326049804688, + -10.579458236694336, + 1.977736473083496 + ], + [ + -93.5509262084961, + -10.40466594696045, + 1.977736473083496 + ], + [ + -93.42681884765625, + -10.988555908203125, + 1.977736473083496 + ] + ], + "corners_2d": [ + [ + 358.912234147573, + 240.64640095372218 + ], + [ + 376.1916782672566, + 239.87342394628382 + ], + [ + 379.1122777118245, + 226.03576858746808 + ], + [ + 362.146161312465, + 226.78123306029303 + ], + [ + 348.5045477364396, + 197.9322882239529 + ], + [ + 366.4339342631957, + 197.17508644500762 + ], + [ + 369.6420496912751, + 183.62933121029906 + ], + [ + 352.0497712120172, + 184.35861230922458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 4601, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 453.3926262484776, + "ymin": 0.0, + "xmax": 536.7910433208085, + "ymax": 109.71078832988584 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 509.25737245593064, + 41.05892668232622 + ], + [ + 459.2730083454452, + 47.36122608467599 + ], + [ + 481.7548560433995, + 109.71078832988584 + ], + [ + 536.7910433208085, + 101.9856883851104 + ], + [ + 505.0511908738846, + -2.4754260599340228 + ], + [ + 453.3926262484776, + 3.5367806075230988 + ], + [ + 476.0309016639949, + 63.246914815332616 + ], + [ + 533.1044410195051, + 55.8260377174455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 11841, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 916.1361637664986, + "ymin": 454.9371008954332, + "xmax": 1090.1917313936037, + "ymax": 641.8879373055145 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 999.5785025094767, + 641.8879373055145 + ], + [ + 1068.400850574491, + 621.942831722888 + ], + [ + 978.6691716961759, + 495.4141645266403 + ], + [ + 916.1361637664986, + 511.1922936105966 + ], + [ + 1018.2014639803363, + 602.9219399204176 + ], + [ + 1090.1917313936037, + 582.6585958686128 + ], + [ + 993.9202670269369, + 454.9371008954332 + ], + [ + 928.771130969062, + 470.7865386902017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2312, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 534.246746146563, + "ymin": 2.789472384755868, + "xmax": 596.388860448445, + "ymax": 72.95730885542645 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 576.4936511556251, + 32.84454545892834 + ], + [ + 536.5513783143199, + 37.883026424411355 + ], + [ + 554.1730012344983, + 72.95730885542645 + ], + [ + 596.388860448445, + 67.28156869197272 + ], + [ + 575.0916599140256, + 2.789472384755868 + ], + [ + 534.246746146563, + 7.665683634609195 + ], + [ + 552.1402808359762, + 41.66374949622178 + ], + [ + 595.3659104477414, + 36.15582298980269 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 5653, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 621.8861918619043, + "ymin": 162.43887958729152, + "xmax": 718.97150133959, + "ymax": 287.3528773352375 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 670.8126703663586, + 198.2422296930361 + ], + [ + 622.4185002709444, + 206.30756061556184 + ], + [ + 663.2736672289566, + 287.3528773352375 + ], + [ + 716.4269374709869, + 277.429133405486 + ], + [ + 671.7350645572303, + 162.43887958729152 + ], + [ + 621.8861918619043, + 170.34047358090706 + ], + [ + 664.0583740090683, + 250.03194516419023 + ], + [ + 718.97150133959, + 240.24539640123322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 5009, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 535.5178689504329, + "ymin": 195.50621538019504, + "xmax": 622.0425913500588, + "ymax": 318.5767015705992 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 592.3264848705928, + 240.62599645278328 + ], + [ + 539.497111351309, + 249.77794847353394 + ], + [ + 564.9420361731509, + 318.5767015705992 + ], + [ + 622.0425913500588, + 307.7521760167144 + ], + [ + 590.4619206664457, + 195.50621538019504 + ], + [ + 535.5178689504329, + 204.46424112675945 + ], + [ + 561.6970863425277, + 272.07227300059344 + ], + [ + 621.2765586712266, + 261.4037296327516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.1184945574389, + "ymin": 424.52328040875096, + "xmax": 1032.8877402390874, + "ymax": 468.6670985186419 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 996.1184945574389, + 458.4843285027342 + ], + [ + 1003.7532663175192, + 468.6670985186419 + ], + [ + 1020.6462567158644, + 464.53057514041006 + ], + [ + 1012.8713995441449, + 454.43146884863927 + ], + [ + 1007.4993975933398, + 428.5787350064694 + ], + [ + 1015.5016490077687, + 438.77271081046075 + ], + [ + 1032.8877402390874, + 434.63082656191375 + ], + [ + 1024.7373373669054, + 424.52328040875096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1225.9587417054886, + "ymin": 369.4325404956833, + "xmax": 1268.9134197653714, + "ymax": 411.94708508848845 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1225.9587417054886, + 402.8817280574815 + ], + [ + 1235.3912616230764, + 411.94708508848845 + ], + [ + 1250.4253201563738, + 408.26575016940734 + ], + [ + 1240.8853049333766, + 399.27069546550496 + ], + [ + 1243.601032474411, + 373.0329951120241 + ], + [ + 1253.4968416775778, + 382.07549137808417 + ], + [ + 1268.9134197653714, + 378.40280248783705 + ], + [ + 1258.904963776301, + 369.4325404956833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 492.4645083652563, + "ymin": 671.5124020844708, + "xmax": 519.46016446015, + "ymax": 712.973804824024 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 499.79391044107274, + 712.973804824024 + ], + [ + 519.46016446015, + 707.639813633207 + ], + [ + 516.6576819516102, + 694.554206560887 + ], + [ + 497.1881249342642, + 699.7758603970555 + ], + [ + 495.10509398624725, + 690.1901255452468 + ], + [ + 515.4468924617062, + 684.7794835103055 + ], + [ + 512.5959135689395, + 671.5124020844708 + ], + [ + 492.4645083652563, + 676.805352318522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1103.8944447447795, + "ymin": 398.66890476347714, + "xmax": 1143.691065140814, + "ymax": 442.0618166052305 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1103.8944447447795, + 432.4111907070726 + ], + [ + 1112.4055645913988, + 442.0618166052305 + ], + [ + 1128.4131686216576, + 438.14209447556357 + ], + [ + 1119.777877505238, + 428.5686736120093 + ], + [ + 1118.316909272635, + 402.50744150208624 + ], + [ + 1127.2443716105379, + 412.1522694196748 + ], + [ + 1143.691065140814, + 408.23417765497595 + ], + [ + 1134.6328273835147, + 398.66890476347714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 885.4726144667163, + "ymin": 241.25707523121775, + "xmax": 1280.0, + "ymax": 627.3508117735936 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1313.8321432163816, + 515.3229179256817 + ], + [ + 1301.2257627064014, + 502.7242584514756 + ], + [ + 885.4726144667163, + 611.9299820324375 + ], + [ + 893.8195003589317, + 627.3508117735936 + ], + [ + 1514.5783731408474, + 253.47336033548993 + ], + [ + 1495.1489721042617, + 241.25707523121775 + ], + [ + 967.6140907226236, + 350.14324906873355 + ], + [ + 980.290334631432, + 366.08249222767876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 884.2182216615575, + "ymin": 0.0, + "xmax": 1024.3321724463792, + "ymax": 136.87855718002305 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 973.2269125590934, + 123.5102686779071 + ], + [ + 967.6728159444484, + 118.45418035526848 + ], + [ + 884.2182216615575, + 131.61467407444997 + ], + [ + 889.2228493905469, + 136.87855718002305 + ], + [ + 1024.3321724463792, + -71.3774356841954 + ], + [ + 1017.4791089769539, + -75.46790415802582 + ], + [ + 922.2085458857764, + -64.80056740914347 + ], + [ + 928.3479817788898, + -60.515411670227195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 436.62687545516667, + "ymin": 502.2539732766061, + "xmax": 739.2424885796871, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 514.403874427728, + 753.6282533030512 + ], + [ + 494.1846088124461, + 759.1287532402237 + ], + [ + 657.8278644727052, + 1687.6213341754706 + ], + [ + 691.2954823664879, + 1671.4050638152082 + ], + [ + 465.12158848540037, + 502.2539732766061 + ], + [ + 436.62687545516667, + 508.42458351753965 + ], + [ + 674.7309805808385, + 1965.7688385555653 + ], + [ + 739.2424885796871, + 1930.4616590226879 + ] + ], + "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": 1142.1563964660802, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 4.10882144006473 + }, + "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": [ + [ + 1256.5176412948445, + -105.28485878253161 + ], + [ + 1142.1563964660802, + -63.14652145458729 + ], + [ + 1353.480792690833, + 4.10882144006473 + ], + [ + 1461.1203358533799, + -50.308770220005556 + ], + [ + 1442.2039059496806, + -556.9252615375931 + ], + [ + 1313.4728122243882, + -560.3563601692877 + ], + [ + 1646.2337827975293, + -566.2918961535678 + ], + [ + 1751.659949691486, + -561.4439638041704 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00148/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00148/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b074ebaf753c96b585ec395dcede31d72b4cd0a2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00148/meta.json @@ -0,0 +1,2254 @@ +{ + "frame_id": 148, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 74.0, + "sim_timestamp": 1954.7824655591976 + }, + "drone_pose": { + "x": -122.89115406818298, + "y": -9.419569545777874, + "z": 20.0, + "pitch": -42.85349239581427, + "yaw": 16.203918951236595, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7039726972579956, + -0.20457518100738525, + 0.6801260709762573, + 74.83650207519531 + ], + [ + 0.2790567874908447, + 0.9602745771408081, + 0.0, + -25.24823570251465 + ], + [ + -0.653107762336731, + 0.18979378044605255, + 0.7330952286720276, + -96.71083068847656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -122.41364257989123, + "y": -9.334947278178525, + "z": 20.0 + }, + "t1_image_uv": [ + 498.79144006007846, + -530.6360118730079 + ], + "t1_depth": 0.3534666714321606 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -103.16718292236328, + "y": -3.687763214111328, + "z": 0.9441671419140403 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.01809071832286, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 615, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -103.16718292236328, + "y": -3.687762975692749, + "z": 0.9441671371459961 + }, + "extent": { + "x": 0.5854247808456421, + "y": 0.37877026200294495, + "z": 0.8917632102966309 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.7630389794966, + "ymin": 321.87751115843355, + "xmax": 658.6877574622908, + "ymax": 397.805688370552 + }, + "corners_3d": [ + [ + -103.75260925292969, + -4.066533088684082, + 0.052403926849365234 + ], + [ + -103.75260925292969, + -3.308992624282837, + 0.052403926849365234 + ], + [ + -102.58175659179688, + -3.308992624282837, + 0.052403926849365234 + ], + [ + -102.58175659179688, + -4.066533088684082, + 0.052403926849365234 + ], + [ + -103.75260925292969, + -4.066533088684082, + 1.835930347442627 + ], + [ + -103.75260925292969, + -3.308992624282837, + 1.835930347442627 + ], + [ + -102.58175659179688, + -3.308992624282837, + 1.835930347442627 + ], + [ + -102.58175659179688, + -4.066533088684082, + 1.835930347442627 + ] + ], + "corners_2d": [ + [ + 633.1636138586896, + 397.805688370552 + ], + [ + 657.8864600803644, + 392.71963357744806 + ], + [ + 646.6064749861125, + 366.5786443683514 + ], + [ + 622.5269350300704, + 371.3800457791287 + ], + [ + 632.8555869041342, + 352.8856546746685 + ], + [ + 658.6877574622908, + 347.82884751816175 + ], + [ + 646.8936958634678, + 321.87751115843355 + ], + [ + 621.7630389794966, + 326.6391484554066 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 148, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 50, + "semantic_pixel_counts": { + "1": 305634, + "2": 227130, + "3": 289161, + "4": 20770, + "6": 6923, + "7": 2652, + "9": 7234, + "10": 664, + "12": 3854, + "14": 30352, + "20": 2567, + "24": 24659 + }, + "instance_pixel_counts": { + "11605": 133209, + "15189": 10934, + "15701": 33574, + "15967": 25406, + "15970": 4895, + "16479": 21864, + "16482": 2665, + "17547": 23775, + "18059": 3975, + "19554": 5971, + "20565": 73122, + "21395": 36066, + "21397": 1590, + "21643": 29968, + "21907": 27560, + "21909": 4819, + "23957": 2222, + "24467": 68471, + "25344": 5188, + "25600": 3844, + "26754": 70, + "29523": 6059, + "29779": 31983, + "30291": 280, + "36096": 615, + "36352": 624, + "36608": 774, + "36864": 683, + "37120": 766, + "37376": 392, + "37632": 4681, + "37888": 12384, + "38912": 2343, + "40448": 5819, + "40704": 5125, + "42071": 543, + "45409": 5485, + "45971": 54285, + "46483": 49106, + "48225": 1689, + "49043": 70146, + "51526": 20770, + "53857": 7916, + "56458": 36986, + "56970": 5484, + "58506": 51051, + "60307": 3117, + "60819": 8742, + "61254": 9731, + "62867": 4169 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 615, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -103.16718292236328, + "y": -3.687762975692749, + "z": 0.9441671371459961 + }, + "extent": { + "x": 0.5385839343070984, + "y": 0.37763285636901855, + "z": 0.9041785001754761 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.2267317640385, + "ymin": 322.56856688941207, + "xmax": 658.1692528848292, + "ymax": 397.0101659737784 + }, + "corners_3d": [ + [ + -103.70576477050781, + -4.065395832061768, + 0.03998863697052002 + ], + [ + -103.70576477050781, + -3.3101301193237305, + 0.03998863697052002 + ], + [ + -102.62860107421875, + -3.3101301193237305, + 0.03998863697052002 + ], + [ + -102.62860107421875, + -4.065395832061768, + 0.03998863697052002 + ], + [ + -103.70576477050781, + -4.065395832061768, + 1.8483456373214722 + ], + [ + -103.70576477050781, + -3.3101301193237305, + 1.8483456373214722 + ], + [ + -102.62860107421875, + -3.3101301193237305, + 1.8483456373214722 + ], + [ + -102.62860107421875, + -4.065395832061768, + 1.8483456373214722 + ] + ], + "corners_2d": [ + [ + 632.7655457885987, + 397.0101659737784 + ], + [ + 657.380490154011, + 391.9510941827036 + ], + [ + 647.0074582142263, + 367.90140656569884 + ], + [ + 622.9822036340038, + 372.6994739242949 + ], + [ + 632.4353487277839, + 351.47029733965303 + ], + [ + 658.1692528848292, + 346.44126462500714 + ], + [ + 647.3168153917637, + 322.56856688941207 + ], + [ + 622.2267317640385, + 327.3268176241421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 624, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -100.96717834472656, + "y": -0.666998565196991, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5552294850349426, + "y": 0.4693008363246918, + "z": 0.9273747205734253 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 689.8655482144951, + "ymin": 258.69775851318377, + "xmax": 736.883890576216, + "ymax": 333.1700313826284 + }, + "corners_3d": [ + [ + -101.60784912109375, + -1.0106048583984375, + 0.01678258180618286 + ], + [ + -101.41270446777344, + -0.09251397848129272, + 0.01678258180618286 + ], + [ + -100.32650756835938, + -0.3233923316001892, + 0.01678258180618286 + ], + [ + -100.52165222167969, + -1.241483211517334, + 0.01678258180618286 + ], + [ + -101.60784912109375, + -1.0106048583984375, + 1.8715319633483887 + ], + [ + -101.41270446777344, + -0.09251397848129272, + 1.8715319633483887 + ], + [ + -100.32650756835938, + -0.3233923316001892, + 1.8715319633483887 + ], + [ + -100.52165222167969, + -1.241483211517334, + 1.8715319633483887 + ] + ], + "corners_2d": [ + [ + 707.6774879863283, + 333.1700313826284 + ], + [ + 732.8924555788701, + 323.9959386046107 + ], + [ + 714.6880899768922, + 304.4301295879262 + ], + [ + 689.8655482144951, + 313.1868182984474 + ], + [ + 710.6180498728118, + 287.0440715126098 + ], + [ + 736.883890576216, + 277.9867155473236 + ], + [ + 717.8207604302129, + 258.69775851318377 + ], + [ + 691.9799397353283, + 267.32585302423314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 774, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -105.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.59716796875, + "y": 0.4554038941860199, + "z": 0.9428691864013672 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 861.8618823143383, + "ymin": 324.4013693758397, + "xmax": 923.178043371285, + "ymax": 406.0054667183089 + }, + "corners_3d": [ + [ + -106.06450653076172, + 2.8644611835479736, + 0.0012832283973693848 + ], + [ + -105.96929931640625, + 3.7702796459198, + 0.0012832283973693848 + ], + [ + -104.78150177001953, + 3.645437479019165, + 0.0012832283973693848 + ], + [ + -104.876708984375, + 2.739619016647339, + 0.0012832283973693848 + ], + [ + -106.06450653076172, + 2.8644611835479736, + 1.887021541595459 + ], + [ + -105.96929931640625, + 3.7702796459198, + 1.887021541595459 + ], + [ + -104.78150177001953, + 3.645437479019165, + 1.887021541595459 + ], + [ + -104.876708984375, + 2.739619016647339, + 1.887021541595459 + ] + ], + "corners_2d": [ + [ + 883.7909960202862, + 406.0054667183089 + ], + [ + 910.304769274075, + 397.62818592039866 + ], + [ + 887.8257610890817, + 371.70107740250023 + ], + [ + 861.8618823143383, + 379.61493137624666 + ], + [ + 895.5113696182868, + 358.47030407908807 + ], + [ + 923.178043371285, + 350.1394553244148 + ], + [ + 899.2835719528406, + 324.4013693758397 + ], + [ + 872.2134555255464, + 332.2502733078286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 683, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -106.74694061279297, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4733349084854126, + "y": 0.37764933705329895, + "z": 0.888871967792511 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.364142556727, + "ymin": 409.53072637216746, + "xmax": 698.2015002228503, + "ymax": 485.93793431096265 + }, + "corners_3d": [ + [ + -107.22027587890625, + -4.065412521362305, + 0.05526590347290039 + ], + [ + -107.22027587890625, + -3.3101136684417725, + 0.05526590347290039 + ], + [ + -106.27360534667969, + -3.3101136684417725, + 0.05526590347290039 + ], + [ + -106.27360534667969, + -4.065412521362305, + 0.05526590347290039 + ], + [ + -107.22027587890625, + -4.065412521362305, + 1.8330098390579224 + ], + [ + -107.22027587890625, + -3.3101136684417725, + 1.8330098390579224 + ], + [ + -106.27360534667969, + -3.3101136684417725, + 1.8330098390579224 + ], + [ + -106.27360534667969, + -4.065412521362305, + 1.8330098390579224 + ] + ], + "corners_2d": [ + [ + 668.7115233619243, + 485.93793431096265 + ], + [ + 695.4788705102231, + 479.86069179180095 + ], + [ + 684.5189716125728, + 454.4609411665957 + ], + [ + 658.364142556727, + 460.23563641047485 + ], + [ + 670.1294360098277, + 441.0556405281491 + ], + [ + 698.2015002228503, + 434.9616379565305 + ], + [ + 686.6462032084, + 409.53072637216746 + ], + [ + 659.2470199529525, + 415.3070007881039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 766, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -105.39115905761719, + "y": -10.532455444335938, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.5773975253105164, + "y": 0.3448227345943451, + "z": 0.8875671029090881 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 391.2228944064399, + "ymin": 420.4164450807231, + "xmax": 429.91251721863364, + "ymax": 502.27621140377767 + }, + "corners_3d": [ + [ + -105.92935180664062, + -10.93574333190918, + 0.20898288488388062 + ], + [ + -106.00143432617188, + -10.249876022338867, + 0.20898288488388062 + ], + [ + -104.85296630859375, + -10.129167556762695, + 0.20898288488388062 + ], + [ + -104.7808837890625, + -10.815034866333008, + 0.20898288488388062 + ], + [ + -105.92935180664062, + -10.93574333190918, + 1.984117031097412 + ], + [ + -106.00143432617188, + -10.249876022338867, + 1.984117031097412 + ], + [ + -104.85296630859375, + -10.129167556762695, + 1.984117031097412 + ], + [ + -104.7808837890625, + -10.815034866333008, + 1.984117031097412 + ] + ], + "corners_2d": [ + [ + 403.19348107590656, + 502.27621140377767 + ], + [ + 429.91251721863364, + 498.6021208643074 + ], + [ + 429.09179333678424, + 465.63688500246246 + ], + [ + 403.2286562839287, + 469.0789977968491 + ], + [ + 391.2228944064399, + 457.16078025059005 + ], + [ + 419.3322575130087, + 453.4702163999127 + ], + [ + 418.8269548328283, + 420.4164450807231 + ], + [ + 391.6633081001971, + 423.86282385187883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 392, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -93.39813232421875, + "y": -10.785393714904785, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.4974951148033142, + "y": 0.3127502501010895, + "z": 0.8945018649101257 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 348.67556180380797, + "ymin": 181.58838375343382, + "xmax": 380.8654858779077, + "ymax": 241.7118096356896 + }, + "corners_3d": [ + [ + -93.81973266601562, + -11.194745063781738, + 0.2020530104637146 + ], + [ + -93.94978332519531, + -10.582913398742676, + 0.2020530104637146 + ], + [ + -92.97653198242188, + -10.376042366027832, + 0.2020530104637146 + ], + [ + -92.84648132324219, + -10.987874031066895, + 0.2020530104637146 + ], + [ + -93.81973266601562, + -11.194745063781738, + 1.9910566806793213 + ], + [ + -93.94978332519531, + -10.582913398742676, + 1.9910566806793213 + ], + [ + -92.97653198242188, + -10.376042366027832, + 1.9910566806793213 + ], + [ + -92.84648132324219, + -10.987874031066895, + 1.9910566806793213 + ] + ], + "corners_2d": [ + [ + 359.2354534540855, + 241.7118096356896 + ], + [ + 377.3391379565377, + 240.93917624061248 + ], + [ + 380.8654858779077, + 224.58855351929458 + ], + [ + 363.1492729080696, + 225.32877207679368 + ], + [ + 348.67556180380797, + 198.34405154152483 + ], + [ + 367.4704015690046, + 197.5874024556766 + ], + [ + 371.3431466180446, + 181.58838375343382 + ], + [ + 352.96558322325313, + 182.31213447811564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 4681, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 456.93645387787024, + "ymin": 1.7287966089836573, + "xmax": 540.708829232936, + "ymax": 115.12001520336898 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 513.0758399589374, + 45.44602594096875 + ], + [ + 462.74443842862524, + 51.75953941991139 + ], + [ + 485.23751866388534, + 115.12001520336898 + ], + [ + 540.708829232936, + 107.36718888732261 + ], + [ + 508.96356704477876, + 1.7287966089836573 + ], + [ + 456.93645387787024, + 7.754366347467396 + ], + [ + 479.59474550742425, + 68.46301658519553 + ], + [ + 537.1336167269671, + 61.011356418065475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 12384, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 924.9276572722515, + "ymin": 470.2807460331414, + "xmax": 1103.0541485592166, + "ymax": 661.7291701906257 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 1010.3274157333499, + 661.7291701906257 + ], + [ + 1080.2725069867718, + 641.3645781639875 + ], + [ + 988.3700530667535, + 510.69303484088186 + ], + [ + 924.9276572722515, + 526.7388457264635 + ], + [ + 1029.8402978563186, + 623.1047971748012 + ], + [ + 1103.0541485592166, + 602.3802573795083 + ], + [ + 1004.2945630450378, + 470.2807460331414 + ], + [ + 938.1621371229824, + 486.4202258283452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2343, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 538.3304587430694, + "ymin": 7.037343818161958, + "xmax": 600.8014743213515, + "ymax": 77.90388175493115 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 580.7875975394554, + 37.21980201210977 + ], + [ + 540.561382516415, + 42.268101890254 + ], + [ + 558.262101261948, + 77.90388175493115 + ], + [ + 600.8014743213515, + 72.21114113893134 + ], + [ + 579.471122518085, + 7.037343818161958 + ], + [ + 538.3304587430694, + 11.924557976832887 + ], + [ + 556.3115079833543, + 46.4782794899462 + ], + [ + 599.87499825357, + 40.951915290980025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 5819, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 626.5920678053176, + "ymin": 169.66581058250367, + "xmax": 724.7620982314713, + "ymax": 296.5481654225408 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 675.8552654386749, + 205.61094371832024 + ], + [ + 626.9898037201727, + 213.7326494127802 + ], + [ + 668.2654391227096, + 296.5481654225408 + ], + [ + 722.001791136672, + 286.5309121717109 + ], + [ + 676.9390787873648, + 169.66581058250367 + ], + [ + 626.5920678053176, + 177.62716483426118 + ], + [ + 669.22895856688, + 259.11183263932145 + ], + [ + 724.7620982314713, + 249.22600021306684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 5125, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 539.3540402894474, + "ymin": 203.3908280667087, + "xmax": 626.579670499358, + "ymax": 328.23287219682715 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 596.5855012427214, + 248.6734849805099 + ], + [ + 543.2247355674152, + 257.89595882368707 + ], + [ + 568.845751709101, + 328.23287219682715 + ], + [ + 626.579670499358, + 317.30313518836135 + ], + [ + 594.8701741084976, + 203.3908280667087 + ], + [ + 539.3540402894474, + 212.42485503245496 + ], + [ + 565.7348576784984, + 281.60358304923477 + ], + [ + 626.0007168239543, + 270.82132753826164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1008.6943432268304, + "ymin": 443.83912186192015, + "xmax": 1046.6910525299159, + "ymax": 488.48176893987767 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1008.6943432268304, + 477.8865821355886 + ], + [ + 1016.5655799628025, + 488.48176893987767 + ], + [ + 1033.7747606324265, + 484.23489441960345 + ], + [ + 1025.7578118338556, + 473.72737241339826 + ], + [ + 1020.7098523926813, + 448.00607245665407 + ], + [ + 1028.9707804635318, + 458.626041021703 + ], + [ + 1046.6910525299159, + 454.3683597980014 + ], + [ + 1038.2758798799475, + 443.83912186192015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1242.710347434314, + "ymin": 387.260246567209, + "xmax": 1280.0, + "ymax": 430.27062964823403 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1242.710347434314, + 420.8456501387961 + ], + [ + 1252.4500325969625, + 430.27062964823403 + ], + [ + 1267.7530544990336, + 426.4941549115464 + ], + [ + 1257.901759061855, + 417.1427518743434 + ], + [ + 1261.2072658078077, + 390.9564535686558 + ], + [ + 1271.4378135028214, + 400.368386668173 + ], + [ + 1287.1364242464228, + 396.59645226179146 + ], + [ + 1276.7888402911385, + 387.260246567209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 494.9661517030373, + "ymin": 694.8533183281615, + "xmax": 522.3632035585156, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 502.3233208033202, + 736.6421859090524 + ], + [ + 522.3632035585156, + 731.1734957712938 + ], + [ + 519.5303651753688, + 717.5775762268854 + ], + [ + 499.69519194625127, + 722.9288017834836 + ], + [ + 497.63036816732483, + 714.2088687661656 + ], + [ + 518.3712366517276, + 708.654692058576 + ], + [ + 515.4877939575622, + 694.8533183281615 + ], + [ + 494.9661517030373, + 700.2842045219379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1118.4512031713837, + "ymin": 417.2802174550604, + "xmax": 1159.5963546317575, + "ymax": 461.17114231687225 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1118.4512031713837, + 451.13341667598684 + ], + [ + 1127.2336737603068, + 461.17114231687225 + ], + [ + 1143.534685019498, + 457.1483854697925 + ], + [ + 1134.6231626415765, + 447.1915117442077 + ], + [ + 1133.6168850687159, + 421.2226675405396 + ], + [ + 1142.840697374982, + 431.26631396096155 + ], + [ + 1159.5963546317575, + 427.2404024498011 + ], + [ + 1150.2365173379883, + 417.2802174550604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.1286332898528, + "ymin": 257.2305795216231, + "xmax": 1280.0, + "ymax": 646.3721500405067 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1329.296509418608, + 532.1914261103578 + ], + [ + 1316.350729487865, + 519.1773508971334 + ], + [ + 894.1286332898528, + 630.432604617398 + ], + [ + 902.6687702516253, + 646.3721500405067 + ], + [ + 1538.8443670649658, + 269.96655818550727 + ], + [ + 1518.692158957696, + 257.2305795216231 + ], + [ + 980.9655391411093, + 369.25636663492986 + ], + [ + 994.0849047197173, + 385.90994598052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 891.302954696565, + "ymin": 0.0, + "xmax": 1034.1021078229905, + "ymax": 143.5727679570553 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 981.2060219883163, + 130.11509841896728 + ], + [ + 975.5704723949709, + 124.9558805382409 + ], + [ + 891.302954696565, + 138.20210605312062 + ], + [ + 896.3766302850701, + 143.5727679570553 + ], + [ + 1034.1021078229905, + -65.93973777735766 + ], + [ + 1027.1242958393645, + -70.12557029036691 + ], + [ + 930.8134403223756, + -59.358069022296604 + ], + [ + 937.059841581779, + -54.973272735193575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 438.42062566457287, + "ymin": 526.8575454652125, + "xmax": 754.4742907616774, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 516.9866970232987, + 775.5163222308569 + ], + [ + 496.4220964709716, + 781.131731552947 + ], + [ + 663.0242146324873, + 1755.1296828732297 + ], + [ + 697.505854924646, + 1738.1334482202656 + ], + [ + 467.5909024518719, + 526.8575454652125 + ], + [ + 438.42062566457287, + 533.2405301619958 + ], + [ + 686.175946395573, + 2117.489047001532 + ], + [ + 754.4742907616774, + 2078.2918153047112 + ] + ], + "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": 1150.5468940407734, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 9.12748136144694 + }, + "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": [ + [ + 1265.6075955408378, + -101.93297949076435 + ], + [ + 1150.5468940407734, + -59.39841515978986 + ], + [ + 1364.4663308859397, + 9.12748136144694 + ], + [ + 1472.7214206210178, + -45.95403405380466 + ], + [ + 1455.7034311829289, + -556.7168957689573 + ], + [ + 1326.3732853709957, + -560.1957198886064 + ], + [ + 1665.311551629338, + -566.2792067884668 + ], + [ + 1770.6096265174372, + -561.3407422409864 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00149/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00149/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..196ccc39fdaa63369b8082d8bc00f50c8be7cb66 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00149/meta.json @@ -0,0 +1,2253 @@ +{ + "frame_id": 149, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 74.5, + "sim_timestamp": 1966.1263452030253 + }, + "drone_pose": { + "x": -122.41364257989123, + "y": -9.334947278178525, + "z": 20.0, + "pitch": -42.856070804274054, + "yaw": 15.959715721123434, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7048088312149048, + -0.2015644907951355, + 0.6801589727401733, + 74.55662536621094 + ], + [ + 0.2749614417552948, + 0.961455225944519, + 0.0, + -24.683895111083984 + ], + [ + -0.6539424657821655, + 0.1870175004005432, + 0.7330646514892578, + -96.45857238769531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -121.93409741560022, + "y": -9.2568734860713, + "z": 20.0 + }, + "t1_image_uv": [ + 485.8679604985874, + -530.7164010702261 + ], + "t1_depth": 0.3537245616394597 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -102.66718292236328, + "y": -3.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.01676046840494, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 601, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -102.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.43876463174819946, + "y": 0.42609235644340515, + "z": 0.8798199892044067 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.4021821890733, + "ymin": 323.92624840526906, + "xmax": 660.4040512379231, + "ymax": 395.6498500225936 + }, + "corners_3d": [ + [ + -102.6761474609375, + -4.299309253692627, + 0.06432753801345825 + ], + [ + -103.27873229980469, + -3.696723461151123, + 0.06432753801345825 + ], + [ + -102.65821838378906, + -3.076216697692871, + 0.06432753801345825 + ], + [ + -102.05563354492188, + -3.678802490234375, + 0.06432753801345825 + ], + [ + -102.6761474609375, + -4.299309253692627, + 1.823967456817627 + ], + [ + -103.27873229980469, + -3.696723461151123, + 1.823967456817627 + ], + [ + -102.65821838378906, + -3.076216697692871, + 1.823967456817627 + ], + [ + -102.05563354492188, + -3.678802490234375, + 1.823967456817627 + ] + ], + "corners_2d": [ + [ + 620.2676087188693, + 385.78809395928147 + ], + [ + 645.4344697798404, + 395.6498500225936 + ], + [ + 659.5544953556548, + 377.5247037859442 + ], + [ + 634.7274986187847, + 368.04310483467407 + ], + [ + 619.4021821890733, + 341.54026074429885 + ], + [ + 645.6754940578744, + 351.3421647904376 + ], + [ + 660.4040512379231, + 333.33414292667044 + ], + [ + 634.5009259841993, + 323.92624840526906 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 149, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 303947, + "2": 228314, + "3": 293093, + "4": 17932, + "6": 6390, + "7": 1925, + "9": 7268, + "10": 678, + "12": 3762, + "14": 31419, + "20": 2594, + "24": 24278 + }, + "instance_pixel_counts": { + "11605": 131333, + "15189": 13109, + "15701": 34449, + "15967": 26561, + "15970": 5098, + "16479": 20236, + "16482": 2404, + "17547": 24827, + "18059": 2943, + "19554": 6207, + "20565": 75067, + "21395": 37561, + "21397": 1666, + "21643": 30521, + "21907": 22913, + "21909": 4117, + "23957": 2317, + "24467": 71384, + "25344": 4684, + "25600": 3056, + "29523": 6821, + "29779": 31909, + "30291": 405, + "36096": 601, + "36352": 638, + "36608": 754, + "36864": 694, + "37120": 737, + "37376": 338, + "37632": 4770, + "37888": 12968, + "38912": 2387, + "40448": 6025, + "40704": 5269, + "42071": 575, + "45409": 5688, + "45971": 56511, + "46483": 42439, + "48225": 1143, + "49043": 73139, + "51526": 17932, + "53857": 8260, + "56458": 38341, + "56970": 2811, + "58506": 53274, + "60307": 3232, + "60819": 8571, + "61254": 9862, + "62867": 4375 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 601, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -102.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4190673828125, + "y": 0.4441370964050293, + "z": 0.8925989866256714 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.1914591353615, + "ymin": 323.7824944959021, + "xmax": 660.6414034421961, + "ymax": 395.7538656584638 + }, + "corners_3d": [ + [ + -102.64945983886719, + -4.298140525817871, + 0.051548540592193604 + ], + [ + -103.27755737304688, + -3.6700358390808105, + 0.051548540592193604 + ], + [ + -102.68490600585938, + -3.077385187149048, + 0.051548540592193604 + ], + [ + -102.05680847167969, + -3.7054901123046875, + 0.051548540592193604 + ], + [ + -102.64945983886719, + -4.298140525817871, + 1.8367464542388916 + ], + [ + -103.27755737304688, + -3.6700358390808105, + 1.8367464542388916 + ], + [ + -102.68490600585938, + -3.077385187149048, + 1.8367464542388916 + ], + [ + -102.05680847167969, + -3.7054901123046875, + 1.8367464542388916 + ] + ], + "corners_2d": [ + [ + 620.077574993867, + 385.4834617424798 + ], + [ + 646.294181065369, + 395.7538656584638 + ], + [ + 659.7691678833411, + 378.4343598026618 + ], + [ + 633.8907018206392, + 368.54230965571924 + ], + [ + 619.1914591353615, + 340.59642394175734 + ], + [ + 646.5774150707664, + 350.80317270827953 + ], + [ + 660.6414034421961, + 333.5968999245686 + ], + [ + 633.6242142056416, + 323.7824944959021 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 638, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -100.96695709228516, + "y": -0.6516369581222534, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4951269328594208, + "y": 0.44846853613853455, + "z": 0.9080577492713928 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 699.7012725861684, + "ymin": 270.75280364867194, + "xmax": 738.5894460505003, + "ymax": 340.7165656650674 + }, + "corners_3d": [ + [ + -101.13795471191406, + -1.2974199056625366, + 0.03609955310821533 + ], + [ + -101.62645721435547, + -0.5451854467391968, + 0.03609955310821533 + ], + [ + -100.79595947265625, + -0.005854010581970215, + 0.03609955310821533 + ], + [ + -100.30745697021484, + -0.7580884695053101, + 0.03609955310821533 + ], + [ + -101.13795471191406, + -1.2974199056625366, + 1.852215051651001 + ], + [ + -101.62645721435547, + -0.5451854467391968, + 1.852215051651001 + ], + [ + -100.79595947265625, + -0.005854010581970215, + 1.852215051651001 + ], + [ + -100.30745697021484, + -0.7580884695053101, + 1.852215051651001 + ] + ], + "corners_2d": [ + [ + 699.7012725861684, + 335.15568631469205 + ], + [ + 727.5253737463476, + 340.7165656650674 + ], + [ + 734.6219964551759, + 321.0126209535405 + ], + [ + 707.3788326067578, + 315.69960572166684 + ], + [ + 702.247854636783, + 289.9615547048172 + ], + [ + 731.2838109112957, + 295.4585110711174 + ], + [ + 738.5894460505003, + 275.9946266520458 + ], + [ + 710.185633713766, + 270.75280364867194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 754, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -104.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4357861280441284, + "y": 0.4704429507255554, + "z": 0.9389562606811523 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 866.9572177550144, + "ymin": 328.38274914905463, + "xmax": 917.2882010946778, + "ymax": 403.24979421255034 + }, + "corners_3d": [ + [ + -104.96561431884766, + 2.6150975227355957, + 0.0051961541175842285 + ], + [ + -105.55773162841797, + 3.3463034629821777, + 0.0051961541175842285 + ], + [ + -104.8803939819336, + 3.894801139831543, + 0.0051961541175842285 + ], + [ + -104.28827667236328, + 3.163595199584961, + 0.0051961541175842285 + ], + [ + -104.96561431884766, + 2.6150975227355957, + 1.8831086158752441 + ], + [ + -105.55773162841797, + 3.3463034629821777, + 1.8831086158752441 + ], + [ + -104.8803939819336, + 3.894801139831543, + 1.8831086158752441 + ], + [ + -104.28827667236328, + 3.163595199584961, + 1.8831086158752441 + ] + ], + "corners_2d": [ + [ + 866.9572177550144, + 394.3428484901251 + ], + [ + 898.7900753136553, + 403.24979421255034 + ], + [ + 904.9148120951743, + 384.065584836119 + ], + [ + 873.672489986546, + 375.5191146752181 + ], + [ + 877.6824405035966, + 347.0706741817363 + ], + [ + 911.1429831081288, + 355.92589082309007 + ], + [ + 917.2882010946778, + 336.8631062515487 + ], + [ + 884.4799594161285, + 328.38274914905463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 694, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -106.24694061279297, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.33876463770866394, + "y": 0.33809950947761536, + "z": 0.8765357732772827 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 659.3623798237875, + "ymin": 412.701383051314, + "xmax": 695.4749245172483, + "ymax": 482.890330816302 + }, + "corners_3d": [ + [ + -106.2474136352539, + -4.166378021240234, + 0.06760209798812866 + ], + [ + -106.72555541992188, + -3.6882331371307373, + 0.06760209798812866 + ], + [ + -106.24646759033203, + -3.2091476917266846, + 0.06760209798812866 + ], + [ + -105.76832580566406, + -3.6872928142547607, + 0.06760209798812866 + ], + [ + -106.2474136352539, + -4.166378021240234, + 1.8206737041473389 + ], + [ + -106.72555541992188, + -3.6882331371307373, + 1.8206737041473389 + ], + [ + -106.24646759033203, + -3.2091476917266846, + 1.8206737041473389 + ], + [ + -105.76832580566406, + -3.6872928142547607, + 1.8206737041473389 + ] + ], + "corners_2d": [ + [ + 659.3623798237875, + 473.50724157747834 + ], + [ + 681.5814850163547, + 482.890330816302 + ], + [ + 692.9489679553247, + 466.08255339178504 + ], + [ + 670.9914391251843, + 457.00667628718514 + ], + [ + 660.2932826084335, + 429.21952709801184 + ], + [ + 683.6002221534471, + 438.6242576673462 + ], + [ + 695.4749245172483, + 421.78370065492413 + ], + [ + 672.4558034839689, + 412.701383051314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 737, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -104.89160919189453, + "y": -10.533834457397461, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.4410644471645355, + "y": 0.451699823141098, + "z": 0.8797510862350464 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 379.4296085399049, + "ymin": 420.1920224064154, + "xmax": 439.7690392062482, + "ymax": 501.0887062608574 + }, + "corners_3d": [ + [ + -104.81814575195312, + -11.160869598388672, + 0.21679890155792236 + ], + [ + -105.52021789550781, + -10.592342376708984, + 0.21679890155792236 + ], + [ + -104.96507263183594, + -9.90679931640625, + 0.21679890155792236 + ], + [ + -104.26300048828125, + -10.475326538085938, + 0.21679890155792236 + ], + [ + -104.81814575195312, + -11.160869598388672, + 1.9763010740280151 + ], + [ + -105.52021789550781, + -10.592342376708984, + 1.9763010740280151 + ], + [ + -104.96507263183594, + -9.90679931640625, + 1.9763010740280151 + ], + [ + -104.26300048828125, + -10.475326538085938, + 1.9763010740280151 + ] + ], + "corners_2d": [ + [ + 391.6636544271345, + 485.69685698569117 + ], + [ + 416.18262446245615, + 501.0887062608574 + ], + [ + 439.7690392062482, + 479.7811176284826 + ], + [ + 415.4043174854088, + 465.0138629148555 + ], + [ + 379.4296085399049, + 440.9170527149221 + ], + [ + 404.98115283428433, + 456.36717184861436 + ], + [ + 429.96508047420525, + 434.98504861515033 + ], + [ + 404.5758385061529, + 420.1920224064154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 338, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -92.89622497558594, + "y": -10.786775588989258, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.30424803495407104, + "y": 0.43137815594673157, + "z": 0.8997167944908142 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 346.19662796681416, + "ymin": 180.88032222274154, + "xmax": 385.81441581261384, + "ymax": 241.00464521714505 + }, + "corners_3d": [ + [ + -92.70014953613281, + -11.276885032653809, + 0.19683808088302612 + ], + [ + -93.42371368408203, + -10.80699348449707, + 0.19683808088302612 + ], + [ + -93.09230041503906, + -10.296666145324707, + 0.19683808088302612 + ], + [ + -92.36873626708984, + -10.766557693481445, + 0.19683808088302612 + ], + [ + -92.70014953613281, + -11.276885032653809, + 1.9962716102600098 + ], + [ + -93.42371368408203, + -10.80699348449707, + 1.9962716102600098 + ], + [ + -93.09230041503906, + -10.296666145324707, + 1.9962716102600098 + ], + [ + -92.36873626708984, + -10.766557693481445, + 1.9962716102600098 + ] + ], + "corners_2d": [ + [ + 356.7664120982285, + 231.5847842258656 + ], + [ + 371.8560609757796, + 241.00464521714505 + ], + [ + 385.81441581261384, + 233.35489617005135 + ], + [ + 370.7038250087045, + 224.1197424840246 + ], + [ + 346.19662796681416, + 188.18036684872112 + ], + [ + 361.72106879819887, + 197.39964189427735 + ], + [ + 376.3058020612776, + 189.91213730456045 + ], + [ + 360.75621026740794, + 180.88032222274154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 4770, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 460.706463727761, + "ymin": 5.761437955164638, + "xmax": 544.8185273258372, + "ymax": 120.42600731716496 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 517.1353561383014, + 49.67557841832138 + ], + [ + 466.43697923022205, + 55.989685214377175 + ], + [ + 488.88632913519825, + 120.42600731716496 + ], + [ + 544.8185273258372, + 112.65799893913038 + ], + [ + 513.1238271260479, + 5.761437955164638 + ], + [ + 460.706463727761, + 11.790499824820131 + ], + [ + 483.32890788271516, + 73.56376141971913 + ], + [ + 541.3613689308539, + 66.09296920662291 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 12968, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 933.8407796466076, + "ymin": 486.3955266503236, + "xmax": 1116.2393354330345, + "ymax": 682.6749366773927 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 1021.2209997151201, + 682.6749366773927 + ], + [ + 1092.39678896374, + 661.8952197308397 + ], + [ + 998.2754911545455, + 526.7134672637104 + ], + [ + 933.8407796466076, + 543.0174659770734 + ], + [ + 1041.6812423321596, + 644.4618049608431 + ], + [ + 1116.2393354330345, + 623.2758416536811 + ], + [ + 1014.9178959790461, + 486.3955266503236 + ], + [ + 947.7104866290344, + 502.81811230696513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2387, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 542.6723563867757, + "ymin": 11.131496551699172, + "xmax": 605.4616352259338, + "ymax": 82.73749126105554 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 585.3531170316905, + 41.4515899552967 + ], + [ + 544.8241019320287, + 46.50157065337089 + ], + [ + 562.5769568527637, + 82.73749126105554 + ], + [ + 605.4616352259338, + 77.03669627929287 + ], + [ + 584.128706249131, + 11.131496551699172 + ], + [ + 542.6723563867757, + 16.021991086754838 + ], + [ + 560.7140417434285, + 51.17035128080033 + ], + [ + 604.6384970280458, + 45.6340347820402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 6025, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 631.4360272744669, + "ymin": 176.95684369830997, + "xmax": 730.6881401600627, + "ymax": 305.92928193619525 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 681.0630606063457, + 213.0504832734203 + ], + [ + 631.6926544748233, + 221.21730856628557 + ], + [ + 673.3383021750897, + 305.92928193619525 + ], + [ + 727.7009275685512, + 295.8310294074929 + ], + [ + 682.317366093341, + 176.95684369830997 + ], + [ + 631.4360272744669, + 184.96739128824655 + ], + [ + 674.4882019338653, + 268.37650375336625 + ], + [ + 730.6881401600627, + 258.4029889690804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 5269, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 543.2425920155816, + "ymin": 211.35909286759477, + "xmax": 631.1544173915345, + "ymax": 338.06835291748723 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 600.9287444810294, + 256.8098569147276 + ], + [ + 547.0028106489461, + 266.0896218457259 + ], + [ + 572.7454703335202, + 338.06835291748723 + ], + [ + 631.1544173915345, + 327.0478990251291 + ], + [ + 599.3680833454272, + 211.35909286759477 + ], + [ + 543.2425920155816, + 220.4568517871881 + ], + [ + 569.7696029162228, + 291.3158939621871 + ], + [ + 630.7682011217709, + 280.4332088647154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1021.5491532964361, + "ymin": 464.36652023448335, + "xmax": 1060.8661771391362, + "ymax": 509.521789256836 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1021.5491532964361, + 498.4727638118983 + ], + [ + 1029.6659947864127, + 509.521789256836 + ], + [ + 1047.22291065045, + 505.16246736566535 + ], + [ + 1038.9540174535273, + 494.20536569971785 + ], + [ + 1034.2469663530264, + 468.64756316257433 + ], + [ + 1042.7778372584835, + 479.73740906774776 + ], + [ + 1060.8661771391362, + 475.36103504375905 + ], + [ + 1052.1741821218234, + 464.36652023448335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1260.1792507675, + "ymin": 406.2605170831101, + "xmax": 1280.0, + "ymax": 449.7872622486094 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1260.1792507675, + 439.96476345002475 + ], + [ + 1270.2447145778774, + 449.7872622486094 + ], + [ + 1285.846905533048, + 445.91329048314685 + ], + [ + 1275.6651251555581, + 436.1678700452041 + ], + [ + 1279.6085079859404, + 410.05523765668136 + ], + [ + 1290.1954310750407, + 419.8764318720082 + ], + [ + 1306.2081940035914, + 416.00223083509127 + ], + [ + 1295.4992036227336, + 406.2605170831101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 496.8981370035412, + "ymin": 719.3963770325814, + "xmax": 524.7322794988452, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 504.29241521303527, + 761.4975200557742 + ], + [ + 524.7322794988452, + 755.8955282440286 + ], + [ + 521.8813513053402, + 741.7468433081993 + ], + [ + 501.6549530846396, + 747.2260416395411 + ], + [ + 499.5723632380412, + 739.4750217405881 + ], + [ + 520.7411295591241, + 733.7778381218434 + ], + [ + 517.8380030580246, + 719.3963770325814 + ], + [ + 496.8981370035412, + 724.9644208164319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1133.48834131909, + "ymin": 437.08565310945283, + "xmax": 1176.0934301998996, + "ymax": 481.49163128083023 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1133.48834131909, + 471.0270408613828 + ], + [ + 1142.5558289225783, + 481.49163128083023 + ], + [ + 1159.1812011847016, + 477.3636084656392 + ], + [ + 1149.9791265134545, + 466.9837604903532 + ], + [ + 1149.4593144139862, + 441.13470147472566 + ], + [ + 1158.995719342705, + 451.6191337792353 + ], + [ + 1176.0934301998996, + 447.48243698125384 + ], + [ + 1166.4150340649708, + 437.08565310945283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 902.8019427802897, + "ymin": 274.3178938129117, + "xmax": 1280.0, + "ymax": 666.3760164509432 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1345.438793996938, + 550.0851030941561 + ], + [ + 1332.1360396778728, + 536.6152340867478 + ], + [ + 902.8019427802897, + 649.873697476653 + ], + [ + 911.5347754964823, + 666.3760164509432 + ], + [ + 1564.6496439877972, + 287.6345822862892 + ], + [ + 1543.7132779598696, + 274.3178938129117 + ], + [ + 994.6408748560754, + 389.59574788702076 + ], + [ + 1008.2241790996253, + 407.04062204744326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 898.7514970350728, + "ymin": 0.0, + "xmax": 1044.4765807920721, + "ymax": 150.35443844594877 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 989.6299465647523, + 136.8228244125758 + ], + [ + 983.9115785999043, + 131.55149372960614 + ], + [ + 898.7514970350728, + 144.86811080913427 + ], + [ + 903.894208256294, + 150.35443844594877 + ], + [ + 1044.4765807920721, + -60.496759301920804 + ], + [ + 1037.3689273522198, + -64.78709567778384 + ], + [ + 939.9089972605938, + -53.92817000706816 + ], + [ + 946.2653266656905, + -49.43455817196548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 439.436130339907, + "ymin": 552.9947246915759, + "xmax": 768.6399641427761, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 519.0918719349647, + 798.3750645836806 + ], + [ + 498.1598266747351, + 804.1007710720694 + ], + [ + 666.9966633972982, + 1827.9553257240036 + ], + [ + 702.5875310813467, + 1810.1358903605194 + ], + [ + 469.33739925319264, + 552.9947246915759 + ], + [ + 439.436130339907, + 559.5962028554887 + ], + [ + 695.9372751371614, + 2292.4372592361888 + ], + [ + 768.6399641427761, + 2248.599429605686 + ] + ], + "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": 1159.666799359126, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 14.207754417256297 + }, + "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": [ + [ + 1275.5697125674137, + -98.68488823327925 + ], + [ + 1159.666799359126, + -55.73452670457266 + ], + [ + 1376.3752898091075, + 14.207754417256297 + ], + [ + 1485.4118681500518, + -41.58017574214335 + ], + [ + 1470.6539917212863, + -557.0619870865686 + ], + [ + 1340.5526003548398, + -560.5928027068518 + ], + [ + 1686.3230917419885, + -566.8439200016634 + ], + [ + 1791.6286416775736, + -561.8055919303304 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00150/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00150/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3b6c0e982ba8ba1863b3751bbdb240592ef7be7 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00150/meta.json @@ -0,0 +1,2150 @@ +{ + "frame_id": 150, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 75.0, + "sim_timestamp": 1979.7571890361141 + }, + "drone_pose": { + "x": -121.93409741560022, + "y": -9.2568734860713, + "z": 20.0, + "pitch": -42.662705772737354, + "yaw": 17.068254403981406, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.702967643737793, + -0.2158348560333252, + 0.6776812076568604, + 74.16006469726562 + ], + [ + 0.2935107350349426, + 0.9559558033943176, + 0.0, + -26.93980598449707 + ], + [ + -0.6478332281112671, + 0.19890668988227844, + 0.7353558540344238, + -95.54132843017578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -121.46011180433766, + "y": -9.188068860823533, + "z": 20.0 + }, + "t1_image_uv": [ + 437.69443345386594, + -524.7062427677413 + ], + "t1_depth": 0.34804700277647743 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -102.16718292236328, + "y": -3.187763214111328, + "z": 0.9441231966025225 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.119236277367364, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 597, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -102.16718292236328, + "y": -3.187762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.43400874733924866, + "y": 0.3856446444988251, + "z": 0.890591561794281 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.8318474562074, + "ymin": 325.1569455990589, + "xmax": 657.4472692956867, + "ymax": 394.31376134866713 + }, + "corners_3d": [ + [ + -102.60118865966797, + -3.5734076499938965, + 0.053531646728515625 + ], + [ + -102.60118865966797, + -2.8021183013916016, + 0.053531646728515625 + ], + [ + -101.7331771850586, + -2.8021183013916016, + 0.053531646728515625 + ], + [ + -101.7331771850586, + -3.5734076499938965, + 0.053531646728515625 + ], + [ + -102.60118865966797, + -3.5734076499938965, + 1.8347147703170776 + ], + [ + -102.60118865966797, + -2.8021183013916016, + 1.8347147703170776 + ], + [ + -101.7331771850586, + -2.8021183013916016, + 1.8347147703170776 + ], + [ + -101.7331771850586, + -3.5734076499938965, + 1.8347147703170776 + ] + ], + "corners_2d": [ + [ + 631.8254003914669, + 394.31376134866713 + ], + [ + 656.7083404539169, + 388.94585447514504 + ], + [ + 647.9565244830982, + 369.79522501656714 + ], + [ + 623.5478087588257, + 374.93982838604927 + ], + [ + 631.4616589696633, + 349.4884806185667 + ], + [ + 657.4472692956867, + 344.1565764243213 + ], + [ + 648.3007083510627, + 325.1569455990589 + ], + [ + 622.8318474562074, + 330.2575268824432 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 150, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 50, + "semantic_pixel_counts": { + "1": 305390, + "2": 235284, + "3": 284861, + "4": 17055, + "6": 5860, + "7": 2075, + "9": 7831, + "10": 687, + "12": 3773, + "14": 32281, + "20": 2658, + "24": 23845 + }, + "instance_pixel_counts": { + "11605": 119646, + "15189": 16329, + "15701": 34034, + "15967": 27410, + "15970": 5278, + "16479": 22866, + "16482": 2554, + "17547": 25677, + "18059": 3429, + "19554": 6309, + "20565": 71594, + "21395": 40146, + "21397": 1744, + "21643": 31349, + "21907": 17248, + "21909": 4079, + "23957": 2388, + "24467": 74698, + "25344": 4938, + "25600": 2407, + "26754": 87, + "29523": 7398, + "29779": 35286, + "30291": 574, + "36096": 597, + "36352": 584, + "36608": 718, + "36864": 709, + "37120": 770, + "37376": 395, + "37632": 4895, + "37888": 13349, + "38912": 2432, + "40448": 6185, + "40704": 5420, + "42071": 590, + "45409": 6017, + "45971": 58637, + "46483": 39530, + "48225": 456, + "49043": 75131, + "51526": 17055, + "53857": 8676, + "56458": 40610, + "56970": 367, + "58506": 54286, + "60307": 3359, + "60819": 7852, + "61254": 10402, + "62867": 4423 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 597, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -102.16718292236328, + "y": -3.187762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.5108739733695984, + "y": 0.3663147985935211, + "z": 0.8786340355873108 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.7318291781099, + "ymin": 323.95343559251944, + "xmax": 657.6232170255331, + "ymax": 395.64565505133066 + }, + "corners_3d": [ + [ + -102.67805480957031, + -3.5540778636932373, + 0.06548917293548584 + ], + [ + -102.67805480957031, + -2.8214480876922607, + 0.06548917293548584 + ], + [ + -101.65631103515625, + -2.8214480876922607, + 0.06548917293548584 + ], + [ + -101.65631103515625, + -3.5540778636932373, + 0.06548917293548584 + ], + [ + -102.67805480957031, + -3.5540778636932373, + 1.8227572441101074 + ], + [ + -102.67805480957031, + -2.8214480876922607, + 1.8227572441101074 + ], + [ + -101.65631103515625, + -2.8214480876922607, + 1.8227572441101074 + ], + [ + -101.65631103515625, + -3.5540778636932373, + 1.8227572441101074 + ] + ], + "corners_2d": [ + [ + 633.2019519877091, + 395.64565505133066 + ], + [ + 656.8851405034484, + 390.52750807871024 + ], + [ + 646.5937032291707, + 367.97845946145134 + ], + [ + 623.4410649893531, + 372.84684598802187 + ], + [ + 632.9030636306469, + 351.4125989113929 + ], + [ + 657.6232170255331, + 346.32746526183985 + ], + [ + 646.8745210822883, + 323.95343559251944 + ], + [ + 622.7318291781099, + 328.7799595065608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 584, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -100.5474853515625, + "y": 1.063684105873108, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4453173875808716, + "y": 0.4496258497238159, + "z": 0.892616868019104 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 732.5476506424616, + "ymin": 265.2339237323489, + "xmax": 776.8731295411853, + "ymax": 333.83481235619735 + }, + "corners_3d": [ + [ + -101.07655334472656, + 0.7164707779884338, + 0.051530659198760986 + ], + [ + -100.88958740234375, + 1.596071481704712, + 0.051530659198760986 + ], + [ + -100.01841735839844, + 1.4108974933624268, + 0.051530659198760986 + ], + [ + -100.20538330078125, + 0.5312966704368591, + 0.051530659198760986 + ], + [ + -101.07655334472656, + 0.7164707779884338, + 1.8367643356323242 + ], + [ + -100.88958740234375, + 1.596071481704712, + 1.8367643356323242 + ], + [ + -100.01841735839844, + 1.4108974933624268, + 1.8367643356323242 + ], + [ + -100.20538330078125, + 0.5312966704368591, + 1.8367643356323242 + ] + ], + "corners_2d": [ + [ + 747.9888445174395, + 333.83481235619735 + ], + [ + 771.4713006747143, + 324.83680825396857 + ], + [ + 755.7585104921184, + 309.2635158336375 + ], + [ + 732.5476506424616, + 317.93296949616547 + ], + [ + 752.4747846166733, + 289.47479602230544 + ], + [ + 776.8731295411853, + 280.591107135726 + ], + [ + 760.4240376201118, + 265.2339237323489 + ], + [ + 736.3180430077266, + 273.78021865665545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 718, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -104.42300415039062, + "y": 3.7549493312835693, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.40611815452575684, + "y": 0.4556698501110077, + "z": 0.9449378252029419 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 863.8998213240654, + "ymin": 325.8568916447049, + "xmax": 917.534971390995, + "ymax": 399.04028342201264 + }, + "corners_3d": [ + [ + -104.87452697753906, + 3.344226598739624, + -0.0007951855659484863 + ], + [ + -104.77926635742188, + 4.250574111938477, + -0.0007951855659484863 + ], + [ + -103.97148132324219, + 4.165672302246094, + -0.0007951855659484863 + ], + [ + -104.06674194335938, + 3.259324789047241, + -0.0007951855659484863 + ], + [ + -104.87452697753906, + 3.344226598739624, + 1.88908052444458 + ], + [ + -104.77926635742188, + 4.250574111938477, + 1.88908052444458 + ], + [ + -103.97148132324219, + 4.165672302246094, + 1.88908052444458 + ], + [ + -104.06674194335938, + 3.259324789047241, + 1.88908052444458 + ] + ], + "corners_2d": [ + [ + 879.0614947165948, + 399.04028342201264 + ], + [ + 905.0757073921368, + 390.53788975153327 + ], + [ + 889.5593326296249, + 373.24162867477895 + ], + [ + 863.8998213240654, + 381.4242662583617 + ], + [ + 890.4073601326704, + 351.4539435927221 + ], + [ + 917.534971390995, + 343.01049833993073 + ], + [ + 901.0574001209777, + 325.8568916447049 + ], + [ + 874.3140423161299, + 333.9682449020211 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 709, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -105.74694061279297, + "y": -3.187762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3233739733695984, + "y": 0.39117732644081116, + "z": 0.8618251085281372 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.2141598511206, + "ymin": 412.9838762011509, + "xmax": 698.6423030491732, + "ymax": 480.2129239264007 + }, + "corners_3d": [ + [ + -106.0703125, + -3.5789403915405273, + 0.08231276273727417 + ], + [ + -106.0703125, + -2.7965855598449707, + 0.08231276273727417 + ], + [ + -105.42356872558594, + -2.7965855598449707, + 0.08231276273727417 + ], + [ + -105.42356872558594, + -3.5789403915405273, + 0.08231276273727417 + ], + [ + -106.0703125, + -3.5789403915405273, + 1.8059630393981934 + ], + [ + -106.0703125, + -2.7965855598449707, + 1.8059630393981934 + ], + [ + -105.42356872558594, + -2.7965855598449707, + 1.8059630393981934 + ], + [ + -105.42356872558594, + -3.5789403915405273, + 1.8059630393981934 + ] + ], + "corners_2d": [ + [ + 668.6297152143869, + 480.2129239264007 + ], + [ + 696.0121613019263, + 473.6973905483185 + ], + [ + 688.1740559479069, + 456.56762492780024 + ], + [ + 661.2141598511206, + 462.8607956156032 + ], + [ + 669.9832578267269, + 436.64719788553333 + ], + [ + 698.6423030491732, + 430.12144511384486 + ], + [ + 690.3955459964105, + 412.9838762011509 + ], + [ + 662.1989910689448, + 419.2767064537335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 770, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -104.55435943603516, + "y": -10.534765243530273, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.39955082535743713, + "y": 0.3990738093852997, + "z": 0.8894691467285156 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 372.31316733426934, + "ymin": 435.40956150999637, + "xmax": 416.2907648146494, + "ymax": 508.4512954778845 + }, + "corners_3d": [ + [ + -104.91000366210938, + -10.973417282104492, + 0.2070857286453247 + ], + [ + -104.99343872070312, + -10.179641723632812, + 0.2070857286453247 + ], + [ + -104.19871520996094, + -10.096113204956055, + 0.2070857286453247 + ], + [ + -104.11528015136719, + -10.889888763427734, + 0.2070857286453247 + ], + [ + -104.91000366210938, + -10.973417282104492, + 1.986024022102356 + ], + [ + -104.99343872070312, + -10.179641723632812, + 1.986024022102356 + ], + [ + -104.19871520996094, + -10.096113204956055, + 1.986024022102356 + ], + [ + -104.11528015136719, + -10.889888763427734, + 1.986024022102356 + ] + ], + "corners_2d": [ + [ + 385.2163378678912, + 508.4512954778845 + ], + [ + 416.2907648146494, + 503.8177382355624 + ], + [ + 415.58015860532754, + 480.737842636262 + ], + [ + 385.2029777106542, + 485.1653330950392 + ], + [ + 372.31316733426934, + 463.213848756458 + ], + [ + 405.0146881964132, + 458.559846330386 + ], + [ + 404.5345941747544, + 435.40956150999637 + ], + [ + 372.6043462551027, + 439.8464991467074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 395, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -91.70355224609375, + "y": -10.790035247802734, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.32823729515075684, + "y": 0.302603155374527, + "z": 0.8804398775100708 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 330.1314307566837, + "ymin": 179.8746338428734, + "xmax": 360.605136466482, + "ymax": 233.431191628146 + }, + "corners_3d": [ + [ + -91.96170043945312, + -11.15427017211914, + 0.21611499786376953 + ], + [ + -92.08753204345703, + -10.562289237976074, + 0.21611499786376953 + ], + [ + -91.44540405273438, + -10.425800323486328, + 0.21611499786376953 + ], + [ + -91.31957244873047, + -11.017781257629395, + 0.21611499786376953 + ], + [ + -91.96170043945312, + -11.15427017211914, + 1.9769947528839111 + ], + [ + -92.08753204345703, + -10.562289237976074, + 1.9769947528839111 + ], + [ + -91.44540405273438, + -10.425800323486328, + 1.9769947528839111 + ], + [ + -91.31957244873047, + -11.017781257629395, + 1.9769947528839111 + ] + ], + "corners_2d": [ + [ + 340.98556849849416, + 233.431191628146 + ], + [ + 358.29842907585646, + 232.557289102087 + ], + [ + 360.605136466482, + 222.0293794190549 + ], + [ + 343.5358680070236, + 222.87913823773755 + ], + [ + 330.1314307566837, + 191.02330853846564 + ], + [ + 348.08495765883373, + 190.16837725655358 + ], + [ + 350.62116112922257, + 179.8746338428734 + ], + [ + 332.92944776081305, + 180.70510714473846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 4895, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 442.07942568173917, + "ymin": 14.888375756744551, + "xmax": 528.4812445390558, + "ymax": 131.17932565707835 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 499.6439149869413, + 58.96024738056491 + ], + [ + 448.44312679342534, + 65.82122544010156 + ], + [ + 471.99018082137343, + 131.17932565707835 + ], + [ + 528.4812445390558, + 122.72646176952554 + ], + [ + 495.03710454468774, + 14.888375756744551 + ], + [ + 442.07942568173917, + 21.442008241311555 + ], + [ + 465.7681174223199, + 84.12689251847598 + ], + [ + 524.4064378683117, + 75.99372318836453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 13349, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 928.3179565792749, + "ymin": 499.407086091681, + "xmax": 1114.2142770180044, + "ymax": 699.5363902498692 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 1019.252926994577, + 699.5363902498692 + ], + [ + 1090.3074973151006, + 676.8603766442047 + ], + [ + 992.7536273578199, + 539.7024786215884 + ], + [ + 928.3179565792749, + 557.4590522301394 + ], + [ + 1039.7879801728623, + 661.516902417741 + ], + [ + 1114.2142770180044, + 638.3786235778334 + ], + [ + 1009.2436026083726, + 499.407086091681 + ], + [ + 942.031326519147, + 517.3040375015271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2432, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 525.0196715173179, + "ymin": 19.61581985707727, + "xmax": 589.2030103304254, + "ymax": 92.1385449218015 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 568.4019999042292, + 50.02353972347436 + ], + [ + 527.5734839918166, + 55.49724791833489 + ], + [ + 546.0066910313047, + 92.1385449218015 + ], + [ + 589.2030103304254, + 85.95533352364333 + ], + [ + 566.7913118065786, + 19.61581985707727 + ], + [ + 525.0196715173179, + 24.91768489872993 + ], + [ + 543.7334985560291, + 60.46725735721583 + ], + [ + 587.9871136556168, + 54.46111218703487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 6185, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 617.1670561054232, + "ymin": 187.32080474867155, + "xmax": 718.5734786267377, + "ymax": 318.381796801909 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 667.5584083769086, + 223.5118609343806 + ], + [ + 617.8556011693006, + 232.39218033069187 + ], + [ + 661.2612204295456, + 318.381796801909 + ], + [ + 715.9693363097792, + 307.3843574216768 + ], + [ + 668.4049340131894, + 187.32080474867155 + ], + [ + 617.1670561054232, + 196.03434978708486 + ], + [ + 661.9999979754135, + 280.73897076775665 + ], + [ + 718.5734786267377, + 269.8724052712759 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 5420, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 528.4503263151364, + "ymin": 223.4889824194709, + "xmax": 618.939677475209, + "ymax": 352.57473726256393 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 587.293434432646, + 269.0793891577902 + ], + [ + 532.8217786737574, + 279.2102151178011 + ], + [ + 559.937748215892, + 352.57473726256393 + ], + [ + 618.939677475209, + 340.52434239958205 + ], + [ + 585.1718854113886, + 223.4889824194709 + ], + [ + 528.4503263151364, + 233.427424521249 + ], + [ + 556.3609509413677, + 305.70477808597417 + ], + [ + 618.0122963251221, + 293.795908861692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1018.4994397903931, + "ymin": 481.5195168968884, + "xmax": 1058.254138572354, + "ymax": 527.3290018565478 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1018.4994397903931, + 516.023660960981 + ], + [ + 1026.9651805653957, + 527.3290018565478 + ], + [ + 1044.5539906351999, + 522.5413822659032 + ], + [ + 1035.9382052356789, + 511.3381556941915 + ], + [ + 1031.2347970907692, + 486.2232831100422 + ], + [ + 1040.131633853507, + 497.57855425047103 + ], + [ + 1058.254138572354, + 492.7687765388988 + ], + [ + 1049.198337414149, + 481.5195168968884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.5135802986738, + "ymin": 418.01912593437584, + "xmax": 1280.0, + "ymax": 462.0256031698106 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1256.5135802986738, + 452.0735803087241 + ], + [ + 1266.8788374035257, + 462.0256031698106 + ], + [ + 1282.356196119214, + 457.8127125776134 + ], + [ + 1271.8793070027355, + 447.94506449110554 + ], + [ + 1275.942569319984, + 422.14672230384724 + ], + [ + 1286.8421725465087, + 432.10105030056167 + ], + [ + 1302.7223093533835, + 427.88640349642816 + ], + [ + 1291.705728699261, + 418.01912593437584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1130.4394576584577, + "ymin": 451.62658767773087, + "xmax": 1173.3803311847519, + "ymax": 496.60524842742154 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1130.4394576584577, + 485.9472461522074 + ], + [ + 1139.838447429031, + 496.60524842742154 + ], + [ + 1156.4171360704568, + 492.0925807590641 + ], + [ + 1146.886992139585, + 481.52806810437966 + ], + [ + 1146.4487984816633, + 456.05441231571393 + ], + [ + 1156.3323403938753, + 466.73847021917413 + ], + [ + 1173.3803311847519, + 462.21387235562537 + ], + [ + 1163.3585263092994, + 451.62658767773087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 899.2239759628394, + "ymin": 282.0590203553361, + "xmax": 1280.0, + "ymax": 684.7511248871631 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1340.2493869029722, + 558.0421447841491 + ], + [ + 1326.651247369652, + 544.514771008254 + ], + [ + 899.2239759628394, + 667.897041299092 + ], + [ + 908.3729494723889, + 684.7511248871631 + ], + [ + 1558.2104634850168, + 295.44292073721226 + ], + [ + 1536.8919332443554, + 282.0590203553361 + ], + [ + 990.9951471259794, + 408.1135356048622 + ], + [ + 1005.21025281386, + 426.0530676579888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 885.072566457503, + "ymin": 0.0, + "xmax": 1028.3853556845247, + "ymax": 157.49318653761722 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 975.7407172418236, + 142.9320360693177 + ], + [ + 969.9204750472602, + 137.65650452646642 + ], + [ + 885.072566457503, + 151.98597661493818 + ], + [ + 890.3292193104336, + 157.49318653761722 + ], + [ + 1028.3853556845247, + -54.44489979275687 + ], + [ + 1021.1802045204108, + -58.738141550076364 + ], + [ + 924.1044273072296, + -47.05192897473671 + ], + [ + 930.5749262356543, + -42.53960011391416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 426.81976137763036, + "ymin": 587.4906848233397, + "xmax": 802.8594624318112, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 511.7497158319082, + 829.160260649357 + ], + [ + 490.3937679541521, + 835.5586118189699 + ], + [ + 679.8681503144007, + 1915.942655997245 + ], + [ + 716.4501877238404, + 1895.4210066936917 + ], + [ + 457.6153083178087, + 587.4906848233397 + ], + [ + 426.81976137763036, + 594.9805013481076 + ], + [ + 725.7517452566507, + 2507.774065049105 + ], + [ + 802.8594624318112, + 2453.456613758307 + ] + ], + "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": 1140.1931404743873, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 15.889672898158153 + }, + "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": [ + [ + 1253.6016895227424, + -96.26298240800259 + ], + [ + 1140.1931404743873, + -52.52991804796562 + ], + [ + 1355.866439234423, + 15.889672898158153 + ], + [ + 1461.4213073848591, + -40.67654652212428 + ], + [ + 1439.7753755170002, + -550.7623943017741 + ], + [ + 1312.7941691575593, + -554.3398260127161 + ], + [ + 1653.5694487409055, + -560.4195231277433 + ], + [ + 1754.5226974125744, + -555.349183041386 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00151/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00151/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5991fbae588c46a6066a891512fd445e26d1efc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00151/meta.json @@ -0,0 +1,2147 @@ +{ + "frame_id": 151, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 75.5, + "sim_timestamp": 1991.4578932307195 + }, + "drone_pose": { + "x": -121.46011180433766, + "y": -9.188068860823533, + "z": 20.0, + "pitch": -42.6560072010082, + "yaw": 16.86489000945812, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7038052082061768, + -0.21336135268211365, + 0.6775951981544495, + 73.89273071289062 + ], + [ + 0.2901158034801483, + 0.9569915533065796, + 0.0, + -26.444595336914062 + ], + [ + -0.6484528183937073, + 0.19658108055591583, + 0.7354351282119751, + -95.27606201171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -120.93522375655083, + "y": -9.042073794463198, + "z": 20.0 + }, + "t1_image_uv": [ + 609.8933219756085, + -524.4987089324673 + ], + "t1_depth": 0.4005686177725907 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -101.66718292236328, + "y": -3.187763214111328, + "z": 0.9441671419140403 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.122739331298618, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 585, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -101.66718292236328, + "y": -3.187762975692749, + "z": 0.9441671371459961 + }, + "extent": { + "x": 0.39131835103034973, + "y": 0.46106353402137756, + "z": 0.9038532972335815 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.3019681296776, + "ymin": 324.0440507397611, + "xmax": 660.5572488357022, + "ymax": 395.4512438802792 + }, + "corners_3d": [ + [ + -101.61786651611328, + -3.7904880046844482, + 0.04031383991241455 + ], + [ + -102.26990509033203, + -3.1384456157684326, + 0.04031383991241455 + ], + [ + -101.71649932861328, + -2.58503794670105, + 0.04031383991241455 + ], + [ + -101.06446075439453, + -3.2370803356170654, + 0.04031383991241455 + ], + [ + -101.61786651611328, + -3.7904880046844482, + 1.8480204343795776 + ], + [ + -102.26990509033203, + -3.1384456157684326, + 1.8480204343795776 + ], + [ + -101.71649932861328, + -2.58503794670105, + 1.8480204343795776 + ], + [ + -101.06446075439453, + -3.2370803356170654, + 1.8480204343795776 + ] + ], + "corners_2d": [ + [ + 620.1871543143418, + 385.1797654885368 + ], + [ + 647.5269126852332, + 395.4512438802792 + ], + [ + 659.6838099178392, + 379.25457506331895 + ], + [ + 632.6867441117315, + 369.33964372635273 + ], + [ + 619.3019681296776, + 339.7533009408014 + ], + [ + 647.8671642052897, + 349.9529862743603 + ], + [ + 660.5572488357022, + 333.8742039815809 + ], + [ + 632.365945948077, + 324.0440507397611 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 151, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 304852, + "2": 235916, + "3": 285896, + "4": 17262, + "6": 5243, + "7": 1693, + "9": 7815, + "10": 685, + "12": 3836, + "14": 33406, + "20": 2652, + "24": 22344 + }, + "instance_pixel_counts": { + "11605": 114737, + "15189": 18237, + "15701": 35874, + "15967": 28632, + "15970": 5491, + "16479": 20857, + "16482": 2243, + "17547": 26759, + "18059": 2410, + "19554": 6557, + "20565": 72822, + "21395": 41724, + "21397": 1801, + "21643": 32078, + "21907": 12621, + "21909": 3073, + "23957": 2524, + "24467": 78007, + "25344": 4502, + "25600": 1815, + "29523": 8193, + "29779": 35242, + "30291": 791, + "36096": 585, + "36352": 640, + "36608": 746, + "36864": 690, + "37120": 793, + "37376": 382, + "37632": 4978, + "37888": 14003, + "38912": 2487, + "40448": 6367, + "40704": 5571, + "42071": 619, + "45409": 6233, + "45971": 60775, + "46483": 33413, + "49043": 78312, + "51526": 17262, + "53857": 8912, + "56458": 42058, + "58506": 53686, + "60307": 3523, + "60819": 6736, + "61254": 10467, + "62867": 4687 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 585, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -101.66718292236328, + "y": -3.187762975692749, + "z": 0.9441671371459961 + }, + "extent": { + "x": 0.4951757788658142, + "y": 0.3991744816303253, + "z": 0.9091188311576843 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.4288221477519, + "ymin": 322.5140395546114, + "xmax": 660.2997158129162, + "ymax": 397.0712013506327 + }, + "corners_3d": [ + [ + -101.73506927490234, + -3.820164203643799, + 0.03504830598831177 + ], + [ + -102.2995834350586, + -3.255645990371704, + 0.03504830598831177 + ], + [ + -101.59929656982422, + -2.555361747741699, + 0.03504830598831177 + ], + [ + -101.03478240966797, + -3.119879961013794, + 0.03504830598831177 + ], + [ + -101.73506927490234, + -3.820164203643799, + 1.8532860279083252 + ], + [ + -102.2995834350586, + -3.255645990371704, + 1.8532860279083252 + ], + [ + -101.59929656982422, + -2.555361747741699, + 1.8532860279083252 + ], + [ + -101.03478240966797, + -3.119879961013794, + 1.8532860279083252 + ] + ], + "corners_2d": [ + [ + 620.3163501729498, + 388.13623418063287 + ], + [ + 644.0229557216893, + 397.0712013506327 + ], + [ + 659.4349655915651, + 376.60525548196864 + ], + [ + 636.1036988216664, + 368.06089214228206 + ], + [ + 619.4288221477519, + 342.4239452564179 + ], + [ + 644.2062060024214, + 351.29798779479387 + ], + [ + 660.2997158129162, + 330.9831658821048 + ], + [ + 635.9320508957451, + 322.5140395546114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 640, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -99.86548614501953, + "y": 2.0324106216430664, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4033447206020355, + "y": 0.47075948119163513, + "z": 0.9075784087181091 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 761.3129482754875, + "ymin": 258.0993113757957, + "xmax": 800.7727409854713, + "ymax": 323.277013565055 + }, + "corners_3d": [ + [ + -99.9473648071289, + 1.4179211854934692, + 0.03656911849975586 + ], + [ + -100.46015167236328, + 2.207545042037964, + 0.03656911849975586 + ], + [ + -99.78360748291016, + 2.646900177001953, + 0.03656911849975586 + ], + [ + -99.27082061767578, + 1.8572760820388794, + 0.03656911849975586 + ], + [ + -99.9473648071289, + 1.4179211854934692, + 1.8517259359359741 + ], + [ + -100.46015167236328, + 2.207545042037964, + 1.8517259359359741 + ], + [ + -99.78360748291016, + 2.646900177001953, + 1.8517259359359741 + ], + [ + -99.27082061767578, + 1.8572760820388794, + 1.8517259359359741 + ] + ], + "corners_2d": [ + [ + 761.3129482754875, + 318.00283019765783 + ], + [ + 790.3189439148673, + 323.277013565055 + ], + [ + 794.4568067391522, + 307.8451693164824 + ], + [ + 765.9502910018384, + 302.7606731711404 + ], + [ + 766.3366332327496, + 273.1157040603132 + ], + [ + 796.5843875581623, + 278.3170082931123 + ], + [ + 800.7727409854713, + 263.1059970901964 + ], + [ + 771.0678182751841, + 258.0993113757957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 746, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -103.92300415039062, + "y": 3.7549493312835693, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5254198908805847, + "y": 0.4810827672481537, + "z": 0.9354267716407776 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 864.7539126037345, + "ymin": 324.0935371906429, + "xmax": 916.1773617379624, + "ymax": 402.22500828260155 + }, + "corners_3d": [ + [ + -104.02857971191406, + 3.0504202842712402, + 0.008720755577087402 + ], + [ + -104.63408660888672, + 3.798163890838623, + 0.008720755577087402 + ], + [ + -103.81742858886719, + 4.459478378295898, + 0.008720755577087402 + ], + [ + -103.21192169189453, + 3.7117347717285156, + 0.008720755577087402 + ], + [ + -104.02857971191406, + 3.0504202842712402, + 1.8795742988586426 + ], + [ + -104.63408660888672, + 3.798163890838623, + 1.8795742988586426 + ], + [ + -103.81742858886719, + 4.459478378295898, + 1.8795742988586426 + ], + [ + -103.21192169189453, + 3.7117347717285156, + 1.8795742988586426 + ] + ], + "corners_2d": [ + [ + 864.7539126037345, + 393.53276368812453 + ], + [ + 897.2666144325099, + 402.22500828260155 + ], + [ + 904.0524603072406, + 379.24962831954275 + ], + [ + 872.2763556634454, + 370.9811154409091 + ], + [ + 875.2450024188882, + 346.4619252141116 + ], + [ + 909.394398853613, + 355.0972370424926 + ], + [ + 916.1773617379624, + 332.2889063126586 + ], + [ + 882.8401242965415, + 324.0935371906429 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 690, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -105.24694061279297, + "y": -3.187762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44819334149360657, + "y": 0.43233534693717957, + "z": 0.8786269426345825 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 656.4292006712581, + "ymin": 407.8783824790777, + "xmax": 702.2654537892628, + "ymax": 485.7280050643639 + }, + "corners_3d": [ + [ + -105.2581558227539, + -3.8103907108306885, + 0.06551092863082886 + ], + [ + -105.86956787109375, + -3.1989760398864746, + 0.06551092863082886 + ], + [ + -105.23572540283203, + -2.5651352405548096, + 0.06551092863082886 + ], + [ + -104.62431335449219, + -3.1765499114990234, + 0.06551092863082886 + ], + [ + -105.2581558227539, + -3.8103907108306885, + 1.8227648735046387 + ], + [ + -105.86956787109375, + -3.1989760398864746, + 1.8227648735046387 + ], + [ + -105.23572540283203, + -2.5651352405548096, + 1.8227648735046387 + ], + [ + -104.62431335449219, + -3.1765499114990234, + 1.8227648735046387 + ] + ], + "corners_2d": [ + [ + 656.4292006712581, + 474.10277674038014 + ], + [ + 685.0387124624341, + 485.7280050643639 + ], + [ + 699.4506628682409, + 463.4312200744486 + ], + [ + 671.3032588919988, + 452.31066675445066 + ], + [ + 657.215873428102, + 429.67522988530493 + ], + [ + 687.2216054114334, + 441.3216275586376 + ], + [ + 702.2654537892628, + 418.9956646284592 + ], + [ + 672.7679001810665, + 407.8783824790777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 793, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -104.0548095703125, + "y": -10.53614616394043, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.380683571100235, + "y": 0.46142393350601196, + "z": 0.9035767316818237 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 363.94501100951334, + "ymin": 431.3627650843361, + "xmax": 423.1114550587591, + "ymax": 511.30846428058885 + }, + "corners_3d": [ + [ + -103.935791015625, + -11.122376441955566, + 0.1929781436920166 + ], + [ + -104.6529769897461, + -10.541609764099121, + 0.1929781436920166 + ], + [ + -104.173828125, + -9.949915885925293, + 0.1929781436920166 + ], + [ + -103.4566421508789, + -10.530682563781738, + 0.1929781436920166 + ], + [ + -103.935791015625, + -11.122376441955566, + 2.000131607055664 + ], + [ + -104.6529769897461, + -10.541609764099121, + 2.000131607055664 + ], + [ + -104.173828125, + -9.949915885925293, + 2.000131607055664 + ], + [ + -103.4566421508789, + -10.530682563781738, + 2.000131607055664 + ] + ], + "corners_2d": [ + [ + 377.28383684614744, + 495.74217876633577 + ], + [ + 402.6529971237783, + 511.30846428058885 + ], + [ + 423.1114550587591, + 492.4265755586446 + ], + [ + 397.89599676406954, + 477.41852630737696 + ], + [ + 363.94501100951334, + 449.7316995065635 + ], + [ + 390.40888456363064, + 465.36279147403667 + ], + [ + 412.13702205195506, + 446.4054206037013 + ], + [ + 385.83547611347274, + 431.3627650843361 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 382, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -91.20164489746094, + "y": -10.791417121887207, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.2796289026737213, + "y": 0.385855108499527, + "z": 0.8742058873176575 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 328.0193100196825, + "ymin": 177.79958351197945, + "xmax": 364.89850259471774, + "ymax": 234.48099826901873 + }, + "corners_3d": [ + [ + -91.03033447265625, + -11.236085891723633, + 0.22234898805618286 + ], + [ + -91.67754364013672, + -10.815781593322754, + 0.22234898805618286 + ], + [ + -91.37295532226562, + -10.346748352050781, + 0.22234898805618286 + ], + [ + -90.72574615478516, + -10.76705265045166, + 0.22234898805618286 + ], + [ + -91.03033447265625, + -11.236085891723633, + 1.9707608222961426 + ], + [ + -91.67754364013672, + -10.815781593322754, + 1.9707608222961426 + ], + [ + -91.37295532226562, + -10.346748352050781, + 1.9707608222961426 + ], + [ + -90.72574615478516, + -10.76705265045166, + 1.9707608222961426 + ] + ], + "corners_2d": [ + [ + 338.76970517118974, + 226.40502154577163 + ], + [ + 352.1812212303325, + 234.48099826901873 + ], + [ + 364.89850259471774, + 227.52905378801626 + ], + [ + 351.4744425433758, + 219.59957197628694 + ], + [ + 328.0193100196825, + 184.45196580243504 + ], + [ + 341.79500079070465, + 192.35188429610443 + ], + [ + 355.06537785013677, + 185.55113056221398 + ], + [ + 341.27407872493023, + 177.79958351197945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 4978, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 445.5375175788729, + "ymin": 19.173861553866345, + "xmax": 532.3699350660323, + "ymax": 136.78263338317407 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 503.4054931345938, + 63.437959488335935 + ], + [ + 451.8353573272351, + 70.32102436987259 + ], + [ + 475.4146390848244, + 136.78263338317407 + ], + [ + 532.3699350660323, + 128.28647679969075 + ], + [ + 498.8883502460119, + 19.173861553866345 + ], + [ + 445.5375175788729, + 25.75175060577476 + ], + [ + 469.2675023225131, + 89.52974922539289 + ], + [ + 528.4035859135676, + 81.34997389248446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 14003, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 937.7347722298638, + "ymin": 516.0278916090272, + "xmax": 1128.26568305325, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 1030.9664355874115, + 721.2871037960931 + ], + [ + 1103.2206970617635, + 698.072902194829 + ], + [ + 1003.1396410115437, + 556.1965348879997 + ], + [ + 937.7347722298638, + 574.2958297171774 + ], + [ + 1052.5283577048185, + 683.74854444477 + ], + [ + 1128.26568305325, + 660.0165393196226 + ], + [ + 1020.3868580559383, + 516.0278916090272 + ], + [ + 952.1238768132716, + 534.2966501451782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2487, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 529.0561109186601, + "ymin": 23.933905558650338, + "xmax": 593.6069830243572, + "ymax": 97.2181477624734 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 572.6671751756082, + 54.47530594837559 + ], + [ + 531.538326810585, + 59.967435924317726 + ], + [ + 550.0680985149373, + 97.2181477624734 + ], + [ + 593.6069830243572, + 91.00735054412166 + ], + [ + 571.1410280136108, + 23.933905558650338 + ], + [ + 529.0561109186601, + 29.255381388105263 + ], + [ + 547.8755751078041, + 65.40911696253761 + ], + [ + 592.4875012955699, + 59.373882874376136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 6367, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 621.9373872563258, + "ymin": 194.894684652091, + "xmax": 724.5509170111825, + "ymax": 328.1342837103166 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 672.6918465691479, + 231.22758899792439 + ], + [ + 622.4875259253009, + 240.18493110714525 + ], + [ + 666.3863789702291, + 328.1342837103166 + ], + [ + 721.7169924488533, + 317.0129948311017 + ], + [ + 673.7064283840268, + 194.894684652091 + ], + [ + 621.9373872563258, + 203.68924507821106 + ], + [ + 667.3139704957656, + 290.38530865499735 + ], + [ + 724.5509170111825, + 279.38778927182534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 5571, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 532.2978155415235, + "ymin": 231.8247648592984, + "xmax": 623.5838370299517, + "ymax": 362.8819127422342 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 591.6047504158522, + 277.573890345748 + ], + [ + 536.5624216494953, + 287.8008217014381 + ], + [ + 563.8993714837777, + 362.8819127422342 + ], + [ + 623.5838370299517, + 350.6912386806492 + ], + [ + 589.6356157439499, + 231.8247648592984 + ], + [ + 532.2978155415235, + 241.8659600186379 + ], + [ + 560.4587196454779, + 315.90387520667264 + ], + [ + 622.8522822407738, + 303.8440828500364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1032.370896012824, + "ymin": 503.0874123740034, + "xmax": 1073.550205123333, + "ymax": 549.4303031674549 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1032.370896012824, + 537.6370181337395 + ], + [ + 1041.1213517456074, + 549.4303031674549 + ], + [ + 1059.0543729671017, + 544.4981902248436 + ], + [ + 1050.1476321047344, + 532.8123897294224 + ], + [ + 1045.8535913504727, + 507.93752602516173 + ], + [ + 1055.0630924994034, + 519.7994832475079 + ], + [ + 1073.550205123333, + 514.8375492467837 + ], + [ + 1064.1749660109504, + 503.0874123740034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1274.8738371982586, + "ymin": 437.65407798199135, + "xmax": 1280.0, + "ymax": 482.1916739990624 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1274.8738371982586, + 471.8217784602138 + ], + [ + 1285.6004261713283, + 482.1916739990624 + ], + [ + 1301.3627056462574, + 477.85657785148646 + ], + [ + 1290.520159766518, + 467.5753454081525 + ], + [ + 1295.2941631821998, + 441.9049017595673 + ], + [ + 1306.588922327215, + 452.2904194132254 + ], + [ + 1322.7680483196682, + 447.9479464875807 + ], + [ + 1311.351705601127, + 437.65407798199135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.4553623838651, + "ymin": 472.2746364042015, + "xmax": 1190.952277437683, + "ymax": 517.7864809483494 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1146.4553623838651, + 506.67435130337753 + ], + [ + 1156.1773818867096, + 517.7864809483494 + ], + [ + 1173.071454466282, + 513.1401097098402 + ], + [ + 1163.2129958245405, + 502.1263086329455 + ], + [ + 1163.3340172935264, + 476.8375988543344 + ], + [ + 1173.571669189315, + 487.99182631280866 + ], + [ + 1190.952277437683, + 483.32687766586764 + ], + [ + 1180.5706741274564, + 472.2746364042015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 908.6028262410091, + "ymin": 299.5353404878176, + "xmax": 1280.0, + "ymax": 705.6227806836384 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1356.8648694579565, + 576.1545918231136 + ], + [ + 1342.880798246466, + 562.1615634165512 + ], + [ + 908.6028262410091, + 688.1702753791957 + ], + [ + 917.9817612572617, + 705.6227806836384 + ], + [ + 1584.8553490982406, + 313.52126279534434 + ], + [ + 1562.6930432417673, + 299.5353404878176 + ], + [ + 1005.8711041295167, + 429.6929227565869 + ], + [ + 1020.6301178647009, + 448.49639092817927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.3365391347514, + "ymin": 0.0, + "xmax": 1038.4826774231958, + "ymax": 164.40640237728695 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 983.9375891579659, + 149.72565963834688 + ], + [ + 978.028134029832, + 144.33901688791974 + ], + [ + 892.3365391347514, + 158.783603462193 + ], + [ + 897.6695035697351, + 164.40640237728695 + ], + [ + 1038.4826774231958, + -48.86407820803021 + ], + [ + 1031.140451436632, + -53.261185681930556 + ], + [ + 932.9788295843659, + -41.44491810727345 + ], + [ + 939.567792014675, + -36.82344993876228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 428.5170817799665, + "ymin": 616.3460709626079, + "xmax": 826.8955776988425, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 514.4644104068491, + 853.7117277652936 + ], + [ + 492.71954709654756, + 860.2646532748968 + ], + [ + 686.5926628253892, + 1998.7809735884387 + ], + [ + 724.3967690250072, + 1977.1075025594575 + ], + [ + 460.11204220455375, + 616.3460709626079 + ], + [ + 428.5170817799665, + 624.1349765551076 + ], + [ + 744.2760660363701, + 2737.6841245651713 + ], + [ + 826.8955776988425, + 2675.63372515347 + ] + ], + "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": 1148.6582972890058, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 20.883673263300807 + }, + "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": [ + [ + 1262.7422409487763, + -93.01870449033362 + ], + [ + 1148.6582972890058, + -48.85063130345367 + ], + [ + 1367.0312483406028, + 20.883673263300807 + ], + [ + 1473.1455492567575, + -36.404714703232344 + ], + [ + 1453.4338328981182, + -550.7959419955978 + ], + [ + 1325.9161105377116, + -554.4259092304881 + ], + [ + 1673.1732283027857, + -560.6610589353534 + ], + [ + 1773.8197069664946, + -555.4915979126823 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00152/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00152/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43b7ee549e8e78e779f3996ddcdbd1ed6bebf6aa --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00152/meta.json @@ -0,0 +1,2148 @@ +{ + "frame_id": 152, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 76.0, + "sim_timestamp": 2002.5063420839142 + }, + "drone_pose": { + "x": -120.93522375655083, + "y": -9.042073794463198, + "z": 20.0, + "pitch": -42.54340470206563, + "yaw": 17.819670323579754, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7014185786247253, + -0.2254665046930313, + 0.676148533821106, + 73.34193420410156 + ], + [ + 0.30602213740348816, + 0.9520244002342224, + -7.450580596923828e-09, + -28.400585174560547 + ], + [ + -0.6437098979949951, + 0.2069164216518402, + 0.7367653250694275, + -94.45346069335938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -120.22174672768688, + "y": -8.651914880985466, + "z": 20.0 + }, + "t1_image_uv": [ + 889.7850571842969, + -521.0167565597059 + ], + "t1_depth": 0.5884138034579975 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -101.16718292236328, + "y": -2.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.18294515749109, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 597, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -101.16718292236328, + "y": -2.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5313427448272705, + "y": 0.377241849899292, + "z": 0.8793120384216309 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.0320340830324, + "ymin": 323.4453698967632, + "xmax": 658.3465983665704, + "ymax": 396.2014815183242 + }, + "corners_3d": [ + [ + -101.69852447509766, + -3.065004825592041, + 0.06483060121536255 + ], + [ + -101.69852447509766, + -2.310521125793457, + 0.06483060121536255 + ], + [ + -100.6358413696289, + -2.310521125793457, + 0.06483060121536255 + ], + [ + -100.6358413696289, + -3.065004825592041, + 0.06483060121536255 + ], + [ + -101.69852447509766, + -3.065004825592041, + 1.8234546184539795 + ], + [ + -101.69852447509766, + -2.310521125793457, + 1.8234546184539795 + ], + [ + -100.6358413696289, + -2.310521125793457, + 1.8234546184539795 + ], + [ + -100.6358413696289, + -3.065004825592041, + 1.8234546184539795 + ] + ], + "corners_2d": [ + [ + 633.3375352976785, + 396.2014815183242 + ], + [ + 657.5808599164951, + 390.7248390322058 + ], + [ + 646.4538456759523, + 367.4789505808933 + ], + [ + 622.7671262369835, + 372.6790903213326 + ], + [ + 633.0455306165393, + 351.9408925468019 + ], + [ + 658.3465983665704, + 346.501500969024 + ], + [ + 646.7274736347385, + 323.4453698967632 + ], + [ + 622.0320340830324, + 328.5986181595241 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 152, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 307680, + "2": 243402, + "3": 275957, + "4": 17802, + "6": 4471, + "7": 1760, + "9": 8332, + "10": 697, + "12": 3750, + "14": 34296, + "20": 2749, + "24": 20704 + }, + "instance_pixel_counts": { + "11605": 104650, + "15189": 15159, + "15701": 39050, + "15967": 29614, + "15970": 5701, + "16479": 23160, + "16482": 2366, + "17547": 27751, + "18059": 2709, + "19554": 6718, + "20565": 68860, + "21395": 44129, + "21397": 1912, + "21643": 33210, + "21907": 7512, + "21909": 1788, + "23957": 2444, + "24467": 81983, + "25344": 4678, + "25600": 912, + "26754": 80, + "29523": 8803, + "29779": 38402, + "30291": 1033, + "36096": 597, + "36352": 546, + "36608": 764, + "36864": 660, + "37120": 811, + "37376": 372, + "37632": 5124, + "37888": 14318, + "38912": 2542, + "40448": 6557, + "40704": 5755, + "42071": 641, + "45409": 6598, + "45971": 63635, + "46483": 29345, + "49043": 81076, + "51526": 17802, + "53857": 8624, + "56458": 44632, + "58506": 52319, + "60307": 3677, + "60819": 6030, + "61254": 11001, + "62867": 4853 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 597, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -101.16718292236328, + "y": -2.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5122948884963989, + "y": 0.3708404004573822, + "z": 0.8865596055984497 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.4320091192438, + "ymin": 323.7020207367219, + "xmax": 657.9227710529673, + "ymax": 395.89708400378845 + }, + "corners_3d": [ + [ + -101.67948150634766, + -3.058603286743164, + 0.0575830340385437 + ], + [ + -101.67948150634766, + -2.316922664642334, + 0.0575830340385437 + ], + [ + -100.6548843383789, + -2.316922664642334, + 0.0575830340385437 + ], + [ + -100.6548843383789, + -3.058603286743164, + 0.0575830340385437 + ], + [ + -101.67948150634766, + -3.058603286743164, + 1.830702304840088 + ], + [ + -101.67948150634766, + -2.316922664642334, + 1.830702304840088 + ], + [ + -100.6548843383789, + -2.316922664642334, + 1.830702304840088 + ], + [ + -100.6548843383789, + -3.058603286743164, + 1.830702304840088 + ] + ], + "corners_2d": [ + [ + 633.3512064493148, + 395.89708400378845 + ], + [ + 657.1690011873517, + 390.51833756435013 + ], + [ + 646.4472663324465, + 368.1030538428068 + ], + [ + 623.1568367258824, + 373.2197761149492 + ], + [ + 633.0575062465414, + 351.2745137596011 + ], + [ + 657.9227710529673, + 345.93287891907545 + ], + [ + 646.7230621217954, + 323.7020207367219 + ], + [ + 622.4320091192438, + 328.7724198382562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 546, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -97.18081665039062, + "y": 3.255784749984741, + "z": 0.9441964626312256 + }, + "extent": { + "x": 0.5193798542022705, + "y": 0.430874764919281, + "z": 0.8864356875419617 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 750.4214476098009, + "ymin": 213.99922605462973, + "xmax": 794.3087760823321, + "ymax": 280.2696355978395 + }, + "corners_3d": [ + [ + -97.77842712402344, + 2.9423112869262695, + 0.057760775089263916 + ], + [ + -97.5992660522461, + 3.785229444503784, + 0.057760775089263916 + ], + [ + -96.58320617675781, + 3.569258213043213, + 0.057760775089263916 + ], + [ + -96.76236724853516, + 2.7263400554656982, + 0.057760775089263916 + ], + [ + -97.77842712402344, + 2.9423112869262695, + 1.830632209777832 + ], + [ + -97.5992660522461, + 3.785229444503784, + 1.830632209777832 + ], + [ + -96.58320617675781, + 3.569258213043213, + 1.830632209777832 + ], + [ + -96.76236724853516, + 2.7263400554656982, + 1.830632209777832 + ] + ], + "corners_2d": [ + [ + 767.9739619581878, + 280.2696355978395 + ], + [ + 788.6597439477927, + 272.54372964778474 + ], + [ + 770.8619759567008, + 256.77174142241495 + ], + [ + 750.4214476098009, + 264.19215913536993 + ], + [ + 772.8861016910645, + 237.05725370359707 + ], + [ + 794.3087760823321, + 229.47024637789806 + ], + [ + 775.73218660315, + 213.99922605462973 + ], + [ + 754.5716152703824, + 221.27513439462186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 764, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -103.42300415039062, + "y": 4.254949569702148, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.464423805475235, + "y": 0.4623272716999054, + "z": 0.9370309114456177 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 861.634784857139, + "ymin": 322.66183540595034, + "xmax": 917.5910550473657, + "ymax": 397.9074484631001 + }, + "corners_3d": [ + [ + -103.93321228027344, + 3.843700408935547, + 0.0071263909339904785 + ], + [ + -103.83655548095703, + 4.763289928436279, + 0.0071263909339904785 + ], + [ + -102.91279602050781, + 4.66619873046875, + 0.0071263909339904785 + ], + [ + -103.00945281982422, + 3.7466094493865967, + 0.0071263909339904785 + ], + [ + -103.93321228027344, + 3.843700408935547, + 1.881188154220581 + ], + [ + -103.83655548095703, + 4.763289928436279, + 1.881188154220581 + ], + [ + -102.91279602050781, + 4.66619873046875, + 1.881188154220581 + ], + [ + -103.00945281982422, + 3.7466094493865967, + 1.881188154220581 + ] + ], + "corners_2d": [ + [ + 879.2323650929236, + 397.9074484631001 + ], + [ + 905.3025431481776, + 389.07479868620703 + ], + [ + 887.3124938494884, + 369.59580610934455 + ], + [ + 861.634784857139, + 378.05264749859697 + ], + [ + 890.4259112998895, + 350.7363725442929 + ], + [ + 917.5910550473657, + 341.9690115543756 + ], + [ + 898.511444571031, + 322.66183540595034 + ], + [ + 871.770639650467, + 331.03938282090905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 660, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -104.74694061279297, + "y": -2.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.2937011420726776, + "y": 0.40539392828941345, + "z": 0.8758534789085388 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.5512117534265, + "ymin": 412.4346136523545, + "xmax": 700.4223172184169, + "ymax": 479.13910633678927 + }, + "corners_3d": [ + [ + -105.04064178466797, + -3.0931568145751953, + 0.06828439235687256 + ], + [ + -105.04064178466797, + -2.2823691368103027, + 0.06828439235687256 + ], + [ + -104.45323944091797, + -2.2823691368103027, + 0.06828439235687256 + ], + [ + -104.45323944091797, + -3.0931568145751953, + 0.06828439235687256 + ], + [ + -105.04064178466797, + -3.0931568145751953, + 1.8199913501739502 + ], + [ + -105.04064178466797, + -2.2823691368103027, + 1.8199913501739502 + ], + [ + -104.45323944091797, + -2.2823691368103027, + 1.8199913501739502 + ], + [ + -104.45323944091797, + -3.0931568145751953, + 1.8199913501739502 + ] + ], + "corners_2d": [ + [ + 669.5547311814979, + 479.13910633678927 + ], + [ + 697.685566794125, + 472.147271928559 + ], + [ + 690.2938922971111, + 456.7416675048625 + ], + [ + 662.5512117534265, + 463.51753463342766 + ], + [ + 670.9672258686127, + 434.83903742382245 + ], + [ + 700.4223172184169, + 427.8398755405484 + ], + [ + 692.6412235300098, + 412.4346136523545 + ], + [ + 663.6113653333643, + 419.20753808810855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 811, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -103.71757507324219, + "y": -10.537074089050293, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.47333988547325134, + "y": 0.35927462577819824, + "z": 0.8737581968307495 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 356.6299298582292, + "ymin": 444.72110196013534, + "xmax": 398.55292592018145, + "ymax": 521.589892505455 + }, + "corners_3d": [ + [ + -104.15076446533203, + -10.94385814666748, + 0.22279667854309082 + ], + [ + -104.22587585449219, + -10.22924518585205, + 0.22279667854309082 + ], + [ + -103.28438568115234, + -10.130290031433105, + 0.22279667854309082 + ], + [ + -103.20927429199219, + -10.844902992248535, + 0.22279667854309082 + ], + [ + -104.15076446533203, + -10.94385814666748, + 1.9703130722045898 + ], + [ + -104.22587585449219, + -10.22924518585205, + 1.9703130722045898 + ], + [ + -103.28438568115234, + -10.130290031433105, + 1.9703130722045898 + ], + [ + -103.20927429199219, + -10.844902992248535, + 1.9703130722045898 + ] + ], + "corners_2d": [ + [ + 370.1765486931065, + 521.589892505455 + ], + [ + 398.55292592018145, + 517.0357201594044 + ], + [ + 397.71712273193066, + 489.25310259818315 + ], + [ + 370.0998899264506, + 493.5662534150888 + ], + [ + 356.6299298582292, + 477.18443074169454 + ], + [ + 386.4865527329786, + 472.60632196222537 + ], + [ + 385.9487852198156, + 444.72110196013534 + ], + [ + 356.93140795875206, + 449.0452955427934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 372, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -89.92184448242188, + "y": -10.857976913452148, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.3343847692012787, + "y": 0.30272337794303894, + "z": 0.8807781934738159 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 308.4722664001714, + "ymin": 173.80706199159818, + "xmax": 339.4969707621983, + "ymax": 227.20483054130202 + }, + "corners_3d": [ + [ + -90.18598175048828, + -11.223608016967773, + 0.21577668190002441 + ], + [ + -90.31185913085938, + -10.631391525268555, + 0.21577668190002441 + ], + [ + -89.65770721435547, + -10.492345809936523, + 0.21577668190002441 + ], + [ + -89.53182983398438, + -11.084562301635742, + 0.21577668190002441 + ], + [ + -90.18598175048828, + -11.223608016967773, + 1.9773330688476562 + ], + [ + -90.31185913085938, + -10.631391525268555, + 1.9773330688476562 + ], + [ + -89.65770721435547, + -10.492345809936523, + 1.9773330688476562 + ], + [ + -89.53182983398438, + -11.084562301635742, + 1.9773330688476562 + ] + ], + "corners_2d": [ + [ + 319.9334034416987, + 227.20483054130202 + ], + [ + 337.11413774005143, + 226.223810428106 + ], + [ + 339.4969707621983, + 215.75512962108152 + ], + [ + 322.5603308885701, + 216.70883697706552 + ], + [ + 308.4722664001714, + 184.99152937754602 + ], + [ + 326.28294775389634, + 184.0327546035133 + ], + [ + 328.9068452456641, + 173.80706199159818 + ], + [ + 311.3583437985911, + 174.73820888176178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 5124, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 428.1108262388076, + "ymin": 27.453962112789327, + "xmax": 517.1693664439667, + "ymax": 147.01915389087307 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 487.210090406709, + 71.94751046979991 + ], + [ + 435.0348897711524, + 79.36187289412817 + ], + [ + 459.53131168657904, + 147.01915389087307 + ], + [ + 517.1693664439667, + 137.85232759912878 + ], + [ + 482.1144598693181, + 27.453962112789327 + ], + [ + 428.1108262388076, + 34.543657274314 + ], + [ + 452.72183063421096, + 99.51261532956272 + ], + [ + 512.6006588485918, + 90.68096173874329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 14318, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 933.2002995066218, + "ymin": 531.2107362735671, + "xmax": 1127.7799951803559, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 1030.0380855561102, + 741.3578523817839 + ], + [ + 1102.4692043496034, + 716.1686995955423 + ], + [ + 998.8553683718612, + 571.2906777725782 + ], + [ + 933.2002995066218, + 590.879356019081 + ], + [ + 1051.8436614332707, + 704.1966031552095 + ], + [ + 1127.7799951803559, + 678.4109462248996 + ], + [ + 1016.0850762164713, + 531.2107362735671 + ], + [ + 947.5425168591838, + 551.003691527529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2542, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 512.7724569262523, + "ymin": 31.61467986768116, + "xmax": 578.7133117711315, + "ymax": 106.010191404642 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 557.1583418116494, + 62.29522746475226 + ], + [ + 515.6411768544084, + 68.19793123851395 + ], + [ + 534.7639432087631, + 106.010191404642 + ], + [ + 578.7133117711315, + 99.3298730651004 + ], + [ + 555.2669247010398, + 31.61467986768116 + ], + [ + 512.7724569262523, + 37.3359204803798 + ], + [ + 532.176730424007, + 74.048559677127 + ], + [ + 577.223030585272, + 67.55459708442493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 6557, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 608.6581543678722, + "ymin": 205.27738028253688, + "xmax": 713.4541267085468, + "ymax": 341.0900327031591 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 660.2934991369618, + 241.74621793547922 + ], + [ + 609.6220902554543, + 251.4096995394285 + ], + [ + 655.1299382470187, + 341.0900327031591 + ], + [ + 710.9678708766021, + 329.06984862176324 + ], + [ + 660.929133388761, + 205.27738028253688 + ], + [ + 608.6581543678722, + 214.77081216593217 + ], + [ + 655.6677549392972, + 303.23390794191715 + ], + [ + 713.4541267085468, + 291.338926108889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 5755, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 518.1551356760328, + "ymin": 244.11206625521163, + "xmax": 612.0291789684746, + "ymax": 377.96805807955275 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 578.7671677498643, + 290.0352235429884 + ], + [ + 523.0364993413431, + 301.1105734574021 + ], + [ + 551.5851402469181, + 377.96805807955275 + ], + [ + 612.0291789684746, + 364.74178796490196 + ], + [ + 576.2475152144766, + 244.11206625521163 + ], + [ + 518.1551356760328, + 254.99635865551252 + ], + [ + 547.5344682551222, + 330.8664752568091 + ], + [ + 610.767417125397, + 317.76780899504917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1030.7557716523654, + "ymin": 523.7063989039247, + "xmax": 1072.6292826523359, + "ymax": 570.789811860816 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1030.7557716523654, + 558.621984777645 + ], + [ + 1039.8800944391319, + 570.789811860816 + ], + [ + 1057.9334452730538, + 565.3950494894032 + ], + [ + 1048.653494218016, + 553.3465067506845 + ], + [ + 1044.4073039389377, + 529.015554807999 + ], + [ + 1054.0134101637514, + 541.2679742237251 + ], + [ + 1072.6292826523359, + 535.8345158999117 + ], + [ + 1062.8581192252902, + 523.7063989039247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1273.8473600914704, + "ymin": 452.45206148586476, + "xmax": 1280.0, + "ymax": 497.56783943736934 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1273.8473600914704, + 486.96942835719693 + ], + [ + 1284.9157139472798, + 497.56783943736934 + ], + [ + 1300.6339763404271, + 492.870854180582 + ], + [ + 1289.4533304392758, + 482.3694584898079 + ], + [ + 1294.4741196965597, + 457.0601062910448 + ], + [ + 1306.1305866038533, + 467.6823333982204 + ], + [ + 1322.2624172538199, + 462.9738963280999 + ], + [ + 1310.488369793087, + 452.45206148586476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1145.40207675915, + "ymin": 490.06644113482025, + "xmax": 1190.5324612916063, + "ymax": 536.2432024869976 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1145.40207675915, + 524.8291901220948 + ], + [ + 1155.4889046534463, + 536.2432024869976 + ], + [ + 1172.4205057098984, + 531.183645116878 + ], + [ + 1162.1995045022618, + 519.87803163569 + ], + [ + 1162.4875744437672, + 495.0383805977567 + ], + [ + 1173.1120840070403, + 506.50636521798145 + ], + [ + 1190.5324612916063, + 501.42183888064005 + ], + [ + 1179.766467417162, + 490.06644113482025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 905.701244788925, + "ymin": 309.89945680575136, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1354.2062882238877, + 586.7840513870335 + ], + [ + 1339.8923635612973, + 572.6298250505511 + ], + [ + 905.701244788925, + 709.0460264028563 + ], + [ + 915.4960772403404, + 726.9804940696138 + ], + [ + 1583.1995808951817, + 324.1013518561516 + ], + [ + 1560.5252125708407, + 309.89945680575136 + ], + [ + 1003.7641203585856, + 451.79620954313367 + ], + [ + 1019.2145476535701, + 471.31981994209553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 880.5073793164556, + "ymin": 0.0, + "xmax": 1025.0920499227223, + "ymax": 171.54314104696147 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 972.190184520687, + 155.8575626032452 + ], + [ + 966.1759920205875, + 150.43721817722502 + ], + [ + 880.5073793164556, + 165.86972144315948 + ], + [ + 885.9533520091486, + 171.54314104696147 + ], + [ + 1025.0920499227223, + -43.24000564483515 + ], + [ + 1017.6384947587728, + -47.66964251588968 + ], + [ + 919.4669141296006, + -35.028048014442504 + ], + [ + 926.1779707382059, + -30.35748139553084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 413.68513393220053, + "ymin": 656.9044252778251, + "xmax": 865.3464232406604, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 506.1996491100938, + 888.2907209748089 + ], + [ + 483.9455398554752, + 895.559919211882 + ], + [ + 697.7272972488438, + 2106.713591644416 + ], + [ + 736.8019609338946, + 2081.8097306236887 + ], + [ + 446.4059848432934, + 656.9044252778251 + ], + [ + 413.68513393220053, + 665.7156014540028 + ], + [ + 776.1134391456508, + 3058.104235880991 + ], + [ + 865.3464232406604, + 2979.140301045973 + ] + ], + "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": 1132.490064300333, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 22.409958105465932 + }, + "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": [ + [ + 1244.6748732938406, + -91.33431854885066 + ], + [ + 1132.490064300333, + -46.30719908827598 + ], + [ + 1350.4869729158122, + 22.409958105465932 + ], + [ + 1453.8217863568207, + -35.79737597274902 + ], + [ + 1428.7484215342715, + -547.1684404771498 + ], + [ + 1303.5811029556385, + -550.8609596259353 + ], + [ + 1648.0007843168814, + -556.990133560741 + ], + [ + 1745.0426237428512, + -551.7581345685021 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00153/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00153/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37e9efeadc78098d2afcc00d35f4b527ea452289 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00153/meta.json @@ -0,0 +1,2042 @@ +{ + "frame_id": 153, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 76.5, + "sim_timestamp": 2015.013605761109 + }, + "drone_pose": { + "x": -120.22174672768688, + "y": -8.651914880985466, + "z": 20.0, + "pitch": -42.98748628928162, + "yaw": 16.96173190584659, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6996821165084839, + -0.21340340375900269, + 0.6818386316299438, + 72.32659149169922 + ], + [ + 0.29173290729522705, + 0.9564998149871826, + 0.0, + -26.79708480834961 + ], + [ + -0.6521785259246826, + 0.1989147663116455, + 0.7315026521682739, + -94.75708770751953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -119.23107198230397, + "y": -7.921795020473911, + "z": 20.0 + }, + "t1_image_uv": [ + 1102.8836817904219, + -534.822568176788 + ], + "t1_depth": 0.8489674855821071 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -100.66718292236328, + "y": -2.687763214111328, + "z": 0.9441231966025225 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.947781870270333, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 616, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -100.66718292236328, + "y": -2.687762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.5862889885902405, + "y": 0.3795468509197235, + "z": 0.876022219657898 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.4769311444346, + "ymin": 322.11695998956645, + "xmax": 658.9744441864495, + "ymax": 397.59650697162795 + }, + "corners_3d": [ + [ + -101.25347137451172, + -3.067309856414795, + 0.06810098886489868 + ], + [ + -101.25347137451172, + -2.308216094970703, + 0.06810098886489868 + ], + [ + -100.08089447021484, + -2.308216094970703, + 0.06810098886489868 + ], + [ + -100.08089447021484, + -3.067309856414795, + 0.06810098886489868 + ], + [ + -101.25347137451172, + -3.067309856414795, + 1.8201453685760498 + ], + [ + -101.25347137451172, + -2.308216094970703, + 1.8201453685760498 + ], + [ + -100.08089447021484, + -2.308216094970703, + 1.8201453685760498 + ], + [ + -100.08089447021484, + -3.067309856414795, + 1.8201453685760498 + ] + ], + "corners_2d": [ + [ + 633.4298993213482, + 397.59650697162795 + ], + [ + 658.1710987494997, + 392.2432945170976 + ], + [ + 646.347820677908, + 366.0487144484886 + ], + [ + 622.243282748694, + 371.10286221038797 + ], + [ + 633.1376829049256, + 353.4610139672148 + ], + [ + 658.9744441864495, + 348.1357291575085 + ], + [ + 646.6201884863536, + 322.11695998956645 + ], + [ + 621.4769311444346, + 327.1321296508979 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 153, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 46, + "semantic_pixel_counts": { + "1": 311857, + "2": 244597, + "3": 273004, + "4": 19170, + "6": 3573, + "7": 1872, + "9": 8498, + "10": 658, + "12": 3816, + "14": 33400, + "20": 2777, + "24": 18378 + }, + "instance_pixel_counts": { + "11605": 101272, + "15189": 12005, + "15701": 45411, + "15967": 31111, + "15970": 5985, + "16479": 19403, + "16482": 1960, + "17547": 29326, + "18059": 1472, + "19554": 7225, + "20565": 67266, + "21395": 45852, + "21397": 1983, + "21643": 34513, + "21907": 3258, + "21909": 311, + "23957": 2551, + "24467": 85595, + "25344": 4764, + "29523": 9507, + "29779": 36448, + "30291": 1095, + "36096": 616, + "36352": 575, + "36608": 759, + "36864": 686, + "37120": 787, + "37376": 393, + "37632": 5295, + "37888": 12589, + "38912": 2619, + "40448": 6894, + "40704": 6003, + "42071": 681, + "45409": 6899, + "45971": 66902, + "46483": 22894, + "49043": 87356, + "51526": 19170, + "53857": 8452, + "56458": 46367, + "58506": 51884, + "60307": 3850, + "60819": 4479, + "61254": 11275, + "62867": 5204 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 616, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -100.66718292236328, + "y": -2.687762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.5310009121894836, + "y": 0.3670649230480194, + "z": 0.8930332064628601 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.420186452295, + "ymin": 322.9463802252417, + "xmax": 657.9609885570042, + "ymax": 396.63428230045076 + }, + "corners_3d": [ + [ + -101.19818115234375, + -3.054827928543091, + 0.05109000205993652 + ], + [ + -101.19818115234375, + -2.3206980228424072, + 0.05109000205993652 + ], + [ + -100.13618469238281, + -2.3206980228424072, + 0.05109000205993652 + ], + [ + -100.13618469238281, + -3.054827928543091, + 0.05109000205993652 + ], + [ + -101.19818115234375, + -3.054827928543091, + 1.8371564149856567 + ], + [ + -101.19818115234375, + -2.3206980228424072, + 1.8371564149856567 + ], + [ + -100.13618469238281, + -2.3206980228424072, + 1.8371564149856567 + ], + [ + -100.13618469238281, + -3.054827928543091, + 1.8371564149856567 + ] + ], + "corners_2d": [ + [ + 633.2991303019575, + 396.63428230045076 + ], + [ + 657.1870906838814, + 391.4711742609877 + ], + [ + 646.4930370720701, + 367.7423336156083 + ], + [ + 623.1622641778865, + 372.64360361160107 + ], + [ + 632.9956465234426, + 351.6479464264457 + ], + [ + 657.9609885570042, + 346.5129442220419 + ], + [ + 646.7775868282629, + 322.9463802252417 + ], + [ + 622.420186452295, + 327.80968044297134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 575, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -95.389892578125, + "y": 2.922783374786377, + "z": 0.9441964626312256 + }, + "extent": { + "x": 0.5531445145606995, + "y": 0.4532443881034851, + "z": 0.914032518863678 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 730.2121856354831, + "ymin": 192.63009757192307, + "xmax": 774.6527667538085, + "ymax": 260.65064771861984 + }, + "corners_3d": [ + [ + -96.02518463134766, + 2.594449281692505, + 0.030163943767547607 + ], + [ + -95.83671569824219, + 3.4811289310455322, + 0.030163943767547607 + ], + [ + -94.75460052490234, + 3.251117467880249, + 0.030163943767547607 + ], + [ + -94.94306945800781, + 2.3644378185272217, + 0.030163943767547607 + ], + [ + -96.02518463134766, + 2.594449281692505, + 1.8582289218902588 + ], + [ + -95.83671569824219, + 3.4811289310455322, + 1.8582289218902588 + ], + [ + -94.75460052490234, + 3.251117467880249, + 1.8582289218902588 + ], + [ + -94.94306945800781, + 2.3644378185272217, + 1.8582289218902588 + ] + ], + "corners_2d": [ + [ + 747.7602801469961, + 260.65064771861984 + ], + [ + 769.6076393517703, + 252.9728909094722 + ], + [ + 751.7700825280249, + 236.5550710356406 + ], + [ + 730.2121856354831, + 243.91465555598504 + ], + [ + 751.997462222, + 216.247084509341 + ], + [ + 774.6527667538085, + 208.71571967936853 + ], + [ + 756.0267381083268, + 192.63009757192307 + ], + [ + 733.6818691686437, + 199.83754252322825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 759, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -102.92300415039062, + "y": 4.254949569702148, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5614941120147705, + "y": 0.45213788747787476, + "z": 0.942206859588623 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 862.5583068777432, + "ymin": 322.8742073967997, + "xmax": 922.5282914813425, + "ymax": 402.952841995903 + }, + "corners_3d": [ + [ + -103.5286865234375, + 3.863980770111084, + 0.0019504427909851074 + ], + [ + -103.43415832519531, + 4.763302803039551, + 0.0019504427909851074 + ], + [ + -102.31732177734375, + 4.645918369293213, + 0.0019504427909851074 + ], + [ + -102.41184997558594, + 3.746596336364746, + 0.0019504427909851074 + ], + [ + -103.5286865234375, + 3.863980770111084, + 1.886364221572876 + ], + [ + -103.43415832519531, + 4.763302803039551, + 1.886364221572876 + ], + [ + -102.31732177734375, + 4.645918369293213, + 1.886364221572876 + ], + [ + -102.41184997558594, + 3.746596336364746, + 1.886364221572876 + ] + ], + "corners_2d": [ + [ + 883.6012059834592, + 402.952841995903 + ], + [ + 909.6757376032963, + 394.38471460272564 + ], + [ + 888.140022902719, + 370.149599509593 + ], + [ + 862.5583068777432, + 378.2746621441106 + ], + [ + 895.3232709835286, + 355.45985035222134 + ], + [ + 922.5282914813425, + 346.9379796771686 + ], + [ + 899.6434564946223, + 322.8742073967997 + ], + [ + 872.9727747015426, + 330.9351649748169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 686, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -104.24694061279297, + "y": -2.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3724462389945984, + "y": 0.3905920088291168, + "z": 0.8822891116142273 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.578022355866, + "ymin": 412.16874996572346, + "xmax": 699.418982002951, + "ymax": 483.28828897378736 + }, + "corners_3d": [ + [ + -104.619384765625, + -3.078355073928833, + 0.06184875965118408 + ], + [ + -104.619384765625, + -2.297170877456665, + 0.06184875965118408 + ], + [ + -103.87449645996094, + -2.297170877456665, + 0.06184875965118408 + ], + [ + -103.87449645996094, + -3.078355073928833, + 0.06184875965118408 + ], + [ + -104.619384765625, + -3.078355073928833, + 1.8264269828796387 + ], + [ + -104.619384765625, + -2.297170877456665, + 1.8264269828796387 + ], + [ + -103.87449645996094, + -2.297170877456665, + 1.8264269828796387 + ], + [ + -103.87449645996094, + -3.078355073928833, + 1.8264269828796387 + ] + ], + "corners_2d": [ + [ + 669.1124575192022, + 483.28828897378736 + ], + [ + 696.6552583834119, + 476.72688544226065 + ], + [ + 687.6307577931191, + 456.74839631838483 + ], + [ + 660.578022355866, + 463.05237123505344 + ], + [ + 670.5422685511687, + 438.7603078786407 + ], + [ + 699.418982002951, + 432.179797349809 + ], + [ + 689.9061713312391, + 412.16874996572346 + ], + [ + 661.5676247038596, + 418.4788370935524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 787, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -103.21802520751953, + "y": -10.5384521484375, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.5527539849281311, + "y": 0.3529025614261627, + "z": 0.8800287246704102 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 351.7906970703292, + "ymin": 441.3891906935435, + "xmax": 393.98033018696935, + "ymax": 523.2713508936083 + }, + "corners_3d": [ + [ + -103.73086547851562, + -10.947199821472168, + 0.21652615070343018 + ], + [ + -103.80464172363281, + -10.245261192321777, + 0.21652615070343018 + ], + [ + -102.70518493652344, + -10.129704475402832, + 0.21652615070343018 + ], + [ + -102.63140869140625, + -10.831643104553223, + 0.21652615070343018 + ], + [ + -103.73086547851562, + -10.947199821472168, + 1.9765836000442505 + ], + [ + -103.80464172363281, + -10.245261192321777, + 1.9765836000442505 + ], + [ + -102.70518493652344, + -10.129704475402832, + 1.9765836000442505 + ], + [ + -102.63140869140625, + -10.831643104553223, + 1.9765836000442505 + ] + ], + "corners_2d": [ + [ + 365.8862708143269, + 523.2713508936083 + ], + [ + 393.98033018696935, + 519.054750293448 + ], + [ + 393.72525396516625, + 486.1521936628604 + ], + [ + 366.51071541231653, + 490.1091213881332 + ], + [ + 351.7906970703292, + 478.7059861657296 + ], + [ + 381.3824157949203, + 474.46015758951734 + ], + [ + 381.52749925189045, + 441.3891906935435 + ], + [ + 352.9099415612974, + 445.3607859590599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 393, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -89.42184448242188, + "y": -10.857976913452148, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.49720701575279236, + "y": 0.32236814498901367, + "z": 0.9036127328872681 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 308.8265492067873, + "ymin": 165.40953013414313, + "xmax": 343.0199755994421, + "ymax": 225.1989653252029 + }, + "corners_3d": [ + [ + -89.8411636352539, + -11.276676177978516, + 0.19294214248657227 + ], + [ + -89.97521209716797, + -10.646028518676758, + 0.19294214248657227 + ], + [ + -89.00252532958984, + -10.439277648925781, + 0.19294214248657227 + ], + [ + -88.86847686767578, + -11.069925308227539, + 0.19294214248657227 + ], + [ + -89.8411636352539, + -11.276676177978516, + 2.0001676082611084 + ], + [ + -89.97521209716797, + -10.646028518676758, + 2.0001676082611084 + ], + [ + -89.00252532958984, + -10.439277648925781, + 2.0001676082611084 + ], + [ + -88.86847686767578, + -11.069925308227539, + 2.0001676082611084 + ] + ], + "corners_2d": [ + [ + 320.75818620480055, + 225.1989653252029 + ], + [ + 339.1460894270945, + 224.29360051760628 + ], + [ + 343.0199755994421, + 208.56102196961564 + ], + [ + 325.0181285763641, + 209.42922706638353 + ], + [ + 308.8265492067873, + 181.6674294584839 + ], + [ + 327.9155935542082, + 180.78206057983317 + ], + [ + 332.17223268930667, + 165.40953013414313 + ], + [ + 313.49890645744483, + 166.25724628394693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 5295, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 435.34344594747904, + "ymin": 25.827638373679406, + "xmax": 524.2562088800867, + "ymax": 148.05194479059256 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 495.10982603188717, + 70.85091794683296 + ], + [ + 442.1793892879026, + 78.11967643887425 + ], + [ + 465.6764904348179, + 148.05194479059256 + ], + [ + 524.2562088800867, + 139.04213269499448 + ], + [ + 490.16436342542033, + 25.827638373679406 + ], + [ + 435.34344594747904, + 32.788576645181365 + ], + [ + 458.9386632329225, + 100.05196436274906 + ], + [ + 519.8438381270702, + 91.35613358171224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 12589, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 942.6532602392972, + "ymin": 556.1396310436646, + "xmax": 1143.3813536713956, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 1040.9373876501534, + 775.4773312763798 + ], + [ + 1116.2233902391727, + 749.9520850275314 + ], + [ + 1010.5862889740156, + 595.7232478965317 + ], + [ + 942.6532602392972, + 615.4412875819928 + ], + [ + 1064.2826691417463, + 739.7000484727271 + ], + [ + 1143.3813536713956, + 713.4558579919966 + ], + [ + 1029.0565937687913, + 556.1396310436646 + ], + [ + 958.0141745347066, + 576.1330190108499 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2619, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 521.2292196569248, + "ymin": 30.334467870737626, + "xmax": 587.3692788399873, + "ymax": 106.31234314937859 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 566.1475812495476, + 61.392253565406804 + ], + [ + 523.9687299385697, + 67.18740793372575 + ], + [ + 542.6688812580131, + 106.31234314937859 + ], + [ + 587.3692788399873, + 99.74356089778792 + ], + [ + 564.4210955017372, + 30.334467870737626 + ], + [ + 521.2292196569248, + 35.957440161562204 + ], + [ + 540.2177743770096, + 73.98690098195675 + ], + [ + 586.057787957137, + 67.59387794447485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 6894, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 615.4173272061253, + "ymin": 210.99303101864993, + "xmax": 721.0978259819595, + "ymax": 350.921892987735 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 667.9542671149633, + 247.7736530127326 + ], + [ + 616.193631661206, + 257.3327548135002 + ], + [ + 661.0841658544707, + 350.921892987735 + ], + [ + 718.2728226236842, + 338.9876585822282 + ], + [ + 668.8544765915116, + 210.99303101864993 + ], + [ + 615.4173272061253, + 220.39993594033322 + ], + [ + 661.8559037893527, + 312.89155294422005 + ], + [ + 721.0978259819595, + 301.0574933247914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 6003, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 522.4162080761806, + "ymin": 250.88162898518235, + "xmax": 616.7345636396504, + "ymax": 388.19582310594114 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 584.1306006375007, + 297.1145965640855 + ], + [ + 527.2516693549005, + 308.0645324842907 + ], + [ + 554.9182155354977, + 388.19582310594114 + ], + [ + 616.7345636396504, + 375.0811509335958 + ], + [ + 581.7669623760321, + 250.88162898518235 + ], + [ + 522.4162080761806, + 261.6665623489533 + ], + [ + 550.9060425874029, + 340.95762598263366 + ], + [ + 615.6537558817157, + 327.93606726133993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1044.9169852011141, + "ymin": 558.9413161886412, + "xmax": 1089.1680536102772, + "ymax": 606.7391854807594 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1044.9169852011141, + 593.5700055621277 + ], + [ + 1054.3141138786668, + 606.7391854807594 + ], + [ + 1073.1943872986913, + 601.1964628752813 + ], + [ + 1063.6256049065469, + 588.1541240154087 + ], + [ + 1059.7440401989338, + 564.40946767584 + ], + [ + 1069.6688889722334, + 577.7137689084736 + ], + [ + 1089.1680536102772, + 572.1127894755479 + ], + [ + 1079.0605577847114, + 558.9413161886412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1164.8140662130427, + "ymin": 524.2730544319655, + "xmax": 1212.738819790986, + "ymax": 571.2285425907185 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1164.8140662130427, + 558.8614915839742 + ], + [ + 1175.2746408265966, + 571.2285425907185 + ], + [ + 1193.0012466227745, + 566.024504678817 + ], + [ + 1182.3920582035523, + 553.772910814858 + ], + [ + 1183.4193865113716, + 529.3992477505814 + ], + [ + 1194.4730745316176, + 541.8647625824626 + ], + [ + 1212.738819790986, + 536.6180730229938 + ], + [ + 1201.5279198281512, + 524.2730544319655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.8279314676756, + "ymin": 339.8125067300004, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1378.7001886521662, + 616.8286551232463 + ], + [ + 1363.8919435338662, + 601.686480002038 + ], + [ + 912.8279314676756, + 739.4863134079994 + ], + [ + 922.7092201731441, + 758.5538309151186 + ], + [ + 1628.491700697798, + 355.4061312965658 + ], + [ + 1604.3883041548593, + 339.8125067300004 + ], + [ + 1018.7244660645099, + 487.02247400228543 + ], + [ + 1034.7336559258893, + 508.37103812479745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.8757486769717, + "ymin": 0.0, + "xmax": 1045.2245975575534, + "ymax": 176.98869190252233 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 987.8959248219694, + 161.4054559201928 + ], + [ + 981.7934114829272, + 155.7266243955742 + ], + [ + 893.8757486769717, + 171.05388746633173 + ], + [ + 899.3756645510784, + 176.98869190252233 + ], + [ + 1045.2245975575534, + -41.03838234269364 + ], + [ + 1037.5820821151626, + -45.72336274040185 + ], + [ + 936.3879766091763, + -33.04957843058236 + ], + [ + 943.2357935477014, + -28.117428923855982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 398.8427184476398, + "ymin": 702.3514756122972, + "xmax": 835.3747548465444, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 499.26174707439907, + 922.1674820645065 + ], + [ + 476.32597588315446, + 929.45636606384 + ], + [ + 676.2944494254767, + 2237.3326808880747 + ], + [ + 717.6478295300382, + 2211.3237880157762 + ], + [ + 433.1237815765579, + 702.3514756122972 + ], + [ + 398.8427184476398, + 711.4706573701881 + ], + [ + 732.653296542225, + 3553.206846190263 + ], + [ + 835.3747548465444, + 3456.700148499086 + ] + ], + "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": 1154.2599077884101, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 25.22049742475201 + }, + "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": [ + [ + 1269.8035654649707, + -93.24028024547005 + ], + [ + 1154.2599077884101, + -47.300809834652455 + ], + [ + 1377.9638271228037, + 25.22049742475201 + ], + [ + 1484.979638280017, + -34.56494842904891 + ], + [ + 1468.8286810670097, + -561.9373912890145 + ], + [ + 1339.7777017291528, + -565.7758647890039 + ], + [ + 1701.1252819437434, + -572.396659433396 + ], + [ + 1800.7425175942972, + -566.8866520220771 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00154/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00154/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9112bff3f73019879b309661a22399fd219205f1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00154/meta.json @@ -0,0 +1,1937 @@ +{ + "frame_id": 154, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 77.0, + "sim_timestamp": 2028.7761490147095 + }, + "drone_pose": { + "x": -119.23107198230397, + "y": -7.921795020473911, + "z": 20.0, + "pitch": -43.94716344341797, + "yaw": 15.352392916693159, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6942881345748901, + -0.19061830639839172, + 0.6939946413040161, + 70.41085815429688 + ], + [ + 0.2647549510002136, + 0.9643157124519348, + 0.0, + -23.92790985107422 + ], + [ + -0.6692299842834473, + 0.18373854458332062, + 0.7199801206588745, + -95.64814758300781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -118.14422913969003, + "y": -7.044999620468118, + "z": 20.0 + }, + "t1_image_uv": [ + 1220.9278886344866, + -565.3518837606822 + ], + "t1_depth": 0.9217153205100603 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -100.16718292236328, + "y": -2.687763214111328, + "z": 0.9441671419140403 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.45818131186132, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 625, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -100.16718292236328, + "y": -2.687762975692749, + "z": 0.9441671371459961 + }, + "extent": { + "x": 0.5005956888198853, + "y": 0.415293425321579, + "z": 0.9089601039886475 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.0883463433908, + "ymin": 321.34008300292624, + "xmax": 661.6432551784513, + "ymax": 398.1850589206095 + }, + "corners_3d": [ + [ + -100.22750091552734, + -3.3353943824768066, + 0.03520703315734863 + ], + [ + -100.81481170654297, + -2.7480807304382324, + 0.03520703315734863 + ], + [ + -100.10686492919922, + -2.0401315689086914, + 0.03520703315734863 + ], + [ + -99.5195541381836, + -2.6274452209472656, + 0.03520703315734863 + ], + [ + -100.22750091552734, + -3.3353943824768066, + 1.8531272411346436 + ], + [ + -100.81481170654297, + -2.7480807304382324, + 1.8531272411346436 + ], + [ + -100.10686492919922, + -2.0401315689086914, + 1.8531272411346436 + ], + [ + -99.5195541381836, + -2.6274452209472656, + 1.8531272411346436 + ] + ], + "corners_2d": [ + [ + 619.0783429303233, + 387.977802188115 + ], + [ + 643.9368197685363, + 398.1850589206095 + ], + [ + 660.6768290728924, + 376.8211002708975 + ], + [ + 636.1903698588536, + 367.0591719949564 + ], + [ + 618.0883463433908, + 342.1743237043984 + ], + [ + 644.1251970362047, + 352.3561166498788 + ], + [ + 661.6432551784513, + 331.05724882990603 + ], + [ + 636.0142395767408, + 321.34008300292624 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 154, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 318054, + "2": 246089, + "3": 264979, + "4": 21799, + "6": 3702, + "7": 2099, + "9": 9034, + "10": 429, + "12": 3702, + "14": 31007, + "20": 3051, + "24": 17655 + }, + "instance_pixel_counts": { + "11605": 101553, + "15189": 5547, + "15701": 53175, + "15967": 32925, + "15970": 6385, + "16479": 14269, + "16482": 1359, + "17547": 31651, + "18059": 396, + "19554": 8223, + "20565": 61917, + "21395": 47979, + "21397": 2043, + "21643": 35871, + "21907": 55, + "23957": 2647, + "24467": 87067, + "25344": 5063, + "29523": 10152, + "29779": 31689, + "30291": 946, + "36096": 625, + "36352": 549, + "36608": 777, + "36864": 705, + "37120": 710, + "37376": 336, + "37632": 5573, + "37888": 8874, + "38912": 2778, + "40448": 7391, + "40704": 6391, + "42071": 738, + "45409": 7305, + "45971": 71575, + "46483": 13505, + "49043": 97873, + "51526": 21799, + "53857": 8331, + "56458": 48566, + "58506": 50808, + "60307": 4096, + "60819": 3266, + "61254": 12085, + "62867": 5603 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 625, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -100.16718292236328, + "y": -2.687762975692749, + "z": 0.9441671371459961 + }, + "extent": { + "x": 0.3872705101966858, + "y": 0.29544150829315186, + "z": 0.879676342010498 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.8865934988089, + "ymin": 325.81692161896603, + "xmax": 655.9496855560508, + "ymax": 393.53459567094 + }, + "corners_3d": [ + [ + -100.23211669921875, + -3.170513153076172, + 0.06449079513549805 + ], + [ + -100.64993286132812, + -2.7526957988739014, + 0.06449079513549805 + ], + [ + -100.10224914550781, + -2.205012798309326, + 0.06449079513549805 + ], + [ + -99.68443298339844, + -2.6228301525115967, + 0.06449079513549805 + ], + [ + -100.23211669921875, + -3.170513153076172, + 1.8238434791564941 + ], + [ + -100.64993286132812, + -2.7526957988739014, + 1.8238434791564941 + ], + [ + -100.10224914550781, + -2.205012798309326, + 1.8238434791564941 + ], + [ + -99.68443298339844, + -2.6228301525115967, + 1.8238434791564941 + ] + ], + "corners_2d": [ + [ + 624.5909639295938, + 386.31018261129725 + ], + [ + 642.2577411915776, + 393.53459567094 + ], + [ + 655.2592499988197, + 377.05842828089794 + ], + [ + 637.7975010119308, + 370.0792472388695 + ], + [ + 623.8865934988089, + 341.98668247909706 + ], + [ + 642.3617655316505, + 349.1919781169596 + ], + [ + 655.9496855560508, + 332.76670964188753 + ], + [ + 637.6986156592017, + 325.81692161896603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 549, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -94.2878189086914, + "y": 2.1980082988739014, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.3793652355670929, + "y": 0.4264461398124695, + "z": 0.8653791546821594 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 716.8308783365809, + "ymin": 187.33073676868003, + "xmax": 750.1554236126959, + "ymax": 246.48975344944927 + }, + "corners_3d": [ + [ + -94.37371826171875, + 1.6337432861328125, + 0.07874405384063721 + ], + [ + -94.83824157714844, + 2.349038600921631, + 0.07874405384063721 + ], + [ + -94.20191955566406, + 2.7622733116149902, + 0.07874405384063721 + ], + [ + -93.73739624023438, + 2.046977996826172, + 0.07874405384063721 + ], + [ + -94.37371826171875, + 1.6337432861328125, + 1.809502363204956 + ], + [ + -94.83824157714844, + 2.349038600921631, + 1.809502363204956 + ], + [ + -94.20191955566406, + 2.7622733116149902, + 1.809502363204956 + ], + [ + -93.73739624023438, + 2.046977996826172, + 1.809502363204956 + ] + ], + "corners_2d": [ + [ + 716.8308783365809, + 241.89662792748982 + ], + [ + 741.1150999694152, + 246.48975344944927 + ], + [ + 746.174837545505, + 233.7754836804157 + ], + [ + 722.2406329903412, + 229.32470333318614 + ], + [ + 719.7417158200708, + 199.68944319468469 + ], + [ + 744.9686045049993, + 204.20830817429643 + ], + [ + 750.1554236126959, + 191.7043654794134 + ], + [ + 725.3060925929282, + 187.33073676868003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 777, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -102.42300415039062, + "y": 4.254949569702148, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5276318192481995, + "y": 0.4744781255722046, + "z": 0.9440485239028931 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 870.6647067630936, + "ymin": 327.58580237763385, + "xmax": 924.6693720953864, + "ymax": 408.41898759911726 + }, + "corners_3d": [ + [ + -102.53445434570312, + 3.554161548614502, + 0.00010877847671508789 + ], + [ + -103.13165283203125, + 4.29163932800293, + 0.00010877847671508789 + ], + [ + -102.31155395507812, + 4.955737590789795, + 0.00010877847671508789 + ], + [ + -101.71435546875, + 4.218259811401367, + 0.00010877847671508789 + ], + [ + -102.53445434570312, + 3.554161548614502, + 1.8882057666778564 + ], + [ + -103.13165283203125, + 4.29163932800293, + 1.8882057666778564 + ], + [ + -102.31155395507812, + 4.955737590789795, + 1.8882057666778564 + ], + [ + -101.71435546875, + 4.218259811401367, + 1.8882057666778564 + ] + ], + "corners_2d": [ + [ + 870.6647067630936, + 398.77087835783055 + ], + [ + 903.4453301383114, + 408.41898759911726 + ], + [ + 911.3862427225204, + 384.28499888410255 + ], + [ + 879.3334566756612, + 375.1069480340419 + ], + [ + 882.1354843923249, + 351.17132644087695 + ], + [ + 916.6839538397988, + 360.80399931694507 + ], + [ + 924.6693720953864, + 336.7266135589081 + ], + [ + 890.929045562915, + 327.58580237763385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 705, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -103.74694061279297, + "y": -2.687762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.42631834745407104, + "y": 0.40663543343544006, + "z": 0.8786418437957764 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 654.4589563206612, + "ymin": 412.94634193721356, + "xmax": 699.2837617192454, + "ymax": 490.62809125798196 + }, + "corners_3d": [ + [ + -103.76085662841797, + -3.276750087738037, + 0.06548136472702026 + ], + [ + -104.33592987060547, + -2.701680898666382, + 0.06548136472702026 + ], + [ + -103.73302459716797, + -2.098775863647461, + 0.06548136472702026 + ], + [ + -103.15795135498047, + -2.673845052719116, + 0.06548136472702026 + ], + [ + -103.76085662841797, + -3.276750087738037, + 1.8227651119232178 + ], + [ + -104.33592987060547, + -2.701680898666382, + 1.8227651119232178 + ], + [ + -103.73302459716797, + -2.098775863647461, + 1.8227651119232178 + ], + [ + -103.15795135498047, + -2.673845052719116, + 1.8227651119232178 + ] + ], + "corners_2d": [ + [ + 654.4589563206612, + 478.61496234868963 + ], + [ + 681.5821195218813, + 490.62809125798196 + ], + [ + 696.4710575145318, + 468.71052522974367 + ], + [ + 669.7386762873621, + 457.1881813556513 + ], + [ + 655.1863713693492, + 434.47737823895716 + ], + [ + 683.6993709101622, + 446.5684232059333 + ], + [ + 699.2837617192454, + 424.51922585386797 + ], + [ + 671.202579594744, + 412.94634193721356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 710, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -102.71847534179688, + "y": -10.539831161499023, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.5013183355331421, + "y": 0.4825689494609833, + "z": 0.896492600440979 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 328.6152213087162, + "ymin": 436.81687739860666, + "xmax": 399.5058968999014, + "ymax": 525.1011055885864 + }, + "corners_3d": [ + [ + -102.658935546875, + -11.233119010925293, + 0.20006227493286133 + ], + [ + -103.40898895263672, + -10.625738143920898, + 0.20006227493286133 + ], + [ + -102.77801513671875, + -9.846543312072754, + 0.20006227493286133 + ], + [ + -102.02796173095703, + -10.453924179077148, + 0.20006227493286133 + ], + [ + -102.658935546875, + -11.233119010925293, + 1.9930474758148193 + ], + [ + -103.40898895263672, + -10.625738143920898, + 1.9930474758148193 + ], + [ + -102.77801513671875, + -9.846543312072754, + 1.9930474758148193 + ], + [ + -102.02796173095703, + -10.453924179077148, + 1.9930474758148193 + ] + ], + "corners_2d": [ + [ + 344.3557104397557, + 507.16106528637215 + ], + [ + 370.5088889405133, + 525.1011055885864 + ], + [ + 399.5058968999014, + 499.3053069964897 + ], + [ + 373.49550504480885, + 482.1973496946073 + ], + [ + 328.6152213087162, + 461.9706730372785 + ], + [ + 355.9078244166468, + 480.0858475287515 + ], + [ + 386.80041686267487, + 454.0483791993913 + ], + [ + 359.6538728625768, + 436.81687739860666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 336, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -88.92184448242188, + "y": -10.857976913452148, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.32920897006988525, + "y": 0.3887566924095154, + "z": 0.8952147960662842 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 309.27741047172276, + "ymin": 154.7585083022424, + "xmax": 349.6943125768917, + "ymax": 214.2820406069014 + }, + "corners_3d": [ + [ + -88.77510833740234, + -11.345807075500488, + 0.20134007930755615 + ], + [ + -89.42718505859375, + -10.922342300415039, + 0.20134007930755615 + ], + [ + -89.0685806274414, + -10.370146751403809, + 0.20134007930755615 + ], + [ + -88.41650390625, + -10.793611526489258, + 0.20134007930755615 + ], + [ + -88.77510833740234, + -11.345807075500488, + 1.9917696714401245 + ], + [ + -89.42718505859375, + -10.922342300415039, + 1.9917696714401245 + ], + [ + -89.0685806274414, + -10.370146751403809, + 1.9917696714401245 + ], + [ + -88.41650390625, + -10.793611526489258, + 1.9917696714401245 + ] + ], + "corners_2d": [ + [ + 321.2816906057293, + 205.80970781697044 + ], + [ + 334.25214184647996, + 214.2820406069014 + ], + [ + 349.6943125768917, + 206.2103479033274 + ], + [ + 336.6906100623791, + 197.9116045205228 + ], + [ + 309.27741047172276, + 162.4907290929485 + ], + [ + 322.6050468946706, + 170.7917534331628 + ], + [ + 338.75427734613277, + 162.88311358367727 + ], + [ + 325.38805675793515, + 154.7585083022424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 5573, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 446.9621374492235, + "ymin": 17.57345190800521, + "xmax": 534.9489156973858, + "ymax": 144.0062076103665 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 507.8021058435779, + 63.52211607026214 + ], + [ + 453.6620580382015, + 70.41038088768732 + ], + [ + 474.8733860470008, + 144.0062076103665 + ], + [ + 534.9489156973858, + 135.44160857459832 + ], + [ + 503.10216235497853, + 17.57345190800521 + ], + [ + 446.9621374492235, + 24.188002347007284 + ], + [ + 468.22115040251765, + 95.18242780568238 + ], + [ + 530.7699920763882, + 86.89006458934608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 8874, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 950.7308108382309, + "ymin": 592.2243819398153, + "xmax": 1158.838519452835, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 1048.8511654450274, + 825.3412793665389 + ], + [ + 1129.0374750748565, + 800.0075409667754 + ], + [ + 1022.5364478808403, + 630.6498221654274 + ], + [ + 950.7308108382309, + 650.0442550180753 + ], + [ + 1074.2568112439553, + 792.3700105893373 + ], + [ + 1158.838519452835, + 766.1297070618291 + ], + [ + 1042.8028479670877, + 592.2243819398153 + ], + [ + 967.4743564666194, + 612.0071872855733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2778, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 534.8305032019427, + "ymin": 22.847212966173572, + "xmax": 600.9121259888445, + "ymax": 101.36073369201739 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 580.6276515689054, + 54.56742798283108 + ], + [ + 537.3551793123978, + 60.075759199861466 + ], + [ + 554.9753401985737, + 101.36073369201739 + ], + [ + 600.9121259888445, + 95.10481876163021 + ], + [ + 579.1804904645019, + 22.847212966173572 + ], + [ + 534.8305032019427, + 28.202243971315454 + ], + [ + 552.7423807522529, + 68.41221259023496 + ], + [ + 599.8954638470773, + 62.310788108915006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 7391, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 624.1618109011445, + "ymin": 215.05910785717174, + "xmax": 730.1392633636143, + "ymax": 361.3093328273051 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 678.2240963316832, + 252.31460646465334 + ], + [ + 624.6848071609126, + 261.4877016867989 + ], + [ + 667.453229462942, + 361.3093328273051 + ], + [ + 726.8448321743564, + 349.80307593253383 + ], + [ + 679.5144351923639, + 215.05910785717174 + ], + [ + 624.1618109011445, + 224.11322551611158 + ], + [ + 668.5082561310855, + 323.0855008335814 + ], + [ + 730.1392633636143, + 311.6353837268623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 6391, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 526.7709088933052, + "ymin": 256.23613517499746, + "xmax": 620.9344070964694, + "ymax": 398.6033861800446 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 590.3187282306772, + 302.90489877466484 + ], + [ + 531.6340716155199, + 313.3884765002903 + ], + [ + 556.9643784355718, + 398.6033861800446 + ], + [ + 620.9344070964694, + 386.00253213072324 + ], + [ + 588.1169483270032, + 256.23613517499746 + ], + [ + 526.7709088933052, + 266.6014070409905 + ], + [ + 552.8587377871836, + 351.2682494615088 + ], + [ + 620.0046453898892, + 338.7018376863199 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1057.2907074826708, + "ymin": 612.869471875432, + "xmax": 1105.0161619726282, + "ymax": 661.3170111770974 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1057.2907074826708, + 646.4743992401739 + ], + [ + 1066.885499556191, + 661.3170111770974 + ], + [ + 1087.2092947769086, + 655.6888893218297 + ], + [ + 1077.413195930411, + 640.9813473691589 + ], + [ + 1073.775942220121, + 618.4464642008534 + ], + [ + 1083.964600364984, + 633.5258841058248 + ], + [ + 1105.0161619726282, + 627.8062496771436 + ], + [ + 1094.6119688843264, + 612.869471875432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1186.4360246441863, + "ymin": 577.4423326266217, + "xmax": 1238.6845976583827, + "ymax": 625.2068075953122 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1186.4360246441863, + 611.2202144553623 + ], + [ + 1197.283597153837, + 625.2068075953122 + ], + [ + 1216.4310285150918, + 619.9044476892913 + ], + [ + 1205.4072500243572, + 606.0414352332679 + ], + [ + 1207.371126693451, + 582.6882397308805 + ], + [ + 1218.8979443523042, + 596.864974372329 + ], + [ + 1238.6845976583827, + 591.4890110311234 + ], + [ + 1226.9701962141396, + 577.4423326266217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.4797086664985, + "ymin": 388.85606816240147, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1411.3679140470365, + 663.2875315226443 + ], + [ + 1395.971926441368, + 646.4691731538799 + ], + [ + 915.4797086664985, + 782.6616151835944 + ], + [ + 925.2031413284792, + 803.5052343914526 + ], + [ + 1696.7795598391704, + 406.9991464162952 + ], + [ + 1670.4677497725866, + 388.85606816240147 + ], + [ + 1031.4828782064794, + 541.2545713681787 + ], + [ + 1047.9570796955654, + 565.7301099992361 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 914.2387623773616, + "ymin": 0.0, + "xmax": 1077.5076863663548, + "ymax": 181.50203793255784 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 1012.3373770919133, + 166.3940906458536 + ], + [ + 1006.156222229409, + 160.26880388473924 + ], + [ + 914.2387623773616, + 175.12231200392955 + ], + [ + 919.755600025933, + 181.50203793255784 + ], + [ + 1077.5076863663548, + -41.81339771735122 + ], + [ + 1069.615195778262, + -46.95534845862585 + ], + [ + 962.9130069865064, + -34.460293500698754 + ], + [ + 969.9135218847737, + -29.066190113132052 + ] + ], + "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": 1192.309937110505, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 26.663194005758157 + }, + "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": [ + [ + 1314.717016083383, + -100.39729818443669 + ], + [ + 1192.309937110505, + -53.00571421872286 + ], + [ + 1425.5860823903624, + 26.663194005758157 + ], + [ + 1540.4420561444908, + -35.71569234905786 + ], + [ + 1543.588626093318, + -594.4051592332451 + ], + [ + 1406.1492212895034, + -598.5130255181094 + ], + [ + 1799.5540430531946, + -606.1242067101815 + ], + [ + 1905.6047282486654, + -600.0859354030764 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00155/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00155/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6281437ecfe92e47b4f5b091643853404747f0c1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/frames_playback/frame_00155/meta.json @@ -0,0 +1,1929 @@ +{ + "frame_id": 155, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 77.5, + "sim_timestamp": 2040.8617410983425 + }, + "drone_pose": { + "x": -118.14422913969003, + "y": -7.044999620468118, + "z": 20.0, + "pitch": -44.9264921509116, + "yaw": 14.728643289030709, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6847485899925232, + -0.18000636994838715, + 0.706199049949646, + 68.04326629638672 + ], + [ + 0.2542414665222168, + 0.967140793800354, + 7.450580596923828e-09, + -23.22365379333496 + ], + [ + -0.6829938888549805, + 0.1795450747013092, + 0.7080134153366089, + -96.116943359375 + ], + [ + 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": 141, + "world_location": { + "x": -99.66718292236328, + "y": -2.187763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.98369283105889, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 663, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -99.66718292236328, + "y": -2.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.26997068524360657, + "y": 0.35721758008003235, + "z": 0.923784613609314 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 624.9706917712563, + "ymin": 327.40180477847514, + "xmax": 655.1675701257734, + "ymax": 391.6383286994157 + }, + "corners_3d": [ + [ + -99.9371566772461, + -2.544980764389038, + 0.020358026027679443 + ], + [ + -99.9371566772461, + -1.8305456638336182, + 0.020358026027679443 + ], + [ + -99.39720916748047, + -1.8305456638336182, + 0.020358026027679443 + ], + [ + -99.39720916748047, + -2.544980764389038, + 0.020358026027679443 + ], + [ + -99.9371566772461, + -2.544980764389038, + 1.8679273128509521 + ], + [ + -99.9371566772461, + -1.8305456638336182, + 1.8679273128509521 + ], + [ + -99.39720916748047, + -1.8305456638336182, + 1.8679273128509521 + ], + [ + -99.39720916748047, + -2.544980764389038, + 1.8679273128509521 + ] + ], + "corners_2d": [ + [ + 630.2958181311227, + 391.6383286994157 + ], + [ + 654.4483425180994, + 387.01507549433757 + ], + [ + 649.5307604703542, + 373.96093237541254 + ], + [ + 625.6771721004991, + 378.4621193351755 + ], + [ + 629.8103694167659, + 345.07393875550065 + ], + [ + 655.1675701257734, + 340.4490113083453 + ], + [ + 649.9985952804952, + 327.40180477847514 + ], + [ + 624.9706917712563, + 331.8986553269826 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 155, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 326672, + "2": 255969, + "3": 245218, + "4": 25198, + "6": 4084, + "7": 2334, + "9": 9547, + "10": 437, + "12": 3933, + "14": 28184, + "20": 3272, + "24": 16752 + }, + "instance_pixel_counts": { + "11605": 111345, + "15189": 195, + "15701": 43540, + "15967": 35276, + "15970": 6832, + "16479": 13223, + "16482": 1262, + "17547": 34165, + "18059": 223, + "19554": 9512, + "20565": 48305, + "21395": 51256, + "21397": 2246, + "21643": 38925, + "23957": 2450, + "24467": 84615, + "25344": 5633, + "29523": 10585, + "29779": 30482, + "30291": 766, + "36096": 663, + "36352": 574, + "36608": 723, + "36864": 707, + "37120": 844, + "37376": 422, + "37632": 5928, + "37888": 4466, + "38912": 2949, + "40448": 7962, + "40704": 6879, + "42071": 785, + "45409": 7914, + "45971": 77245, + "46483": 5717, + "49043": 107839, + "51526": 25198, + "53857": 8120, + "56458": 51883, + "58506": 48634, + "60307": 4412, + "60819": 1582, + "61254": 12819, + "62867": 6062 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 663, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -99.66718292236328, + "y": -2.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.27040037512779236, + "y": 0.3496103882789612, + "z": 0.9237844347953796 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 625.2346891267154, + "ymin": 327.43928257098685, + "xmax": 654.9030252636577, + "ymax": 391.59943364910237 + }, + "corners_3d": [ + [ + -99.93758392333984, + -2.5373735427856445, + 0.02035820484161377 + ], + [ + -99.93758392333984, + -1.8381528854370117, + 0.02035820484161377 + ], + [ + -99.39678192138672, + -1.8381528854370117, + 0.02035820484161377 + ], + [ + -99.39678192138672, + -2.5373735427856445, + 0.02035820484161377 + ], + [ + -99.93758392333984, + -2.5373735427856445, + 1.867927074432373 + ], + [ + -99.93758392333984, + -1.8381528854370117, + 1.867927074432373 + ], + [ + -99.39678192138672, + -1.8381528854370117, + 1.867927074432373 + ], + [ + -99.39678192138672, + -2.5373735427856445, + 1.867927074432373 + ] + ], + "corners_2d": [ + [ + 630.5578926240006, + 391.59943364910237 + ], + [ + 654.196299520432, + 387.07454076415917 + ], + [ + 649.2740921836003, + 373.9984441652673 + ], + [ + 625.9287180658018, + 378.40368125756214 + ], + [ + 630.0855737148032, + 345.03503120321346 + ], + [ + 654.9030252636577, + 340.50849498816734 + ], + [ + 649.7293462983638, + 327.43928257098685 + ], + [ + 625.2346891267154, + 331.84027103650067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 574, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -94.25186157226562, + "y": 2.1641993522644043, + "z": 0.9440597295761108 + }, + "extent": { + "x": 0.442207008600235, + "y": 0.44168317317962646, + "z": 0.9244239330291748 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 706.6075793923005, + "ymin": 189.35190063111193, + "xmax": 747.1755932191245, + "ymax": 256.8713091512711 + }, + "corners_3d": [ + [ + -94.77623748779297, + 1.8241084814071655, + 0.019635796546936035 + ], + [ + -94.59257507324219, + 2.688170909881592, + 0.019635796546936035 + ], + [ + -93.72748565673828, + 2.5042903423309326, + 0.019635796546936035 + ], + [ + -93.91114807128906, + 1.6402276754379272, + 0.019635796546936035 + ], + [ + -94.77623748779297, + 1.8241084814071655, + 1.8684836626052856 + ], + [ + -94.59257507324219, + 2.688170909881592, + 1.8684836626052856 + ], + [ + -93.72748565673828, + 2.5042903423309326, + 1.8684836626052856 + ], + [ + -93.91114807128906, + 1.6402276754379272, + 1.8684836626052856 + ] + ], + "corners_2d": [ + [ + 719.8257924534367, + 256.8713091512711 + ], + [ + 742.8011574766116, + 249.35796173366276 + ], + [ + 729.3024106481573, + 234.8059676307342 + ], + [ + 706.6075793923005, + 242.06222908011867 + ], + [ + 723.2540003993366, + 211.10813445161602 + ], + [ + 747.1755932191245, + 203.69462304630764 + ], + [ + 733.0344188160154, + 189.35190063111193 + ], + [ + 709.4164453246605, + 196.5011893086641 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 723, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -101.92300415039062, + "y": 4.754949569702148, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3401757776737213, + "y": 0.4384731948375702, + "z": 0.9738308787345886 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 875.9719839347767, + "ymin": 333.4053883988216, + "xmax": 929.9618290857047, + "ymax": 406.7887513518946 + }, + "corners_3d": [ + [ + -102.3071517944336, + 4.35443639755249, + -0.029688239097595215 + ], + [ + -102.21548461914062, + 5.226578712463379, + -0.029688239097595215 + ], + [ + -101.53885650634766, + 5.155462741851807, + -0.029688239097595215 + ], + [ + -101.63052368164062, + 4.283320426940918, + -0.029688239097595215 + ], + [ + -102.3071517944336, + 4.35443639755249, + 1.917973518371582 + ], + [ + -102.21548461914062, + 5.226578712463379, + 1.917973518371582 + ], + [ + -101.53885650634766, + 5.155462741851807, + 1.917973518371582 + ], + [ + -101.63052368164062, + 4.283320426940918, + 1.917973518371582 + ] + ], + "corners_2d": [ + [ + 888.4522728917663, + 406.7887513518946 + ], + [ + 915.3320356367132, + 398.69254660271315 + ], + [ + 902.5137234321714, + 382.49639534452876 + ], + [ + 875.9719839347767, + 390.33045838824626 + ], + [ + 901.7668436640638, + 357.7175345227503 + ], + [ + 929.9618290857047, + 349.6077345724877 + ], + [ + 916.2238018862984, + 333.4053883988216 + ], + [ + 888.3995909716554, + 341.2389541416674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 707, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -103.24694061279297, + "y": -2.187763214111328, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.26997068524360657, + "y": 0.3438214361667633, + "z": 0.9230963587760925 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.3067556279324, + "ymin": 421.4840760634238, + "xmax": 692.9866018898847, + "ymax": 488.75519623534325 + }, + "corners_3d": [ + [ + -103.51691436767578, + -2.5315847396850586, + 0.021060943603515625 + ], + [ + -103.51691436767578, + -1.8439418077468872, + 0.021060943603515625 + ], + [ + -102.97696685791016, + -1.8439418077468872, + 0.021060943603515625 + ], + [ + -102.97696685791016, + -2.5315847396850586, + 0.021060943603515625 + ], + [ + -103.51691436767578, + -2.5315847396850586, + 1.8672536611557007 + ], + [ + -103.51691436767578, + -1.8439418077468872, + 1.8672536611557007 + ], + [ + -102.97696685791016, + -1.8439418077468872, + 1.8672536611557007 + ], + [ + -102.97696685791016, + -2.5315847396850586, + 1.8672536611557007 + ] + ], + "corners_2d": [ + [ + 664.8776329247469, + 488.75519623534325 + ], + [ + 690.2300542437002, + 483.38989701375147 + ], + [ + 684.317707380942, + 467.67486861542704 + ], + [ + 659.3067556279324, + 472.8849197885545 + ], + [ + 666.2500292850638, + 442.7627870573919 + ], + [ + 692.9866018898847, + 437.3426749463348 + ], + [ + 686.7125251387453, + 421.4840760634238 + ], + [ + 660.3554242543973, + 426.7389230061254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 844, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -102.38124084472656, + "y": -10.540764808654785, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.27185550332069397, + "y": 0.3569732904434204, + "z": 0.9232243895530701 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 313.3999056512945, + "ymin": 458.2773643589143, + "xmax": 361.5022223937563, + "ymax": 525.5193517841678 + }, + "corners_3d": [ + [ + -102.61429595947266, + -10.924199104309082, + 0.17333048582077026 + ], + [ + -102.68891906738281, + -10.214163780212402, + 0.17333048582077026 + ], + [ + -102.14818572998047, + -10.157330513000488, + 0.17333048582077026 + ], + [ + -102.07356262207031, + -10.867365837097168, + 0.17333048582077026 + ], + [ + -102.61429595947266, + -10.924199104309082, + 2.0197792053222656 + ], + [ + -102.68891906738281, + -10.214163780212402, + 2.0197792053222656 + ], + [ + -102.14818572998047, + -10.157330513000488, + 2.0197792053222656 + ], + [ + -102.07356262207031, + -10.867365837097168, + 2.0197792053222656 + ] + ], + "corners_2d": [ + [ + 331.1910463446656, + 525.5193517841678 + ], + [ + 360.3880075435692, + 521.9317511096318 + ], + [ + 361.5022223937563, + 504.4707040899868 + ], + [ + 332.7656145840269, + 507.94708803320157 + ], + [ + 313.3999056512945, + 479.60553498400657 + ], + [ + 344.33338076569606, + 475.96703587214284 + ], + [ + 345.77507134356006, + 458.2773643589143 + ], + [ + 315.35783498791443, + 461.7967416441177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 422, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -88.42184448242188, + "y": -10.357976913452148, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.17139647901058197, + "y": 0.2906588613986969, + "z": 0.911991536617279 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 312.0985908064739, + "ymin": 150.93556328759092, + "xmax": 343.09123473306886, + "ymax": 201.65608855250179 + }, + "corners_3d": [ + [ + -88.52906036376953, + -10.677919387817383, + 0.18456333875656128 + ], + [ + -88.6499252319336, + -10.109305381774902, + 0.18456333875656128 + ], + [ + -88.31462860107422, + -10.038034439086914, + 0.18456333875656128 + ], + [ + -88.19376373291016, + -10.606648445129395, + 0.18456333875656128 + ], + [ + -88.52906036376953, + -10.677919387817383, + 2.0085463523864746 + ], + [ + -88.6499252319336, + -10.109305381774902, + 2.0085463523864746 + ], + [ + -88.31462860107422, + -10.038034439086914, + 2.0085463523864746 + ], + [ + -88.19376373291016, + -10.606648445129395, + 2.0085463523864746 + ] + ], + "corners_2d": [ + [ + 324.66210264683315, + 201.65608855250179 + ], + [ + 341.4171583353182, + 201.19060871885563 + ], + [ + 343.09123473306886, + 195.47552594557519 + ], + [ + 326.4571029431282, + 195.9343664870645 + ], + [ + 312.0985908064739, + 157.0014047798182 + ], + [ + 329.5283963327052, + 156.5444348412999 + ], + [ + 331.3570626256832, + 150.93556328759092 + ], + [ + 314.0580777069314, + 151.38575860258734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 5928, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 438.0536095568603, + "ymin": 11.817295768978852, + "xmax": 526.6935828361544, + "ymax": 143.59005236026576 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 501.0686488183188, + 58.81183596571748 + ], + [ + 445.3714596784896, + 65.78010612112757 + ], + [ + 464.76686668651666, + 143.59005236026576 + ], + [ + 526.6935828361544, + 134.90179509690353 + ], + [ + 495.9018770117116, + 11.817295768978852 + ], + [ + 438.0536095568603, + 18.52988163399266 + ], + [ + 457.3727861009754, + 93.84656591941564 + ], + [ + 521.9709261162451, + 85.4036265163154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4466, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 942.7264035605438, + "ymin": 631.0187524073967, + "xmax": 1157.3013761283503, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 1041.1486455867973, + 878.9415198109799 + ], + [ + 1125.7266299022945, + 852.4067989823494 + ], + [ + 1018.0824202133142, + 667.8510007978268 + ], + [ + 942.7264035605438, + 688.0140523381571 + ], + [ + 1067.7342286107569, + 849.5475067736411 + ], + [ + 1157.3013761283503, + 821.8504883361938 + ], + [ + 1039.3554071242384, + 631.0187524073967 + ], + [ + 960.0463853582096, + 651.7149266901946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2949, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 528.6845622656225, + "ymin": 17.31205563640225, + "xmax": 595.6555456061207, + "ymax": 99.00879409351307 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 576.0363189004283, + 49.76086130535606 + ], + [ + 531.4759392602214, + 55.33862453526427 + ], + [ + 548.2949479283673, + 99.00879409351307 + ], + [ + 595.6555456061207, + 92.66352321927462 + ], + [ + 574.4055056966944, + 17.31205563640225 + ], + [ + 528.6845622656225, + 22.74648412159104 + ], + [ + 545.774065151853, + 65.37713224943474 + ], + [ + 594.4479664952042, + 59.17378183129392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 7962, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 614.311813852682, + "ymin": 222.01509685998562, + "xmax": 721.230422931957, + "ymax": 375.64906106675505 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 670.6555623234409, + 259.71539023635626 + ], + [ + 615.2014770113344, + 269.079595513801 + ], + [ + 656.418238670483, + 375.64906106675505 + ], + [ + 718.109488603027, + 363.8558607453999 + ], + [ + 671.7430453199112, + 222.01509685998562 + ], + [ + 614.311813852682, + 231.28865669802946 + ], + [ + 657.0826167338962, + 337.3352865211039 + ], + [ + 721.230422931957, + 325.55371960875294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 6879, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 512.0155365053968, + "ymin": 265.8070398291936, + "xmax": 607.656565608861, + "ymax": 414.5178430093952 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 578.5537376469226, + 312.8568458128948 + ], + [ + 517.7812967533048, + 323.56100045409954 + ], + [ + 541.258941070024, + 414.5178430093952 + ], + [ + 607.656565608861, + 401.61009568528016 + ], + [ + 575.6902201581978, + 265.8070398291936 + ], + [ + 512.0155365053968, + 276.4368770061685 + ], + [ + 536.1168156303678, + 367.2347207153269 + ], + [ + 605.9948065226655, + 354.29782283485423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.7671997908776, + "ymin": 674.361515203012, + "xmax": 1101.3522250697226, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1050.7671997908776, + 706.6761077042147 + ], + [ + 1060.5809661373414, + 723.3591073470341 + ], + [ + 1082.315758901425, + 717.2988325902716 + ], + [ + 1072.2731877444276, + 700.7676058830878 + ], + [ + 1068.2969501308112, + 680.3968654817595 + ], + [ + 1078.7690445028454, + 697.4506332488783 + ], + [ + 1101.3522250697226, + 691.2535190281428 + ], + [ + 1090.6335970238015, + 674.361515203012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1188.793685047775, + "ymin": 636.0260085375539, + "xmax": 1244.7302993788094, + "ymax": 684.4761673844407 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1188.793685047775, + 668.7550532859964 + ], + [ + 1200.032175210367, + 684.4761673844407 + ], + [ + 1220.5089712999206, + 678.7666576694018 + ], + [ + 1209.069922802322, + 663.184409986228 + ], + [ + 1211.5046652388205, + 641.7022159474488 + ], + [ + 1223.5080363802113, + 657.732398600667 + ], + [ + 1244.7302993788094, + 651.9087376050278 + ], + [ + 1232.5121353524703, + 636.0260085375539 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 902.6780485965107, + "ymin": 438.9327623230092, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1424.6333454228716, + 707.3497901482958 + ], + [ + 1408.7336099287338, + 688.9602136844833 + ], + [ + 902.6780485965107, + 831.0402474891864 + ], + [ + 912.3163585264009, + 853.7518372313148 + ], + [ + 1740.515122664191, + 459.71292783469926 + ], + [ + 1712.1315847045248, + 438.9327623230092 + ], + [ + 1023.0457703173313, + 605.8526035923816 + ], + [ + 1040.014776049813, + 633.9555935223534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.3206189961163, + "ymin": 0.0, + "xmax": 1088.2068928509584, + "ymax": 186.3091090349952 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 1018.05260849312, + 170.8470887114717 + ], + [ + 1011.7919436443335, + 164.297543500625 + ], + [ + 916.3206189961163, + 179.4944915491452 + ], + [ + 921.8699786097989, + 186.3091090349952 + ], + [ + 1088.2068928509584, + -42.85605588005285 + ], + [ + 1080.0883497999303, + -48.452556448892324 + ], + [ + 968.2823258235666, + -35.43978796716823 + ], + [ + 975.4284208248941, + -29.57346531952021 + ] + ], + "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": 1209.0783130541517, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 24.251627480552827 + }, + "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": [ + [ + 1336.6385411721176, + -110.59816079077007 + ], + [ + 1209.0783130541517, + -61.11883849586093 + ], + [ + 1449.5391692993621, + 24.251627480552827 + ], + [ + 1569.923216818263, + -41.26819235752191 + ], + [ + 1588.3856704909665, + -628.4705973373923 + ], + [ + 1444.2610193185396, + -632.9124248186499 + ], + [ + 1864.6431554417557, + -641.4285062060263 + ], + [ + 1974.6432595622543, + -634.7911065536014 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/ORI/perturbation_report.json b/data_v7/Town05_Opt/trajectory_1777092554/ORI/perturbation_report.json new file mode 100644 index 0000000000000000000000000000000000000000..7c56bafeccb45f2d21ca98b5f9ba6baae5a35b31 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/ORI/perturbation_report.json @@ -0,0 +1,96 @@ +{ + "aug_index": 0, + "is_original": true, + "frames": 156, + "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_1777092554/aug_001/frames_playback/frame_00001/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1360f7db940207f6d0459968d4834fc119fe424b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00001/meta.json @@ -0,0 +1,1505 @@ +{ + "frame_id": 1, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 0.5, + "sim_timestamp": 2084.927848667605 + }, + "drone_pose": { + "x": -137.27612027093082, + "y": -80.0882427895466, + "z": 21.231574087764812, + "pitch": -48.768856576644545, + "yaw": 91.52155216480757, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.017500996589660645, + -0.6588659286499023, + 0.7520567178726196, + 34.39759826660156 + ], + [ + 0.9996473789215088, + -0.026552915573120117, + 0.0, + -139.3542938232422 + ], + [ + 0.01996934413909912, + 0.7517915368080139, + 0.6590983867645264, + -71.46205139160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.64566034094906, + "y": -80.0043668786995, + "z": 20.696576775469513 + }, + "t1_image_uv": [ + 1399.5594148612463, + 943.7200079427736 + ], + "t1_depth": 0.46407865734386905 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -59.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 651.1427475538865, + 278.37771516181806 + ], + "depth": 28.928900919605702, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 575, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -59.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39006346464157104, + "y": 0.32362547516822815, + "z": 0.8607349395751953 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 640.0612815633759, + "ymin": 248.1182220684754, + "xmax": 662.9342413749088, + "ymax": 307.8430753455148 + }, + "corners_3d": [ + [ + -137.8435516357422, + -59.57782745361328, + 0.2358003854751587 + ], + [ + -138.4907989501953, + -59.57782745361328, + 0.2358003854751587 + ], + [ + -138.4907989501953, + -58.797698974609375, + 0.2358003854751587 + ], + [ + -137.8435516357422, + -58.797698974609375, + 0.2358003854751587 + ], + [ + -137.8435516357422, + -59.57782745361328, + 1.9572702646255493 + ], + [ + -138.4907989501953, + -59.57782745361328, + 1.9572702646255493 + ], + [ + -138.4907989501953, + -58.797698974609375, + 1.9572702646255493 + ], + [ + -137.8435516357422, + -58.797698974609375, + 1.9572702646255493 + ] + ], + "corners_2d": [ + [ + 640.7407500943547, + 307.8430753455148 + ], + [ + 661.9217342309411, + 307.44009704134123 + ], + [ + 660.8776632460018, + 289.4763407847305 + ], + [ + 640.0612815633759, + 289.8655527884563 + ], + [ + 640.7749772212114, + 266.5581859145086 + ], + [ + 662.9342413749088, + 266.1532790168813 + ], + [ + 661.8245835035633, + 248.1182220684754 + ], + [ + 640.0640621327503, + 248.50867498968302 + ] + ], + "center_offset_px": [ + 11.142747553886466, + -81.62228483818194 + ] + }, + "trace_timestep_index": 1, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 31, + "semantic_pixel_counts": { + "1": 388017, + "2": 121286, + "3": 219287, + "4": 45172, + "6": 14316, + "12": 3842, + "14": 8401, + "20": 102, + "24": 8277, + "25": 112900 + }, + "instance_pixel_counts": { + "2453": 6905, + "3413": 1955, + "3662": 7988, + "15704": 12376, + "15960": 1940, + "22933": 1372, + "23443": 64944, + "28298": 1130, + "36096": 575, + "36352": 613, + "36608": 540, + "36864": 585, + "37120": 775, + "37376": 754, + "38144": 8401, + "47198": 99400, + "47710": 709, + "49492": 217332, + "50246": 35710, + "51297": 11227, + "51526": 1474, + "51809": 2014, + "52321": 2694, + "54366": 11619, + "54878": 1172, + "57994": 9686, + "59737": 102, + "63382": 79690, + "63894": 13181, + "64406": 1664, + "65426": 323073 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 575, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -59.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39680662751197815, + "y": 0.36543944478034973, + "z": 0.8867212533950806 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 638.6511063574598, + "ymin": 247.28684812788185, + "xmax": 664.392008536902, + "ymax": 308.62256713752583 + }, + "corners_3d": [ + [ + -137.80174255371094, + -59.584571838378906, + 0.20981407165527344 + ], + [ + -138.53260803222656, + -59.58456802368164, + 0.20981407165527344 + ], + [ + -138.53260803222656, + -58.79095458984375, + 0.20981407165527344 + ], + [ + -137.80174255371094, + -58.790958404541016, + 0.20981407165527344 + ], + [ + -137.80174255371094, + -59.584571838378906, + 1.9832565784454346 + ], + [ + -138.53260803222656, + -59.58456802368164, + 1.9832565784454346 + ], + [ + -138.53260803222656, + -58.79095458984375, + 1.9832565784454346 + ], + [ + -137.80174255371094, + -58.790958404541016, + 1.9832565784454346 + ] + ], + "corners_2d": [ + [ + 639.3781822393852, + 308.62256713752583 + ], + [ + 663.283230702884, + 308.1673442054473 + ], + [ + 662.198152921306, + 289.89546685557104 + ], + [ + 638.7113747079235, + 290.3348848999764 + ], + [ + 639.3485569334224, + 266.09083482714 + ], + [ + 664.392008536902, + 265.6333617951493 + ], + [ + 663.2358837103715, + 247.28684812788185 + ], + [ + 638.6511063574598, + 247.7277023446066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 613, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -56.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45432132482528687, + "y": 0.49969977140426636, + "z": 0.9223666787147522 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 499.4536812404319, + "ymin": 185.73631020661284, + "xmax": 539.9162210507488, + "ymax": 252.48045939197158 + }, + "corners_3d": [ + [ + -133.64688110351562, + -56.73834228515625, + 0.02177119255065918 + ], + [ + -134.6244354248047, + -56.530555725097656, + 0.02177119255065918 + ], + [ + -134.43551635742188, + -55.64176940917969, + 0.02177119255065918 + ], + [ + -133.4579620361328, + -55.84955596923828, + 0.02177119255065918 + ], + [ + -133.64688110351562, + -56.73834228515625, + 1.8665045499801636 + ], + [ + -134.6244354248047, + -56.530555725097656, + 1.8665045499801636 + ], + [ + -134.43551635742188, + -55.64176940917969, + 1.8665045499801636 + ], + [ + -133.4579620361328, + -55.84955596923828, + 1.8665045499801636 + ] + ], + "corners_2d": [ + [ + 509.59384771162854, + 252.48045939197158 + ], + [ + 539.9162210507488, + 247.63908392099472 + ], + [ + 535.3649819768901, + 229.75595199165198 + ], + [ + 505.57488734045074, + 234.42236558647593 + ], + [ + 503.5399471234709, + 208.43121060641957 + ], + [ + 535.2938108018781, + 203.59208041374822 + ], + [ + 530.624267563812, + 185.73631020661284 + ], + [ + 499.4536812404319, + 190.39269265466655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 540, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -52.245052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4388671815395355, + "y": 0.4732324182987213, + "z": 0.9505886435508728 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 692.3035418612085, + "ymin": 107.38657136870714, + "xmax": 726.4203678965782, + "ymax": 169.75935712186336 + }, + "corners_3d": [ + [ + -139.9982452392578, + -52.730979919433594, + 0.1459466814994812 + ], + [ + -140.93951416015625, + -52.632049560546875, + 0.1459466814994812 + ], + [ + -140.84776306152344, + -51.759124755859375, + 0.1459466814994812 + ], + [ + -139.906494140625, + -51.858055114746094, + 0.1459466814994812 + ], + [ + -139.9982452392578, + -52.730979919433594, + 2.047123908996582 + ], + [ + -140.93951416015625, + -52.632049560546875, + 2.047123908996582 + ], + [ + -140.84776306152344, + -51.759124755859375, + 2.047123908996582 + ], + [ + -139.906494140625, + -51.858055114746094, + 2.047123908996582 + ] + ], + "corners_2d": [ + [ + 696.438511003952, + 169.75935712186336 + ], + [ + 722.7873996596493, + 167.58626156312502 + ], + [ + 718.2252429861038, + 152.61186373073343 + ], + [ + 692.3035418612085, + 154.71339907059394 + ], + [ + 698.9214307344495, + 124.37671877793159 + ], + [ + 726.4203678965782, + 122.22199671438241 + ], + [ + 721.5986283075788, + 107.38657136870714 + ], + [ + 694.5646484091606, + 109.46730135417593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 585, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -59.18776321411133, + "z": 1.0951241254806519 + }, + "extent": { + "x": 0.39240720868110657, + "y": 0.45292723178863525, + "z": 0.8831192851066589 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 750.7765483446065, + "ymin": 245.30670333066394, + "xmax": 789.6680286524544, + "ymax": 306.29841491322725 + }, + "corners_3d": [ + [ + -141.29400634765625, + -59.580169677734375, + 0.21200484037399292 + ], + [ + -142.19985961914062, + -59.580169677734375, + 0.21200484037399292 + ], + [ + -142.19985961914062, + -58.79535675048828, + 0.21200484037399292 + ], + [ + -141.29400634765625, + -58.79535675048828, + 0.21200484037399292 + ], + [ + -141.29400634765625, + -59.580169677734375, + 1.978243350982666 + ], + [ + -142.19985961914062, + -59.580169677734375, + 1.978243350982666 + ], + [ + -142.19985961914062, + -58.79535675048828, + 1.978243350982666 + ], + [ + -141.29400634765625, + -58.79535675048828, + 1.978243350982666 + ] + ], + "corners_2d": [ + [ + 753.4062125026608, + 306.29841491322725 + ], + [ + 782.907341641888, + 305.7368190382598 + ], + [ + 779.7692783794009, + 287.74557137905873 + ], + [ + 750.7765483446065, + 288.2879206582858 + ], + [ + 758.7742855574958, + 263.9317653017274 + ], + [ + 789.6680286524544, + 263.367522474523 + ], + [ + 786.261939304964, + 245.30670333066394 + ], + [ + 755.9252730743766, + 245.8507185253274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 775, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.78268432617188, + "y": -70.31512451171875, + "z": 1.0959786176681519 + }, + "extent": { + "x": 0.4008447527885437, + "y": 0.30805912613868713, + "z": 0.8749362230300903 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 808.6345606439522, + "ymin": 582.7734726201716, + "xmax": 849.4407151500066, + "ymax": 653.1100154586493 + }, + "corners_3d": [ + [ + -141.43441772460938, + -70.68157196044922, + 0.22104239463806152 + ], + [ + -142.04714965820312, + -70.7459716796875, + 0.22104239463806152 + ], + [ + -142.13095092773438, + -69.94867706298828, + 0.22104239463806152 + ], + [ + -141.51821899414062, + -69.88427734375, + 0.22104239463806152 + ], + [ + -141.43441772460938, + -70.68157196044922, + 1.9709148406982422 + ], + [ + -142.04714965820312, + -70.7459716796875, + 1.9709148406982422 + ], + [ + -142.13095092773438, + -69.94867706298828, + 1.9709148406982422 + ], + [ + -141.51821899414062, + -69.88427734375, + 1.9709148406982422 + ] + ], + "corners_2d": [ + [ + 809.9364883580965, + 651.1153327967565 + ], + [ + 836.9350090649464, + 653.1100154586493 + ], + [ + 835.0010224956092, + 620.6979309664938 + ], + [ + 808.6345606439522, + 618.7952218092013 + ], + [ + 820.711257451096, + 616.2285992363553 + ], + [ + 849.4407151500066, + 618.2965713160627 + ], + [ + 847.0769613320721, + 584.740265236847 + ], + [ + 819.0621300724157, + 582.7734726201716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 754, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -67.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3126611113548279, + "y": 0.5018529891967773, + "z": 0.8945547938346863 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 163.61134205339465, + "ymin": 489.8487828138368, + "xmax": 239.12576159283606, + "ymax": 556.9226615828798 + }, + "corners_3d": [ + [ + -126.36595153808594, + -67.55946350097656, + 0.0495830774307251 + ], + [ + -127.34772491455078, + -67.76815032958984, + 0.0495830774307251 + ], + [ + -127.47773742675781, + -67.156494140625, + 0.0495830774307251 + ], + [ + -126.49596405029297, + -66.94780731201172, + 0.0495830774307251 + ], + [ + -126.36595153808594, + -67.55946350097656, + 1.8386926651000977 + ], + [ + -127.34772491455078, + -67.76815032958984, + 1.8386926651000977 + ], + [ + -127.47773742675781, + -67.156494140625, + 1.8386926651000977 + ], + [ + -126.49596405029297, + -66.94780731201172, + 1.8386926651000977 + ] + ], + "corners_2d": [ + [ + 190.3259013539119, + 550.442476251055 + ], + [ + 227.74747436705303, + 556.9226615828798 + ], + [ + 239.12576159283606, + 535.3506223579086 + ], + [ + 202.26966025083436, + 529.0844477798087 + ], + [ + 163.61134205339465, + 511.7735736250833 + ], + [ + 203.12528257176956, + 518.4342773594511 + ], + [ + 215.6062595433924, + 496.27675618801277 + ], + [ + 176.72182228196505, + 489.8487828138368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 8401, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 264.2352756610475, + "ymin": 209.13259661555298, + "xmax": 377.9925024501961, + "ymax": 356.76606281581803 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 281.8817193234239, + 356.76606281581803 + ], + [ + 353.2807094217419, + 355.71699773749174 + ], + [ + 377.9925024501961, + 251.22526800180492 + ], + [ + 313.45830440999197, + 252.08294974941407 + ], + [ + 264.2352756610475, + 315.14935947039083 + ], + [ + 339.16672270503557, + 314.09059555106296 + ], + [ + 366.3848397012049, + 209.13259661555298 + ], + [ + 298.9784630060353, + 209.99009634948558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 59.887421945537426, + "ymin": 437.5881624909186, + "xmax": 691.5889584498655, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 670.6714905496933, + 775.1252993264594 + ], + [ + 669.0620918688832, + 740.0760449258826 + ], + [ + 303.82218979409055, + 749.909023817005 + ], + [ + 296.7072453315265, + 785.4326151538085 + ], + [ + 691.5889584498655, + 484.45459726651313 + ], + [ + 688.1205000017208, + 437.5881624909186 + ], + [ + 80.91933821006228, + 450.5884150363531 + ], + [ + 59.887421945537426, + 498.5206778577878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7756054829984019411, + "instance_id": 54131, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 76.01352385195901, + "ymin": 466.2241623020128, + "xmax": 141.94821426631995, + "ymax": 499.9670150248975 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.914763450622559 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 130.10722995406928, + 498.7879449060375 + ], + [ + 141.94821426631995, + 467.7738323905393 + ], + [ + 90.41616270460577, + 468.89436193689795 + ], + [ + 77.23425666669903, + 499.9670150248975 + ], + [ + 129.00224537122972, + 497.26545287870783 + ], + [ + 140.89607005768335, + 466.2241623020128 + ], + [ + 89.25407247428802, + 467.34561491782597 + ], + [ + 76.01352385195901, + 498.44562294031806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12456936095367281392, + "instance_id": 61626, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 76.04510798550757, + "ymin": 466.26425485250627, + "xmax": 141.97532035017173, + "ymax": 500.0062079321169 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.913856506347656 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 130.13569575893519, + 498.82716623241004 + ], + [ + 141.97532035017173, + 467.8137560882774 + ], + [ + 90.44610123527298, + 468.93426177334516 + ], + [ + 77.26570422609711, + 500.0062079321169 + ], + [ + 129.030834682361, + 497.3048443769608 + ], + [ + 140.92329078364526, + 466.26425485250627 + ], + [ + 89.28413774487353, + 467.3856836637651 + ], + [ + 76.04510798550757, + 498.48498605909293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 344.5812202691877, + "ymin": 0.0, + "xmax": 644.37674506601, + "ymax": 182.85241747342388 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 643.3023808341295, + 179.08474046678896 + ], + [ + 642.7070496374735, + 166.11970277103617 + ], + [ + 420.0147780982872, + 169.78109098472936 + ], + [ + 417.39674995081344, + 182.85241747342388 + ], + [ + 644.37674506601, + -153.48532683709345 + ], + [ + 643.5712627066771, + -164.36914944040734 + ], + [ + 349.4087416705993, + -161.30564585565025 + ], + [ + 344.5812202691877, + -150.30360392669598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1234.3793170120284, + "ymin": 451.1836743389948, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1234.3793170120284, + 693.621558959893 + ], + [ + 1480.3446315833824, + 813.0462619500195 + ], + [ + 1487.604227825463, + 634.2729137650356 + ], + [ + 1267.5820508721815, + 539.9928289811078 + ], + [ + 1325.2806214215752, + 615.9739308701427 + ], + [ + 1621.4058872951477, + 747.8670400536757 + ], + [ + 1611.0646829895743, + 551.6751761616417 + ], + [ + 1351.8572231142593, + 451.1836743389948 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00004/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fbd1dc770845c232e99d764f64554a9cb221d48e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00004/meta.json @@ -0,0 +1,1503 @@ +{ + "frame_id": 4, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 2.0, + "sim_timestamp": 2121.1291822630446 + }, + "drone_pose": { + "x": -137.9279316064942, + "y": -78.85567300398702, + "z": 20.59420246988753, + "pitch": -47.25277436307731, + "yaw": 92.80356491695686, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.03319978713989258, + -0.677952766418457, + 0.7343553304672241, + 33.7578010559082 + ], + [ + 0.9988031387329102, + -0.0489119291305542, + 2.9802322387695312e-08, + -141.6198272705078 + ], + [ + 0.03591868281364441, + 0.7334764003753662, + 0.6787652373313904, + -66.86320495605469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.9600408500365, + "y": -78.44666789642108, + "z": 20.59175343188013 + }, + "t1_image_uv": [ + 681.3454910621147, + -666.2591362771102 + ], + "t1_depth": 0.2801506275816784 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -57.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 613.3395386804754, + 282.9904904896502 + ], + "depth": 28.67700289823992, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 593, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -57.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3697900176048279, + "y": 0.4363037049770355, + "z": 0.87257981300354 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 597.5463089549755, + "ymin": 252.14617799463593, + "xmax": 628.6928484917896, + "ymax": 313.03729367088556 + }, + "corners_3d": [ + [ + -137.73086547851562, + -58.057552337646484, + 0.22395551204681396 + ], + [ + -138.60348510742188, + -58.057552337646484, + 0.22395551204681396 + ], + [ + -138.60348510742188, + -57.31797409057617, + 0.22395551204681396 + ], + [ + -137.73086547851562, + -57.31797409057617, + 0.22395551204681396 + ], + [ + -137.73086547851562, + -58.057552337646484, + 1.969115138053894 + ], + [ + -138.60348510742188, + -58.057552337646484, + 1.969115138053894 + ], + [ + -138.60348510742188, + -57.31797409057617, + 1.969115138053894 + ], + [ + -137.73086547851562, + -57.31797409057617, + 1.969115138053894 + ] + ], + "corners_2d": [ + [ + 599.8816675362219, + 313.03729367088556 + ], + [ + 628.6928484917896, + 312.0494135051832 + ], + [ + 627.7106001321508, + 295.2585950906654 + ], + [ + 599.3872531125965, + 296.21325592108354 + ], + [ + 598.0303016421204, + 269.9219625362083 + ], + [ + 628.171594039098, + 268.9334725494458 + ], + [ + 627.1541014593237, + 252.14617799463593 + ], + [ + 597.5463089549755, + 253.09993563552695 + ] + ], + "center_offset_px": [ + -26.660461319524643, + -77.0095095103498 + ] + }, + "trace_timestep_index": 4, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 29, + "semantic_pixel_counts": { + "1": 366886, + "2": 117815, + "3": 247554, + "4": 46933, + "6": 13400, + "12": 3932, + "14": 9568, + "20": 106, + "24": 7719, + "25": 107687 + }, + "instance_pixel_counts": { + "2453": 5898, + "3413": 3585, + "3662": 12556, + "15704": 11045, + "15960": 2355, + "22933": 1821, + "23443": 84020, + "36096": 593, + "36352": 636, + "36608": 536, + "36864": 584, + "37120": 865, + "37376": 718, + "38144": 9568, + "47198": 93119, + "48980": 348, + "49492": 243621, + "50246": 34059, + "51297": 13868, + "51526": 318, + "51809": 2481, + "52321": 3198, + "54366": 13429, + "54878": 1139, + "57994": 6983, + "59737": 106, + "63382": 78629, + "63894": 12656, + "65426": 282866 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 593, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -57.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.40400388836860657, + "y": 0.29387205839157104, + "z": 0.8760499358177185 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 602.3541113480582, + "ymin": 251.44964213278047, + "xmax": 624.0377348634856, + "ymax": 313.7499560075713 + }, + "corners_3d": [ + [ + -137.87330627441406, + -58.091766357421875, + 0.2204853892326355 + ], + [ + -138.46104431152344, + -58.091766357421875, + 0.2204853892326355 + ], + [ + -138.46104431152344, + -57.28376007080078, + 0.2204853892326355 + ], + [ + -137.87330627441406, + -57.28376007080078, + 0.2204853892326355 + ], + [ + -137.87330627441406, + -58.091766357421875, + 1.9725852012634277 + ], + [ + -138.46104431152344, + -58.091766357421875, + 1.9725852012634277 + ], + [ + -138.46104431152344, + -57.28376007080078, + 1.9725852012634277 + ], + [ + -137.87330627441406, + -57.28376007080078, + 1.9725852012634277 + ] + ], + "corners_2d": [ + [ + 604.6186899302827, + 313.7499560075713 + ], + [ + 624.0377348634856, + 313.08352651685055 + ], + [ + 623.0515055585853, + 294.7330571109215 + ], + [ + 603.9913758053449, + 295.3750436711588 + ], + [ + 602.9781917883241, + 270.46342585426163 + ], + [ + 623.2981447757905, + 269.79653425906633 + ], + [ + 622.2814109786165, + 251.44964213278047 + ], + [ + 602.3541113480582, + 252.09097293108553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 636, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -54.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45298343896865845, + "y": 0.49203863739967346, + "z": 0.912615180015564 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 460.37652686824845, + "ymin": 193.21611070605454, + "xmax": 502.1268685140027, + "ymax": 260.3747972449719 + }, + "corners_3d": [ + [ + -133.6540985107422, + -55.235443115234375, + 0.03152269124984741 + ], + [ + -134.61666870117188, + -55.03083801269531, + 0.03152269124984741 + ], + [ + -134.4282989501953, + -54.14466857910156, + 0.03152269124984741 + ], + [ + -133.46572875976562, + -54.349273681640625, + 0.03152269124984741 + ], + [ + -133.6540985107422, + -55.235443115234375, + 1.8567531108856201 + ], + [ + -134.61666870117188, + -55.03083801269531, + 1.8567531108856201 + ], + [ + -134.4282989501953, + -54.14466857910156, + 1.8567531108856201 + ], + [ + -133.46572875976562, + -54.349273681640625, + 1.8567531108856201 + ] + ], + "corners_2d": [ + [ + 471.8772850399142, + 260.3747972449719 + ], + [ + 502.1268685140027, + 255.22882456992687 + ], + [ + 497.7074347188603, + 237.73504890134586 + ], + [ + 468.00368362586937, + 242.68951775018087 + ], + [ + 464.2723174824817, + 215.7303113256243 + ], + [ + 495.9259451865291, + 210.60856385205273 + ], + [ + 491.43291615133614, + 193.21611070605454 + ], + [ + 460.37652686824845, + 198.13891074675996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 536, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -50.745052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4357275366783142, + "y": 0.4882226586341858, + "z": 0.9472010731697083 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 655.8525304420577, + "ymin": 113.87467810296215, + "xmax": 689.1873571742044, + "ymax": 176.58920101556316 + }, + "corners_3d": [ + [ + -139.98300170898438, + -51.229427337646484, + 0.14933425188064575 + ], + [ + -140.9541015625, + -51.12736129760742, + 0.14933425188064575 + ], + [ + -140.86300659179688, + -50.260677337646484, + 0.14933425188064575 + ], + [ + -139.89190673828125, + -50.36274337768555, + 0.14933425188064575 + ], + [ + -139.98300170898438, + -51.229427337646484, + 2.043736457824707 + ], + [ + -140.9541015625, + -51.12736129760742, + 2.043736457824707 + ], + [ + -140.86300659179688, + -50.260677337646484, + 2.043736457824707 + ], + [ + -139.89190673828125, + -50.36274337768555, + 2.043736457824707 + ] + ], + "corners_2d": [ + [ + 659.9135544309054, + 176.58920101556316 + ], + [ + 687.1695999220444, + 174.03118201033544 + ], + [ + 682.6586714274838, + 159.58320999217355 + ], + [ + 655.8525304420577, + 162.0551480603454 + ], + [ + 660.7680547104032, + 130.64325106267344 + ], + [ + 689.1873571742044, + 128.119115910463 + ], + [ + 684.4512463593113, + 113.87467810296215 + ], + [ + 656.5207224806766, + 116.31032962023326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 584, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -57.68776321411133, + "z": 1.095011830329895 + }, + "extent": { + "x": 0.38743162155151367, + "y": 0.4633422791957855, + "z": 0.8835968375205994 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 714.2741281466347, + "ymin": 247.58961162141702, + "xmax": 752.1966728699551, + "ymax": 309.72884572489716 + }, + "corners_3d": [ + [ + -141.28358459472656, + -58.0751953125, + 0.21141499280929565 + ], + [ + -142.2102813720703, + -58.0751953125, + 0.21141499280929565 + ], + [ + -142.2102813720703, + -57.300331115722656, + 0.21141499280929565 + ], + [ + -141.28358459472656, + -57.300331115722656, + 0.21141499280929565 + ], + [ + -141.28358459472656, + -58.0751953125, + 1.9786086082458496 + ], + [ + -142.2102813720703, + -58.0751953125, + 1.9786086082458496 + ], + [ + -142.2102813720703, + -57.300331115722656, + 1.9786086082458496 + ], + [ + -141.28358459472656, + -57.300331115722656, + 1.9786086082458496 + ] + ], + "corners_2d": [ + [ + 716.8592348428174, + 309.72884572489716 + ], + [ + 747.2100228736841, + 308.6874351829374 + ], + [ + 744.0911911217772, + 291.2383287902765 + ], + [ + 714.2741281466347, + 292.24323540746514 + ], + [ + 720.438127832488, + 266.07020868500035 + ], + [ + 752.1966728699551, + 265.02850122155445 + ], + [ + 748.8433016353994, + 247.58961162141702 + ], + [ + 717.6686641138937, + 248.59315240500734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 865, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.78268432617188, + "y": -68.81512451171875, + "z": 1.095866322517395 + }, + "extent": { + "x": 0.4030713140964508, + "y": 0.32582277059555054, + "z": 0.8818037509918213 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 772.2386690514388, + "ymin": 581.688436472077, + "xmax": 812.9965943780447, + "ymax": 654.8623704520983 + }, + "corners_3d": [ + [ + -141.41651916503906, + -69.18193054199219, + 0.21406257152557373 + ], + [ + -142.06459045410156, + -69.25004577636719, + 0.21406257152557373 + ], + [ + -142.1488494873047, + -68.44831848144531, + 0.21406257152557373 + ], + [ + -141.5007781982422, + -68.38020324707031, + 0.21406257152557373 + ], + [ + -141.41651916503906, + -69.18193054199219, + 1.9776700735092163 + ], + [ + -142.06459045410156, + -69.25004577636719, + 1.9776700735092163 + ], + [ + -142.1488494873047, + -68.44831848144531, + 1.9776700735092163 + ], + [ + -141.5007781982422, + -68.38020324707031, + 1.9776700735092163 + ] + ], + "corners_2d": [ + [ + 773.5833576601334, + 653.3426253049954 + ], + [ + 802.631453597391, + 654.8623704520983 + ], + [ + 800.569187090799, + 621.9898483143689 + ], + [ + 772.2386690514388, + 620.5440672363529 + ], + [ + 782.0868286398985, + 615.5314549658673 + ], + [ + 812.9965943780447, + 617.1021680820503 + ], + [ + 810.5349569120199, + 583.1780260265045 + ], + [ + 780.436408557429, + 581.688436472077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 718, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -65.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.2986083924770355, + "y": 0.4241015613079071, + "z": 0.8820386528968811 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 114.00384741818038, + "ymin": 502.4378117218357, + "xmax": 187.44374745485635, + "ymax": 568.8629855034586 + }, + "corners_3d": [ + [ + -126.4449234008789, + -66.0618896484375, + 0.062103986740112305 + ], + [ + -127.27459716796875, + -66.23823547363281, + 0.062103986740112305 + ], + [ + -127.39876556396484, + -65.65406799316406, + 0.062103986740112305 + ], + [ + -126.569091796875, + -65.47772216796875, + 0.062103986740112305 + ], + [ + -126.4449234008789, + -66.0618896484375, + 1.8261812925338745 + ], + [ + -127.27459716796875, + -66.23823547363281, + 1.8261812925338745 + ], + [ + -127.39876556396484, + -65.65406799316406, + 1.8261812925338745 + ], + [ + -126.569091796875, + -65.47772216796875, + 1.8261812925338745 + ] + ], + "corners_2d": [ + [ + 143.16092093910459, + 563.9515946937041 + ], + [ + 175.72788257453885, + 568.8629855034586 + ], + [ + 187.44374745485635, + 547.7806775363246 + ], + [ + 155.37968250602023, + 543.0335715505792 + ], + [ + 114.00384741818038, + 523.84751178552 + ], + [ + 148.36796772461923, + 528.8804781512088 + ], + [ + 161.25105339570206, + 507.29279026135896 + ], + [ + 127.44603641277615, + 502.4378117218357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 9568, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 204.7508953194848, + "ymin": 250.1274845330496, + "xmax": 330.36662355080284, + "ymax": 407.4627641672191 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 225.82382569791685, + 407.4627641672191 + ], + [ + 301.6210510479011, + 405.04286025711684 + ], + [ + 330.36662355080284, + 293.33436667177193 + ], + [ + 262.455829371959, + 295.28063920787133 + ], + [ + 204.7508953194848, + 364.7311034566849 + ], + [ + 284.44492584548226, + 362.2884082909455 + ], + [ + 316.34317209004746, + 250.1274845330496 + ], + [ + 245.32087006905653, + 252.0716440063875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 516.9158959044148, + "xmax": 635.2228849771656, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 635.2228849771656, + 861.7263625806321 + ], + [ + 633.5600489824202, + 822.0053843771094 + ], + [ + 236.3397249519607, + 842.63974018676 + ], + [ + 227.3633343964728, + 883.4754563480558 + ], + [ + 631.6374234422334, + 572.3127241450918 + ], + [ + 628.9405949588353, + 516.9158959044148 + ], + [ + -60.11613927740564, + 545.4284123423868 + ], + [ + -90.07789208754753, + 603.5633207166795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7756054829984019411, + "instance_id": 54131, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 561.5021372825778, + "xmax": 10.829846502687246, + "ymax": 603.2018582756467 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.914763450622559 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + -6.061834650579726, + 600.5620960148169 + ], + [ + 10.829846502687246, + 563.101030744593 + ], + [ + -48.28181086637835, + 565.5882951901999 + ], + [ + -66.99534566366651, + 603.2018582756467 + ], + [ + -7.617198217898249, + 599.0050358213067 + ], + [ + 9.359610593411276, + 561.5021372825778 + ], + [ + -49.89340728093032, + 563.9920154020648 + ], + [ + -68.70092468932614, + 601.6479453875618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12456936095367281392, + "instance_id": 61626, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 561.5435123417507, + "xmax": 10.867715067806444, + "ymax": 603.2418789933687 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.913856506347656 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + -6.021776366763788, + 600.6021979951261 + ], + [ + 10.867715067806444, + 563.1422131159411 + ], + [ + -48.240301506984565, + 565.629410044279 + ], + [ + -66.95141881470238, + 603.2418789933687 + ], + [ + -7.576946831040232, + 599.045331115299 + ], + [ + 9.39765634141736, + 561.5435123417507 + ], + [ + -49.85170331338293, + 564.0333230147401 + ], + [ + -68.65678565015571, + 601.6881594267843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 283.81902678467725, + "ymin": 0.0, + "xmax": 608.0935464780481, + "ymax": 220.92976882147303 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 608.0935464780481, + 213.6745603555977 + ], + [ + 607.5294254963192, + 200.1991260432471 + ], + [ + 376.0123635774793, + 207.23598951952556 + ], + [ + 373.00223610207473, + 220.92976882147303 + ], + [ + 597.5504386451953, + -127.88413808351027 + ], + [ + 597.0144198140492, + -138.89475418518873 + ], + [ + 289.61622824073095, + -133.15869402707722 + ], + [ + 283.81902678467725, + -121.9103609402053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1228.1683924720244, + "ymin": 471.028666282964, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1228.1683924720244, + 719.8500261291075 + ], + [ + 1479.8256923255617, + 837.6668131106081 + ], + [ + 1479.0967847317738, + 653.3267046371202 + ], + [ + 1255.9763269535165, + 561.5483105462118 + ], + [ + 1317.2137849212204, + 639.9927209302073 + ], + [ + 1619.4631323573997, + 769.55252051801 + ], + [ + 1599.2233744824587, + 568.2883256712312 + ], + [ + 1337.2821812923999, + 471.028666282964 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00005/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2362839f9aa5840c20fb123652b2fd536b0691ad --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00005/meta.json @@ -0,0 +1,1403 @@ +{ + "frame_id": 5, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 2.5, + "sim_timestamp": 2133.6701840634923 + }, + "drone_pose": { + "x": -137.9600408500365, + "y": -78.44666789642108, + "z": 20.59175343188013, + "pitch": -47.099643257925486, + "yaw": 86.9861152594627, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.03579115867614746, + -0.679783821105957, + 0.732538640499115, + 43.18027877807617 + ], + [ + 0.9986168146133423, + 0.052577972412109375, + -2.9802322387695312e-08, + -133.64463806152344 + ], + [ + -0.03851538896560669, + 0.7315254211425781, + 0.6807254552841187, + -76.7166519165039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.10799780644004, + "y": -77.93624136443749, + "z": 20.56860121297454 + }, + "t1_image_uv": [ + 1107.3321711946364, + -582.0309810464331 + ], + "t1_depth": 0.3586440666577691 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -57.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 684.2687212324342, + 284.050323897993 + ], + "depth": 28.725047532688073, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 591, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -57.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4087255895137787, + "y": 0.4460693299770355, + "z": 0.8894098401069641 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 668.2793047851916, + "ymin": 251.90341622502186, + "xmax": 700.6973700043079, + "ymax": 315.4064005056745 + }, + "corners_3d": [ + [ + -137.72109985351562, + -57.59648895263672, + 0.2071254849433899 + ], + [ + -138.61325073242188, + -57.59648895263672, + 0.2071254849433899 + ], + [ + -138.61325073242188, + -56.77903747558594, + 0.2071254849433899 + ], + [ + -137.72109985351562, + -56.77903747558594, + 0.2071254849433899 + ], + [ + -137.72109985351562, + -57.59648895263672, + 1.985945224761963 + ], + [ + -138.61325073242188, + -57.59648895263672, + 1.985945224761963 + ], + [ + -138.61325073242188, + -56.77903747558594, + 1.985945224761963 + ], + [ + -137.72109985351562, + -56.77903747558594, + 1.985945224761963 + ] + ], + "corners_2d": [ + [ + 668.2793047851916, + 314.32230359541273 + ], + [ + 697.7188444965512, + 315.4064005056745 + ], + [ + 698.0288109969289, + 296.8734891649705 + ], + [ + 669.1403045632657, + 295.82964109326474 + ], + [ + 669.6042703866722, + 270.38484472257244 + ], + [ + 700.4262444157424, + 271.4692895600061 + ], + [ + 700.6973700043079, + 252.9457671451509 + ], + [ + 670.4788653398124, + 251.90341622502186 + ] + ], + "center_offset_px": [ + 44.268721232434245, + -75.949676102007 + ] + }, + "trace_timestep_index": 5, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 33, + "semantic_pixel_counts": { + "1": 391885, + "2": 130287, + "3": 198875, + "4": 55189, + "6": 15404, + "12": 3926, + "14": 9152, + "20": 113, + "24": 8146, + "25": 108623 + }, + "instance_pixel_counts": { + "2453": 6455, + "3413": 4439, + "3662": 13666, + "11605": 300, + "15704": 12933, + "15960": 2471, + "20565": 228, + "22933": 1691, + "23443": 78533, + "28298": 4177, + "36096": 591, + "36352": 615, + "36608": 544, + "36864": 606, + "37120": 899, + "37376": 671, + "38144": 9152, + "47198": 90440, + "48980": 2721, + "49492": 191187, + "50246": 34233, + "51297": 14903, + "51526": 7290, + "51809": 2660, + "52321": 2990, + "54366": 16821, + "54878": 1362, + "57994": 12548, + "59737": 113, + "63382": 77908, + "63894": 12403, + "64406": 2698, + "65426": 313352 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 591, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -57.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.38731932640075684, + "y": 0.5053076148033142, + "z": 0.8956444263458252 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 666.3467543921388, + "ymin": 252.14793129286755, + "xmax": 702.7103281952166, + "ymax": 315.13108617912417 + }, + "corners_3d": [ + [ + -137.661865234375, + -57.57508087158203, + 0.2008908987045288 + ], + [ + -138.6724853515625, + -57.57508087158203, + 0.2008908987045288 + ], + [ + -138.6724853515625, + -56.800445556640625, + 0.2008908987045288 + ], + [ + -137.661865234375, + -56.800445556640625, + 0.2008908987045288 + ], + [ + -137.661865234375, + -57.57508087158203, + 1.9921797513961792 + ], + [ + -138.6724853515625, + -57.57508087158203, + 1.9921797513961792 + ], + [ + -138.6724853515625, + -56.800445556640625, + 1.9921797513961792 + ], + [ + -137.661865234375, + -56.800445556640625, + 1.9921797513961792 + ] + ], + "corners_2d": [ + [ + 666.3467543921388, + 313.90426844642195 + ], + [ + 699.67370352201, + 315.13108617912417 + ], + [ + 699.9328086874706, + 297.566601864294 + ], + [ + 667.1971810544121, + 296.3829818377195 + ], + [ + 667.5892866749448, + 269.65835423221415 + ], + [ + 702.4916225307788, + 270.8855097242492 + ], + [ + 702.7103281952166, + 253.32989472570745 + ], + [ + 668.4559960954989, + 252.14793129286755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 615, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -54.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4398144781589508, + "y": 0.43791019916534424, + "z": 0.8602312207221985 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 541.6445032705268, + "ymin": 188.99988867638035, + "xmax": 574.6770460073167, + "ymax": 250.64046408560878 + }, + "corners_3d": [ + [ + -133.7042999267578, + -54.711307525634766, + 0.08390665054321289 + ], + [ + -134.5609893798828, + -54.529212951660156, + 0.08390665054321289 + ], + [ + -134.3780975341797, + -53.66880416870117, + 0.08390665054321289 + ], + [ + -133.5214080810547, + -53.85089874267578, + 0.08390665054321289 + ], + [ + -133.7042999267578, + -54.711307525634766, + 1.8043690919876099 + ], + [ + -134.5609893798828, + -54.529212951660156, + 1.8043690919876099 + ], + [ + -134.3780975341797, + -53.66880416870117, + 1.8043690919876099 + ], + [ + -133.5214080810547, + -53.85089874267578, + 1.8043690919876099 + ] + ], + "corners_2d": [ + [ + 547.9584909633086, + 250.64046408560878 + ], + [ + 574.6770460073167, + 247.90128796354128 + ], + [ + 571.7618697717274, + 230.87661231192766 + ], + [ + 545.5301543828593, + 233.5153089507877 + ], + [ + 544.098208605943, + 208.6386582678204 + ], + [ + 571.9458216630035, + 205.9147142280348 + ], + [ + 568.9636628161342, + 188.99988867638035 + ], + [ + 541.6445032705268, + 191.61984826035524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 544, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -50.245052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4616454839706421, + "y": 0.43834471702575684, + "z": 0.9348918795585632 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 737.2815156786908, + "ymin": 119.90700333875796, + "xmax": 770.5704688359331, + "ymax": 181.3885922678414 + }, + "corners_3d": [ + [ + -140.03530883789062, + -50.7499885559082, + 0.16164344549179077 + ], + [ + -140.90719604492188, + -50.658348083496094, + 0.16164344549179077 + ], + [ + -140.81069946289062, + -49.740116119384766, + 0.16164344549179077 + ], + [ + -139.93881225585938, + -49.831756591796875, + 0.16164344549179077 + ], + [ + -140.03530883789062, + -50.7499885559082, + 2.0314271450042725 + ], + [ + -140.90719604492188, + -50.658348083496094, + 2.0314271450042725 + ], + [ + -140.81069946289062, + -49.740116119384766, + 2.0314271450042725 + ], + [ + -139.93881225585938, + -49.831756591796875, + 2.0314271450042725 + ] + ], + "corners_2d": [ + [ + 740.4612949490975, + 181.3885922678414 + ], + [ + 765.2715438910529, + 180.60149059227285 + ], + [ + 761.6416704408929, + 165.01569442168966 + ], + [ + 737.2815156786908, + 165.7743048846019 + ], + [ + 744.7148424961916, + 136.05457398743002 + ], + [ + 770.5704688359331, + 135.27770507193458 + ], + [ + 766.6892142645635, + 119.90700333875796 + ], + [ + 741.3220360101204, + 120.65459522150724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 606, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -57.18776321411133, + "z": 1.094972848892212 + }, + "extent": { + "x": 0.37900876998901367, + "y": 0.5861377120018005, + "z": 0.8762126564979553 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 780.9502140234323, + "ymin": 256.98131367873896, + "xmax": 829.5472191025207, + "ymax": 318.98535067188106 + }, + "corners_3d": [ + [ + -141.16079711914062, + -57.5667724609375, + 0.2187601923942566 + ], + [ + -142.33306884765625, + -57.5667724609375, + 0.2187601923942566 + ], + [ + -142.33306884765625, + -56.808753967285156, + 0.2187601923942566 + ], + [ + -141.16079711914062, + -56.808753967285156, + 0.2187601923942566 + ], + [ + -141.16079711914062, + -57.5667724609375, + 1.9711854457855225 + ], + [ + -142.33306884765625, + -57.5667724609375, + 1.9711854457855225 + ], + [ + -142.33306884765625, + -56.808753967285156, + 1.9711854457855225 + ], + [ + -141.16079711914062, + -56.808753967285156, + 1.9711854457855225 + ] + ], + "corners_2d": [ + [ + 782.135225443896, + 317.5502145851557 + ], + [ + 821.1454772182785, + 318.98535067188106 + ], + [ + 819.2768297281455, + 301.64294602963116 + ], + [ + 780.9502140234323, + 300.25751238151884 + ], + [ + 788.7176472122941, + 274.2703807816499 + ], + [ + 829.5472191025207, + 275.7064714939071 + ], + [ + 827.4399247288344, + 258.3654267900548 + ], + [ + 787.3586283881448, + 256.98131367873896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 899, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.78268432617188, + "y": -68.31512451171875, + "z": 1.095827341079712 + }, + "extent": { + "x": 0.4043896794319153, + "y": 0.4890991747379303, + "z": 0.8933691382408142 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 810.1005795648186, + "ymin": 594.1977957302157, + "xmax": 868.337615985928, + "ymax": 672.9529536111913 + }, + "corners_3d": [ + [ + -141.25399780273438, + -68.66617584228516, + 0.2024582028388977 + ], + [ + -142.22683715820312, + -68.76842498779297, + 0.2024582028388977 + ], + [ + -142.31137084960938, + -67.96407318115234, + 0.2024582028388977 + ], + [ + -141.33853149414062, + -67.86182403564453, + 0.2024582028388977 + ], + [ + -141.25399780273438, + -68.66617584228516, + 1.989196538925171 + ], + [ + -142.22683715820312, + -68.76842498779297, + 1.989196538925171 + ], + [ + -142.31137084960938, + -67.96407318115234, + 1.989196538925171 + ], + [ + -141.33853149414062, + -67.86182403564453, + 1.989196538925171 + ] + ], + "corners_2d": [ + [ + 810.1005795648186, + 666.4113861416319 + ], + [ + 854.3475421676887, + 672.9529536111913 + ], + [ + 854.579716784579, + 639.5415725378946 + ], + [ + 811.424758985791, + 633.3199773907891 + ], + [ + 821.1452757252647, + 628.3825163591489 + ], + [ + 868.337615985928, + 635.1531984935957 + ], + [ + 868.2152113969408, + 600.6165866264434 + ], + [ + 822.2630697553612, + 594.1977957302157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 671, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -65.35797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.30571287870407104, + "y": 0.3104931712150574, + "z": 0.866291344165802 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 190.94591186123893, + "ymin": 463.3819757942575, + "xmax": 249.35889632890974, + "ymax": 529.1371345843502 + }, + "corners_3d": [ + [ + -126.55457305908203, + -65.59245300292969, + 0.0778512954711914 + ], + [ + -127.16199493408203, + -65.72156524658203, + 0.0778512954711914 + ], + [ + -127.28911590576172, + -65.12350463867188, + 0.0778512954711914 + ], + [ + -126.68169403076172, + -64.99439239501953, + 0.0778512954711914 + ], + [ + -126.55457305908203, + -65.59245300292969, + 1.8104339838027954 + ], + [ + -127.16199493408203, + -65.72156524658203, + 1.8104339838027954 + ], + [ + -127.28911590576172, + -65.12350463867188, + 1.8104339838027954 + ], + [ + -126.68169403076172, + -64.99439239501953, + 1.8104339838027954 + ] + ], + "corners_2d": [ + [ + 214.52261726588603, + 523.6910032453859 + ], + [ + 236.514288271535, + 529.1371345843502 + ], + [ + 249.35889632890974, + 509.3836211850282 + ], + [ + 227.669725476721, + 504.1145984904414 + ], + [ + 190.94591186123893, + 483.32824285917303 + ], + [ + 214.04878263422597, + 488.8837001093355 + ], + [ + 227.9854942438037, + 468.7469934528328 + ], + [ + 205.21563196940224, + 463.3819757942575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 9152, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 277.1919604211174, + "ymin": 239.9880760219033, + "xmax": 403.7515499307648, + "ymax": 395.001249052776 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 294.4215352902011, + 391.6767717474584 + ], + [ + 367.29593367724294, + 395.001249052776 + ], + [ + 403.7515499307648, + 285.8342428715695 + ], + [ + 338.2026393649397, + 283.1537602399519 + ], + [ + 277.1919604211174, + 348.7785684361678 + ], + [ + 353.6550970078146, + 352.12869663897976 + ], + [ + 393.1960532296864, + 242.66191348759827 + ], + [ + 324.75781304541005, + 239.9880760219033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 520.3115026959019, + "xmax": 679.8340299331717, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 661.5746236483566, + 889.1231074454629 + ], + [ + 662.959422758455, + 848.0551474690335 + ], + [ + 270.24053560479615, + 825.7718098261747 + ], + [ + 258.4332309517939, + 865.6295897497894 + ], + [ + 678.1892328569295, + 609.5961390048153 + ], + [ + 679.8340299331717, + 551.0935169170812 + ], + [ + 5.310085842669309, + 520.3115026959019 + ], + [ + -27.678551268023398, + 575.8422474923202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7756054829984019411, + "instance_id": 54131, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 539.1240730825706, + "xmax": 70.39445884753445, + "ymax": 579.4629921416257 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.87963581085205 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.87963581085205 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.914763450622559 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.914763450622559 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 51.263643251272356, + 579.4629921416257 + ], + [ + 70.39445884753445, + 543.3205693675112 + ], + [ + 14.993198698502738, + 540.7499752959127 + ], + [ + -5.738536061184277, + 576.7375404483224 + ], + [ + 49.87497155037215, + 577.8764255008282 + ], + [ + 69.08976910376305, + 541.69710396028 + ], + [ + 13.564643848641026, + 539.1240730825706 + ], + [ + -7.2583386207762715, + 575.1480196345249 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12456936095367281392, + "instance_id": 61626, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -72.95545959472656, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 539.1661449651272, + "xmax": 70.42806506532168, + "ymax": 579.5038560957746 + }, + "corners_3d": [ + [ + -130.9680633544922, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.878728866577148 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.878728866577148 + ], + [ + -130.9680633544922, + -73.19444274902344, + 10.913856506347656 + ], + [ + -130.9680633544922, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -72.71647644042969, + 10.913856506347656 + ], + [ + -130.3018035888672, + -73.19444274902344, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 51.299410180472705, + 579.5038560957746 + ], + [ + 70.42806506532168, + 543.3623866135699 + ], + [ + 15.029995618235262, + 540.7918555172029 + ], + [ + -5.699391491093593, + 576.7784807063275 + ], + [ + 49.91090740266827, + 577.9174824507356 + ], + [ + 69.12352944435895, + 541.7391129860698 + ], + [ + 13.60160916634311, + 539.1661449651272 + ], + [ + -7.219009579068484, + 575.1891528264562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 388.3795975464765, + "ymin": 0.0, + "xmax": 698.964619687049, + "ymax": 224.33791453073562 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 683.9909780054602, + 224.33791453073562 + ], + [ + 684.4531328277517, + 210.6321317884047 + ], + [ + 454.7086641676607, + 203.0649103891237 + ], + [ + 450.71828651192277, + 216.53518147034538 + ], + [ + 698.6485340769989, + -118.10625343341724 + ], + [ + 698.964619687049, + -129.34887859322237 + ], + [ + 394.9064294289809, + -135.50750118457756 + ], + [ + 388.3795975464765, + -124.5206927759632 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00006/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec7e32bad2172ffc24a8b1e296588a8c58d7d3aa --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00006/meta.json @@ -0,0 +1,1519 @@ +{ + "frame_id": 6, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 3.0, + "sim_timestamp": 2148.289401794551 + }, + "drone_pose": { + "x": -138.10799780644004, + "y": -77.93624136443749, + "z": 20.56860121297454, + "pitch": -37.88847188375643, + "yaw": 87.35763790009882, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.036383748054504395, + -0.7883685827255249, + 0.614126443862915, + 53.83564758300781 + ], + [ + 0.9989367723464966, + 0.04610162973403931, + 0.0, + -134.36817932128906 + ], + [ + -0.028312265872955322, + 0.6134734749794006, + 0.7892076969146729, + -67.9548568725586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.30187623276956, + "y": -77.46490518497704, + "z": 20.48946408374929 + }, + "t1_image_uv": [ + 1140.530480910178, + -154.0215963145405 + ], + "t1_depth": 0.41313280307394934 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.16718292236328, + "y": -56.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 674.7348952338358, + 438.0432784205253 + ], + "depth": 28.707788599371234, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 587, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -56.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.36552244424819946, + "y": 0.46797361969947815, + "z": 0.9036886692047119 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 654.8311853112241, + "ymin": 402.16303107539613, + "xmax": 695.5363950882877, + "ymax": 473.7049462096445 + }, + "corners_3d": [ + [ + -137.5778045654297, + -56.615318298339844, + 0.1928466558456421 + ], + [ + -138.2396240234375, + -57.27713394165039, + 0.1928466558456421 + ], + [ + -138.7565460205078, + -56.76020812988281, + 0.1928466558456421 + ], + [ + -138.0947265625, + -56.098392486572266, + 0.1928466558456421 + ], + [ + -137.5778045654297, + -56.615318298339844, + 2.0002241134643555 + ], + [ + -138.2396240234375, + -57.27713394165039, + 2.0002241134643555 + ], + [ + -138.7565460205078, + -56.76020812988281, + 2.0002241134643555 + ], + [ + -138.0947265625, + -56.098392486572266, + 2.0002241134643555 + ] + ], + "corners_2d": [ + [ + 654.8311853112241, + 457.6927799387199 + ], + [ + 676.1357782264249, + 473.7049462096445 + ], + [ + 693.4241886097188, + 462.2403529679508 + ], + [ + 672.0807437016585, + 446.64803211222977 + ], + [ + 655.4142954661943, + 413.0295011962435 + ], + [ + 677.5845206442094, + 428.80306255922153 + ], + [ + 695.5363950882877, + 417.5069177246541 + ], + [ + 673.32491483679, + 402.16303107539613 + ] + ], + "center_offset_px": [ + 34.7348952338358, + 78.04327842052533 + ] + }, + "trace_timestep_index": 6, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 354336, + "2": 124480, + "3": 250294, + "4": 61629, + "6": 5848, + "10": 4, + "12": 3053, + "14": 11164, + "20": 109, + "24": 7416, + "25": 103267 + }, + "instance_pixel_counts": { + "2453": 4592, + "3413": 4186, + "3662": 16294, + "11605": 15466, + "15960": 4861, + "17240": 885, + "17496": 102, + "20565": 10403, + "21907": 330, + "21909": 6, + "22421": 498, + "22931": 21994, + "22933": 2320, + "23443": 109912, + "28298": 3161, + "36096": 587, + "36352": 580, + "36608": 506, + "36864": 587, + "37376": 793, + "38144": 9829, + "41728": 1335, + "47198": 60644, + "47201": 53, + "47713": 21, + "48737": 4528, + "48980": 28557, + "49249": 746, + "49492": 191682, + "49761": 928, + "50246": 26193, + "51297": 20361, + "51526": 19142, + "51809": 3307, + "52321": 4416, + "54366": 39005, + "54878": 3618, + "57482": 4002, + "57994": 18918, + "59737": 109, + "63382": 53340, + "63894": 8518, + "64406": 2181, + "65426": 222100 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 587, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -56.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4454296827316284, + "y": 0.35597166419029236, + "z": 0.887048602104187 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 655.4301520821307, + "ymin": 403.2184397870642, + "xmax": 694.7451118035901, + "ymax": 472.62557603239827 + }, + "corners_3d": [ + [ + -137.60049438476562, + -56.75101852416992, + 0.209486722946167 + ], + [ + -138.10391235351562, + -57.25444030761719, + 0.209486722946167 + ], + [ + -138.73385620117188, + -56.624507904052734, + 0.209486722946167 + ], + [ + -138.23043823242188, + -56.12108612060547, + 0.209486722946167 + ], + [ + -137.60049438476562, + -56.75101852416992, + 1.983583927154541 + ], + [ + -138.10391235351562, + -57.25444030761719, + 1.983583927154541 + ], + [ + -138.73385620117188, + -56.624507904052734, + 1.983583927154541 + ], + [ + -138.23043823242188, + -56.12108612060547, + 1.983583927154541 + ] + ], + "corners_2d": [ + [ + 655.4301520821307, + 460.4117889134563 + ], + [ + 671.6371833413343, + 472.62557603239827 + ], + [ + 692.7081504950626, + 458.7187157696601 + ], + [ + 676.4650425863816, + 446.89418562205833 + ], + [ + 656.0277063310359, + 416.52414594460805 + ], + [ + 672.8807298240627, + 428.56061872564607 + ], + [ + 694.7451118035901, + 414.8567123577683 + ], + [ + 677.853819067619, + 403.2184397870642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 580, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.04119873046875, + "y": -53.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4407568573951721, + "y": 0.3868652582168579, + "z": 0.861070990562439 + }, + "yaw": 123.00000762939453 + }, + "bbox_2d": { + "xmin": 529.9888062222144, + "ymin": 343.4174200160812, + "xmax": 568.6810973036334, + "ymax": 406.99298177997133 + }, + "corners_3d": [ + [ + -133.47669982910156, + -53.849002838134766, + 0.08306688070297241 + ], + [ + -134.12559509277344, + -54.270408630371094, + 0.08306688070297241 + ], + [ + -134.60569763183594, + -53.53110885620117, + 0.08306688070297241 + ], + [ + -133.95680236816406, + -53.109703063964844, + 0.08306688070297241 + ], + [ + -133.47669982910156, + -53.849002838134766, + 1.8052089214324951 + ], + [ + -134.12559509277344, + -54.270408630371094, + 1.8052089214324951 + ], + [ + -134.60569763183594, + -53.53110885620117, + 1.8052089214324951 + ], + [ + -133.95680236816406, + -53.109703063964844, + 1.8052089214324951 + ] + ], + "corners_2d": [ + [ + 533.6546392121045, + 398.0909903126763 + ], + [ + 551.683050184321, + 406.99298177997133 + ], + [ + 568.6810973036334, + 392.9416040568324 + ], + [ + 550.7809767065085, + 384.35018755441524 + ], + [ + 529.9888062222144, + 356.87760089220683 + ], + [ + 548.6029527813837, + 365.6064637058392 + ], + [ + 566.2393382678063, + 351.8314758051078 + ], + [ + 547.7611532916188, + 343.4174200160812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 506, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.42300415039062, + "y": -49.745052337646484, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4343652129173279, + "y": 0.43242430686950684, + "z": 0.9351547956466675 + }, + "yaw": 128.99993896484375 + }, + "bbox_2d": { + "xmin": 723.1431198130036, + "ymin": 276.00959407535623, + "xmax": 760.8496557362486, + "ymax": 339.0072438032 + }, + "corners_3d": [ + [ + -139.8135986328125, + -49.81048583984375, + 0.16138052940368652 + ], + [ + -140.48570251464844, + -50.35475158691406, + 0.16138052940368652 + ], + [ + -141.03240966796875, + -49.67961883544922, + 0.16138052940368652 + ], + [ + -140.3603057861328, + -49.135353088378906, + 0.16138052940368652 + ], + [ + -139.8135986328125, + -49.81048583984375, + 2.0316901206970215 + ], + [ + -140.48570251464844, + -50.35475158691406, + 2.0316901206970215 + ], + [ + -141.03240966796875, + -49.67961883544922, + 2.0316901206970215 + ], + [ + -140.3603057861328, + -49.135353088378906, + 2.0316901206970215 + ] + ], + "corners_2d": [ + [ + 723.1431198130036, + 329.5024714260513 + ], + [ + 742.3927521904651, + 339.0072438032 + ], + [ + 756.8497328191982, + 328.2878417335308 + ], + [ + 737.6941382206941, + 319.05987591692013 + ], + [ + 725.9942186888343, + 286.15176326806807 + ], + [ + 745.9521440335584, + 295.3919063884303 + ], + [ + 760.8496557362486, + 284.97155668772706 + ], + [ + 740.993740418357, + 276.00959407535623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 587, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.74693298339844, + "y": -56.68776321411133, + "z": 1.0949337482452393 + }, + "extent": { + "x": 0.4536767601966858, + "y": 0.4766015410423279, + "z": 0.8760581612586975 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 770.3443992138297, + "ymin": 405.076749095194, + "xmax": 820.6959265673976, + "ymax": 478.561364273104 + }, + "corners_3d": [ + [ + -141.08912658691406, + -56.67155456542969, + 0.21887558698654175 + ], + [ + -141.7631378173828, + -57.3455696105957, + 0.21887558698654175 + ], + [ + -142.4047393798828, + -56.70397186279297, + 0.21887558698654175 + ], + [ + -141.73072814941406, + -56.02995681762695, + 0.21887558698654175 + ], + [ + -141.08912658691406, + -56.67155456542969, + 1.970991849899292 + ], + [ + -141.7631378173828, + -57.3455696105957, + 1.970991849899292 + ], + [ + -142.4047393798828, + -56.70397186279297, + 1.970991849899292 + ], + [ + -141.73072814941406, + -56.02995681762695, + 1.970991849899292 + ] + ], + "corners_2d": [ + [ + 770.3443992138297, + 462.0562453078649 + ], + [ + 794.4372018754768, + 478.561364273104 + ], + [ + 814.0097589651863, + 464.20010190614914 + ], + [ + 789.9420544452744, + 448.2330703941655 + ], + [ + 775.339667681303, + 418.6880912830459 + ], + [ + 800.4753415041472, + 434.9625419244953 + ], + [ + 820.6959265673976, + 420.8006159244841 + ], + [ + 795.5913007448503, + 405.076749095194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 793, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.92184448242188, + "y": -64.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5118700861930847, + "y": 0.3693969249725342, + "z": 0.8872549533843994 + }, + "yaw": 146.9999542236328 + }, + "bbox_2d": { + "xmin": 157.25158784595726, + "ymin": 617.9043965862179, + "xmax": 229.7499851233702, + "ymax": 704.4944666008755 + }, + "corners_3d": [ + [ + -126.29136657714844, + -64.82695770263672, + 0.056887686252593994 + ], + [ + -126.69374084472656, + -65.44656372070312, + 0.056887686252593994 + ], + [ + -127.55232238769531, + -64.88899993896484, + 0.056887686252593994 + ], + [ + -127.14994812011719, + -64.26939392089844, + 0.056887686252593994 + ], + [ + -126.29136657714844, + -64.82695770263672, + 1.831397533416748 + ], + [ + -126.69374084472656, + -65.44656372070312, + 1.831397533416748 + ], + [ + -127.55232238769531, + -64.88899993896484, + 1.831397533416748 + ], + [ + -127.14994812011719, + -64.26939392089844, + 1.831397533416748 + ] + ], + "corners_2d": [ + [ + 179.77080333738644, + 680.9873633737634 + ], + [ + 185.32220089336317, + 704.4944666008755 + ], + [ + 229.7499851233702, + 685.3385169408934 + ], + [ + 223.35358855867423, + 662.6406816223425 + ], + [ + 157.25158784595726, + 636.3286054817538 + ], + [ + 162.56043374859786, + 659.9803563076716 + ], + [ + 209.59047281320767, + 640.7026903433457 + ], + [ + 203.33393319068517, + 617.9043965862179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 9829, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 255.4974693337, + "ymin": 406.47996907279304, + "xmax": 389.8843032796145, + "ymax": 566.8927865477241 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 271.3627986108598, + 563.7137544955419 + ], + [ + 346.8199603266075, + 566.8927865477241 + ], + [ + 389.8843032796145, + 452.0467102741861 + ], + [ + 323.35852572276275, + 449.586074237387 + ], + [ + 255.4974693337, + 519.3860152291678 + ], + [ + 334.1581275325074, + 522.5477215544704 + ], + [ + 380.4319651549137, + 408.90202299885226 + ], + [ + 311.4284690220113, + 406.47996907279304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 1335, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 483.0303539568207, + "ymin": 34.88230046168468, + "xmax": 536.680656889475, + "ymax": 96.00562620102653 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 485.6500320411458, + 95.21482444763228 + ], + [ + 523.0072069641164, + 96.00562620102653 + ], + [ + 536.680656889475, + 59.61667298891922 + ], + [ + 502.1129137158621, + 58.9404505585083 + ], + [ + 483.0303539568207, + 69.78227681678158 + ], + [ + 521.01825557669, + 70.54410846466266 + ], + [ + 535.0585639309509, + 35.53208745113511 + ], + [ + 499.95144300929417, + 34.88230046168468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 548.791826672466, + "ymin": 0.0, + "xmax": 690.0382091483407, + "ymax": 26.796733661867165 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 684.3680625593413, + 26.796733661867165 + ], + [ + 684.4802935072365, + 22.850771969118625 + ], + [ + 560.2733542941015, + 20.922499791035193 + ], + [ + 558.9715818961231, + 24.831244412722924 + ], + [ + 689.9720675632389, + -171.11267509979484 + ], + [ + 690.0382091483407, + -173.42876489247612 + ], + [ + 550.364016551887, + -174.55854234760443 + ], + [ + 548.791826672466, + -172.26701972273167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 495.3895473503775, + "ymin": 0.0, + "xmax": 687.8437060267719, + "ymax": 155.6603263591318 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 680.7029273442239, + 155.6603263591318 + ], + [ + 680.8953660210864, + 148.8943169709578 + ], + [ + 518.7497888451704, + 145.60252325278768 + ], + [ + 516.5241990930742, + 152.2851522492997 + ], + [ + 687.7209345805669, + -92.28441425450995 + ], + [ + 687.8437060267719, + -96.58352037587059 + ], + [ + 498.29661614359753, + -98.66845577749484 + ], + [ + 495.3895473503775, + -94.43129969417316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 392.48845557258574, + "ymin": 61.581834329362835, + "xmax": 421.24315568019915, + "ymax": 69.83666565713168 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 417.2281674985743, + 69.83666565713168 + ], + [ + 421.24315568019915, + 63.25994735982539 + ], + [ + 397.0593299471884, + 62.84333316753839 + ], + [ + 392.69522450854413, + 69.40779863954072 + ], + [ + 417.04173514648824, + 68.56139279018521 + ], + [ + 421.0627209263934, + 61.997622951621054 + ], + [ + 396.85913346880363, + 61.581834329362835 + ], + [ + 392.48845557258574, + 68.13336531988404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 387.63094944543, + "ymin": 52.700960465726894, + "xmax": 683.4415405780893, + "ymax": 388.361889895219 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 674.0844350547259, + 388.361889895219 + ], + [ + 674.4751998264455, + 374.6228736144933 + ], + [ + 444.68521582564, + 367.9912786950882 + ], + [ + 440.18959799424033, + 381.4899692480425 + ], + [ + 683.1515889826047, + 67.7210449791288 + ], + [ + 683.4415405780893, + 57.56776652898628 + ], + [ + 394.4436313690477, + 52.700960465726894 + ], + [ + 387.63094944543, + 62.63068649206508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 392.48311252233805, + "ymin": 61.549236741595166, + "xmax": 421.2385008590487, + "ymax": 69.80376679856482 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 417.2233580089799, + 69.80376679856482 + ], + [ + 421.2385008590487, + 63.22738215700207 + ], + [ + 397.0541653130203, + 62.8107892384175 + ], + [ + 392.6898903817368, + 69.37492141403794 + ], + [ + 417.03691760354775, + 68.52843884346578 + ], + [ + 421.0580584232265, + 61.965004005288506 + ], + [ + 396.8539603191523, + 61.549236741595166 + ], + [ + 392.48311252233805, + 68.10043309419603 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00008/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d62f4b774dbb7300a49b393d240ca570dc7145ad --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00008/meta.json @@ -0,0 +1,1721 @@ +{ + "frame_id": 8, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 4.0, + "sim_timestamp": 2171.61590351793 + }, + "drone_pose": { + "x": -138.41932272066987, + "y": -76.91651891858591, + "z": 20.525843140334107, + "pitch": -38.53350424027434, + "yaw": 91.65143727214762, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.02254343032836914, + -0.7819191217422485, + 0.6229721307754517, + 44.23501968383789 + ], + [ + 0.9995846748352051, + -0.028818964958190918, + 0.0, + -140.5784912109375 + ], + [ + 0.017953425645828247, + 0.6227133870124817, + 0.7822440266609192, + -61.46806716918945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.55309353910093, + "y": -76.40671098559014, + "z": 20.41803744802656 + }, + "t1_image_uv": [ + 883.731118806566, + -122.32103048040892 + ], + "t1_depth": 0.46880416648648027 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -55.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 644.5378631846, + 425.7026928094268 + ], + "depth": 28.71994682814958, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 585, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -55.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.38459470868110657, + "y": 0.41087400913238525, + "z": 0.8856279850006104 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 630.3514369107311, + "ymin": 394.5849764233989, + "xmax": 659.2000315840199, + "ymax": 456.30095043189874 + }, + "corners_3d": [ + [ + -138.7563018798828, + -56.072357177734375, + 0.21090734004974365 + ], + [ + -139.5780487060547, + -56.072357177734375, + 0.21090734004974365 + ], + [ + -139.5780487060547, + -55.30316925048828, + 0.21090734004974365 + ], + [ + -138.7563018798828, + -55.30316925048828, + 0.21090734004974365 + ], + [ + -138.7563018798828, + -56.072357177734375, + 1.9821633100509644 + ], + [ + -139.5780487060547, + -56.072357177734375, + 1.9821633100509644 + ], + [ + -139.5780487060547, + -55.30316925048828, + 1.9821633100509644 + ], + [ + -138.7563018798828, + -55.30316925048828, + 1.9821633100509644 + ] + ], + "corners_2d": [ + [ + 631.2534611321423, + 456.30095043189874 + ], + [ + 658.4689760057963, + 455.7506767994584 + ], + [ + 657.3740882367863, + 438.259671220989 + ], + [ + 630.7115693496668, + 438.78778955242507 + ], + [ + 630.9070175599418, + 412.3689035126407 + ], + [ + 659.2000315840199, + 411.82604279400863 + ], + [ + 658.0472808189535, + 394.5849764233989 + ], + [ + 630.3514369107311, + 395.10514218169436 + ] + ], + "center_offset_px": [ + 4.537863184600042, + 65.70269280942682 + ] + }, + "trace_timestep_index": 8, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 336208, + "2": 116923, + "3": 279568, + "4": 54464, + "6": 6491, + "12": 3907, + "14": 12860, + "20": 114, + "24": 7221, + "25": 103844 + }, + "instance_pixel_counts": { + "2453": 4108, + "3413": 4309, + "3662": 16240, + "11605": 5464, + "15960": 5231, + "17240": 1132, + "17496": 128, + "20565": 4609, + "22421": 522, + "22931": 23350, + "22933": 2591, + "23443": 122514, + "36096": 585, + "36352": 610, + "36608": 516, + "36864": 590, + "37120": 759, + "37376": 847, + "38144": 11396, + "41728": 1464, + "47198": 61665, + "48737": 4406, + "48980": 26387, + "49249": 624, + "49492": 238799, + "49761": 1043, + "50246": 25614, + "51297": 22457, + "51526": 12610, + "51809": 2959, + "52321": 4601, + "54366": 39069, + "54878": 3110, + "57482": 4574, + "57994": 14314, + "59737": 114, + "63382": 53486, + "63894": 8459, + "65426": 190344 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 585, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -55.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3775683641433716, + "y": 0.5393701195716858, + "z": 0.8796104192733765 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.0234290017798, + "ymin": 394.81198441730356, + "xmax": 663.6059330013593, + "ymax": 456.0801673735541 + }, + "corners_3d": [ + [ + -138.6278076171875, + -56.065330505371094, + 0.21692490577697754 + ], + [ + -139.70654296875, + -56.065330505371094, + 0.21692490577697754 + ], + [ + -139.70654296875, + -55.31019592285156, + 0.21692490577697754 + ], + [ + -138.6278076171875, + -55.31019592285156, + 0.21692490577697754 + ], + [ + -138.6278076171875, + -56.065330505371094, + 1.9761457443237305 + ], + [ + -139.70654296875, + -56.065330505371094, + 1.9761457443237305 + ], + [ + -139.70654296875, + -55.31019592285156, + 1.9761457443237305 + ], + [ + -138.6278076171875, + -55.31019592285156, + 1.9761457443237305 + ] + ], + "corners_2d": [ + [ + 626.9887700586175, + 456.0801673735541 + ], + [ + 662.7133695617285, + 455.35810516266963 + ], + [ + 661.5535182392069, + 438.190819425757 + ], + [ + 626.5417724875081, + 438.8843266866925 + ], + [ + 626.4770237266561, + 412.447879196643 + ], + [ + 663.6059330013593, + 411.73548857751035 + ], + [ + 662.382942909152, + 394.81198441730356 + ], + [ + 626.0234290017798, + 395.4951293251418 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 610, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -52.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.47632816433906555, + "y": 0.5299952030181885, + "z": 0.9328739047050476 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 493.1898592420333, + "ymin": 335.0623563769997, + "xmax": 534.5419929311196, + "ymax": 402.7313501298475 + }, + "corners_3d": [ + [ + -134.621826171875, + -53.26616668701172, + 0.01126396656036377 + ], + [ + -135.6586456298828, + -53.04578399658203, + 0.01126396656036377 + ], + [ + -135.4605712890625, + -52.11394500732422, + 0.01126396656036377 + ], + [ + -134.4237518310547, + -52.334327697753906, + 0.01126396656036377 + ], + [ + -134.621826171875, + -53.26616668701172, + 1.877011775970459 + ], + [ + -135.6586456298828, + -53.04578399658203, + 1.877011775970459 + ], + [ + -135.4605712890625, + -52.11394500732422, + 1.877011775970459 + ], + [ + -134.4237518310547, + -52.334327697753906, + 1.877011775970459 + ] + ], + "corners_2d": [ + [ + 502.17364735461763, + 402.7313501298475 + ], + [ + 534.5419929311196, + 397.69743765446754 + ], + [ + 530.1976114987247, + 379.6034272027492 + ], + [ + 498.5371549305381, + 384.41214454075407 + ], + [ + 496.83815672255486, + 357.72101925297676 + ], + [ + 530.4859718478572, + 352.78496549075726 + ], + [ + 526.0733292269991, + 335.0623563769997 + ], + [ + 493.1898592420333, + 339.7693709689564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 516, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -48.745052337646484, + "z": 1.0935567617416382 + }, + "extent": { + "x": 0.45646482706069946, + "y": 0.609326183795929, + "z": 0.9318466186523438 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 681.7665628618114, + "ymin": 262.49451761749236, + "xmax": 722.238180401835, + "ymax": 322.7173219524963 + }, + "corners_3d": [ + [ + -140.86473083496094, + -49.2627067565918, + 0.16171014308929443 + ], + [ + -142.0767059326172, + -49.13532638549805, + 0.16171014308929443 + ], + [ + -141.9812774658203, + -48.22739791870117, + 0.16171014308929443 + ], + [ + -140.76930236816406, + -48.35477828979492, + 0.16171014308929443 + ], + [ + -140.86473083496094, + -49.2627067565918, + 2.0254034996032715 + ], + [ + -142.0767059326172, + -49.13532638549805, + 2.0254034996032715 + ], + [ + -141.9812774658203, + -48.22739791870117, + 2.0254034996032715 + ], + [ + -140.76930236816406, + -48.35477828979492, + 2.0254034996032715 + ] + ], + "corners_2d": [ + [ + 686.0225182850604, + 322.7173219524963 + ], + [ + 719.4699261055732, + 320.04113653308644 + ], + [ + 714.5567654974573, + 305.4715431050072 + ], + [ + 681.7665628618114, + 308.04099568888694 + ], + [ + 687.6317942313653, + 279.26293575386416 + ], + [ + 722.238180401835, + 276.65900416532673 + ], + [ + 717.099871568388, + 262.49451761749236 + ], + [ + 683.1965383781901, + 264.9910864035289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 590, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -55.68776321411133, + "z": 1.094860553741455 + }, + "extent": { + "x": 0.41036131978034973, + "y": 0.40153074264526367, + "z": 0.8834793567657471 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 714.6870679595336, + "ymin": 392.49435536589425, + "xmax": 747.7179154995904, + "ymax": 455.15193047713944 + }, + "corners_3d": [ + [ + -141.35023498535156, + -56.09812545776367, + 0.211381196975708 + ], + [ + -142.15330505371094, + -56.09812545776367, + 0.211381196975708 + ], + [ + -142.15330505371094, + -55.277400970458984, + 0.211381196975708 + ], + [ + -141.35023498535156, + -55.277400970458984, + 0.211381196975708 + ], + [ + -141.35023498535156, + -56.09812545776367, + 1.9783399105072021 + ], + [ + -142.15330505371094, + -56.09812545776367, + 1.9783399105072021 + ], + [ + -142.15330505371094, + -55.277400970458984, + 1.9783399105072021 + ], + [ + -141.35023498535156, + -55.277400970458984, + 1.9783399105072021 + ] + ], + "corners_2d": [ + [ + 717.1228183664415, + 455.15193047713944 + ], + [ + 743.631728927126, + 454.61557741964276 + ], + [ + 740.6238953623618, + 436.0262356375513 + ], + [ + 714.6870679595336, + 436.53962285068724 + ], + [ + 720.165735103452, + 411.3450814152957 + ], + [ + 747.7179154995904, + 410.8159884633503 + ], + [ + 744.5023283785246, + 392.49435536589425 + ], + [ + 717.5676216571496, + 392.99992977772575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 759, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16246032714844, + "y": -64.90628814697266, + "z": 1.0955685377120972 + }, + "extent": { + "x": 0.3637695610523224, + "y": 0.3782373368740082, + "z": 0.8689252138137817 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 770.3789649433381, + "ymin": 662.6666634915414, + "xmax": 813.4102696085743, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.74827575683594, + -65.22853088378906, + 0.22664332389831543 + ], + [ + -142.50059509277344, + -65.30760192871094, + 0.22664332389831543 + ], + [ + -142.57664489746094, + -64.58404541015625, + 0.22664332389831543 + ], + [ + -141.82432556152344, + -64.50497436523438, + 0.22664332389831543 + ], + [ + -141.74827575683594, + -65.22853088378906, + 1.964493751525879 + ], + [ + -142.50059509277344, + -65.30760192871094, + 1.964493751525879 + ], + [ + -142.57664489746094, + -64.58404541015625, + 1.964493751525879 + ], + [ + -141.82432556152344, + -64.50497436523438, + 1.964493751525879 + ] + ], + "corners_2d": [ + [ + 771.3408930294224, + 735.0814037808543 + ], + [ + 804.8043138102274, + 737.425262803906 + ], + [ + 802.9920411260325, + 708.4725098575722 + ], + [ + 770.3789649433381, + 706.2458785991832 + ], + [ + 778.1846039439719, + 691.8144556973302 + ], + [ + 813.4102696085743, + 694.1870749217383 + ], + [ + 811.276600996663, + 664.9146724875098 + ], + [ + 776.9919373943846, + 662.6666634915414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 847, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -63.85797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.31760740280151367, + "y": 0.35902342200279236, + "z": 0.8680168986320496 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 134.89727770479624, + "ymin": 642.854636852225, + "xmax": 201.68089656931392, + "ymax": 714.9115971602463 + }, + "corners_3d": [ + [ + -127.50463104248047, + -64.09400177001953, + 0.07612574100494385 + ], + [ + -128.2069854736328, + -64.24329376220703, + 0.07612574100494385 + ], + [ + -128.33905029296875, + -63.62195587158203, + 0.07612574100494385 + ], + [ + -127.63670349121094, + -63.4726676940918, + 0.07612574100494385 + ], + [ + -127.50463104248047, + -64.09400177001953, + 1.812159538269043 + ], + [ + -128.2069854736328, + -64.24329376220703, + 1.812159538269043 + ], + [ + -128.33905029296875, + -63.62195587158203, + 1.812159538269043 + ], + [ + -127.63670349121094, + -63.4726676940918, + 1.812159538269043 + ] + ], + "corners_2d": [ + [ + 159.15463791401316, + 709.8958590505754 + ], + [ + 187.23786958876406, + 714.9115971602463 + ], + [ + 201.68089656931392, + 691.0243423163708 + ], + [ + 174.13121731553423, + 686.2200503656045 + ], + [ + 134.89727770479624, + 666.7360568948197 + ], + [ + 164.28922350572464, + 671.8019263812331 + ], + [ + 179.961865732285, + 647.6965151947732 + ], + [ + 151.15330218521206, + 642.854636852225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 11396, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 170.08217226157092, + "ymin": 435.22187763999665, + "xmax": 314.7945407822807, + "ymax": 606.4671160246593 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 190.85649617045505, + 606.4671160246593 + ], + [ + 272.21178322448105, + 605.0072268822418 + ], + [ + 314.7945407822807, + 478.88149160286684 + ], + [ + 243.6697325565139, + 479.99919246022506 + ], + [ + 170.08217226157092, + 562.1116508797027 + ], + [ + 255.22610053315145, + 560.6513465687239 + ], + [ + 301.72725305461734, + 435.22187763999665 + ], + [ + 227.72357433796884, + 436.3270879427772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 1464, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 400.5680781782105, + "ymin": 32.87372404214858, + "xmax": 456.68105156031334, + "ymax": 96.3677424195339 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 404.74990571523574, + 96.3677424195339 + ], + [ + 443.6691274218125, + 96.02040448228087 + ], + [ + 456.68105156031334, + 57.56750998141558 + ], + [ + 420.7620045841253, + 57.8635151827624 + ], + [ + 400.5680781782105, + 70.25341534406493 + ], + [ + 440.1815946193613, + 69.91833740212212 + ], + [ + 453.6789109279453, + 32.87372404214858 + ], + [ + 417.1692946356334, + 33.15850286655416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 457.3434247219652, + "ymin": 0.0, + "xmax": 607.1200260931616, + "ymax": 20.72014191033429 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 607.1200260931616, + 19.44055507024376 + ], + [ + 607.09594393147, + 15.360602552973376 + ], + [ + 479.76873895501274, + 16.615644319929004 + ], + [ + 478.5519752876278, + 20.72014191033429 + ], + [ + 602.8154604863382, + -182.95762450552422 + ], + [ + 602.835047041427, + -185.36600050349853 + ], + [ + 458.9495835461658, + -184.62580116148388 + ], + [ + 457.3434247219652, + -182.2010401264539 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 402.3286686780315, + "ymin": 0.0, + "xmax": 607.908831622471, + "ymax": 155.2939173479295 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 607.908831622471, + 153.07843800399874 + ], + [ + 607.8673013522823, + 146.0424612271446 + ], + [ + 440.76035169501176, + 148.20227515546264 + ], + [ + 438.6580596673447, + 155.2939173479295 + ], + [ + 602.1454510295893, + -100.57281070136344 + ], + [ + 602.1821618674829, + -105.0868000398736 + ], + [ + 405.3466324363871, + -103.70332621365378 + ], + [ + 402.3286686780315, + -99.14721332112225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 294.25057719959125, + "ymin": 70.63983230087092, + "xmax": 325.1638488053867, + "ymax": 79.52999375808531 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 320.8962859937626, + 79.23290905137071 + ], + [ + 325.1638488053867, + 71.95635748050836 + ], + [ + 299.2264511610847, + 72.24456960120148 + ], + [ + 294.559931927105, + 79.52999375808531 + ], + [ + 320.61069201543955, + 77.9027735239028 + ], + [ + 324.8863162631526, + 70.63983230087092 + ], + [ + 298.92587257512656, + 70.92750161911408 + ], + [ + 294.25057719959125, + 78.19930670652877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10565670801057873646, + "instance_id": 61054, + "pixel_count": null, + "type_id": "BP_StreetLight_simple39_91_SM_2", + "bbox_3d": { + "center_world": { + "x": -179.16464233398438, + "y": -15.783660888671875, + "z": 4.085450172424316 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1218.206420047335, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 3.137907505887256 + }, + "corners_3d": [ + [ + -177.2479248046875, + -15.56405258178711, + 0.20873141288757324 + ], + [ + -177.2479248046875, + -16.003259658813477, + 0.20873141288757324 + ], + [ + -181.08135986328125, + -16.00326919555664, + 0.20873141288757324 + ], + [ + -181.08135986328125, + -15.564061164855957, + 0.20873141288757324 + ], + [ + -177.2479248046875, + -15.56405258178711, + 7.9621686935424805 + ], + [ + -177.2479248046875, + -16.003259658813477, + 7.9621686935424805 + ], + [ + -181.08135986328125, + -16.00326919555664, + 7.9621686935424805 + ], + [ + -181.08135986328125, + -15.564061164855957, + 7.9621686935424805 + ] + ], + "corners_2d": [ + [ + 1218.206420047335, + 0.8615885286938578 + ], + [ + 1221.651743919736, + 3.137907505887256 + ], + [ + 1280.8913774033308, + 2.5627420899278945 + ], + [ + 1277.1205678384413, + 0.29281888161483494 + ], + [ + 1267.4847183798256, + -132.48120050088335 + ], + [ + 1271.5258892149868, + -130.82262138343822 + ], + [ + 1335.760898356359, + -131.24185025459792 + ], + [ + 1331.3372268675444, + -132.89537149379896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 288.53445888775025, + "ymin": 58.29925001828502, + "xmax": 609.3449157281423, + "ymax": 400.95541759593 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 609.3449157281423, + 396.3769089785633 + ], + [ + 609.2597071832134, + 381.941046094712 + ], + [ + 370.16067799315925, + 386.3555387182852 + ], + [ + 365.8325962016022, + 400.95541759593 + ], + [ + 600.764967478396, + 69.17237599585906 + ], + [ + 600.8533951496257, + 58.29925001828502 + ], + [ + 295.84152484268856, + 61.61265252345652 + ], + [ + 288.53445888775025, + 72.6438709440551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 294.2425827754615, + "ymin": 70.60581080887596, + "xmax": 325.15668946922926, + "ymax": 79.49566731187576 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 320.88891879831846, + 79.19859681392228 + ], + [ + 325.15668946922926, + 71.9223958908338 + ], + [ + 299.21869732435096, + 72.21059402683454 + ], + [ + 294.5519518025511, + 79.49566731187576 + ], + [ + 320.60331162683946, + 77.8683998401819 + ], + [ + 324.879144299175, + 70.60581080887596 + ], + [ + 298.91810505369386, + 70.89346608146411 + ], + [ + 294.2425827754615, + 78.16491875080044 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00009/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f0d7073a0c9d4a71a22ab4a54bbcc82d8c0d16b8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00009/meta.json @@ -0,0 +1,1616 @@ +{ + "frame_id": 9, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 4.5, + "sim_timestamp": 2182.736362824915 + }, + "drone_pose": { + "x": -138.55309353910093, + "y": -76.40671098559014, + "z": 20.41803744802656, + "pitch": -42.30835799552163, + "yaw": 91.65771234839212, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.021393537521362305, + -0.7392234206199646, + 0.673120379447937, + 39.773677825927734 + ], + [ + 0.999581515789032, + -0.028928518295288086, + 0.0, + -140.70545959472656 + ], + [ + 0.019472360610961914, + 0.6728386878967285, + 0.7395329475402832, + -63.81123352050781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.79100060483825, + "y": -75.89331824496284, + "z": 20.512822071764997 + }, + "t1_image_uv": [ + 1307.1991341001967, + -897.3344552731401 + ], + "t1_depth": 0.3208001496444454 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -55.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.704377637879126, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 576, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -55.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3797607421875, + "y": 0.5185888409614563, + "z": 0.9020721912384033 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.085145504687, + "ymin": 328.45895455846147, + "xmax": 658.2614985807943, + "ymax": 390.8554908110764 + }, + "corners_3d": [ + [ + -138.64859008789062, + -55.56752395629883, + 0.19446313381195068 + ], + [ + -139.68576049804688, + -55.56752395629883, + 0.19446313381195068 + ], + [ + -139.68576049804688, + -54.80800247192383, + 0.19446313381195068 + ], + [ + -138.64859008789062, + -54.80800247192383, + 0.19446313381195068 + ], + [ + -138.64859008789062, + -55.56752395629883, + 1.9986075162887573 + ], + [ + -139.68576049804688, + -55.56752395629883, + 1.9986075162887573 + ], + [ + -139.68576049804688, + -54.80800247192383, + 1.9986075162887573 + ], + [ + -138.64859008789062, + -54.80800247192383, + 1.9986075162887573 + ] + ], + "corners_2d": [ + [ + 623.2150810489101, + 390.8554908110764 + ], + [ + 657.4978830933185, + 390.1643195124226 + ], + [ + 656.4535018600587, + 373.0200081024323 + ], + [ + 622.8206093543347, + 373.6852009612257 + ], + [ + 622.4819950980376, + 346.138053521444 + ], + [ + 658.2614985807943, + 345.45237544542914 + ], + [ + 657.157339265167, + 328.45895455846147 + ], + [ + 622.085145504687, + 329.11776879000803 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 9, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 350490, + "2": 119903, + "3": 261471, + "4": 51592, + "6": 6394, + "12": 4036, + "14": 12262, + "20": 126, + "24": 7363, + "25": 107963 + }, + "instance_pixel_counts": { + "2453": 4522, + "3413": 4592, + "3662": 15827, + "11605": 719, + "15960": 5618, + "17240": 776, + "20565": 541, + "22421": 73, + "22931": 1908, + "22933": 2768, + "23443": 130100, + "36096": 576, + "36352": 602, + "36608": 529, + "36864": 581, + "37120": 945, + "37376": 803, + "38144": 11607, + "41728": 655, + "47198": 73301, + "48737": 207, + "48980": 16275, + "49249": 58, + "49492": 239344, + "49761": 135, + "50246": 28600, + "51297": 24196, + "51526": 7165, + "51809": 2973, + "52321": 4502, + "54366": 32957, + "54878": 1705, + "57482": 469, + "57994": 13653, + "59737": 126, + "63382": 63684, + "63894": 10026, + "65426": 218482 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 576, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -55.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4027685523033142, + "y": 0.5283276438713074, + "z": 0.9078893065452576 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.7415929979014, + "ymin": 327.79869929997926, + "xmax": 658.6340324426714, + "ymax": 391.53060441261204 + }, + "corners_3d": [ + [ + -138.63885498046875, + -55.59053039550781, + 0.18864601850509644 + ], + [ + -139.69549560546875, + -55.59053039550781, + 0.18864601850509644 + ], + [ + -139.69549560546875, + -54.784996032714844, + 0.18864601850509644 + ], + [ + -138.63885498046875, + -54.784996032714844, + 0.18864601850509644 + ], + [ + -138.63885498046875, + -55.59053039550781, + 2.004424571990967 + ], + [ + -139.69549560546875, + -55.59053039550781, + 2.004424571990967 + ], + [ + -139.69549560546875, + -54.784996032714844, + 2.004424571990967 + ], + [ + -138.63885498046875, + -54.784996032714844, + 2.004424571990967 + ] + ], + "corners_2d": [ + [ + 622.9073529124064, + 391.53060441261204 + ], + [ + 657.8494665049012, + 390.8256199271114 + ], + [ + 656.7355382374004, + 372.64235918557205 + ], + [ + 622.4954665594256, + 373.319276731809 + ], + [ + 622.155441399829, + 346.5202733119093 + ], + [ + 658.6340324426714, + 345.8208922934061 + ], + [ + 657.4557195795259, + 327.79869929997926 + ], + [ + 621.7415929979014, + 328.46905047995267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 602, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -52.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44425785541534424, + "y": 0.43928226828575134, + "z": 0.888547420501709 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 491.1066466935386, + "ymin": 271.241181716072, + "xmax": 527.1197229124188, + "ymax": 335.13685856389964 + }, + "corners_3d": [ + [ + -134.70388793945312, + -52.715938568115234, + 0.05559045076370239 + ], + [ + -135.56324768066406, + -52.53327178955078, + 0.05559045076370239 + ], + [ + -135.37850952148438, + -51.6641731262207, + 0.05559045076370239 + ], + [ + -134.51914978027344, + -51.846839904785156, + 0.05559045076370239 + ], + [ + -134.70388793945312, + -52.715938568115234, + 1.8326852321624756 + ], + [ + -135.56324768066406, + -52.53327178955078, + 1.8326852321624756 + ], + [ + -135.37850952148438, + -51.6641731262207, + 1.8326852321624756 + ], + [ + -134.51914978027344, + -51.846839904785156, + 1.8326852321624756 + ] + ], + "corners_2d": [ + [ + 500.2420489843156, + 335.13685856389964 + ], + [ + 527.1197229124188, + 330.97456541346173 + ], + [ + 523.0689585592456, + 314.08111431505375 + ], + [ + 496.71181768667986, + 318.07820435396803 + ], + [ + 494.65838469508657, + 292.0050467985088 + ], + [ + 522.6328766602563, + 287.8971895367602 + ], + [ + 518.5176645767506, + 271.241181716072 + ], + [ + 491.1066466935386, + 275.179701330009 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 529, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -48.245052337646484, + "z": 1.0935031175613403 + }, + "extent": { + "x": 0.47047361731529236, + "y": 0.46195554733276367, + "z": 0.9456043243408203 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 682.2759552479448, + "ymin": 195.41071630922627, + "xmax": 715.0076694695974, + "ymax": 257.10644223573513 + }, + "corners_3d": [ + [ + -141.01275634765625, + -48.761234283447266, + 0.14789879322052002 + ], + [ + -141.93161010742188, + -48.6646614074707, + 0.14789879322052002 + ], + [ + -141.833251953125, + -47.7288703918457, + 0.14789879322052002 + ], + [ + -140.91439819335938, + -47.825443267822266, + 0.14789879322052002 + ], + [ + -141.01275634765625, + -48.761234283447266, + 2.039107322692871 + ], + [ + -141.93161010742188, + -48.6646614074707, + 2.039107322692871 + ], + [ + -141.833251953125, + -47.7288703918457, + 2.039107322692871 + ], + [ + -140.91439819335938, + -47.825443267822266, + 2.039107322692871 + ] + ], + "corners_2d": [ + [ + 686.6567037319938, + 257.10644223573513 + ], + [ + 712.2176587437274, + 255.05562639798185 + ], + [ + 707.3434263632769, + 239.86857393070107 + ], + [ + 682.2759552479448, + 241.83906624618135 + ], + [ + 688.4642031769391, + 212.26014037099682 + ], + [ + 715.0076694695974, + 210.25400857703022 + ], + [ + 709.8917927246372, + 195.41071630922627 + ], + [ + 683.8800760390353, + 197.33532820567513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 581, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -55.18776321411133, + "z": 1.0948214530944824 + }, + "extent": { + "x": 0.368720680475235, + "y": 0.5180029273033142, + "z": 0.8887670040130615 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 706.6040227804792, + "ymin": 327.4498414332908, + "xmax": 747.0740192459937, + "ymax": 388.6060460546309 + }, + "corners_3d": [ + [ + -141.2337646484375, + -55.55648422241211, + 0.2060544490814209 + ], + [ + -142.269775390625, + -55.55648422241211, + 0.2060544490814209 + ], + [ + -142.269775390625, + -54.81904220581055, + 0.2060544490814209 + ], + [ + -141.2337646484375, + -54.81904220581055, + 0.2060544490814209 + ], + [ + -141.2337646484375, + -55.55648422241211, + 1.983588457107544 + ], + [ + -142.269775390625, + -55.55648422241211, + 1.983588457107544 + ], + [ + -142.269775390625, + -54.81904220581055, + 1.983588457107544 + ], + [ + -141.2337646484375, + -54.81904220581055, + 1.983588457107544 + ] + ], + "corners_2d": [ + [ + 708.5571470204387, + 388.6060460546309 + ], + [ + 742.6711295698925, + 387.91868115439206 + ], + [ + 740.0921040770666, + 371.33613572453066 + ], + [ + 706.6040227804792, + 371.998442303981 + ], + [ + 711.4994495838868, + 344.5679068860464 + ], + [ + 747.0740192459937, + 343.886048296999 + ], + [ + 744.3021401907521, + 327.4498414332908 + ], + [ + 709.407680401463, + 328.10580659869123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 945, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16246032714844, + "y": -64.40628814697266, + "z": 1.0955294370651245 + }, + "extent": { + "x": 0.3621435761451721, + "y": 0.5807715654373169, + "z": 0.9004673361778259 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 753.7631958934629, + "ymin": 590.8824858332432, + "xmax": 813.8756299642005, + "ymax": 665.4761380355859 + }, + "corners_3d": [ + [ + -141.54701232910156, + -64.70574188232422, + 0.19506210088729858 + ], + [ + -142.7021942138672, + -64.82715606689453, + 0.19506210088729858 + ], + [ + -142.7779083251953, + -64.1068344116211, + 0.19506210088729858 + ], + [ + -141.6227264404297, + -63.98542022705078, + 0.19506210088729858 + ], + [ + -141.54701232910156, + -64.70574188232422, + 1.9959967136383057 + ], + [ + -142.7021942138672, + -64.82715606689453, + 1.9959967136383057 + ], + [ + -142.7779083251953, + -64.1068344116211, + 1.9959967136383057 + ], + [ + -141.6227264404297, + -63.98542022705078, + 1.9959967136383057 + ] + ], + "corners_2d": [ + [ + 754.1264434750051, + 662.0408032453457 + ], + [ + 804.4071116121811, + 665.4761380355859 + ], + [ + 802.8647383321029, + 637.8456498376884 + ], + [ + 753.7631958934629, + 634.5691870886553 + ], + [ + 760.6789559549126, + 618.8262714405776 + ], + [ + 813.8756299642005, + 622.3259256178478 + ], + [ + 812.0123161817671, + 594.2113301362912 + ], + [ + 760.1337041995496, + 590.8824858332432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 803, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -63.35797882080078, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.2944287061691284, + "y": 0.4913330078125, + "z": 0.9001286029815674 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 131.13917996497327, + "ymin": 572.2736284977118, + "xmax": 208.35703190047263, + "ymax": 643.5034513955632 + }, + "corners_3d": [ + [ + -127.38003540039062, + -63.543819427490234, + 0.044014036655426025 + ], + [ + -128.3412322998047, + -63.74812698364258, + 0.044014036655426025 + ], + [ + -128.46365356445312, + -63.17213821411133, + 0.044014036655426025 + ], + [ + -127.5024642944336, + -62.967830657958984, + 0.044014036655426025 + ], + [ + -127.38003540039062, + -63.543819427490234, + 1.844271183013916 + ], + [ + -128.3412322998047, + -63.74812698364258, + 1.844271183013916 + ], + [ + -128.46365356445312, + -63.17213821411133, + 1.844271183013916 + ], + [ + -127.5024642944336, + -62.967830657958984, + 1.844271183013916 + ] + ], + "corners_2d": [ + [ + 157.96830827058028, + 636.9341538098643 + ], + [ + 195.82503408862527, + 643.5034513955632 + ], + [ + 208.35703190047263, + 622.2082068961753 + ], + [ + 171.12350345722587, + 615.8777781506556 + ], + [ + 131.13917996497327, + 593.6439743700683 + ], + [ + 170.95391461034848, + 600.3201379603009 + ], + [ + 184.6567873499481, + 578.6938769067065 + ], + [ + 145.53017024216138, + 572.2736284977118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 11607, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 161.69930818843756, + "ymin": 381.4890144037579, + "xmax": 307.4154885301872, + "ymax": 553.6850486386531 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 184.62585273161977, + 553.6850486386531 + ], + [ + 266.2456224527354, + 552.21531498628 + ], + [ + 307.4154885301872, + 425.04683256244317 + ], + [ + 235.59405395650708, + 426.18663781925756 + ], + [ + 161.69930818843756, + 510.3350039022156 + ], + [ + 247.45556736014794, + 508.8540675660422 + ], + [ + 292.77762765453815, + 381.4890144037579 + ], + [ + 217.7725941699913, + 382.6238365445028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 655, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 390.3650212814091, + "ymin": 0.0, + "xmax": 448.50607072588514, + "ymax": 29.147583120380546 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 395.218015951904, + 29.147583120380546 + ], + [ + 435.30883909023294, + 28.779092858651268 + ], + [ + 448.50607072588514, + -11.895091417875562 + ], + [ + 411.43101720168545, + -11.579796413271993 + ], + [ + 390.3650212814091, + 1.6775815908483196 + ], + [ + 431.25348524559206, + 1.320804006845833 + ], + [ + 445.0017988926869, + -38.00159481856883 + ], + [ + 407.24560912207363, + -37.697227032846286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 387.6822838743326, + "ymin": 0.0, + "xmax": 604.3214755739062, + "ymax": 91.18212293791106 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 604.3214755739062, + 88.84839403260719 + ], + [ + 604.298311550858, + 81.46151282661066 + ], + [ + 432.5987963687411, + 83.73827250320664 + ], + [ + 430.48305833091115, + 91.18212293791106 + ], + [ + 597.0667883978762, + -180.7469114293591 + ], + [ + 597.1457241314804, + -185.64706233562038 + ], + [ + 390.8564778326381, + -184.1393538945223 + ], + [ + 387.6822838743326, + -179.1937308946707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 274.8574863790499, + "ymin": 4.040047041948014, + "xmax": 307.0984611282547, + "ymax": 13.566576081903577 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 302.6573202499634, + 13.246657366246495 + ], + [ + 307.0984611282547, + 5.4386561716332835 + ], + [ + 280.07561774784836, + 5.749163155507347 + ], + [ + 275.22517220327103, + 13.566576081903577 + ], + [ + 302.31749197831317, + 11.834860678365601 + ], + [ + 306.7680799080502, + 4.040047041948014 + ], + [ + 279.71820444423423, + 4.350025143549487 + ], + [ + 274.8574863790499, + 12.154244019431417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 268.6435446786287, + "ymin": 0.0, + "xmax": 605.1122004139847, + "ymax": 345.7089525723902 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 605.1122004139847, + 341.0060434619205 + ], + [ + 605.0658339211479, + 326.2200242202293 + ], + [ + 362.3883941692558, + 330.76120891899114 + ], + [ + 358.13985256914737, + 345.7089525723902 + ], + [ + 594.1143376944984, + 2.5345167559349875 + ], + [ + 594.3025365695096, + -9.148441593021232 + ], + [ + 276.24974069069214, + -5.573795963174462 + ], + [ + 268.6435446786287, + 6.2772057187521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 274.8479834527343, + "ymin": 4.003900237222069, + "xmax": 307.0899394072762, + "ymax": 13.530147505227944 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 302.64855498296, + 13.210242576906978 + ], + [ + 307.0899394072762, + 5.402581007451886 + ], + [ + 280.0663987774585, + 5.713074370414176 + ], + [ + 275.2156884058015, + 13.530147505227944 + ], + [ + 302.3087090424834, + 11.798372484919526 + ], + [ + 306.7595412640514, + 4.003900237222069 + ], + [ + 279.7089671552136, + 4.3138646479395675 + ], + [ + 274.8479834527343, + 12.117741966214794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1272.1812542612508, + "ymin": 590.1273685376523, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1272.1812542612508, + 859.2328489981783 + ], + [ + 1555.4495082071014, + 1001.351996524359 + ], + [ + 1539.4102195311148, + 789.5331761308992 + ], + [ + 1293.8168700914366, + 682.9759731886354 + ], + [ + 1365.963550698878, + 776.8283356569295 + ], + [ + 1707.6477530382886, + 932.6278970426779 + ], + [ + 1665.1153875746913, + 702.1549716399776 + ], + [ + 1376.7778817706474, + 590.1273685376523 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00011/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7b0c22f0c3aec1555ca4f9963253e505ebf7a72 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00011/meta.json @@ -0,0 +1,1513 @@ +{ + "frame_id": 11, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 5.5, + "sim_timestamp": 2205.169287268771 + }, + "drone_pose": { + "x": -138.6766607845477, + "y": -75.35303851976072, + "z": 20.21525971672372, + "pitch": -42.08404692922803, + "yaw": 91.3276377273746, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.017195463180541992, + -0.7419632077217102, + 0.6702199578285217, + 39.975887298583984 + ], + [ + 0.9997314810752869, + -0.023169517517089844, + 2.9802322387695312e-08, + -140.3853302001953 + ], + [ + 0.015528678894042969, + 0.6700400114059448, + 0.7421624660491943, + -63.33909225463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.8406981652623, + "y": -74.87963024374196, + "z": 20.327579508023867 + }, + "t1_image_uv": [ + 1166.9269153000653, + -1028.0713175428446 + ], + "t1_depth": 0.2787932906849958 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -54.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.52604273425269, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 593, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -54.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.38847655057907104, + "y": 0.3243994116783142, + "z": 0.8603430986404419 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.6657196384774, + "ymin": 329.27783861552535, + "xmax": 651.5653444795298, + "ymax": 390.1189935862935 + }, + "corners_3d": [ + [ + -138.8427734375, + -54.57624053955078, + 0.2361922264099121 + ], + [ + -139.4915771484375, + -54.57624053955078, + 0.2361922264099121 + ], + [ + -139.4915771484375, + -53.799285888671875, + 0.2361922264099121 + ], + [ + -138.8427734375, + -53.799285888671875, + 0.2361922264099121 + ], + [ + -138.8427734375, + -54.57624053955078, + 1.956878423690796 + ], + [ + -139.4915771484375, + -54.57624053955078, + 1.956878423690796 + ], + [ + -139.4915771484375, + -53.799285888671875, + 1.956878423690796 + ], + [ + -138.8427734375, + -53.799285888671875, + 1.956878423690796 + ] + ], + "corners_2d": [ + [ + 629.4925099082483, + 390.1189935862935 + ], + [ + 651.1025548759906, + 389.77173104730343 + ], + [ + 650.2969497644732, + 372.18698069871556 + ], + [ + 629.1105378870542, + 372.5207544467927 + ], + [ + 629.0543477991386, + 347.04587953941723 + ], + [ + 651.5653444795298, + 346.70151113825784 + ], + [ + 650.7173986192339, + 329.27783861552535 + ], + [ + 628.6657196384774, + 329.6082899779682 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 11, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 348339, + "2": 120218, + "3": 256995, + "4": 53181, + "6": 6902, + "12": 3980, + "14": 13770, + "20": 127, + "24": 7477, + "25": 110611 + }, + "instance_pixel_counts": { + "2453": 4379, + "3413": 4824, + "3662": 17114, + "11605": 1090, + "12117": 1, + "15960": 6002, + "17240": 900, + "20565": 245, + "22421": 166, + "22931": 4986, + "22933": 2932, + "23443": 135761, + "36096": 593, + "36352": 630, + "36608": 528, + "36864": 602, + "37120": 846, + "37376": 781, + "38144": 12749, + "41728": 1021, + "47198": 71750, + "48737": 798, + "48980": 19970, + "49249": 146, + "49492": 230865, + "49761": 246, + "50246": 28741, + "51297": 25887, + "51526": 7326, + "51809": 3012, + "52321": 4377, + "54366": 36694, + "54878": 2167, + "57482": 989, + "57994": 13122, + "59737": 127, + "63382": 61894, + "63894": 9747, + "65426": 207592 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 593, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -54.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3988964855670929, + "y": 0.3526098430156708, + "z": 0.8859308958053589 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.6940837711965, + "ymin": 328.3701840588958, + "xmax": 652.563505549675, + "ymax": 390.9894076803837 + }, + "corners_3d": [ + [ + -138.81455993652344, + -54.5866584777832, + 0.21060442924499512 + ], + [ + -139.51979064941406, + -54.5866584777832, + 0.21060442924499512 + ], + [ + -139.51979064941406, + -53.78886795043945, + 0.21060442924499512 + ], + [ + -138.81455993652344, + -53.78886795043945, + 0.21060442924499512 + ], + [ + -138.81455993652344, + -54.5866584777832, + 1.982466220855713 + ], + [ + -139.51979064941406, + -54.5866584777832, + 1.982466220855713 + ], + [ + -139.51979064941406, + -53.78886795043945, + 1.982466220855713 + ], + [ + -138.81455993652344, + -53.78886795043945, + 1.982466220855713 + ] + ], + "corners_2d": [ + [ + 628.5641912126769, + 390.9894076803837 + ], + [ + 652.0460002612114, + 390.61170698385683 + ], + [ + 651.200523112627, + 372.55404689586595 + ], + [ + 628.1909853653782, + 372.9166996548579 + ], + [ + 628.0726845851459, + 346.63193278673344 + ], + [ + 652.563505549675, + 346.25746564696544 + ], + [ + 651.6716180778733, + 328.3701840588958 + ], + [ + 627.6940837711965, + 328.7291111025332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 630, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -51.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4543408453464508, + "y": 0.499685138463974, + "z": 0.9222909808158875 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 488.91505747441096, + "ymin": 269.2834379804259, + "xmax": 528.9735922543263, + "ymax": 336.0383147540452 + }, + "corners_3d": [ + [ + -134.6468963623047, + -51.73835754394531, + 0.021846890449523926 + ], + [ + -135.62442016601562, + -51.53057861328125, + 0.021846890449523926 + ], + [ + -135.4355010986328, + -50.641754150390625, + 0.021846890449523926 + ], + [ + -134.45797729492188, + -50.84953308105469, + 0.021846890449523926 + ], + [ + -134.6468963623047, + -51.73835754394531, + 1.8664288520812988 + ], + [ + -135.62442016601562, + -51.53057861328125, + 1.8664288520812988 + ], + [ + -135.4355010986328, + -50.641754150390625, + 1.8664288520812988 + ], + [ + -134.45797729492188, + -50.84953308105469, + 1.8664288520812988 + ] + ], + "corners_2d": [ + [ + 498.23283414568823, + 336.0383147540452 + ], + [ + 528.9735922543263, + 331.41247153550194 + ], + [ + 524.9430249348403, + 314.11931765005596 + ], + [ + 494.8180201101658, + 318.55578486925725 + ], + [ + 492.3415681425152, + 290.86662268913904 + ], + [ + 524.38615128304, + 286.3077680170121 + ], + [ + 520.2910747048314, + 269.2834379804259 + ], + [ + 488.91505747441096, + 273.64817416892834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 528, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -47.245052337646484, + "z": 1.0934005975723267 + }, + "extent": { + "x": 0.43434569239616394, + "y": 0.4965454041957855, + "z": 0.9470201134681702 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 682.8759606080997, + "ymin": 195.87919953614426, + "xmax": 717.3087612071841, + "ymax": 256.8827906986744 + }, + "corners_3d": [ + [ + -140.97457885742188, + -47.728919982910156, + 0.1463804841041565 + ], + [ + -141.9622344970703, + -47.62511444091797, + 0.1463804841041565 + ], + [ + -141.87142944335938, + -46.76118469238281, + 0.1463804841041565 + ], + [ + -140.88377380371094, + -46.864990234375, + 0.1463804841041565 + ], + [ + -140.97457885742188, + -47.728919982910156, + 2.0404207706451416 + ], + [ + -141.9622344970703, + -47.62511444091797, + 2.0404207706451416 + ], + [ + -141.87142944335938, + -46.76118469238281, + 2.0404207706451416 + ], + [ + -140.88377380371094, + -46.864990234375, + 2.0404207706451416 + ] + ], + "corners_2d": [ + [ + 686.8123389256526, + 256.8827906986744 + ], + [ + 714.4291513106665, + 254.77593718187336 + ], + [ + 709.994802575525, + 240.7471364844518 + ], + [ + 682.8759606080997, + 242.77699597556017 + ], + [ + 688.6286782127274, + 211.63507189359976 + ], + [ + 717.3087612071841, + 209.5763410803923 + ], + [ + 712.651082956677, + 195.87919953614426 + ], + [ + 684.5076751244346, + 197.85986337994362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 602, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -54.18776321411133, + "z": 1.0947433710098267 + }, + "extent": { + "x": 0.3891357481479645, + "y": 0.489501953125, + "z": 0.8914795517921448 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 707.98375081205, + "ymin": 327.10391984844443, + "xmax": 746.8462609813946, + "ymax": 389.6310951353526 + }, + "corners_3d": [ + [ + -141.26226806640625, + -54.576900482177734, + 0.20326381921768188 + ], + [ + -142.24127197265625, + -54.576900482177734, + 0.20326381921768188 + ], + [ + -142.24127197265625, + -53.79862594604492, + 0.20326381921768188 + ], + [ + -141.26226806640625, + -53.79862594604492, + 0.20326381921768188 + ], + [ + -141.26226806640625, + -54.576900482177734, + 1.9862229824066162 + ], + [ + -142.24127197265625, + -54.576900482177734, + 1.9862229824066162 + ], + [ + -142.24127197265625, + -53.79862594604492, + 1.9862229824066162 + ], + [ + -141.26226806640625, + -53.79862594604492, + 1.9862229824066162 + ] + ], + "corners_2d": [ + [ + 709.9430272370452, + 389.6310951353526 + ], + [ + 742.4266137120143, + 389.10863121687953 + ], + [ + 739.8318761610749, + 371.54875324731574 + ], + [ + 707.98375081205, + 372.05093463625957 + ], + [ + 712.9628628274434, + 345.0126528793122 + ], + [ + 746.8462609813946, + 344.49476759240844 + ], + [ + 744.0515762082491, + 327.10391984844443 + ], + [ + 710.8590043936582, + 327.6008590787831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 846, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16246032714844, + "y": -63.40629196166992, + "z": 1.0954464673995972 + }, + "extent": { + "x": 0.40192875266075134, + "y": 0.34266361594200134, + "z": 0.8776734471321106 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 762.912201872003, + "ymin": 592.1943546573038, + "xmax": 802.0647592278668, + "ymax": 668.3721322844083 + }, + "corners_3d": [ + [ + -141.7796630859375, + -63.77020263671875, + 0.21777302026748657 + ], + [ + -142.4612274169922, + -63.84183883666992, + 0.21777302026748657 + ], + [ + -142.54525756835938, + -63.042381286621094, + 0.21777302026748657 + ], + [ + -141.8636932373047, + -62.97074508666992, + 0.21777302026748657 + ], + [ + -141.7796630859375, + -63.77020263671875, + 1.9731199741363525 + ], + [ + -142.4612274169922, + -63.84183883666992, + 1.9731199741363525 + ], + [ + -142.54525756835938, + -63.042381286621094, + 1.9731199741363525 + ], + [ + -141.8636932373047, + -62.97074508666992, + 1.9731199741363525 + ] + ], + "corners_2d": [ + [ + 763.3756952365072, + 666.1637523958573 + ], + [ + 793.4016271311618, + 668.3721322844083 + ], + [ + 792.1474076431449, + 637.4537778808931 + ], + [ + 762.912201872003, + 635.3599556278531 + ], + [ + 770.3293273047339, + 623.5046691526729 + ], + [ + 802.0647592278668, + 625.7529228068963 + ], + [ + 800.50126566577, + 594.3196747859457 + ], + [ + 769.6478373875245, + 592.1943546573038 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 781, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.89962005615234, + "y": -62.57671356201172, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3003808557987213, + "y": 0.31201171875, + "z": 0.8666480779647827 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 128.41356646830826, + "ymin": 580.5482680680979, + "xmax": 192.42194094610238, + "ymax": 649.2809209506615 + }, + "corners_3d": [ + [ + -127.53197479248047, + -62.805660247802734, + 0.07748979330062866 + ], + [ + -128.14236450195312, + -62.935401916503906, + 0.07748979330062866 + ], + [ + -128.26727294921875, + -62.3477668762207, + 0.07748979330062866 + ], + [ + -127.65687561035156, + -62.21802520751953, + 0.07748979330062866 + ], + [ + -127.53197479248047, + -62.805660247802734, + 1.8107860088348389 + ], + [ + -128.14236450195312, + -62.935401916503906, + 1.8107860088348389 + ], + [ + -128.26727294921875, + -62.3477668762207, + 1.8107860088348389 + ], + [ + -127.65687561035156, + -62.21802520751953, + 1.8107860088348389 + ] + ], + "corners_2d": [ + [ + 154.69303803569153, + 644.895900321764 + ], + [ + 178.97633943867976, + 649.2809209506615 + ], + [ + 192.42194094610238, + 627.2233352993513 + ], + [ + 168.54983149576952, + 623.00372854153 + ], + [ + 128.41356646830826, + 602.7588085313427 + ], + [ + 153.91160711156618, + 607.2130955990397 + ], + [ + 168.57716626883342, + 584.825685021794 + ], + [ + 143.53167113999353, + 580.5482680680979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 12749, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 142.56787340624294, + "ymin": 405.18700196082875, + "xmax": 297.1202349448562, + "ymax": 585.3303958258559 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 167.19127105961212, + 585.3303958258559 + ], + [ + 251.73179015890912, + 584.173368493054 + ], + [ + 297.1202349448562, + 449.29710622680517 + ], + [ + 223.08166356947663, + 450.1856534280929 + ], + [ + 142.56787340624294, + 541.7029190578792 + ], + [ + 231.5337104025278, + 540.534320111622 + ], + [ + 281.5880660382612, + 405.18700196082875 + ], + [ + 204.17726393657392, + 406.07299260447485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 1021, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 389.69370379244833, + "ymin": 0.0, + "xmax": 449.36974970826066, + "ymax": 37.63908875863751 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 394.6196260198169, + 37.63908875863751 + ], + [ + 435.34733919126313, + 37.36038678905618 + ], + [ + 449.36974970826066, + -4.219516462988793 + ], + [ + 411.76152342056804, + -3.9817794713637227 + ], + [ + 389.69370379244833, + 9.827507625082376 + ], + [ + 431.2411557910457, + 9.557732555034022 + ], + [ + 445.8425046407556, + -30.628347351897844 + ], + [ + 407.53637658972605, + -30.398929300579027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 385.59028657698184, + "ymin": 0.0, + "xmax": 606.6643144902123, + "ymax": 101.50197611397061 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 606.6216499178521, + 99.57725907824613 + ], + [ + 606.6643144902123, + 91.96654463286558 + ], + [ + 431.6722437614425, + 93.84318653215831 + ], + [ + 429.3986475759683, + 101.50197611397061 + ], + [ + 599.7049484724087, + -174.67390804616934 + ], + [ + 599.8608260539233, + -179.69418888294786 + ], + [ + 388.9940601280457, + -178.45871375776824 + ], + [ + 385.59028657698184, + -173.40016165083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 262.5887397160134, + "ymin": 16.73414267706619, + "xmax": 296.32361010742534, + "ymax": 26.667663424522175 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 291.4107205555188, + 26.39768496542132 + ], + [ + 296.32361010742534, + 18.173753709581547 + ], + [ + 268.3352657340465, + 18.435468337915268 + ], + [ + 262.98133622739726, + 26.667663424522175 + ], + [ + 291.0479119346835, + 24.94406382102659 + ], + [ + 295.9714359891451, + 16.73414267706619 + ], + [ + 267.9542212221603, + 16.99540739448082 + ], + [ + 262.5887397160134, + 25.213586818069302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 255.99046868997613, + "ymin": 3.712828406411404, + "xmax": 605.2371614660776, + "ymax": 366.04617736916174 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 605.1500456396718, + 362.0893613832771 + ], + [ + 605.2371614660776, + 346.5492127160996 + ], + [ + 355.52078636812007, + 350.36547037446076 + ], + [ + 350.86579572706023, + 366.04617736916174 + ], + [ + 593.7832598021622, + 16.04331930438815 + ], + [ + 594.1661162921788, + 3.712828406411404 + ], + [ + 264.38680033997025, + 6.727611679113693 + ], + [ + 255.99046868997613, + 19.205903939582697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 262.57859262048044, + "ymin": 16.696934953955804, + "xmax": 296.31452655467365, + "ymax": 26.630159338925182 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 291.4013628555911, + 26.360192608027944 + ], + [ + 296.31452655467365, + 18.13662212586496 + ], + [ + 268.32543753821193, + 18.398325168221675 + ], + [ + 262.97121023190107, + 26.630159338925182 + ], + [ + 291.03853474553546, + 24.90649337854603 + ], + [ + 295.962333810304, + 16.696934953955804 + ], + [ + 267.9443728632642, + 16.95818802361788 + ], + [ + 262.57859262048044, + 25.176004583357155 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00017/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b92e5698cf1add6eca49b6383d34aeafe30588a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00017/meta.json @@ -0,0 +1,1191 @@ +{ + "frame_id": 17, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 8.5, + "sim_timestamp": 2291.4280720825773 + }, + "drone_pose": { + "x": -139.26649466210026, + "y": -72.40597343207423, + "z": 20.12486322001675, + "pitch": -46.79282592886233, + "yaw": 88.5635661485185, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.017162442207336426, + -0.6844232082366943, + 0.728882908821106, + 37.27781677246094 + ], + [ + 0.9996857643127441, + 0.025067806243896484, + -2.9802322387695312e-08, + -137.4076690673828 + ], + [ + -0.01827150583267212, + 0.7286539077758789, + 0.6846383810043335, + -69.08175659179688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.20077174833952, + "y": -71.83907672728253, + "z": 20.170711903473126 + }, + "t1_image_uv": [ + 501.0324725540096, + -842.7756422975297 + ], + "t1_depth": 0.35570691623539785 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -51.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 654.6270199924297, + 277.67016464320875 + ], + "depth": 28.393363384710533, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 602, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -51.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39637693762779236, + "y": 0.33400389552116394, + "z": 0.8789622783660889 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 642.9624518049642, + "ymin": 245.89080845130223, + "xmax": 666.6033911754294, + "ymax": 308.6457977371435 + }, + "corners_3d": [ + [ + -138.8331756591797, + -51.58414077758789, + 0.21757304668426514 + ], + [ + -139.5011749267578, + -51.58414077758789, + 0.21757304668426514 + ], + [ + -139.5011749267578, + -50.791385650634766, + 0.21757304668426514 + ], + [ + -138.8331756591797, + -50.791385650634766, + 0.21757304668426514 + ], + [ + -138.8331756591797, + -51.58414077758789, + 1.9754976034164429 + ], + [ + -139.5011749267578, + -51.58414077758789, + 1.9754976034164429 + ], + [ + -139.5011749267578, + -50.791385650634766, + 1.9754976034164429 + ], + [ + -138.8331756591797, + -50.791385650634766, + 1.9754976034164429 + ] + ], + "corners_2d": [ + [ + 642.9624518049642, + 308.25897093718646 + ], + [ + 665.256561001625, + 308.6457977371435 + ], + [ + 665.4399790716529, + 290.6703004344774 + ], + [ + 643.5584868578425, + 290.29766502138557 + ], + [ + 643.100547346554, + 263.8128206580237 + ], + [ + 666.4343941025302, + 264.19914144444454 + ], + [ + 666.6033911754294, + 246.26231473262152 + ], + [ + 643.721155756519, + 245.89080845130223 + ] + ], + "center_offset_px": [ + 14.627019992429723, + -82.32983535679125 + ] + }, + "trace_timestep_index": 17, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 29, + "semantic_pixel_counts": { + "1": 363965, + "2": 125176, + "3": 222216, + "4": 53735, + "6": 5584, + "12": 4232, + "14": 15216, + "20": 159, + "24": 7746, + "25": 123571 + }, + "instance_pixel_counts": { + "2453": 4706, + "3413": 5801, + "3662": 20069, + "15960": 5018, + "17240": 566, + "22933": 3040, + "23443": 140132, + "36096": 602, + "36352": 626, + "36608": 549, + "36864": 618, + "37120": 916, + "37376": 921, + "38144": 15216, + "47198": 81123, + "48980": 16611, + "49492": 199804, + "50246": 31934, + "51297": 28535, + "51526": 1732, + "51809": 3314, + "52321": 3731, + "54366": 38637, + "54878": 3811, + "57994": 9553, + "59737": 159, + "63382": 69206, + "63894": 10837, + "65426": 223833 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 602, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -51.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39083006978034973, + "y": 0.3236450254917145, + "z": 0.860986590385437 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 643.3138111685738, + "ymin": 246.49417766246228, + "xmax": 666.2348655022075, + "ymax": 308.0772359121348 + }, + "corners_3d": [ + [ + -138.84353637695312, + -51.57859420776367, + 0.235548734664917 + ], + [ + -139.49081420898438, + -51.57859420776367, + 0.235548734664917 + ], + [ + -139.49081420898438, + -50.796932220458984, + 0.235548734664917 + ], + [ + -138.84353637695312, + -50.796932220458984, + 0.235548734664917 + ], + [ + -138.84353637695312, + -51.57859420776367, + 1.957521915435791 + ], + [ + -139.49081420898438, + -51.57859420776367, + 1.957521915435791 + ], + [ + -139.49081420898438, + -50.796932220458984, + 1.957521915435791 + ], + [ + -138.84353637695312, + -50.796932220458984, + 1.957521915435791 + ] + ], + "corners_2d": [ + [ + 643.3138111685738, + 307.7025045513226 + ], + [ + 664.9233489294162, + 308.0772359121348 + ], + [ + 665.1103913376211, + 290.3535394153111 + ], + [ + 643.8954316185457, + 289.99237284931144 + ], + [ + 643.4650342796526, + 264.16639790186645 + ], + [ + 666.0611655058913, + 264.540645322141 + ], + [ + 666.2348655022075, + 246.85427710339977 + ], + [ + 644.0698047176087, + 246.49417766246228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 626, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -48.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4435986578464508, + "y": 0.5470020174980164, + "z": 0.9003511667251587 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 505.34913159281933, + "ymin": 182.86805631706923, + "xmax": 547.32190510414, + "ymax": 248.74094697424079 + }, + "corners_3d": [ + [ + -134.59837341308594, + -48.73768997192383, + 0.043786704540252686 + ], + [ + -135.66847229003906, + -48.510231018066406, + 0.043786704540252686 + ], + [ + -135.48402404785156, + -47.64242172241211, + 0.043786704540252686 + ], + [ + -134.41392517089844, + -47.86988067626953, + 0.043786704540252686 + ], + [ + -134.59837341308594, + -48.73768997192383, + 1.8444890975952148 + ], + [ + -135.66847229003906, + -48.510231018066406, + 1.8444890975952148 + ], + [ + -135.48402404785156, + -47.64242172241211, + 1.8444890975952148 + ], + [ + -134.41392517089844, + -47.86988067626953, + 1.8444890975952148 + ] + ], + "corners_2d": [ + [ + 513.515071876286, + 248.74094697424079 + ], + [ + 547.32190510414, + 244.71362225238482 + ], + [ + 544.1373889672778, + 227.60688307341286 + ], + [ + 510.9572560204681, + 231.48335798795023 + ], + [ + 507.90723269911496, + 203.82920401586455 + ], + [ + 543.2318976660334, + 199.8315047198817 + ], + [ + 539.990110664791, + 182.86805631706923 + ], + [ + 505.34913159281933, + 186.70958719917326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 549, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -44.245052337646484, + "z": 1.0930880308151245 + }, + "extent": { + "x": 0.46016600728034973, + "y": 0.5716528296470642, + "z": 0.9432218670845032 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 703.5311642534585, + "ymin": 112.03417987409384, + "xmax": 743.5982279082783, + "ymax": 175.26729327352865 + }, + "corners_3d": [ + [ + -140.902587890625, + -44.762451171875, + 0.14986616373062134 + ], + [ + -142.0396270751953, + -44.6429443359375, + 0.14986616373062134 + ], + [ + -141.94342041015625, + -43.72765350341797, + 0.14986616373062134 + ], + [ + -140.80638122558594, + -43.84716033935547, + 0.14986616373062134 + ], + [ + -140.902587890625, + -44.762451171875, + 2.0363099575042725 + ], + [ + -142.0396270751953, + -44.6429443359375, + 2.0363099575042725 + ], + [ + -141.94342041015625, + -43.72765350341797, + 2.0363099575042725 + ], + [ + -140.80638122558594, + -43.84716033935547, + 2.0363099575042725 + ] + ], + "corners_2d": [ + [ + 706.8257079618254, + 175.26729327352865 + ], + [ + 739.3477853847523, + 173.7113067337046 + ], + [ + 735.4609480112621, + 158.33613185005086 + ], + [ + 703.5311642534585, + 159.83534319257564 + ], + [ + 709.6902943923257, + 128.69456498376428 + ], + [ + 743.5982279082783, + 127.16225789153938 + ], + [ + 739.4668097828138, + 112.03417987409384 + ], + [ + 706.2022219654345, + 113.50825007290194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 618, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.75177001953125, + "y": -51.18776321411133, + "z": 1.0945137739181519 + }, + "extent": { + "x": 0.3959082067012787, + "y": 0.5594091415405273, + "z": 0.9097272157669067 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 720.8490957092426, + "ymin": 246.45469874292758, + "xmax": 764.8982405391343, + "ymax": 311.0568648466415 + }, + "corners_3d": [ + [ + -141.19236755371094, + -51.58367156982422, + 0.18478655815124512 + ], + [ + -142.31117248535156, + -51.58367156982422, + 0.18478655815124512 + ], + [ + -142.31117248535156, + -50.79185485839844, + 0.18478655815124512 + ], + [ + -141.19236755371094, + -50.79185485839844, + 0.18478655815124512 + ], + [ + -141.19236755371094, + -51.58367156982422, + 2.0042409896850586 + ], + [ + -142.31117248535156, + -51.58367156982422, + 2.0042409896850586 + ], + [ + -142.31117248535156, + -50.79185485839844, + 2.0042409896850586 + ], + [ + -141.19236755371094, + -50.79185485839844, + 2.0042409896850586 + ] + ], + "corners_2d": [ + [ + 721.7102467106286, + 310.4070074955473 + ], + [ + 759.1335713915284, + 311.0568648466415 + ], + [ + 757.579074703983, + 293.04289438926236 + ], + [ + 720.8490957092426, + 292.41686692424236 + ], + [ + 725.6612972429974, + 264.40653033733565 + ], + [ + 764.8982405391343, + 265.0556049206376 + ], + [ + 763.1582037047111, + 247.0788542089602 + ], + [ + 724.6827528051881, + 246.45469874292758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 916, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -60.40341567993164, + "z": 1.0952218770980835 + }, + "extent": { + "x": 0.3983398675918579, + "y": 0.3122217059135437, + "z": 0.8659600615501404 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 761.3214070635503, + "ymin": 511.5207536027562, + "xmax": 797.7071424476874, + "ymax": 585.1369266656077 + }, + "corners_3d": [ + [ + -141.80938720703125, + -60.766937255859375, + 0.22926181554794312 + ], + [ + -142.43040466308594, + -60.832210540771484, + 0.22926181554794312 + ], + [ + -142.513671875, + -60.039894104003906, + 0.22926181554794312 + ], + [ + -141.8926544189453, + -59.9746208190918, + 0.22926181554794312 + ], + [ + -141.80938720703125, + -60.766937255859375, + 1.961181879043579 + ], + [ + -142.43040466308594, + -60.832210540771484, + 1.961181879043579 + ], + [ + -142.513671875, + -60.039894104003906, + 1.961181879043579 + ], + [ + -141.8926544189453, + -59.9746208190918, + 1.961181879043579 + ] + ], + "corners_2d": [ + [ + 761.3214070635503, + 582.0594278410633 + ], + [ + 788.1952937631746, + 585.1369266656077 + ], + [ + 789.0170979462474, + 555.6933619749312 + ], + [ + 762.7741459184316, + 552.7592852605723 + ], + [ + 768.55867963428, + 541.5147782654566 + ], + [ + 797.0588697308903, + 544.670049650684 + ], + [ + 797.7071424476874, + 514.5205223190019 + ], + [ + 769.9155585192378, + 511.5207536027562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 921, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.23667907714844, + "y": -61.998470306396484, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3023925721645355, + "y": 0.3354174792766571, + "z": 0.8687207102775574 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 25.046435914729273, + "ymin": 563.668216892485, + "xmax": 102.9391985058669, + "ymax": 633.1634369279955 + }, + "corners_3d": [ + [ + -125.84571838378906, + -62.224517822265625, + 0.07541227340698242 + ], + [ + -126.50189208984375, + -62.363990783691406, + 0.07541227340698242 + ], + [ + -126.62763977050781, + -61.772422790527344, + 0.07541227340698242 + ], + [ + -125.97146606445312, + -61.63294982910156, + 0.07541227340698242 + ], + [ + -125.84571838378906, + -62.224517822265625, + 1.8128536939620972 + ], + [ + -126.50189208984375, + -62.363990783691406, + 1.8128536939620972 + ], + [ + -126.62763977050781, + -61.772422790527344, + 1.8128536939620972 + ], + [ + -125.97146606445312, + -61.63294982910156, + 1.8128536939620972 + ] + ], + "corners_2d": [ + [ + 60.74951018871707, + 626.8265007391598 + ], + [ + 86.75897661509475, + 633.1634369279955 + ], + [ + 102.9391985058669, + 609.5701955462856 + ], + [ + 77.32351234000157, + 603.4614777313561 + ], + [ + 25.046435914729273, + 587.6933921073327 + ], + [ + 52.48099320764686, + 594.2186294622734 + ], + [ + 70.3066888793013, + 569.9443502928201 + ], + [ + 43.30873026499603, + 563.668216892485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 15216, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 110.60812229110877, + "ymin": 390.5896075783185, + "xmax": 284.2195529554423, + "ymax": 587.7728299960322 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 140.7641602927025, + 585.2386824908009 + ], + [ + 228.91697302184178, + 587.7728299960322 + ], + [ + 284.2195529554423, + 436.1608061537517 + ], + [ + 206.6424713489169, + 434.2037040100928 + ], + [ + 110.60812229110877, + 544.3758623634423 + ], + [ + 204.03224755584887, + 546.9753649059783 + ], + [ + 265.4331064109537, + 392.56807666808385 + ], + [ + 183.80261339596967, + 390.5896075783185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 394.97934834972796, + "ymin": 0.0, + "xmax": 634.6263296222311, + "ymax": 44.537428730889076 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 634.1133783238316, + 44.537428730889076 + ], + [ + 634.6263296222311, + 35.7077414154362 + ], + [ + 447.06582111892084, + 33.367151168068574 + ], + [ + 444.1891786376535, + 42.13732726636391 + ], + [ + 632.6276780979191, + -262.66384610053 + ], + [ + 633.2912499322656, + -268.8945646927342 + ], + [ + 399.332214355577, + -270.53965154084915 + ], + [ + 394.97934834972796, + -264.3613775405497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 226.77552893549705, + "ymin": 0.0, + "xmax": 617.4969672360285, + "ymax": 348.5291439720631 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 616.4533046996445, + 348.5291439720631 + ], + [ + 617.4969672360285, + 330.5640580282535 + ], + [ + 351.1358814585411, + 325.8340105508427 + ], + [ + 345.29981234334053, + 343.6267520901333 + ], + [ + 606.9182952093923, + -21.26130056390417 + ], + [ + 608.6105424700728, + -37.150938917998246 + ], + [ + 237.82055965636414, + -41.29683643176401 + ], + [ + 226.77552893549705, + -25.619986732382813 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00021/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79944d24353525e29decd6b3b6168c21950df31d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00021/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 21, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 10.5, + "sim_timestamp": 2340.2725480690133 + }, + "drone_pose": { + "x": -139.3694492152812, + "y": -70.32472587904665, + "z": 20.118729624702304, + "pitch": -41.98430254528497, + "yaw": 89.45173526665195, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.007112860679626465, + -0.7432941198348999, + 0.6689269542694092, + 39.8052978515625 + ], + [ + 0.9999542236328125, + 0.009568870067596436, + -2.9802322387695312e-08, + -138.6901397705078 + ], + [ + -0.006400853395462036, + 0.6688963174819946, + 0.7433281540870667, + -62.8868522644043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.42271954536142, + "y": -69.82033251514034, + "z": 20.104143776842864 + }, + "t1_image_uv": [ + 785.1261090984788, + -454.89296060402967 + ], + "t1_depth": 0.3842905710924199 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -49.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.436877101765397, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 620, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -49.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3927099406719208, + "y": 0.5691992044448853, + "z": 0.9080320000648499 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.0294789763084, + "ymin": 327.87102475763623, + "xmax": 659.713818020834, + "ymax": 391.4328012481771 + }, + "corners_3d": [ + [ + -138.5979766845703, + -49.580474853515625, + 0.18850332498550415 + ], + [ + -139.7363739013672, + -49.580474853515625, + 0.18850332498550415 + ], + [ + -139.7363739013672, + -48.79505157470703, + 0.18850332498550415 + ], + [ + -138.5979766845703, + -48.79505157470703, + 0.18850332498550415 + ], + [ + -138.5979766845703, + -49.580474853515625, + 2.0045673847198486 + ], + [ + -139.7363739013672, + -49.580474853515625, + 2.0045673847198486 + ], + [ + -139.7363739013672, + -48.79505157470703, + 2.0045673847198486 + ], + [ + -138.5979766845703, + -48.79505157470703, + 2.0045673847198486 + ] + ], + "corners_2d": [ + [ + 620.8731327700966, + 391.18069092575365 + ], + [ + 658.8807740664842, + 391.4328012481771 + ], + [ + 658.7509638922958, + 373.6126675853436 + ], + [ + 621.4996195991048, + 373.37049159108676 + ], + [ + 620.0294789763084, + 345.5023483761489 + ], + [ + 659.713818020834, + 345.7521487887311 + ], + [ + 659.5611028659199, + 328.1105611007386 + ], + [ + 620.7005372523417, + 327.87102475763623 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 21, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 341091, + "2": 121119, + "3": 231344, + "4": 62118, + "6": 9365, + "12": 3699, + "14": 17742, + "20": 185, + "24": 7075, + "25": 127862 + }, + "instance_pixel_counts": { + "2453": 2881, + "3413": 6061, + "3662": 24642, + "11605": 1602, + "15960": 7930, + "17240": 1435, + "20565": 543, + "22421": 458, + "22931": 19315, + "22933": 3736, + "23443": 171437, + "36096": 620, + "36352": 614, + "36608": 460, + "36864": 382, + "37120": 895, + "37376": 728, + "38144": 15458, + "41728": 2284, + "47198": 59284, + "48737": 4171, + "48980": 50364, + "49249": 276, + "49492": 172774, + "49761": 829, + "50246": 28917, + "51297": 35813, + "51526": 8559, + "51809": 4349, + "52321": 3991, + "54366": 61379, + "54878": 7199, + "57482": 3472, + "57994": 11578, + "59737": 185, + "63382": 48958, + "63894": 7682, + "65426": 150339 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 620, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -49.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39317870140075684, + "y": 0.44333982467651367, + "z": 0.8807257413864136 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.4255771343165, + "ymin": 328.60048787927917, + "xmax": 655.3152808553127, + "ymax": 390.7574508526634 + }, + "corners_3d": [ + [ + -138.7238311767578, + -49.58094024658203, + 0.21580958366394043 + ], + [ + -139.6105194091797, + -49.58094024658203, + 0.21580958366394043 + ], + [ + -139.6105194091797, + -48.794586181640625, + 0.21580958366394043 + ], + [ + -138.7238311767578, + -48.794586181640625, + 0.21580958366394043 + ], + [ + -138.7238311767578, + -49.58094024658203, + 1.9772610664367676 + ], + [ + -139.6105194091797, + -49.58094024658203, + 1.9772610664367676 + ], + [ + -139.6105194091797, + -48.794586181640625, + 1.9772610664367676 + ], + [ + -138.7238311767578, + -48.794586181640625, + 1.9772610664367676 + ] + ], + "corners_2d": [ + [ + 625.0641655807636, + 390.5610991172736 + ], + [ + 654.6871800003735, + 390.7574508526634 + ], + [ + 654.6407534864437, + 372.9193029621831 + ], + [ + 625.6082533972105, + 372.73070216916557 + ], + [ + 624.4255771343165, + 346.25727220107314 + ], + [ + 655.3152808553127, + 346.45187962598106 + ], + [ + 655.2538624714231, + 328.78709492666354 + ], + [ + 625.0057071023926, + 328.60048787927917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 614, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -46.19005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.43635743856430054, + "y": 0.4419458210468292, + "z": 0.8611366748809814 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 494.55259367292416, + "ymin": 268.9304822064337, + "xmax": 529.6443361274856, + "ymax": 331.0846304869843 + }, + "corners_3d": [ + [ + -134.6996307373047, + -46.708763122558594, + 0.08300119638442993 + ], + [ + -135.564208984375, + -46.52499008178711, + 0.08300119638442993 + ], + [ + -135.3827667236328, + -45.671348571777344, + 0.08300119638442993 + ], + [ + -134.5181884765625, + -45.85512161254883, + 0.08300119638442993 + ], + [ + -134.6996307373047, + -46.708763122558594, + 1.805274486541748 + ], + [ + -135.564208984375, + -46.52499008178711, + 1.805274486541748 + ], + [ + -135.3827667236328, + -45.671348571777344, + 1.805274486541748 + ], + [ + -134.5181884765625, + -45.85512161254883, + 1.805274486541748 + ] + ], + "corners_2d": [ + [ + 502.3432348662442, + 331.0846304869843 + ], + [ + 529.6443361274856, + 327.5844863233741 + ], + [ + 526.615849894899, + 310.9365690986609 + ], + [ + 499.8511241226839, + 314.29767583360683 + ], + [ + 497.02802414172277, + 288.77774852422317 + ], + [ + 525.4018252621291, + 285.32720494251146 + ], + [ + 522.3474704676989, + 268.9304822064337 + ], + [ + 494.55259367292416, + 272.23884203581883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 460, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -42.245052337646484, + "z": 1.0928829908370972 + }, + "extent": { + "x": 0.46159666776657104, + "y": 0.4385693371295929, + "z": 0.9348946213722229 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 691.2182352493193, + "ymin": 197.0670677772639, + "xmax": 722.409656873029, + "ymax": 257.95801996919295 + }, + "corners_3d": [ + [ + -141.0350799560547, + -42.749961853027344, + 0.15798836946487427 + ], + [ + -141.9074249267578, + -42.65827560424805, + 0.15798836946487427 + ], + [ + -141.81092834472656, + -41.740142822265625, + 0.15798836946487427 + ], + [ + -140.93858337402344, + -41.83182907104492, + 0.15798836946487427 + ], + [ + -141.0350799560547, + -42.749961853027344, + 2.027777671813965 + ], + [ + -141.9074249267578, + -42.65827560424805, + 2.027777671813965 + ], + [ + -141.81092834472656, + -41.740142822265625, + 2.027777671813965 + ], + [ + -140.93858337402344, + -41.83182907104492, + 2.027777671813965 + ] + ], + "corners_2d": [ + [ + 694.740666419881, + 257.95801996919295 + ], + [ + 719.3689919950713, + 256.5658053544362 + ], + [ + 715.3663604771831, + 241.54326923444478 + ], + [ + 691.2182352493193, + 242.88097490412522 + ], + [ + 696.841794730863, + 213.09492427438852 + ], + [ + 722.409656873029, + 211.73449525768558 + ], + [ + 718.1945058793701, + 197.0670677772639 + ], + [ + 693.1437935932379, + 198.3722524390818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 382, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -49.18776321411133, + "z": 1.0943673849105835 + }, + "extent": { + "x": 0.3773730397224426, + "y": 0.5722802877426147, + "z": 0.8792179822921753 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 738.7006601076382, + "ymin": 329.77141494981447, + "xmax": 784.599747439476, + "ymax": 391.2292485115481 + }, + "corners_3d": [ + [ + -142.17465209960938, + -49.56513595581055, + 0.2151494026184082 + ], + [ + -143.3192138671875, + -49.56513595581055, + 0.2151494026184082 + ], + [ + -143.3192138671875, + -48.81039047241211, + 0.2151494026184082 + ], + [ + -142.17465209960938, + -48.81039047241211, + 0.2151494026184082 + ], + [ + -142.17465209960938, + -49.56513595581055, + 1.9735853672027588 + ], + [ + -143.3192138671875, + -49.56513595581055, + 1.9735853672027588 + ], + [ + -143.3192138671875, + -48.81039047241211, + 1.9735853672027588 + ], + [ + -142.17465209960938, + -48.81039047241211, + 1.9735853672027588 + ] + ], + "corners_2d": [ + [ + 740.3869403370851, + 390.9755495015357 + ], + [ + 778.6767385812741, + 391.2292485115481 + ], + [ + 776.2563015067549, + 374.0770514366814 + ], + [ + 738.7006601076382, + 373.83298043317194 + ], + [ + 744.6732902272213, + 346.7486658440469 + ], + [ + 784.599747439476, + 347.00012680293304 + ], + [ + 781.9597510616593, + 330.0129374636767 + ], + [ + 742.8308998975258, + 329.77141494981447 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 895, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -58.40341567993164, + "z": 1.095070481300354 + }, + "extent": { + "x": 0.39923831820487976, + "y": 0.529477596282959, + "z": 0.906899094581604 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 742.2240117168587, + "ymin": 594.5832599570743, + "xmax": 797.6635058476369, + "ymax": 675.0118496162693 + }, + "corners_3d": [ + [ + -141.5932159423828, + -58.745121002197266, + 0.18817138671875 + ], + [ + -142.64637756347656, + -58.855812072753906, + 0.18817138671875 + ], + [ + -142.72984313964844, + -58.061710357666016, + 0.18817138671875 + ], + [ + -141.6766815185547, + -57.951019287109375, + 0.18817138671875 + ], + [ + -141.5932159423828, + -58.745121002197266, + 2.001969575881958 + ], + [ + -142.64637756347656, + -58.855812072753906, + 2.001969575881958 + ], + [ + -142.72984313964844, + -58.061710357666016, + 2.001969575881958 + ], + [ + -141.6766815185547, + -57.951019287109375, + 2.001969575881958 + ] + ], + "corners_2d": [ + [ + 742.2240117168587, + 670.1846437264759 + ], + [ + 788.9020881396925, + 675.0118496162693 + ], + [ + 788.8849977132329, + 644.0100006679268 + ], + [ + 743.4295763442908, + 639.4328434015518 + ], + [ + 748.2128142157991, + 625.8596962807943 + ], + [ + 797.6635058476369, + 630.7779740665928 + ], + [ + 797.401861354488, + 599.2324329450811 + ], + [ + 749.3212585129562, + 594.5832599570743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 728, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.35028839111328, + "y": -55.10013198852539, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.32014647126197815, + "y": 0.5035912990570068, + "z": 0.9053356051445007 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 131.44302993716713, + "ymin": 481.8121271351056, + "xmax": 205.3623926718651, + "ymax": 553.7049962319643 + }, + "corners_3d": [ + [ + -126.7911376953125, + -55.30857849121094, + 0.038802266120910645 + ], + [ + -127.77631378173828, + -55.51798629760742, + 0.038802266120910645 + ], + [ + -127.90943908691406, + -54.891685485839844, + 0.038802266120910645 + ], + [ + -126.92426300048828, + -54.68227767944336, + 0.038802266120910645 + ], + [ + -126.7911376953125, + -55.30857849121094, + 1.849473476409912 + ], + [ + -127.77631378173828, + -55.51798629760742, + 1.849473476409912 + ], + [ + -127.90943908691406, + -54.891685485839844, + 1.849473476409912 + ], + [ + -126.92426300048828, + -54.68227767944336, + 1.849473476409912 + ] + ], + "corners_2d": [ + [ + 156.39828327316246, + 546.7353557084954 + ], + [ + 191.68098856776197, + 553.7049962319643 + ], + [ + 205.3623926718651, + 534.039191356263 + ], + [ + 170.64301230349923, + 527.3255116882879 + ], + [ + 131.44302993716713, + 501.32272160231935 + ], + [ + 168.38498377669168, + 508.33761946616863 + ], + [ + 183.21866776370854, + 488.55644981860235 + ], + [ + 146.8929178776504, + 481.8121271351056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 15458, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 37.558621935257634, + "ymin": 544.0495151336353, + "xmax": 240.4282699424266, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 72.46656731931546, + 769.0142267665494 + ], + [ + 170.5452762350123, + 770.6149661105931 + ], + [ + 240.4282699424266, + 589.0991132673742 + ], + [ + 156.22712090321915, + 587.9216420554385 + ], + [ + 37.558621935257634, + 728.5565240631454 + ], + [ + 141.63142526827477, + 730.2018432222487 + ], + [ + 219.50692136250456, + 545.23884754309 + ], + [ + 130.92576257804114, + 544.0495151336353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2284, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 386.99958643889045, + "ymin": 4.062778692518236, + "xmax": 454.53148294088743, + "ymax": 79.91962045213961 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 392.3580573385009, + 79.59408863102311 + ], + [ + 436.04823602660304, + 79.91962045213961 + ], + [ + 454.53148294088743, + 31.997617904527203 + ], + [ + 414.4163329281181, + 31.723321433072556 + ], + [ + 386.99958643889045, + 50.443804270685746 + ], + [ + 431.6326169227813, + 50.759769226275296 + ], + [ + 450.8521663390481, + 4.328070796429586 + ], + [ + 409.94354960821124, + 4.062778692518236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 373.8344187900978, + "ymin": 0.0, + "xmax": 617.5218101322257, + "ymax": 156.749816197527 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 617.0356333909073, + 156.749816197527 + ], + [ + 617.5218101322257, + 147.65664770780842 + ], + [ + 426.89356984730375, + 146.73617724422948 + ], + [ + 423.75152760664145, + 155.8034932836609 + ], + [ + 611.7253561510933, + -136.93079125681675 + ], + [ + 612.4117620751613, + -143.13008701722515 + ], + [ + 378.5312874421867, + -143.75542884409748 + ], + [ + 373.8344187900978, + -137.57778889176188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.98155034976628, + "ymin": 109.23897953545446, + "xmax": 232.81754457258273, + "ymax": 122.45022429584242 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 224.99415045222088, + 122.45022429584242 + ], + [ + 232.81754457258273, + 110.98395501001394 + ], + [ + 199.96905330680443, + 110.83384162668199 + ], + [ + 191.53521470711155, + 122.29446094339013 + ], + [ + 224.48166612932113, + 120.83953297788278 + ], + [ + 232.32393715061284, + 109.38888497592205 + ], + [ + 199.4357556443931, + 109.23897953545446 + ], + [ + 190.98155034976628, + 120.68397836389738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 182.08731338234185, + "ymin": 97.21172105568229, + "xmax": 600.5813930788354, + "ymax": 484.7247267773102 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 599.5000787347929, + 484.7247267773102 + ], + [ + 600.5813930788354, + 464.500448035554 + ], + [ + 317.48477060450614, + 462.46850246760187 + ], + [ + 310.5062582898837, + 482.6071176617719 + ], + [ + 583.6682593316079, + 116.46772303856866 + ], + [ + 585.607235019296, + 98.955805762301 + ], + [ + 195.32361245951506, + 97.21172105568229 + ], + [ + 182.08731338234185, + 114.62099860996159 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.96723744168713, + "ymin": 109.19775133444747, + "xmax": 232.80481538355554, + "ymax": 122.40868856964579 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 224.98093475516043, + 122.40868856964579 + ], + [ + 232.80481538355554, + 110.94282121203636 + ], + [ + 199.95530057860861, + 110.79271317929428 + ], + [ + 191.520937075032, + 122.25293058761508 + ], + [ + 224.46841777186557, + 120.79789460305392 + ], + [ + 232.31117708044638, + 109.3476513869413 + ], + [ + 199.42196956010196, + 109.19775133444747 + ], + [ + 190.96723744168713, + 120.64234539833322 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00022/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf66d879dbef4ad653d45b9c43454da5a1a73a8d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00022/meta.json @@ -0,0 +1,1615 @@ +{ + "frame_id": 22, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 11.0, + "sim_timestamp": 2355.912236683769 + }, + "drone_pose": { + "x": -139.42271954536142, + "y": -69.82033251514034, + "z": 20.104143776842864, + "pitch": -43.12956360478484, + "yaw": 93.80818762166774, + "roll": 0.0 + }, + "world_to_camera": [ + [ + -0.04847145080566406, + -0.728198230266571, + 0.6836504936218262, + 30.340824127197266 + ], + [ + 0.9977920651435852, + -0.06641650199890137, + 0.0, + -143.75209045410156 + ], + [ + 0.04540565609931946, + 0.6821409463882446, + 0.7298096418380737, + -55.96891784667969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.45148717069515, + "y": -69.3471405831551, + "z": 20.11438946056812 + }, + "t1_image_uv": [ + 632.2862979259526, + -579.0415073703106 + ], + "t1_depth": 0.33896745076112345 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -48.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 583.8796790163834, + 342.00344680767853 + ], + "depth": 28.370872349165964, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 607, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -48.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3664843738079071, + "y": 0.5358666777610779, + "z": 0.8985970616340637 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 563.9623687606813, + "ymin": 309.9631377559291, + "xmax": 603.2789744885691, + "ymax": 373.3257975300964 + }, + "corners_3d": [ + [ + -138.6313018798828, + -49.05424880981445, + 0.19793826341629028 + ], + [ + -139.7030487060547, + -49.05424880981445, + 0.19793826341629028 + ], + [ + -139.7030487060547, + -48.3212776184082, + 0.19793826341629028 + ], + [ + -138.6313018798828, + -48.3212776184082, + 0.19793826341629028 + ], + [ + -138.6313018798828, + -49.05424880981445, + 1.9951324462890625 + ], + [ + -139.7030487060547, + -49.05424880981445, + 1.9951324462890625 + ], + [ + -139.7030487060547, + -48.3212776184082, + 1.9951324462890625 + ], + [ + -138.6313018798828, + -48.3212776184082, + 1.9951324462890625 + ] + ], + "corners_2d": [ + [ + 567.4327360775959, + 373.3257975300964 + ], + [ + 603.2789744885691, + 371.6764582929711 + ], + [ + 602.3521936951832, + 355.06939595381516 + ], + [ + 567.158958070621, + 356.65909488978093 + ], + [ + 564.1862701597049, + 328.0743352370741 + ], + [ + 601.6392752875081, + 326.43678223928674 + ], + [ + 600.7031001751279, + 309.9631377559291 + ], + [ + 563.9623687606813, + 311.538905421389 + ] + ], + "center_offset_px": [ + -56.12032098361658, + -17.99655319232147 + ] + }, + "trace_timestep_index": 22, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 36, + "semantic_pixel_counts": { + "1": 321420, + "2": 113862, + "3": 266074, + "4": 54795, + "6": 9927, + "10": 1, + "12": 3904, + "14": 15214, + "20": 190, + "24": 6659, + "25": 129554 + }, + "instance_pixel_counts": { + "2453": 2608, + "3413": 6207, + "3662": 24391, + "15960": 8543, + "17240": 1384, + "22421": 428, + "22931": 17231, + "22933": 3623, + "23443": 172026, + "36096": 607, + "36352": 626, + "36608": 461, + "36864": 542, + "37120": 834, + "37376": 834, + "38144": 12719, + "41728": 2495, + "47198": 62924, + "48737": 3024, + "48980": 43522, + "49249": 209, + "49492": 216345, + "49761": 872, + "50246": 29242, + "51297": 37587, + "51526": 1162, + "51809": 4626, + "52321": 1958, + "54366": 59675, + "54878": 6955, + "57482": 3753, + "57994": 3415, + "59737": 190, + "63382": 50568, + "63894": 7850, + "65426": 132163 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 607, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -48.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.36867186427116394, + "y": 0.5679662823677063, + "z": 0.8778694868087769 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 562.8986412755576, + "ymin": 310.4105897750512, + "xmax": 604.3355435822231, + "ymax": 372.9261056333997 + }, + "corners_3d": [ + [ + -138.59921264648438, + -49.056434631347656, + 0.21866583824157715 + ], + [ + -139.73513793945312, + -49.056434631347656, + 0.21866583824157715 + ], + [ + -139.73513793945312, + -48.319091796875, + 0.21866583824157715 + ], + [ + -138.59921264648438, + -48.319091796875, + 0.21866583824157715 + ], + [ + -138.59921264648438, + -49.056434631347656, + 1.9744048118591309 + ], + [ + -139.73513793945312, + -49.056434631347656, + 1.9744048118591309 + ], + [ + -139.73513793945312, + -48.319091796875, + 1.9744048118591309 + ], + [ + -138.59921264648438, + -48.319091796875, + 1.9744048118591309 + ] + ], + "corners_2d": [ + [ + 566.3218405990306, + 372.9261056333997 + ], + [ + 604.3355435822231, + 371.1779020461636 + ], + [ + 603.3835002847982, + 354.474644802082 + ], + [ + 566.066715308335, + 356.15923249215746 + ], + [ + 563.1029995502424, + 328.7187171768958 + ], + [ + 602.7805560598595, + 326.98270635751805 + ], + [ + 601.8175450867541, + 310.4105897750512 + ], + [ + 562.8986412755576, + 312.08075021165143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 626, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -45.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4692724943161011, + "y": 0.49032720923423767, + "z": 0.9270741939544678 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 430.02196754513693, + "ymin": 253.53986427050722, + "xmax": 472.7957771457649, + "ymax": 322.38374623945447 + }, + "corners_3d": [ + [ + -134.65914916992188, + -46.25101852416992, + 0.017063677310943604 + ], + [ + -135.61837768554688, + -46.04712677001953, + 0.017063677310943604 + ], + [ + -135.42324829101562, + -45.129093170166016, + 0.017063677310943604 + ], + [ + -134.46401977539062, + -45.332984924316406, + 0.017063677310943604 + ], + [ + -134.65914916992188, + -46.25101852416992, + 1.8712120056152344 + ], + [ + -135.61837768554688, + -46.04712677001953, + 1.8712120056152344 + ], + [ + -135.42324829101562, + -45.129093170166016, + 1.8712120056152344 + ], + [ + -134.46401977539062, + -45.332984924316406, + 1.8712120056152344 + ] + ], + "corners_2d": [ + [ + 442.193055615918, + 322.38374623945447 + ], + [ + 472.7957771457649, + 316.93983125254834 + ], + [ + 468.5047518683639, + 299.0363979967674 + ], + [ + 438.51920188838847, + 304.254336958609 + ], + [ + 433.66373713391243, + 276.57221146760315 + ], + [ + 465.63353154338154, + 271.19693524959786 + ], + [ + 461.3187398121945, + 253.53986427050722 + ], + [ + 430.02196754513693, + 258.68273733473643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 461, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -41.745052337646484, + "z": 1.0928292274475098 + }, + "extent": { + "x": 0.4626708924770355, + "y": 0.5987841486930847, + "z": 0.9223154783248901 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 624.4380580106192, + "ymin": 174.9444912851457, + "xmax": 663.5239156825897, + "ymax": 237.3633824421017 + }, + "corners_3d": [ + [ + -140.87586975097656, + -42.26778030395508, + 0.17051374912261963 + ], + [ + -142.06686401367188, + -42.14259719848633, + 0.17051374912261963 + ], + [ + -141.9701385498047, + -41.22232437133789, + 0.17051374912261963 + ], + [ + -140.77914428710938, + -41.34750747680664, + 0.17051374912261963 + ], + [ + -140.87586975097656, + -42.26778030395508, + 2.0151448249816895 + ], + [ + -142.06686401367188, + -42.14259719848633, + 2.0151448249816895 + ], + [ + -141.9701385498047, + -41.22232437133789, + 2.0151448249816895 + ], + [ + -140.77914428710938, + -41.34750747680664, + 2.0151448249816895 + ] + ], + "corners_2d": [ + [ + 629.1948264696174, + 237.3633824421017 + ], + [ + 662.6490995812893, + 233.95346663247034 + ], + [ + 657.8365379303746, + 219.07177420091503 + ], + [ + 625.0080977980161, + 222.35142015983868 + ], + [ + 628.7755673165177, + 192.84018900330364 + ], + [ + 663.5239156825897, + 189.50159873476284 + ], + [ + 658.5117088811281, + 174.9444912851457 + ], + [ + 624.4380580106192, + 178.15074662403026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 542, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -48.68776321411133, + "z": 1.0943282842636108 + }, + "extent": { + "x": 0.4003955125808716, + "y": 0.30388426780700684, + "z": 0.8768839836120605 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 691.6677959622189, + "ymin": 304.96537690679065, + "xmax": 717.825482377252, + "ymax": 367.7927387022116 + }, + "corners_3d": [ + [ + -142.44305419921875, + -49.088157653808594, + 0.2174443006515503 + ], + [ + -143.05081176757812, + -49.088157653808594, + 0.2174443006515503 + ], + [ + -143.05081176757812, + -48.28736877441406, + 0.2174443006515503 + ], + [ + -142.44305419921875, + -48.28736877441406, + 0.2174443006515503 + ], + [ + -142.44305419921875, + -49.088157653808594, + 1.9712122678756714 + ], + [ + -143.05081176757812, + -49.088157653808594, + 1.9712122678756714 + ], + [ + -143.05081176757812, + -48.28736877441406, + 1.9712122678756714 + ], + [ + -142.44305419921875, + -48.28736877441406, + 1.9712122678756714 + ] + ], + "corners_2d": [ + [ + 694.4829811264525, + 367.7927387022116 + ], + [ + 714.593245339471, + 366.86711615066133 + ], + [ + 711.3826997415097, + 348.92568226763063 + ], + [ + 691.6677959622189, + 349.81499568566164 + ], + [ + 696.846326470154, + 323.676544000805 + ], + [ + 717.825482377252, + 322.7577818445299 + ], + [ + 714.4119773686416, + 304.96537690679065 + ], + [ + 693.8627180824493, + 305.84658476446725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 834, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16152954101562, + "y": -57.90341567993164, + "z": 1.0950313806533813 + }, + "extent": { + "x": 0.35147953033447266, + "y": 0.5620825886726379, + "z": 0.8797979354858398 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 698.966065086232, + "ymin": 571.1051750951194, + "xmax": 754.1719186200924, + "ymax": 642.6156867774603 + }, + "corners_3d": [ + [ + -141.56578063964844, + -58.194217681884766, + 0.2152334451675415 + ], + [ + -142.6837921142578, + -58.31172180175781, + 0.2152334451675415 + ], + [ + -142.7572784423828, + -57.612613677978516, + 0.2152334451675415 + ], + [ + -141.63926696777344, + -57.49510955810547, + 0.2152334451675415 + ], + [ + -141.56578063964844, + -58.194217681884766, + 1.9748293161392212 + ], + [ + -142.6837921142578, + -58.31172180175781, + 1.9748293161392212 + ], + [ + -142.7572784423828, + -57.612613677978516, + 1.9748293161392212 + ], + [ + -141.63926696777344, + -57.49510955810547, + 1.9748293161392212 + ] + ], + "corners_2d": [ + [ + 699.1651413198873, + 640.9428576912683 + ], + [ + 747.9673234452057, + 642.6156867774603 + ], + [ + 746.6633205290744, + 615.8631129154983 + ], + [ + 698.966065086232, + 614.2651054485577 + ], + [ + 702.5601162628216, + 598.2583098144671 + ], + [ + 754.1719186200924, + 599.963294837904 + ], + [ + 752.6464488362965, + 572.7296773122732 + ], + [ + 702.2688512251866, + 571.1051750951194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 834, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.58242797851562, + "y": -55.04902267456055, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.2978906035423279, + "y": 0.37684324383735657, + "z": 0.8799036741256714 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 76.43899473342094, + "ymin": 509.1945543848159, + "xmax": 146.02003828024175, + "ymax": 576.3536593568326 + }, + "corners_3d": [ + [ + -127.15188598632812, + -55.262054443359375, + 0.06423419713973999 + ], + [ + -127.88909912109375, + -55.41875457763672, + 0.06423419713973999 + ], + [ + -128.01296997070312, + -54.83599090576172, + 0.06423419713973999 + ], + [ + -127.2757568359375, + -54.679290771484375, + 0.06423419713973999 + ], + [ + -127.15188598632812, + -55.262054443359375, + 1.8240416049957275 + ], + [ + -127.88909912109375, + -55.41875457763672, + 1.8240416049957275 + ], + [ + -128.01296997070312, + -54.83599090576172, + 1.8240416049957275 + ], + [ + -127.2757568359375, + -54.679290771484375, + 1.8240416049957275 + ] + ], + "corners_2d": [ + [ + 105.03904935509377, + 572.6653566856428 + ], + [ + 133.57353568256667, + 576.3536593568326 + ], + [ + 146.02003828024175, + 556.3968254865969 + ], + [ + 117.95391377024748, + 552.8390872126622 + ], + [ + 76.43899473342094, + 529.2460966978174 + ], + [ + 106.40436668250993, + 532.9805251376591 + ], + [ + 120.01762914847359, + 512.789904669088 + ], + [ + 90.56805278183629, + 509.1945543848159 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 12719, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 571.4902373076887, + "xmax": 181.85818935997344, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 12.104353751444705, + 815.9726482943119 + ], + [ + 117.59106443305348, + 809.6674854957778 + ], + [ + 181.85818935997344, + 614.3796191005517 + ], + [ + 91.9602358958175, + 618.9882271670233 + ], + [ + -29.361175498336706, + 778.4067378789225 + ], + [ + 83.26281103113934, + 771.8735091127432 + ], + [ + 156.35398197334007, + 571.4902373076887 + ], + [ + 61.32282832422641, + 576.1755720276016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2495, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 306.7018069668134, + "ymin": 0.0, + "xmax": 376.52957402363364, + "ymax": 73.50244367835353 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 314.1459395289745, + 73.50244367835353 + ], + [ + 359.843188557749, + 72.25074523256632 + ], + [ + 376.52957402363364, + 21.651233832000344 + ], + [ + 334.6519920290658, + 22.70418253613866 + ], + [ + 306.7018069668134, + 43.54545476176639 + ], + [ + 353.4563804747263, + 42.32780741329816 + ], + [ + 371.0305254997319, + -6.800232414931429 + ], + [ + 328.26667813369136, + -5.779789046881774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 280.0541587563539, + "ymin": 0.0, + "xmax": 550.5587425514709, + "ymax": 151.8783023618668 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 550.5325439084745, + 145.0027229911242 + ], + [ + 550.5587425514709, + 135.6123308742179 + ], + [ + 353.86132741998114, + 142.2995766755452 + ], + [ + 351.0705427347121, + 151.8783023618668 + ], + [ + 528.8140713226003, + -155.9658553994749 + ], + [ + 529.2156834601589, + -162.4813024066002 + ], + [ + 284.74104917274315, + -157.84585660330788 + ], + [ + 280.0541587563539, + -151.1676952322651 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 96.1015998398725, + "ymin": 117.55429531169068, + "xmax": 141.01223092792713, + "ymax": 133.0823914804539 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 133.09227481848114, + 131.8814714045754 + ], + [ + 141.01223092792713, + 119.20568637272947 + ], + [ + 105.44530899909171, + 120.3616338824273 + ], + [ + 96.82529852237394, + 133.0823914804539 + ], + [ + 132.41810434145168, + 130.21510740351926 + ], + [ + 140.36114373201906, + 117.55429531169068 + ], + [ + 104.74658749131595, + 118.70885103291769 + ], + [ + 96.1015998398725, + 131.41464190773974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 85.87862077706598, + "ymin": 92.98785473853093, + "xmax": 549.6471512948393, + "ymax": 498.6068224058092 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 549.5890530053454, + 483.17946393971073 + ], + [ + 549.6471512948393, + 462.3552490669306 + ], + [ + 256.30010831407134, + 477.156048101986 + ], + [ + 250.05037415673326, + 498.6068224058092 + ], + [ + 512.3243433364931, + 111.55083248878444 + ], + [ + 513.4685652395457, + 92.98785473853093 + ], + [ + 99.46289500114119, + 106.14952245658668 + ], + [ + 85.87862077706598, + 125.505207637457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 96.08288946013329, + "ymin": 117.51160173904799, + "xmax": 140.99544214960326, + "ymax": 133.03938844184813 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 133.07489124558884, + 131.838503993417 + ], + [ + 140.99544214960326, + 119.16310399878017 + ], + [ + 105.42729197402821, + 120.31901571525634 + ], + [ + 96.80663790156393, + 133.03938844184813 + ], + [ + 132.40067449786432, + 130.17202562392868 + ], + [ + 140.3443111118413, + 117.51160173904799 + ], + [ + 104.7285233342252, + 118.66612137782843 + ], + [ + 96.08288946013329, + 131.3715242006471 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15789207068198780283, + "instance_id": 31549, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5210_39", + "bbox_3d": { + "center_world": { + "x": -207.67100524902344, + "y": -43.14753723144531, + "z": -59.2175407409668 + }, + "extent": { + "x": 9.687520980834961, + "y": 10.002485275268555, + "z": 7.945674896240234 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1275.4926265581316, + "ymin": 615.8981702151931, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -193.99102783203125, + -45.746795654296875, + -67.16321563720703 + ], + [ + -210.70648193359375, + -56.73737335205078, + -67.16321563720703 + ], + [ + -221.35098266601562, + -40.54827880859375, + -67.16321563720703 + ], + [ + -204.63552856445312, + -29.55769920349121, + -67.16321563720703 + ], + [ + -193.99102783203125, + -45.746795654296875, + -51.27186584472656 + ], + [ + -210.70648193359375, + -56.73737335205078, + -51.27186584472656 + ], + [ + -221.35098266601562, + -40.54827880859375, + -51.27186584472656 + ], + [ + -204.63552856445312, + -29.55769920349121, + -51.27186584472656 + ] + ], + "corners_2d": [ + [ + 1275.4926265581316, + 898.5779128060024 + ], + [ + 1568.4795021344073, + 1040.9553506265358 + ], + [ + 1541.8650058098124, + 812.0544457685066 + ], + [ + 1290.0825015052646, + 706.5601812161897 + ], + [ + 1375.5929370682547, + 821.9872854492327 + ], + [ + 1731.7584493367672, + 980.4849541606402 + ], + [ + 1674.121270508464, + 728.0600990995598 + ], + [ + 1376.9783535021563, + 615.8981702151931 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00030/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00030/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08674e1bf2c059a7c4a2a7c1ec4012558ac2156b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00030/meta.json @@ -0,0 +1,1513 @@ +{ + "frame_id": 30, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 15.0, + "sim_timestamp": 2452.718474521069 + }, + "drone_pose": { + "x": -139.79946889738974, + "y": -65.79055980739923, + "z": 20.031817575785823, + "pitch": -43.72393273283087, + "yaw": 83.87417848394793, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.0771186351776123, + -0.7185519337654114, + 0.6911842823028564, + 44.20939636230469 + ], + [ + 0.9942899346351624, + 0.1067122220993042, + -2.9802322387695312e-08, + -131.9805450439453 + ], + [ + -0.07375779747962952, + 0.6872376203536987, + 0.7226784825325012, + -70.0016098022461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.873064978881, + "y": -65.22334623212215, + "z": 19.959361860176102 + }, + "t1_image_uv": [ + 923.9884467237023, + -345.2111139757851 + ], + "t1_depth": 0.4519770609802403 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -44.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 695.0643289952167, + 330.652113797481 + ], + "depth": 28.299987606417616, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 624, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -44.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37669432163238525, + "y": 0.5843969583511353, + "z": 0.8886423110961914 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 673.5291953818122, + "ymin": 297.9689773866482, + "xmax": 717.1986048320069, + "ymax": 362.65300364459125 + }, + "corners_3d": [ + [ + -138.58277893066406, + -45.064456939697266, + 0.2078930139541626 + ], + [ + -139.75157165527344, + -45.064456939697266, + 0.2078930139541626 + ], + [ + -139.75157165527344, + -44.31106948852539, + 0.2078930139541626 + ], + [ + -138.58277893066406, + -44.31106948852539, + 0.2078930139541626 + ], + [ + -138.58277893066406, + -45.064456939697266, + 1.9851776361465454 + ], + [ + -139.75157165527344, + -45.064456939697266, + 1.9851776361465454 + ], + [ + -139.75157165527344, + -44.31106948852539, + 1.9851776361465454 + ], + [ + -138.58277893066406, + -44.31106948852539, + 1.9851776361465454 + ] + ], + "corners_2d": [ + [ + 673.5291953818122, + 359.75992418898244 + ], + [ + 712.6451550317447, + 362.65300364459125 + ], + [ + 713.9441847781815, + 345.5464348146033 + ], + [ + 675.54865955226, + 342.7596872254875 + ], + [ + 675.0291248571965, + 314.84671910731106 + ], + [ + 715.9056403003437, + 317.72173750008557 + ], + [ + 717.1986048320069, + 300.7337299301772 + ], + [ + 677.1081854153917, + 297.9689773866482 + ] + ], + "center_offset_px": [ + 55.06432899521667, + -29.34788620251902 + ] + }, + "trace_timestep_index": 30, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 373975, + "2": 129727, + "3": 135088, + "4": 82606, + "6": 12219, + "12": 3941, + "14": 7585, + "20": 289, + "24": 7677, + "25": 168493 + }, + "instance_pixel_counts": { + "2453": 2474, + "3413": 7949, + "3662": 36557, + "11605": 2959, + "15960": 10354, + "17240": 1865, + "20565": 1227, + "22421": 500, + "22931": 20334, + "22933": 4703, + "23443": 217120, + "36096": 624, + "36352": 553, + "36608": 546, + "36864": 613, + "37120": 908, + "37376": 697, + "38144": 4796, + "41728": 2789, + "47198": 47677, + "47710": 220, + "48737": 5653, + "48980": 85982, + "49249": 476, + "49492": 36971, + "49761": 704, + "50246": 34122, + "51297": 49899, + "51526": 11927, + "51809": 6216, + "52321": 5206, + "54366": 96924, + "54878": 23672, + "57482": 2729, + "57994": 16169, + "59737": 289, + "63382": 36707, + "63894": 5968, + "65426": 136521 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 624, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -44.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3750244081020355, + "y": 0.5387133955955505, + "z": 0.903493344783783 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 675.0454710054725, + "ymin": 297.7225811819162, + "xmax": 715.6516615281132, + "ymax": 362.8601194877539 + }, + "corners_3d": [ + [ + -138.6284637451172, + -45.06278610229492, + 0.19304198026657104 + ], + [ + -139.7058868408203, + -45.06278610229492, + 0.19304198026657104 + ], + [ + -139.7058868408203, + -44.312740325927734, + 0.19304198026657104 + ], + [ + -138.6284637451172, + -44.312740325927734, + 0.19304198026657104 + ], + [ + -138.6284637451172, + -45.06278610229492, + 2.000028610229492 + ], + [ + -139.7058868408203, + -45.06278610229492, + 2.000028610229492 + ], + [ + -139.7058868408203, + -44.312740325927734, + 2.000028610229492 + ], + [ + -138.6284637451172, + -44.312740325927734, + 2.000028610229492 + ] + ], + "corners_2d": [ + [ + 675.0454710054725, + 360.1933431000779 + ], + [ + 711.0890801515857, + 362.8601194877539 + ], + [ + 712.4105571073613, + 345.8329518894874 + ], + [ + 677.0276446628732, + 343.26372910973225 + ], + [ + 676.6401625258914, + 314.5283287311777 + ], + [ + 714.3337041004756, + 317.17816428025776 + ], + [ + 715.6516615281132, + 300.2711926632495 + ], + [ + 678.6800855200102, + 297.7225811819162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 553, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -41.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44611331820487976, + "y": 0.4386865496635437, + "z": 0.8709531426429749 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 557.0368479552825, + "ymin": 231.9112480569087, + "xmax": 588.3779984241601, + "ymax": 293.61874520036406 + }, + "corners_3d": [ + [ + -134.70484924316406, + -42.217628479003906, + 0.07318472862243652 + ], + [ + -135.56304931640625, + -42.035213470458984, + 0.07318472862243652 + ], + [ + -135.37754821777344, + -41.16248321533203, + 0.07318472862243652 + ], + [ + -134.51934814453125, + -41.34489822387695, + 0.07318472862243652 + ], + [ + -134.70484924316406, + -42.217628479003906, + 1.8150910139083862 + ], + [ + -135.56304931640625, + -42.035213470458984, + 1.8150910139083862 + ], + [ + -135.37754821777344, + -41.16248321533203, + 1.8150910139083862 + ], + [ + -134.51934814453125, + -41.34489822387695, + 1.8150910139083862 + ] + ], + "corners_2d": [ + [ + 561.352519016658, + 293.61874520036406 + ], + [ + 588.3779984241601, + 291.846664888355 + ], + [ + 586.6644203291634, + 274.7195080407727 + ], + [ + 560.1810989958744, + 276.4208237862498 + ], + [ + 558.1880028025488, + 250.56046623492395 + ], + [ + 586.3053934765652, + 248.81041423534077 + ], + [ + 584.567859851725, + 231.9112480569087 + ], + [ + 557.0368479552825, + 233.58869425146565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 546, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -37.74504852294922, + "z": 1.0924679040908813 + }, + "extent": { + "x": 0.44215330481529236, + "y": 0.5461364388465881, + "z": 0.9344173073768616 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 754.4071392044068, + "ymin": 171.20780090688527, + "xmax": 793.8393209296498, + "ymax": 231.24400724594597 + }, + "corners_3d": [ + [ + -140.9260711669922, + -38.24186706542969, + 0.15805059671401978 + ], + [ + -142.01235961914062, + -38.12769317626953, + 0.15805059671401978 + ], + [ + -141.91993713378906, + -37.24822998046875, + 0.15805059671401978 + ], + [ + -140.83364868164062, + -37.362403869628906, + 0.15805059671401978 + ], + [ + -140.9260711669922, + -38.24186706542969, + 2.0268852710723877 + ], + [ + -142.01235961914062, + -38.12769317626953, + 2.0268852710723877 + ], + [ + -141.91993713378906, + -37.24822998046875, + 2.0268852710723877 + ], + [ + -140.83364868164062, + -37.362403869628906, + 2.0268852710723877 + ] + ], + "corners_2d": [ + [ + 756.5371430629092, + 231.20309865655443 + ], + [ + 787.8973976038748, + 231.24400724594597 + ], + [ + 785.1792540185352, + 216.44194737873318 + ], + [ + 754.4071392044068, + 216.40255850943618 + ], + [ + 761.218884959481, + 185.70465236618034 + ], + [ + 793.8393209296498, + 185.74475182796857 + ], + [ + 790.8982964659422, + 171.24635260357022 + ], + [ + 758.9137383597639, + 171.20780090688527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 613, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -140.8831329345703, + "y": -44.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3774999976158142, + "y": 0.4476977586746216, + "z": 0.8715731501579285 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 735.6853124589488, + "ymin": 302.7911345494148, + "xmax": 771.7255453343694, + "ymax": 366.1966669267822 + }, + "corners_3d": [ + [ + -140.43544006347656, + -45.06526184082031, + 0.22496217489242554 + ], + [ + -141.33082580566406, + -45.06526184082031, + 0.22496217489242554 + ], + [ + -141.33082580566406, + -44.310264587402344, + 0.22496217489242554 + ], + [ + -140.43544006347656, + -44.310264587402344, + 0.22496217489242554 + ], + [ + -140.43544006347656, + -45.06526184082031, + 1.9681084156036377 + ], + [ + -141.33082580566406, + -45.06526184082031, + 1.9681084156036377 + ], + [ + -141.33082580566406, + -44.310264587402344, + 1.9681084156036377 + ], + [ + -140.43544006347656, + -44.310264587402344, + 1.9681084156036377 + ] + ], + "corners_2d": [ + [ + 735.6853124589488, + 363.95970923529694 + ], + [ + 765.9431936857562, + 366.1966669267822 + ], + [ + 766.2541526154669, + 348.90866056996515 + ], + [ + 736.560092287464, + 346.7544970995217 + ], + [ + 739.9038023879045, + 319.8821478082085 + ], + [ + 771.5097314387795, + 322.10632354495914 + ], + [ + 771.7255453343694, + 304.92946111557404 + ], + [ + 740.7342858337416, + 302.7911345494148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 908, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -53.91828918457031, + "z": 1.0947238206863403 + }, + "extent": { + "x": 0.38913577795028687, + "y": 0.5318750739097595, + "z": 0.8940690159797668 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 772.5552408621481, + "ymin": 573.7439928593307, + "xmax": 832.8834418767003, + "ymax": 655.8466007235336 + }, + "corners_3d": [ + [ + -141.5967254638672, + -54.249698638916016, + 0.2006548047065735 + ], + [ + -142.65464782714844, + -54.36088943481445, + 0.2006548047065735 + ], + [ + -142.7360076904297, + -53.58687973022461, + 0.2006548047065735 + ], + [ + -141.67808532714844, + -53.47568893432617, + 0.2006548047065735 + ], + [ + -141.5967254638672, + -54.249698638916016, + 1.988792896270752 + ], + [ + -142.65464782714844, + -54.36088943481445, + 1.988792896270752 + ], + [ + -142.7360076904297, + -53.58687973022461, + 1.988792896270752 + ], + [ + -141.67808532714844, + -53.47568893432617, + 1.988792896270752 + ] + ], + "corners_2d": [ + [ + 772.5552408621481, + 646.8790451913965 + ], + [ + 819.552426632876, + 655.8466007235336 + ], + [ + 822.1690007428372, + 625.842599096615 + ], + [ + 776.3061174926763, + 617.3112709905988 + ], + [ + 780.4984219499811, + 603.9220167160285 + ], + [ + 830.3967502332746, + 613.0922003881309 + ], + [ + 832.8834418767003, + 582.4422999699445 + ], + [ + 784.2619522390164, + 573.7439928593307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 697, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -52.85797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3239209055900574, + "y": 0.47166013717651367, + "z": 0.892289400100708 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 175.05770450681086, + "ymin": 487.5673541998434, + "xmax": 246.98226739698327, + "ymax": 562.1902012524565 + }, + "corners_3d": [ + [ + -127.39314270019531, + -53.076759338378906, + 0.05184358358383179 + ], + [ + -128.31585693359375, + -53.272884368896484, + 0.05184358358383179 + ], + [ + -128.45054626464844, + -52.639198303222656, + 0.05184358358383179 + ], + [ + -127.52783966064453, + -52.44307327270508, + 0.05184358358383179 + ], + [ + -127.39314270019531, + -53.076759338378906, + 1.8364224433898926 + ], + [ + -128.31585693359375, + -53.272884368896484, + 1.8364224433898926 + ], + [ + -128.45054626464844, + -52.639198303222656, + 1.8364224433898926 + ], + [ + -127.52783966064453, + -52.44307327270508, + 1.8364224433898926 + ] + ], + "corners_2d": [ + [ + 199.05112056466857, + 552.2492634305936 + ], + [ + 231.43339260042904, + 562.1902012524565 + ], + [ + 246.98226739698327, + 541.5355217657832 + ], + [ + 215.05663443062417, + 531.9562039657055 + ], + [ + 175.05770450681086, + 508.09334222989673 + ], + [ + 208.99204003137373, + 518.1632887645258 + ], + [ + 225.814383958385, + 497.25154147552195 + ], + [ + 192.37924880558433, + 487.5673541998434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 149, + "instance_id": 38144, + "pixel_count": 4796, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -128.2841339111328, + "y": -58.82122802734375, + "z": 0.894762396812439 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 640.271525953762, + "xmax": 215.72887967679986, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.21998596191406, + -61.09032440185547, + 0.011179216206073761 + ], + [ + -129.31700134277344, + -61.10472869873047, + 0.011179216206073761 + ], + [ + -129.34828186035156, + -56.5521354675293, + 0.011179216206073761 + ], + [ + -127.25125885009766, + -56.5377311706543, + 0.011179216206073761 + ], + [ + -127.21998596191406, + -61.09032440185547, + 1.7783457040786743 + ], + [ + -129.31700134277344, + -61.10472869873047, + 1.7783457040786743 + ], + [ + -129.34828186035156, + -56.5521354675293, + 1.7783457040786743 + ], + [ + -127.25125885009766, + -56.5377311706543, + 1.7783457040786743 + ] + ], + "corners_2d": [ + [ + 6.204720376294404, + 904.2848492953613 + ], + [ + 111.18833543114545, + 918.2546037538298 + ], + [ + 215.72887967679986, + 691.4827991692724 + ], + [ + 125.90222531707548, + 681.4602694277487 + ], + [ + -39.42968170145423, + 871.2030432433651 + ], + [ + 72.72277899653886, + 885.8499584250194 + ], + [ + 189.8963491393962, + 650.5510028749763 + ], + [ + 94.8666382602463, + 640.271525953762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2789, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 443.8155675497214, + "ymin": 0.0, + "xmax": 519.8476630878109, + "ymax": 85.71626276387451 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 448.42294690483465, + 83.12894057013511 + ], + [ + 494.5483337506813, + 85.71626276387451 + ], + [ + 519.8476630878109, + 30.9158023280728 + ], + [ + 477.5406785730105, + 28.74941798128185 + ], + [ + 443.8155675497214, + 52.33050134323008 + ], + [ + 491.03580424738504, + 54.85304671917885 + ], + [ + 517.1984872522991, + 1.5289973920836246 + ], + [ + 473.97216059588413, + -0.5745267896082851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 427.128866780265, + "ymin": 0.0, + "xmax": 693.9452094024194, + "ymax": 187.30293554165493 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 681.0933810083627, + 187.30293554165493 + ], + [ + 682.5797179264582, + 176.38398527129826 + ], + [ + 476.3528442564971, + 164.18711364478457 + ], + [ + 471.87765872806517, + 174.74385896677958 + ], + [ + 692.2695289563212, + -132.65289554429097 + ], + [ + 693.9452094024194, + -140.54900667070422 + ], + [ + 433.5865649972459, + -149.29549265953028 + ], + [ + 427.128866780265, + -141.7296651458184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 159.564132206075, + "ymin": 175.69661464510685, + "xmax": 210.35419551509244, + "ymax": 195.44287277577686 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 198.17367666775385, + 195.44287277577686 + ], + [ + 210.35419551509244, + 179.735516190818 + ], + [ + 173.21473670573994, + 177.44174234526616 + ], + [ + 160.28482167715663, + 193.05056460191167 + ], + [ + 197.50779166426645, + 193.68210522212064 + ], + [ + 209.7201842881127, + 177.98832361095054 + ], + [ + 172.5280646061761, + 175.69661464510685 + ], + [ + 159.564132206075, + 191.2918009358747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 148.00382382833646, + "ymin": 161.51760039484003, + "xmax": 629.1689387254374, + "ymax": 594.6561681722446 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 625.6426191709813, + 594.6561681722446 + ], + [ + 629.1689387254374, + 568.7510666946865 + ], + [ + 316.9137415928717, + 540.296257069182 + ], + [ + 306.4857520769808, + 564.8953788704295 + ], + [ + 618.5500603507123, + 214.72665265383068 + ], + [ + 623.9960405700322, + 189.06420304768565 + ], + [ + 168.29672681445913, + 161.51760039484003 + ], + [ + 148.00382382833646, + 185.2927287125076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 159.54549638125985, + "ymin": 175.6514900054416, + "xmax": 210.33784977063232, + "ymax": 195.39747898067642 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 198.15650969568753, + 195.39747898067642 + ], + [ + 210.33784977063232, + 179.6904709893801 + ], + [ + 173.1970332072072, + 177.39675017840972 + ], + [ + 160.2662417217295, + 193.00522225706973 + ], + [ + 197.49057290684692, + 193.63657449351172 + ], + [ + 209.703790265608, + 177.94314536606237 + ], + [ + 172.5103089822993, + 175.6514900054416 + ], + [ + 159.54549638125985, + 191.24632224791466 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00032/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00032/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9fb44eaf90e58445cd14c7710e490d85083864d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00032/meta.json @@ -0,0 +1,2792 @@ +{ + "frame_id": 32, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 16.0, + "sim_timestamp": 2479.589028133778 + }, + "drone_pose": { + "x": -139.9387797056874, + "y": -64.63944698896638, + "z": 19.919120466912965, + "pitch": -36.91660506970365, + "yaw": 85.70760466732216, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.059840500354766846, + -0.7972679734230042, + 0.6006519794464111, + 47.94451141357422 + ], + [ + 0.9971950650215149, + 0.07484644651412964, + 0.0, + -134.70823669433594 + ], + [ + -0.044956594705581665, + 0.5989671945571899, + 0.7995105981826782, + -60.93363571166992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.0549553129767, + "y": -64.43965240228005, + "z": 20.065355609425833 + }, + "t1_image_uv": [ + 2586.802296325297, + -3083.4830698093187 + ], + "t1_depth": 0.06450141254125036 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -43.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 667.330097085394, + 444.338350965989 + ], + "depth": 28.05610342014691, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 627, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -43.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4174755811691284, + "y": 0.4233349561691284, + "z": 0.8845754861831665 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 651.7222994468644, + "ymin": 411.2479203972731, + "xmax": 683.1883900152825, + "ymax": 477.02282395321856 + }, + "corners_3d": [ + [ + -138.74383544921875, + -44.10523986816406, + 0.2119598388671875 + ], + [ + -139.59051513671875, + -44.10523986816406, + 0.2119598388671875 + ], + [ + -139.59051513671875, + -43.270286560058594, + 0.2119598388671875 + ], + [ + -138.74383544921875, + -43.270286560058594, + 0.2119598388671875 + ], + [ + -138.74383544921875, + -44.10523986816406, + 1.9811108112335205 + ], + [ + -139.59051513671875, + -44.10523986816406, + 1.9811108112335205 + ], + [ + -139.59051513671875, + -43.270286560058594, + 1.9811108112335205 + ], + [ + -138.74383544921875, + -43.270286560058594, + 1.9811108112335205 + ] + ], + "corners_2d": [ + [ + 651.7222994468644, + 475.52103926126114 + ], + [ + 680.4558463261084, + 477.02282395321856 + ], + [ + 681.6000879366271, + 457.71130089308906 + ], + [ + 653.5253430799147, + 456.27785620780594 + ], + [ + 652.1799731721343, + 430.14107035953276 + ], + [ + 682.0383096921397, + 431.61696496361895 + ], + [ + 683.1883900152825, + 412.65412218225225 + ], + [ + 654.0408058196235, + 411.2479203972731 + ] + ], + "center_offset_px": [ + 27.33009708539396, + 84.33835096598898 + ] + }, + "trace_timestep_index": 32, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 354884, + "2": 115014, + "3": 170246, + "4": 97115, + "6": 15963, + "7": 101, + "10": 2, + "12": 3245, + "14": 5209, + "20": 321, + "24": 9377, + "25": 150123 + }, + "instance_pixel_counts": { + "2453": 695, + "3413": 8425, + "3662": 47499, + "11605": 7339, + "15960": 10342, + "17240": 4052, + "17496": 855, + "20565": 10400, + "21395": 13, + "21907": 24444, + "21909": 2247, + "22421": 923, + "22931": 39239, + "22933": 4826, + "23443": 227203, + "23445": 40, + "23955": 1331, + "23957": 60, + "24467": 2399, + "25493": 27, + "25600": 352, + "25856": 463, + "26003": 1518, + "36096": 627, + "36352": 491, + "36608": 538, + "36864": 614, + "37120": 70, + "37376": 905, + "40448": 23, + "40704": 738, + "41216": 1705, + "41728": 2743, + "46483": 4197, + "47198": 3424, + "47201": 2438, + "47713": 282, + "48225": 324, + "48531": 1705, + "48737": 8720, + "48980": 136749, + "49043": 506, + "49249": 1056, + "49492": 7333, + "49761": 1788, + "50246": 29736, + "50579": 2184, + "51297": 54887, + "51526": 19880, + "51809": 6891, + "52321": 4029, + "52833": 169, + "53345": 12, + "53857": 19, + "54366": 112344, + "54878": 34355, + "56970": 1209, + "57482": 7658, + "57994": 11960, + "58506": 99, + "59737": 321, + "60819": 290, + "62355": 111, + "62867": 25, + "63382": 11610, + "63894": 1863, + "64403": 133, + "65426": 50145 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 627, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -43.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.38847655057907104, + "y": 0.4525439441204071, + "z": 0.8807662129402161 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 650.7987244104389, + "ymin": 411.9411527655973, + "xmax": 684.1538794672468, + "ymax": 476.2945876501017 + }, + "corners_3d": [ + [ + -138.71463012695312, + -44.07624053955078, + 0.21576911211013794 + ], + [ + -139.61972045898438, + -44.07624053955078, + 0.21576911211013794 + ], + [ + -139.61972045898438, + -43.299285888671875, + 0.21576911211013794 + ], + [ + -138.71463012695312, + -43.299285888671875, + 0.21576911211013794 + ], + [ + -138.71463012695312, + -44.07624053955078, + 1.9773015975952148 + ], + [ + -139.61972045898438, + -44.07624053955078, + 1.9773015975952148 + ], + [ + -139.61972045898438, + -43.299285888671875, + 1.9773015975952148 + ], + [ + -138.71463012695312, + -43.299285888671875, + 1.9773015975952148 + ] + ], + "corners_2d": [ + [ + 650.7987244104389, + 474.69187237693734 + ], + [ + 681.4920156997358, + 476.2945876501017 + ], + [ + 682.5355420786425, + 458.32322968408937 + ], + [ + 652.4976760117802, + 456.78849515807156 + ], + [ + 651.2181049644918, + 429.5201591472415 + ], + [ + 683.1066143580256, + 431.09526289097334 + ], + [ + 684.1538794672468, + 413.4469360763852 + ], + [ + 652.9722471982459, + 411.9411527655973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 491, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -40.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.43156740069389343, + "y": 0.48666998744010925, + "z": 0.8630306124687195 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 525.9068710427955, + "ymin": 348.08725792475747, + "xmax": 561.0297826822539, + "ymax": 409.43714263914615 + }, + "corners_3d": [ + [ + -134.65489196777344, + -41.21337890625, + 0.0811072587966919 + ], + [ + -135.60696411132812, + -41.011009216308594, + 0.0811072587966919 + ], + [ + -135.42750549316406, + -40.16673278808594, + 0.0811072587966919 + ], + [ + -134.47543334960938, + -40.369102478027344, + 0.0811072587966919 + ], + [ + -134.65489196777344, + -41.21337890625, + 1.8071684837341309 + ], + [ + -135.60696411132812, + -41.011009216308594, + 1.8071684837341309 + ], + [ + -135.42750549316406, + -40.16673278808594, + 1.8071684837341309 + ], + [ + -134.47543334960938, + -40.369102478027344, + 1.8071684837341309 + ] + ], + "corners_2d": [ + [ + 530.8050927440056, + 409.43714263914615 + ], + [ + 561.0297826822539, + 406.8435919243234 + ], + [ + 559.2274174058565, + 390.27277390743103 + ], + [ + 529.6510159930498, + 392.7554408127037 + ], + [ + 527.0152882290121, + 366.80362409782856 + ], + [ + 558.2985228794478, + 364.26881240792017 + ], + [ + 556.496130129991, + 348.08725792475747 + ], + [ + 525.9068710427955, + 350.510067734493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 538, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -36.745052337646484, + "z": 1.092419147491455 + }, + "extent": { + "x": 0.4642431437969208, + "y": 0.41132688522338867, + "z": 0.9329392910003662 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 727.7584273769972, + "ymin": 284.3943142219504, + "xmax": 757.8071438143563, + "ymax": 344.1046745565518 + }, + "corners_3d": [ + [ + -141.0624542236328, + -37.24974822998047, + 0.15947985649108887 + ], + [ + -141.88059997558594, + -37.16375732421875, + 0.15947985649108887 + ], + [ + -141.78355407714844, + -36.2403564453125, + 0.15947985649108887 + ], + [ + -140.9654083251953, + -36.32634735107422, + 0.15947985649108887 + ], + [ + -141.0624542236328, + -37.24974822998047, + 2.0253584384918213 + ], + [ + -141.88059997558594, + -37.16375732421875, + 2.0253584384918213 + ], + [ + -141.78355407714844, + -36.2403564453125, + 2.0253584384918213 + ], + [ + -140.9654083251953, + -36.32634735107422, + 2.0253584384918213 + ] + ], + "corners_2d": [ + [ + 730.4836283202218, + 344.1046745565518 + ], + [ + 753.8843981200994, + 343.6939504694061 + ], + [ + 750.6559965603007, + 328.488918908556 + ], + [ + 727.7584273769972, + 328.882110556789 + ], + [ + 733.6022135467097, + 299.5155253754085 + ], + [ + 757.8071438143563, + 299.11751325546027 + ], + [ + 754.3825565024491, + 284.3943142219504 + ], + [ + 730.7156079186835, + 284.774770652289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 614, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -140.8831329345703, + "y": -43.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37611815333366394, + "y": 0.584057629108429, + "z": 0.8877328038215637 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 704.6068620087003, + "ymin": 414.6720333913825, + "xmax": 748.6035153770672, + "ymax": 479.46306063569295 + }, + "corners_3d": [ + [ + -140.299072265625, + -44.063880920410156, + 0.20880252122879028 + ], + [ + -141.46719360351562, + -44.063880920410156, + 0.20880252122879028 + ], + [ + -141.46719360351562, + -43.3116455078125, + 0.20880252122879028 + ], + [ + -140.299072265625, + -43.3116455078125, + 0.20880252122879028 + ], + [ + -140.299072265625, + -44.063880920410156, + 1.9842681884765625 + ], + [ + -141.46719360351562, + -44.063880920410156, + 1.9842681884765625 + ], + [ + -141.46719360351562, + -43.3116455078125, + 1.9842681884765625 + ], + [ + -140.299072265625, + -43.3116455078125, + 1.9842681884765625 + ] + ], + "corners_2d": [ + [ + 704.6068620087003, + 477.38080730667133 + ], + [ + 744.4894370149951, + 479.46306063569295 + ], + [ + 744.1897738504899, + 461.927044821597 + ], + [ + 705.1378249481701, + 459.93065045868985 + ], + [ + 707.1440897493902, + 431.8079381124913 + ], + [ + 748.6035153770672, + 433.85456358922784 + ], + [ + 748.2031872448366, + 416.6310578307298 + ], + [ + 707.6406293154106, + 414.6720333913825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 70, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -52.91828918457031, + "z": 1.094645619392395 + }, + "extent": { + "x": 0.40848636627197266, + "y": 0.4521826505661011, + "z": 0.8844628930091858 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 759.1505628851326, + "ymin": 696.1043850638162, + "xmax": 811.4999317446392, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.67396545410156, + -53.27727127075195, + 0.21018272638320923 + ], + [ + -142.57337951660156, + -53.371803283691406, + 0.21018272638320923 + ], + [ + -142.6587677001953, + -52.55930709838867, + 0.21018272638320923 + ], + [ + -141.7593536376953, + -52.46477508544922, + 0.21018272638320923 + ], + [ + -141.67396545410156, + -53.27727127075195, + 1.9791085720062256 + ], + [ + -142.57337951660156, + -53.371803283691406, + 1.9791085720062256 + ], + [ + -142.6587677001953, + -52.55930709838867, + 1.9791085720062256 + ], + [ + -141.7593536376953, + -52.46477508544922, + 1.9791085720062256 + ] + ], + "corners_2d": [ + [ + 759.1505628851326, + 776.9053402280882 + ], + [ + 801.2344214233192, + 784.0208163627116 + ], + [ + 802.9476260573277, + 749.4769223233881 + ], + [ + 762.115163484988, + 742.7829648748818 + ], + [ + 765.5669273078546, + 730.5438578838941 + ], + [ + 809.9742646541002, + 737.7394750885524 + ], + [ + 811.4999317446392, + 702.8517924384911 + ], + [ + 768.4837360286416, + 696.1043850638162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 905, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -51.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3092578053474426, + "y": 0.3391210734844208, + "z": 0.8865743279457092 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 131.91101806497653, + "ymin": 622.1061526416676, + "xmax": 196.9772271892919, + "ymax": 697.4916110489669 + }, + "corners_3d": [ + [ + -127.52583312988281, + -52.089969635009766, + 0.05756354331970215 + ], + [ + -128.1892547607422, + -52.230987548828125, + 0.05756354331970215 + ], + [ + -128.31785583496094, + -51.6259880065918, + 0.05756354331970215 + ], + [ + -127.65443420410156, + -51.48497009277344, + 0.05756354331970215 + ], + [ + -127.52583312988281, + -52.089969635009766, + 1.8307121992111206 + ], + [ + -128.1892547607422, + -52.230987548828125, + 1.8307121992111206 + ], + [ + -128.31785583496094, + -51.6259880065918, + 1.8307121992111206 + ], + [ + -127.65443420410156, + -51.48497009277344, + 1.8307121992111206 + ] + ], + "corners_2d": [ + [ + 155.77283516930447, + 690.3895317712111 + ], + [ + 180.246989424684, + 697.4916110489669 + ], + [ + 196.9772271892919, + 675.6433692297926 + ], + [ + 172.894887692022, + 668.830447273538 + ], + [ + 131.91101806497653, + 643.7014957387136 + ], + [ + 157.43061396868694, + 650.8250771392509 + ], + [ + 175.46687805592097, + 628.9258203545086 + ], + [ + 150.3714606482469, + 622.1061526416676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 23, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 30.571406541687338, + "ymin": 0.0, + "xmax": 124.74111489009783, + "ymax": 9.01421847161447 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 54.774729322249186, + -0.9692731961278014 + ], + [ + 39.228274206935, + 7.360026469519823 + ], + [ + 110.74981351908093, + 9.01421847161447 + ], + [ + 124.74111489009783, + 0.6108400131850544 + ], + [ + 46.535129227999846, + -24.042504895205752 + ], + [ + 30.571406541687338, + -16.134337830145512 + ], + [ + 103.08881921122315, + -14.563169386746722 + ], + [ + 117.45432799922423, + -22.542678556583155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 738, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 23.339728686249714, + "ymin": 0.0, + "xmax": 107.54110168820887, + "ymax": 25.968273843993927 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 51.12934444322116, + 15.341306743282473 + ], + [ + 34.56073283158162, + 24.570082626737985 + ], + [ + 92.29998078583492, + 25.968273843993927 + ], + [ + 107.54110168820887, + 16.673288822364725 + ], + [ + 40.4812160533171, + -13.99697281934698 + ], + [ + 23.339728686249714, + -5.329496642858658 + ], + [ + 82.11162296877808, + -4.015673817752827 + ], + [ + 97.87835252034722, + -12.746477086362063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 1705, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 703.0927439243826, + "ymin": 5.713210834487029, + "xmax": 792.606078577928, + "ymax": 42.60389955233774 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 703.6599393970445, + 31.03603738841906 + ], + [ + 703.0927439243826, + 40.49668330783936 + ], + [ + 790.1685178198799, + 42.60389955233774 + ], + [ + 788.6774525319538, + 33.04492410923467 + ], + [ + 704.6632112219556, + 5.713210834487029 + ], + [ + 704.1114456860188, + 14.706003874687042 + ], + [ + 792.606078577928, + 16.709944302158135 + ], + [ + 791.0327786349966, + 7.622181279373649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2743, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 409.86781277255795, + "ymin": 134.46294004790497, + "xmax": 486.9358161172796, + "ymax": 218.12505556715726 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 414.57339799260217, + 216.26841616108115 + ], + [ + 460.94462814685295, + 218.12505556715726 + ], + [ + 486.9358161172796, + 163.85724478239092 + ], + [ + 444.82022075876307, + 162.33168651807887 + ], + [ + 409.86781277255795, + 186.59457975960848 + ], + [ + 457.19473408183126, + 188.39270262974705 + ], + [ + 484.0362015803738, + 135.93465464298785 + ], + [ + 441.1337229344259, + 134.46294004790497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 260.4198768979355, + "ymin": 0.0, + "xmax": 271.12336885389334, + "ymax": 10.243834774717982 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 268.63339406587494, + 10.243834774717982 + ], + [ + 271.12336885389334, + 8.239578187158372 + ], + [ + 266.48222713403925, + 8.129861961624727 + ], + [ + 263.9678261211531, + 10.132925126075293 + ], + [ + 265.12840917588915, + -5.117427005778325 + ], + [ + 267.6608452382799, + -7.056837038691242 + ], + [ + 262.9771895901201, + -7.162997757662254 + ], + [ + 260.4198768979355, + -5.224753400035183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.5597619085254, + "ymin": 7.143597682816051, + "xmax": 700.3014439330701, + "ymax": 25.197207958522938 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 699.7182310078317, + 23.02876794191593 + ], + [ + 694.7589973263332, + 22.910099104829555 + ], + [ + 694.5597619085254, + 25.07719619054444 + ], + [ + 699.5469199943207, + 25.197207958522938 + ], + [ + 700.3014439330701, + 7.258507200765678 + ], + [ + 695.2936112176799, + 7.143597682816051 + ], + [ + 695.0954652242156, + 9.242152390611125 + ], + [ + 700.131773902914, + 9.358375102982109 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 503.2295103367768, + "ymin": 0.0, + "xmax": 678.4563587611823, + "ymax": 119.328811107413 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 672.7200676960877, + 119.328811107413 + ], + [ + 673.3911844910302, + 113.71055400169271 + ], + [ + 523.703559511216, + 109.27592442817172 + ], + [ + 521.2847729754292, + 114.78914304397591 + ], + [ + 677.7511814669667, + -114.1592352690127 + ], + [ + 678.4563587611823, + -117.48588632044147 + ], + [ + 506.25176562588706, + -120.1032752905395 + ], + [ + 503.2295103367768, + -116.84816452208838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 283.4952641162605, + "ymin": 0.0, + "xmax": 372.18206776471607, + "ymax": 7.465206673588455 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 372.18206776471607, + -40.07842976201272 + ], + [ + 366.728695145651, + -40.20329243292673 + ], + [ + 311.3644616299628, + 7.300644738185497 + ], + [ + 317.60044958840456, + 7.465206673588455 + ], + [ + 352.6037400922171, + -162.73866895206334 + ], + [ + 346.76004360297, + -162.821479915414 + ], + [ + 283.4952641162605, + -130.9726016906377 + ], + [ + 290.24683652276696, + -130.86106133394782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 389.9641760401548, + "ymin": 0.0, + "xmax": 652.764963836139, + "ymax": 317.30893440034174 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 649.0707787250665, + 317.30893440034174 + ], + [ + 650.4023706720126, + 306.1615067480646 + ], + [ + 441.15227226550104, + 297.43775138890135 + ], + [ + 436.38967872671526, + 308.29328533911024 + ], + [ + 651.1733273172837, + 11.220931076429395 + ], + [ + 652.764963836139, + 3.7124373368040438 + ], + [ + 396.7121250575254, + -2.123942151110043 + ], + [ + 389.9641760401548, + 5.1439155942458115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1051.5826401276204, + "ymin": 0.0, + "xmax": 1116.1660880404534, + "ymax": 60.88167641576581 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1069.0478631575766, + 60.684457431064686 + ], + [ + 1076.7263428401427, + 60.88167641576581 + ], + [ + 1058.857519070672, + 39.120395138165634 + ], + [ + 1051.5826401276204, + 38.94298262439827 + ], + [ + 1107.774445263785, + -81.67121756160952 + ], + [ + 1116.1660880404534, + -81.52874109306578 + ], + [ + 1094.5672266514343, + -97.17750151100773 + ], + [ + 1086.6552527483334, + -97.3044846481589 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 394.34198078344565, + "ymin": 5.748047151115657, + "xmax": 420.19345589667773, + "ymax": 12.248100883551388 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 416.1296569476397, + 12.248100883551388 + ], + [ + 420.19345589667773, + 7.414521705793845 + ], + [ + 398.857687930676, + 6.91602689334934 + ], + [ + 394.52008510148164, + 11.736456920194314 + ], + [ + 415.9670081493267, + 11.067065939493773 + ], + [ + 420.03582789388804, + 6.245316758847366 + ], + [ + 398.68499360124054, + 5.748047151115657 + ], + [ + 394.34198078344565, + 10.556669913650978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.45718349363926, + "ymin": 332.99982115380874, + "xmax": 143.53187147542798, + "ymax": 354.069973785159 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 128.80238893003525, + 354.069973785159 + ], + [ + 143.53187147542798, + 336.5487114726689 + ], + [ + 103.90667446274517, + 334.7650183262765 + ], + [ + 88.22339449571552, + 352.1956981829718 + ], + [ + 128.09065942323093, + 352.2826242334257 + ], + [ + 142.857604132208, + 334.78140675812716 + ], + [ + 103.18045472173708, + 332.99982115380874 + ], + [ + 87.45718349363926, + 350.41043584002733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10145507628022422491, + "instance_id": 56283, + "pixel_count": null, + "type_id": "AmericanLights_Town04_38_Poles_4", + "bbox_3d": { + "center_world": { + "x": -179.29795837402344, + "y": 6.598189353942871, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1244.8032848641906, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 27.122945425519845 + }, + "corners_3d": [ + [ + -179.56796264648438, + 12.623302459716797, + 0.0 + ], + [ + -179.13514709472656, + 12.627151489257812, + 0.0 + ], + [ + -179.0279541015625, + 0.5730758309364319, + 0.0 + ], + [ + -179.4607696533203, + 0.5692273378372192, + 0.0 + ], + [ + -179.56796264648438, + 12.623302459716797, + 8.446706771850586 + ], + [ + -179.13514709472656, + 12.627151489257812, + 8.446706771850586 + ], + [ + -179.0279541015625, + 0.5730758309364319, + 8.446706771850586 + ], + [ + -179.4607696533203, + 0.5692273378372192, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1250.8654870344308, + -25.265504989029523 + ], + [ + 1244.8032848641906, + -25.402153109661583 + ], + [ + 1323.3486677029032, + 26.940371648302516 + ], + [ + 1330.3931348298245, + 27.122945425519845 + ], + [ + 1297.7394984939608, + -152.88097678941858 + ], + [ + 1291.1917964710342, + -152.97221807959625 + ], + [ + 1384.663937516537, + -117.60083366759449 + ], + [ + 1392.372240940912, + -117.47595814702635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.07013241780817, + "ymin": 0.0, + "xmax": 470.90850156899876, + "ymax": 62.87312983241583 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 272.89431896179946, + 54.386561026104516 + ], + [ + 270.07328035976946, + 56.89199393022653 + ], + [ + 469.2578777259829, + 62.87312983241583 + ], + [ + 470.90850156899876, + 60.29572481331735 + ], + [ + 237.40052145427097, + -98.70931943496578 + ], + [ + 234.07013241780817, + -96.97277929549381 + ], + [ + 452.3791748190666, + -92.81899458151219 + ], + [ + 454.30453329907436, + -94.61037245799702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.5181565008802, + "ymin": 0.0, + "xmax": 715.4183264410299, + "ymax": 72.31167220315928 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 696.5181565008802, + 72.08415813298842 + ], + [ + 704.0531934573515, + 72.31167220315928 + ], + [ + 709.5109352380525, + 8.030856584406365 + ], + [ + 703.0901885812759, + 7.865796598630368 + ], + [ + 702.2388855275315, + -86.39940972405299 + ], + [ + 710.5403627336186, + -86.24049518869896 + ], + [ + 715.4183264410299, + -130.47759843853737 + ], + [ + 708.4493118997461, + -130.58950549303125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 74.57748374694609, + "ymin": 318.324880848895, + "xmax": 599.3198462495855, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 595.6962683164575, + 764.133909300697 + ], + [ + 599.3198462495855, + 733.7991102971355 + ], + [ + 259.927696490874, + 710.5088522266981 + ], + [ + 247.18667859142522, + 739.549868897371 + ], + [ + 575.5963784851701, + 367.7527399683207 + ], + [ + 581.5783749182096, + 339.53286549582566 + ], + [ + 99.18671990464793, + 318.324880848895 + ], + [ + 74.57748374694609, + 344.83018300153856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 394.3465824265069, + "ymin": 5.77822371751455, + "xmax": 420.1975226294976, + "ymax": 12.278570769336625 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 416.13385317429044, + 12.278570769336625 + ], + [ + 420.1975226294976, + 7.44468667678052 + ], + [ + 398.8621433724979, + 6.946160284571079 + ], + [ + 394.5246800745572, + 11.766894641130648 + ], + [ + 415.9712104755147, + 11.097580115594837 + ], + [ + 420.0399004614284, + 6.275525008845648 + ], + [ + 398.68945542682746, + 5.77822371751455 + ], + [ + 394.3465824265069, + 10.587151817471522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.43737286569842, + "ymin": 332.95418301071624, + "xmax": 143.51448588117137, + "ymax": 354.02388953976856 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 128.7840380052196, + 354.02388953976856 + ], + [ + 143.51448588117137, + 336.5031425406959 + ], + [ + 103.88794924256592, + 334.7195035821189 + ], + [ + 88.20363877344914, + 352.14966758967006 + ], + [ + 128.07225736272255, + 352.2364115721744 + ], + [ + 142.84017128132427, + 334.7357139630295 + ], + [ + 103.161678734004, + 332.95418301071624 + ], + [ + 87.43737286569842, + 350.3642773171699 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00034/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00034/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5cd2fd31654e40bb6677f8e5b89482aa45e430d5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00034/meta.json @@ -0,0 +1,1407 @@ +{ + "frame_id": 34, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 17.0, + "sim_timestamp": 2503.247094056336 + }, + "drone_pose": { + "x": -140.1326495402479, + "y": -63.740782669840286, + "z": 19.863946350137017, + "pitch": -46.148242763165825, + "yaw": 84.506374284899, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.06632483005523682, + -0.6896127462387085, + 0.7211346626281738, + 38.926143646240234 + ], + [ + 0.9954068660736084, + 0.09573507308959961, + 0.0, + -133.3867645263672 + ], + [ + -0.06903788447380066, + 0.7178223729133606, + 0.692794919013977, + -69.19065856933594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.12717393557003, + "y": -63.267074105612195, + "z": 20.01321926385745 + }, + "t1_image_uv": [ + 814.5911649563932, + -1582.0825960582808 + ], + "t1_depth": 0.21939276803617572 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -42.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 676.0040238123188, + 285.66815803394155 + ], + "depth": 28.11629675974512, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 637, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -42.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3943847715854645, + "y": 0.420234352350235, + "z": 0.8760964870452881 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 660.1544217340414, + "ymin": 253.02470261442699, + "xmax": 692.2962938201042, + "ymax": 317.5498017253743 + }, + "corners_3d": [ + [ + -138.7469482421875, + -43.082149505615234, + 0.22043883800506592 + ], + [ + -139.58740234375, + -43.082149505615234, + 0.22043883800506592 + ], + [ + -139.58740234375, + -42.29337692260742, + 0.22043883800506592 + ], + [ + -138.7469482421875, + -42.29337692260742, + 0.22043883800506592 + ], + [ + -138.7469482421875, + -43.082149505615234, + 1.972631812095642 + ], + [ + -139.58740234375, + -43.082149505615234, + 1.972631812095642 + ], + [ + -139.58740234375, + -42.29337692260742, + 1.972631812095642 + ], + [ + -138.7469482421875, + -42.29337692260742, + 1.972631812095642 + ] + ], + "corners_2d": [ + [ + 660.1544217340414, + 315.678627397094 + ], + [ + 688.4251904935417, + 317.5498017253743 + ], + [ + 690.0170629509912, + 299.598065901529 + ], + [ + 662.272634096335, + 297.7963802684133 + ], + [ + 661.0892998807187, + 270.84241221529516 + ], + [ + 690.6760356763655, + 272.708622505901 + ], + [ + 692.2962938201042, + 254.81848479350853 + ], + [ + 663.2855409925991, + 253.02470261442699 + ] + ], + "center_offset_px": [ + 36.00402381231879, + -74.33184196605845 + ] + }, + "trace_timestep_index": 34, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 37, + "semantic_pixel_counts": { + "1": 374478, + "2": 128466, + "3": 115674, + "4": 82471, + "6": 14040, + "12": 4151, + "14": 2626, + "20": 331, + "24": 7764, + "25": 191599 + }, + "instance_pixel_counts": { + "2453": 2396, + "3413": 8918, + "3662": 39228, + "11605": 58, + "15960": 12169, + "17240": 1871, + "22421": 318, + "22931": 10644, + "22933": 5050, + "23443": 241065, + "36096": 637, + "36352": 652, + "36608": 575, + "36864": 632, + "37120": 889, + "37376": 766, + "41728": 2626, + "47198": 46207, + "47710": 1728, + "48737": 3623, + "48980": 86639, + "49249": 345, + "49492": 20059, + "49761": 273, + "50246": 37797, + "51297": 58610, + "51526": 5446, + "51809": 7560, + "52321": 4338, + "54366": 110837, + "54878": 32827, + "57482": 815, + "57994": 12490, + "59737": 331, + "63382": 34922, + "63894": 5490, + "65426": 122769 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 637, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -42.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.39716795086860657, + "y": 0.580273449420929, + "z": 0.9042277336120605 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 654.764814113486, + "ymin": 251.87039323616978, + "xmax": 697.8816771280545, + "ymax": 318.6589740012254 + }, + "corners_3d": [ + [ + -138.58689880371094, + -43.084930419921875, + 0.19230759143829346 + ], + [ + -139.74745178222656, + -43.084930419921875, + 0.19230759143829346 + ], + [ + -139.74745178222656, + -42.29059600830078, + 0.19230759143829346 + ], + [ + -138.58689880371094, + -42.29059600830078, + 0.19230759143829346 + ], + [ + -138.58689880371094, + -43.084930419921875, + 2.000762939453125 + ], + [ + -139.74745178222656, + -43.084930419921875, + 2.000762939453125 + ], + [ + -139.74745178222656, + -42.29059600830078, + 2.000762939453125 + ], + [ + -138.58689880371094, + -42.29059600830078, + 2.000762939453125 + ] + ], + "corners_2d": [ + [ + 654.764814113486, + 316.07476882323164 + ], + [ + 693.7776909149627, + 318.6589740012254 + ], + [ + 695.2790568814214, + 300.5669310707102 + ], + [ + 656.9970771496135, + 298.07929114002707 + ], + [ + 655.4719832625616, + 269.7981546030645 + ], + [ + 696.3607058771856, + 272.37529207311286 + ], + [ + 697.8816771280545, + 254.34674696722328 + ], + [ + 657.7951072188008, + 251.87039323616978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 652, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -39.69005584716797, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44029298424720764, + "y": 0.4393286406993866, + "z": 0.8748992681503296 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 536.6427727259492, + "ymin": 186.6823142766464, + "xmax": 569.2580205802828, + "ymax": 249.54833265475588 + }, + "corners_3d": [ + [ + -134.70301818847656, + -40.21207046508789, + 0.06923860311508179 + ], + [ + -135.56246948242188, + -40.02938461303711, + 0.06923860311508179 + ], + [ + -135.37937927246094, + -39.16804122924805, + 0.06923860311508179 + ], + [ + -134.51992797851562, + -39.35072708129883, + 0.06923860311508179 + ], + [ + -134.70301818847656, + -40.21207046508789, + 1.8190371990203857 + ], + [ + -135.56246948242188, + -40.02938461303711, + 1.8190371990203857 + ], + [ + -135.37937927246094, + -39.16804122924805, + 1.8190371990203857 + ], + [ + -134.51992797851562, + -39.35072708129883, + 1.8190371990203857 + ] + ], + "corners_2d": [ + [ + 541.9430388506049, + 249.54833265475588 + ], + [ + 569.2580205802828, + 247.566067422209 + ], + [ + 567.5799901930068, + 230.52043126915456 + ], + [ + 540.7874946058406, + 232.42714575852088 + ], + [ + 537.7627019435826, + 205.5215022951192 + ], + [ + 566.2491804288187, + 203.55729216634776 + ], + [ + 564.5614506173953, + 186.6823142766464 + ], + [ + 536.6427727259492, + 188.56856949928434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 575, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -35.745052337646484, + "z": 1.0923800468444824 + }, + "extent": { + "x": 0.4771435558795929, + "y": 0.5312036275863647, + "z": 0.9462702870368958 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 737.4920949340732, + "ymin": 122.87789758143856, + "xmax": 776.0725734915366, + "ymax": 186.04245279801592 + }, + "corners_3d": [ + [ + -140.944580078125, + -36.275108337402344, + 0.14610975980758667 + ], + [ + -142.0011749267578, + -36.16405487060547, + 0.14610975980758667 + ], + [ + -141.90142822265625, + -35.214996337890625, + 0.14610975980758667 + ], + [ + -140.84483337402344, + -35.3260498046875, + 0.14610975980758667 + ], + [ + -140.944580078125, + -36.275108337402344, + 2.0386502742767334 + ], + [ + -142.0011749267578, + -36.16405487060547, + 2.0386502742767334 + ], + [ + -141.90142822265625, + -35.214996337890625, + 2.0386502742767334 + ], + [ + -140.84483337402344, + -35.3260498046875, + 2.0386502742767334 + ] + ], + "corners_2d": [ + [ + 739.6833893054934, + 186.04245279801592 + ], + [ + 770.464166232707, + 185.8803060425056 + ], + [ + 767.6707790343644, + 169.72848781851536 + ], + [ + 737.4920949340732, + 169.88434825463142 + ], + [ + 743.9694675703315, + 138.90791904455253 + ], + [ + 776.0725734915366, + 138.7484603767239 + ], + [ + 773.0471492310434, + 122.87789758143856 + ], + [ + 741.5984286899211, + 123.03091646526303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 632, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -140.8831329345703, + "y": -42.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37119626998901367, + "y": 0.5104907155036926, + "z": 0.8867436647415161 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 714.9513162887583, + "ymin": 256.7341519200387, + "xmax": 755.06146749669, + "ymax": 321.3142723059466 + }, + "corners_3d": [ + [ + -140.3726348876953, + -43.0589599609375, + 0.2097916603088379 + ], + [ + -141.3936309814453, + -43.0589599609375, + 0.2097916603088379 + ], + [ + -141.3936309814453, + -42.316566467285156, + 0.2097916603088379 + ], + [ + -140.3726348876953, + -42.316566467285156, + 0.2097916603088379 + ], + [ + -140.3726348876953, + -43.0589599609375, + 1.9832789897918701 + ], + [ + -141.3936309814453, + -43.0589599609375, + 1.9832789897918701 + ], + [ + -141.3936309814453, + -42.316566467285156, + 1.9832789897918701 + ], + [ + -140.3726348876953, + -42.316566467285156, + 1.9832789897918701 + ] + ], + "corners_2d": [ + [ + 714.9513162887583, + 319.0254413055331 + ], + [ + 749.5423864674103, + 321.3142723059466 + ], + [ + 749.9632683709092, + 304.27631838075837 + ], + [ + 715.9833212338299, + 302.0678682775093 + ], + [ + 718.4831436942516, + 273.6356546641463 + ], + [ + 754.7171122002786, + 275.9190768437165 + ], + [ + 755.06146749669, + 258.93370455170947 + ], + [ + 719.4974899451663, + 256.7341519200387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 889, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -142.16636657714844, + "y": -51.91828918457031, + "z": 1.0945724248886108 + }, + "extent": { + "x": 0.35978031158447266, + "y": 0.5681421756744385, + "z": 0.9068595767021179 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 750.0952996428889, + "ymin": 527.0623074023566, + "xmax": 812.4766739352583, + "ymax": 606.5925293968886 + }, + "corners_3d": [ + [ + -141.56373596191406, + -52.216712951660156, + 0.18771284818649292 + ], + [ + -142.69378662109375, + -52.335487365722656, + 0.18771284818649292 + ], + [ + -142.7689971923828, + -51.61986541748047, + 0.18771284818649292 + ], + [ + -141.63894653320312, + -51.50109100341797, + 0.18771284818649292 + ], + [ + -141.56373596191406, + -52.216712951660156, + 2.001431941986084 + ], + [ + -142.69378662109375, + -52.335487365722656, + 2.001431941986084 + ], + [ + -142.7689971923828, + -51.61986541748047, + 2.001431941986084 + ], + [ + -141.63894653320312, + -51.50109100341797, + 2.001431941986084 + ] + ], + "corners_2d": [ + [ + 750.0952996428889, + 597.7263064092639 + ], + [ + 799.7292824573701, + 606.5925293968886 + ], + [ + 802.3936536570797, + 579.3892773012308 + ], + [ + 753.817327145628, + 570.9046944912011 + ], + [ + 757.0404619887381, + 554.5429172097643 + ], + [ + 809.8823271249066, + 563.643520526117 + ], + [ + 812.4766739352583, + 535.7472319553322 + ], + [ + 760.8320100036451, + 527.0623074023566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 766, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -50.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.29835936427116394, + "y": 0.41118407249450684, + "z": 0.8811395764350891 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 155.41785592102246, + "ymin": 448.2178331238623, + "xmax": 223.88716685902392, + "ymax": 518.9205896441001 + }, + "corners_3d": [ + [ + -127.45761108398438, + -51.064327239990234, + 0.06299829483032227 + ], + [ + -128.2620086669922, + -51.23530960083008, + 0.06299829483032227 + ], + [ + -128.38607788085938, + -50.65163040161133, + 0.06299829483032227 + ], + [ + -127.58168029785156, + -50.480648040771484, + 0.06299829483032227 + ], + [ + -127.45761108398438, + -51.064327239990234, + 1.8252774477005005 + ], + [ + -128.2620086669922, + -51.23530960083008, + 1.8252774477005005 + ], + [ + -128.38607788085938, + -50.65163040161133, + 1.8252774477005005 + ], + [ + -127.58168029785156, + -50.480648040771484, + 1.8252774477005005 + ] + ], + "corners_2d": [ + [ + 181.2260587585028, + 510.6078705041698 + ], + [ + 209.69283999878752, + 518.9205896441001 + ], + [ + 223.88716685902392, + 499.96016540049254 + ], + [ + 195.7828957052435, + 491.91644381160523 + ], + [ + 155.41785592102246, + 467.1980572273251 + ], + [ + 185.30111228755106, + 475.65037069083326 + ], + [ + 200.70768505421546, + 456.3815840251365 + ], + [ + 171.2222474080038, + 448.2178331238623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 2626, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 409.00006174605574, + "ymin": 0.0, + "xmax": 491.05178248784307, + "ymax": 62.36971895985147 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 414.9649012592687, + 59.796545987919046 + ], + [ + 463.6018067081774, + 62.36971895985147 + ], + [ + 491.05178248784307, + 2.046384396935821 + ], + [ + 446.49052628672945, + -0.10402320875607529 + ], + [ + 409.00006174605574, + 27.393262610618137 + ], + [ + 458.9084814147916, + 29.91245288099003 + ], + [ + 487.4377861234119, + -29.01632010183971 + ], + [ + 441.811444728885, + -31.112049508203597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 377.3941000480679, + "ymin": 0.0, + "xmax": 666.6298207021605, + "ymax": 173.1478029436941 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 658.767496595432, + 173.1478029436941 + ], + [ + 660.4631731664314, + 161.11677997550413 + ], + [ + 443.0634380443072, + 149.05680884031506 + ], + [ + 438.1758116080945, + 160.72536138428526 + ], + [ + 664.534281466358, + -167.65879233519502 + ], + [ + 666.6298207021605, + -176.74750969154377 + ], + [ + 384.87437628309533, + -185.7758316956572 + ], + [ + 377.3941000480679, + -177.04182019271173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9811877072429745641, + "instance_id": 59781, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.896292686462402 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 57.70062158598853, + "ymin": 199.75779880091858, + "xmax": 116.06098743848929, + "ymax": 223.38779813944112 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.878728866577148 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.878728866577148 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.913856506347656 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.913856506347656 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.913856506347656 + ] + ], + "corners_2d": [ + [ + 101.05203123949843, + 223.38779813944112 + ], + [ + 116.06098743848929, + 204.12682665802402 + ], + [ + 74.62603282472276, + 201.60978720415625 + ], + [ + 58.719512195257494, + 220.75466027303267 + ], + [ + 100.10444524627519, + 221.52605103504084 + ], + [ + 115.160393759003, + 202.2736116104143 + ], + [ + 73.65712226778157, + 199.75779880091858 + ], + [ + 57.70062158598853, + 218.89399037656548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.1189776852857, + "ymin": 184.0150789845038, + "xmax": 599.1783377032731, + "ymax": 624.8297063087261 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 595.1065452010604, + 624.8297063087261 + ], + [ + 599.1783377032731, + 595.939863070012 + ], + [ + 267.8103068529121, + 567.4502017515038 + ], + [ + 256.2671754647201, + 595.0078807846656 + ], + [ + 569.2201183178106, + 245.73527546058855 + ], + [ + 576.4768983441195, + 214.26136103824152 + ], + [ + 68.16559244910013, + 184.0150789845038 + ], + [ + 43.1189776852857, + 213.25964356791266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17175850736243238436, + "instance_id": 9446, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -52.85001754760742, + "z": 10.897199630737305 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 57.6742680175945, + "ymin": 199.70989910588347, + "xmax": 116.03777429771526, + "ymax": 223.33981274286356 + }, + "corners_3d": [ + [ + -130.9680633544922, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.87963581085205 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.87963581085205 + ], + [ + -130.9680633544922, + -53.0890007019043, + 10.914763450622559 + ], + [ + -130.9680633544922, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -52.61103439331055, + 10.914763450622559 + ], + [ + -130.3018035888672, + -53.0890007019043, + 10.914763450622559 + ] + ], + "corners_2d": [ + [ + 101.0276077882312, + 223.33981274286356 + ], + [ + 116.03777429771526, + 204.07905934323534 + ], + [ + 74.60105866592903, + 201.5620512680217 + ], + [ + 58.69325077367978, + 220.70670239009272 + ], + [ + 100.07993583423479, + 221.4778967490732 + ], + [ + 115.13710074618541, + 202.22567993729598 + ], + [ + 73.63206243473257, + 199.70989910588347 + ], + [ + 57.6742680175945, + 218.8458642176538 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00041/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00041/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef4ed48bb636c8720738b5c512b13ccd339e5430 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00041/meta.json @@ -0,0 +1,2158 @@ +{ + "frame_id": 41, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 20.5, + "sim_timestamp": 2588.2178447821643 + }, + "drone_pose": { + "x": -140.9589180943775, + "y": -60.17166092082899, + "z": 20.003908267304162, + "pitch": -38.37681124716551, + "yaw": 82.6168473072671, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10074007511138916, + -0.7774450778961182, + 0.6208305358886719, + 48.561344146728516 + ], + [ + 0.9917089939117432, + 0.12850403785705566, + 0.0, + -132.0579376220703 + ], + [ + -0.0797792375087738, + 0.6156832575798035, + 0.7839447855949402, + -63.9742431640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.15533134403861, + "y": -59.640417530388355, + "z": 20.003129143626666 + }, + "t1_image_uv": [ + 1281.4108877558715, + -397.83087043369335 + ], + "t1_depth": 0.39370959101862063 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -39.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 671.2705672463122, + 419.84431264412433 + ], + "depth": 28.232602540821098, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 612, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -39.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.41661131381988525, + "y": 0.40425536036491394, + "z": 0.8830785155296326 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 655.6708932007919, + "ymin": 386.65928570144945, + "xmax": 687.165425535174, + "ymax": 452.60041167246527 + }, + "corners_3d": [ + [ + -138.76292419433594, + -39.604373931884766, + 0.21345680952072144 + ], + [ + -139.57142639160156, + -39.604373931884766, + 0.21345680952072144 + ], + [ + -139.57142639160156, + -38.77115249633789, + 0.21345680952072144 + ], + [ + -138.76292419433594, + -38.77115249633789, + 0.21345680952072144 + ], + [ + -138.76292419433594, + -39.604373931884766, + 1.9796137809753418 + ], + [ + -139.57142639160156, + -39.604373931884766, + 1.9796137809753418 + ], + [ + -139.57142639160156, + -38.77115249633789, + 1.9796137809753418 + ], + [ + -138.76292419433594, + -38.77115249633789, + 1.9796137809753418 + ] + ], + "corners_2d": [ + [ + 655.6708932007919, + 450.1628878752249 + ], + [ + 682.8033923245309, + 452.60041167246527 + ], + [ + 685.3860379421496, + 433.59183532069073 + ], + [ + 658.8493655024675, + 431.26160814490646 + ], + [ + 656.2979785474289, + 405.2624867271654 + ], + [ + 684.5213162589991, + 407.66397922451813 + ], + [ + 687.165425535174, + 388.95097758499986 + ], + [ + 659.5862205865022, + 386.65928570144945 + ] + ], + "center_offset_px": [ + 31.270567246312226, + 59.84431264412433 + ] + }, + "trace_timestep_index": 41, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 359619, + "2": 121507, + "3": 171998, + "4": 77221, + "6": 15092, + "7": 85, + "10": 2, + "12": 3093, + "14": 5803, + "20": 326, + "24": 10017, + "25": 156837 + }, + "instance_pixel_counts": { + "3413": 11214, + "3662": 56153, + "11605": 6321, + "15960": 8361, + "17240": 4935, + "17496": 1031, + "20565": 10090, + "21395": 54, + "21907": 28856, + "21909": 2620, + "22421": 1134, + "22931": 48274, + "22933": 5623, + "23443": 269220, + "23445": 34, + "23955": 2095, + "23957": 64, + "24467": 1937, + "25493": 43, + "25600": 304, + "25856": 546, + "26003": 2423, + "36096": 612, + "36352": 587, + "36608": 531, + "36864": 603, + "37376": 760, + "40704": 244, + "41216": 2074, + "41728": 3485, + "46483": 2197, + "47201": 3104, + "47713": 355, + "48225": 408, + "48531": 1790, + "48737": 11297, + "48980": 144373, + "49249": 1625, + "49761": 2152, + "50579": 2709, + "51297": 67469, + "51526": 21068, + "51809": 9821, + "52321": 3696, + "52833": 191, + "53345": 18, + "53857": 36, + "54366": 134197, + "54878": 22640, + "56970": 1428, + "57482": 9150, + "57994": 10589, + "58506": 168, + "59737": 326, + "60819": 186, + "62355": 148, + "64403": 165, + "65426": 64 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 612, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -39.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3811132609844208, + "y": 0.5121533274650574, + "z": 0.8996872305870056 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 652.199155371218, + "ymin": 386.69275326669697, + "xmax": 690.7702427603847, + "ymax": 452.50475693267583 + }, + "corners_3d": [ + [ + -138.655029296875, + -39.568878173828125, + 0.1968480944633484 + ], + [ + -139.6793212890625, + -39.568878173828125, + 0.1968480944633484 + ], + [ + -139.6793212890625, + -38.80664825439453, + 0.1968480944633484 + ], + [ + -138.655029296875, + -38.80664825439453, + 0.1968480944633484 + ], + [ + -138.655029296875, + -39.568878173828125, + 1.9962224960327148 + ], + [ + -139.6793212890625, + -39.568878173828125, + 1.9962224960327148 + ], + [ + -139.6793212890625, + -38.80664825439453, + 1.9962224960327148 + ], + [ + -138.655029296875, + -38.80664825439453, + 1.9962224960327148 + ] + ], + "corners_2d": [ + [ + 652.199155371218, + 449.4222786666425 + ], + [ + 686.5280666646927, + 452.50475693267583 + ], + [ + 688.8169417202994, + 435.10082647228757 + ], + [ + 655.1780616757247, + 432.1426664420024 + ], + [ + 652.695986619402, + 403.69419329583485 + ], + [ + 688.4301564468783, + 406.73000942659746 + ], + [ + 690.7702427603847, + 389.6012953955319 + ], + [ + 655.7831415953439, + 386.69275326669697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 587, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -36.190059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44364750385284424, + "y": 0.43765872716903687, + "z": 0.8573561906814575 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 538.5655137448126, + "ymin": 320.7527886795822, + "xmax": 568.9674302111542, + "ymax": 380.6915888158728 + }, + "corners_3d": [ + [ + -134.70533752441406, + -36.71500778198242, + 0.08678168058395386 + ], + [ + -135.56153869628906, + -36.533016204833984, + 0.08678168058395386 + ], + [ + -135.37705993652344, + -35.66511154174805, + 0.08678168058395386 + ], + [ + -134.52085876464844, + -35.847103118896484, + 0.08678168058395386 + ], + [ + -134.70533752441406, + -36.71500778198242, + 1.8014941215515137 + ], + [ + -135.56153869628906, + -36.533016204833984, + 1.8014941215515137 + ], + [ + -135.37705993652344, + -35.66511154174805, + 1.8014941215515137 + ], + [ + -134.52085876464844, + -35.847103118896484, + 1.8014941215515137 + ] + ], + "corners_2d": [ + [ + 542.0229841515251, + 380.6915888158728 + ], + [ + 568.9674302111542, + 379.3128750922737 + ], + [ + 568.3634889364898, + 362.4116950754296 + ], + [ + 542.0031699612318, + 363.7312246315154 + ], + [ + 538.5655137448126, + 338.6440204623052 + ], + [ + 566.4653724232404, + 337.29359007145734 + ], + [ + 565.8967479840508, + 320.7527886795822 + ], + [ + 538.6226946618644, + 322.0432737575725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 531, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -32.245052337646484, + "z": 1.0922091007232666 + }, + "extent": { + "x": 0.4520654082298279, + "y": 0.49949339032173157, + "z": 0.9361048936843872 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 739.5055808899162, + "ymin": 263.0082254119514, + "xmax": 774.1885865518559, + "ymax": 322.6176486875071 + }, + "corners_3d": [ + [ + -140.97349548339844, + -32.74685287475586, + 0.1561042070388794 + ], + [ + -141.96701049804688, + -32.64242935180664, + 0.1561042070388794 + ], + [ + -141.8725128173828, + -31.74325180053711, + 0.1561042070388794 + ], + [ + -140.87899780273438, + -31.847675323486328, + 0.1561042070388794 + ], + [ + -140.97349548339844, + -32.74685287475586, + 2.0283141136169434 + ], + [ + -141.96701049804688, + -32.64242935180664, + 2.0283141136169434 + ], + [ + -141.8725128173828, + -31.74325180053711, + 2.0283141136169434 + ], + [ + -140.87899780273438, + -31.847675323486328, + 2.0283141136169434 + ] + ], + "corners_2d": [ + [ + 740.9783673150115, + 322.21147165894894 + ], + [ + 769.549779577896, + 322.6176486875071 + ], + [ + 767.4864879646973, + 307.69807136681857 + ], + [ + 739.5055808899162, + 307.30848322443313 + ], + [ + 744.5920093863222, + 277.47807450667494 + ], + [ + 774.1885865518559, + 277.8727455016457 + ], + [ + 771.9538958638192, + 263.38621885409987 + ], + [ + 742.9904900010621, + 263.0082254119514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 603, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -39.18776321411133, + "z": 1.0936007499694824 + }, + "extent": { + "x": 0.36640623211860657, + "y": 0.5135424733161926, + "z": 0.8786728978157043 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 773.2850090470442, + "ymin": 397.90940959097736, + "xmax": 815.4108272718919, + "ymax": 462.66497520665104 + }, + "corners_3d": [ + [ + -142.23338317871094, + -39.554168701171875, + 0.21492785215377808 + ], + [ + -143.26048278808594, + -39.554168701171875, + 0.21492785215377808 + ], + [ + -143.26048278808594, + -38.82135772705078, + 0.21492785215377808 + ], + [ + -142.23338317871094, + -38.82135772705078, + 0.21492785215377808 + ], + [ + -142.23338317871094, + -39.554168701171875, + 1.972273588180542 + ], + [ + -143.26048278808594, + -39.554168701171875, + 1.972273588180542 + ], + [ + -143.26048278808594, + -38.82135772705078, + 1.972273588180542 + ], + [ + -142.23338317871094, + -38.82135772705078, + 1.972273588180542 + ] + ], + "corners_2d": [ + [ + 773.2850090470442, + 459.4972422802726 + ], + [ + 808.5961131208506, + 462.66497520665104 + ], + [ + 808.3989133856039, + 445.506830574698 + ], + [ + 773.788112734537, + 442.4635964682051 + ], + [ + 778.6518626476715, + 414.69210735070845 + ], + [ + 815.4108272718919, + 417.8161250184022 + ], + [ + 815.0649549049601, + 400.905845909943 + ], + [ + 779.0642841592178, + 397.90940959097736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 760, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -47.35797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3106347620487213, + "y": 0.4607299566268921, + "z": 0.8953324556350708 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 134.38409845730553, + "ymin": 571.0067019133242, + "xmax": 206.12542841396794, + "ymax": 647.875081473507 + }, + "corners_3d": [ + [ + -127.40660095214844, + -47.56603240966797, + 0.048800528049468994 + ], + [ + -128.30792236328125, + -47.75761795043945, + 0.048800528049468994 + ], + [ + -128.4370880126953, + -47.149925231933594, + 0.048800528049468994 + ], + [ + -127.5357666015625, + -46.95833969116211, + 0.048800528049468994 + ], + [ + -127.40660095214844, + -47.56603240966797, + 1.8394653797149658 + ], + [ + -128.30792236328125, + -47.75761795043945, + 1.8394653797149658 + ], + [ + -128.4370880126953, + -47.149925231933594, + 1.8394653797149658 + ], + [ + -127.5357666015625, + -46.95833969116211, + 1.8394653797149658 + ] + ], + "corners_2d": [ + [ + 158.247921669944, + 637.2066922369881 + ], + [ + 189.085530485032, + 647.875081473507 + ], + [ + 206.12542841396794, + 627.6197429165965 + ], + [ + 175.70769131295162, + 617.3576889753974 + ], + [ + 134.38409845730553, + 590.8900522583739 + ], + [ + 166.50807497345937, + 601.5924821173141 + ], + [ + 184.841587963974, + 581.2818101073306 + ], + [ + 153.1701282252726, + 571.0067019133242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 244, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 28.872049039130616, + "ymin": 0.0, + "xmax": 116.02240793657688, + "ymax": 12.806920229406899 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 59.09654690087734, + 0.2195790046234265 + ], + [ + 40.81065959808859, + 10.161885095039793 + ], + [ + 99.04104236676244, + 12.806920229406899 + ], + [ + 116.02240793657688, + 2.737621602990089 + ], + [ + 47.80811007686475, + -30.32851995025362 + ], + [ + 28.872049039130616, + -20.9616261795573 + ], + [ + 88.19179179643902, + -18.468149831202368 + ], + [ + 105.77491146247542, + -27.95706414977502 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 2074, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 735.7133536917305, + "ymin": 3.5688437516544127, + "xmax": 833.1003890578191, + "ymax": 45.68585678987381 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 737.1892723077214, + 30.54350030475831 + ], + [ + 735.7133536917305, + 41.42126991151895 + ], + [ + 829.6631153117509, + 45.68585678987381 + ], + [ + 828.8173104706625, + 34.59965071338911 + ], + [ + 738.8897826860265, + 3.5688437516544127 + ], + [ + 737.4310853010971, + 13.94849079444515 + ], + [ + 833.1003890578191, + 18.02029487034349 + ], + [ + 832.1526823225753, + 7.4381795203692604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 3485, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 401.17058216155147, + "ymin": 147.33968568463305, + "xmax": 490.6399421115773, + "ymax": 242.9941912551236 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 406.62908148433075, + 239.37364043001298 + ], + [ + 456.06341928642763, + 242.9941912551236 + ], + [ + 490.6399421115773, + 179.65991283679082 + ], + [ + 445.8728167356972, + 176.7156010539926 + ], + [ + 401.17058216155147, + 208.19848702612444 + ], + [ + 451.7362539771606, + 211.72359716730978 + ], + [ + 487.4794840833328, + 150.19321998923044 + ], + [ + 441.7863811566875, + 147.33968568463305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 266.32336926262656, + "ymin": 0.0, + "xmax": 277.8752675692592, + "ymax": 2.113835228800781 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 274.9634859518375, + 2.113835228800781 + ], + [ + 277.8752675692592, + -0.12327431412057877 + ], + [ + 273.07509382523443, + -0.3346107236113198 + ], + [ + 270.13803546520603, + 1.9001297044012517 + ], + [ + 271.1965669513403, + -14.088614257359552 + ], + [ + 274.1593857702097, + -16.257671817218863 + ], + [ + 269.31196487469634, + -16.462566591009136 + ], + [ + 266.32336926262656, + -14.295829697074737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.6699377000932, + "ymin": 8.137553220679365, + "xmax": 731.4535558841211, + "ymax": 27.792450398065284 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 730.4657216567281, + 25.261531251252677 + ], + [ + 725.106988290655, + 25.02254368321394 + ], + [ + 724.6699377000932, + 27.55061224158112 + ], + [ + 730.0602971360912, + 27.792450398065284 + ], + [ + 731.4535558841211, + 8.369558135332795 + ], + [ + 726.0357805562031, + 8.137553220679365 + ], + [ + 725.5995135127239, + 10.591901747334134 + ], + [ + 731.0496178062082, + 10.826704444410325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 514.4155832402757, + "ymin": 0.0, + "xmax": 706.2864463072166, + "ymax": 132.67042056064872 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 695.2461279041738, + 132.67042056064872 + ], + [ + 696.5220576259227, + 126.09632561602294 + ], + [ + 536.0501035443594, + 117.21186370098789 + ], + [ + 532.8259339491765, + 123.5645593294411 + ], + [ + 704.9301940269231, + -119.66857230296984 + ], + [ + 706.2864463072166, + -123.72779050311425 + ], + [ + 518.4468306505771, + -129.18580801810447 + ], + [ + 514.4155832402757, + -125.28637813943243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 358.08552708833514, + "ymin": 16.636583445080987, + "xmax": 655.0277411824609, + "ymax": 369.941406088639 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 649.1955148397419, + 369.941406088639 + ], + [ + 651.8459581969303, + 356.2852728561386 + ], + [ + 423.96089601678716, + 338.0652020988962 + ], + [ + 417.36271545471135, + 351.06583112134837 + ], + [ + 651.7222318139264, + 39.58109809083982 + ], + [ + 655.0277411824609, + 29.687817921313012 + ], + [ + 367.6950140413992, + 16.636583445080987 + ], + [ + 358.08552708833514, + 25.93185032642731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1117.2082029898763, + "ymin": 0.0, + "xmax": 1196.493577770962, + "ymax": 73.60341081595777 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1135.6975457592794, + 73.19505540491542 + ], + [ + 1144.2761586959834, + 73.60341081595777 + ], + [ + 1125.3007257164768, + 47.58571621796284 + ], + [ + 1117.2082029898763, + 47.22095492574192 + ], + [ + 1186.9778460683594, + -81.88088193512795 + ], + [ + 1196.493577770962, + -81.57784660103715 + ], + [ + 1172.5255840249642, + -100.77780712617937 + ], + [ + 1163.6040737772403, + -101.04544259318317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 363.5207832266192, + "ymin": 25.60191026765426, + "xmax": 393.54943208942484, + "ymax": 34.17739892730674 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 387.69617082534955, + 34.17739892730674 + ], + [ + 393.54943208942484, + 27.99017031848024 + ], + [ + 369.93295401670457, + 26.891343294700903 + ], + [ + 363.7546077885787, + 33.046632984203825 + ], + [ + 387.4820535193353, + 32.872135971168404 + ], + [ + 393.3432633768441, + 26.69833669092708 + ], + [ + 369.7076090746422, + 25.60191026765426 + ], + [ + 363.5207832266192, + 31.74381320116987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 237.7163181518539, + "ymin": 0.0, + "xmax": 486.1135009544688, + "ymax": 62.15006971881064 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 279.866868078942, + 48.316501049149565 + ], + [ + 276.5854116840525, + 51.09438920403454 + ], + [ + 484.0601862807912, + 62.15006971881064 + ], + [ + 486.1135009544688, + 59.234866869621385 + ], + [ + 241.61099141295898, + -113.56390388245927 + ], + [ + 237.7163181518539, + -111.59861265289061 + ], + [ + 466.92818534995655, + -103.75126837467167 + ], + [ + 469.32529666126254, + -105.82448452769887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.7073013480076, + "ymin": 0.0, + "xmax": 755.5709518624121, + "ymax": 78.2432074551985 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 725.7073013480076, + 77.80811438361883 + ], + [ + 733.8249495089083, + 78.2432074551985 + ], + [ + 745.5626479490879, + 4.276871923750548 + ], + [ + 738.68983992938, + 3.9658535196869025 + ], + [ + 735.4785541439481, + -92.56635287257251 + ], + [ + 744.5325192563337, + -92.25436257439776 + ], + [ + 755.5709518624121, + -144.3790455267826 + ], + [ + 748.0386635857333, + -144.59440753525143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 465.48232564554075, + "xmax": 544.8719356598526, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 536.8472370170048, + 948.804239286833 + ], + [ + 544.8719356598526, + 907.4578145074014 + ], + [ + 162.13128894755363, + 853.9574077078955 + ], + [ + 142.85365288942478, + 891.9408188310387 + ], + [ + 474.2790791698101, + 570.6625828335825 + ], + [ + 489.9604618370631, + 523.7287233656612 + ], + [ + -96.32364821663009, + 465.48232564554075 + ], + [ + -138.7836287896323, + 506.5539097093485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 363.52682521268736, + "ymin": 25.635228602840186, + "xmax": 393.5547505000075, + "ymax": 34.21106959520239 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 387.7016942125473, + 34.21106959520239 + ], + [ + 393.5547505000075, + 28.023494975504263 + ], + [ + 369.9387671177736, + 26.924606098114168 + ], + [ + 363.7606395593986, + 33.08024070396158 + ], + [ + 387.4875862852384, + 32.90586381182146 + ], + [ + 393.34859068930643, + 26.731717126286014 + ], + [ + 369.7134318806, + 25.635228602840186 + ], + [ + 363.52682521268736, + 31.777477838077516 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00046/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00046/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a2a9c3d38fbed2f9b544b6f78ff42262ffb5478 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00046/meta.json @@ -0,0 +1,1828 @@ +{ + "frame_id": 46, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 23.0, + "sim_timestamp": 2647.619849772891 + }, + "drone_pose": { + "x": -142.03753266320754, + "y": -57.45109565274055, + "z": 20.001207436119156, + "pitch": -42.04749957325757, + "yaw": 82.12924330496047, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10168945789337158, + -0.7355942726135254, + 0.6697465181350708, + 43.308685302734375 + ], + [ + 0.9905794858932495, + 0.1369389295578003, + 0.0, + -132.83216857910156 + ], + [ + -0.09171441197395325, + 0.6634371280670166, + 0.7425898313522339, + -65.99478149414062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.24537641048107, + "y": -56.88829949768987, + "z": 20.000936013471303 + }, + "t1_image_uv": [ + 1331.1234214665044, + -504.9372874801725 + ], + "t1_depth": 0.39303588301260706 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -36.68776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.226609966268942, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 615, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -36.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3822118937969208, + "y": 0.3875219523906708, + "z": 0.8658341765403748 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.7190049114546, + "ymin": 328.0056945805317, + "xmax": 655.0155531393532, + "ymax": 391.4117246354429 + }, + "corners_3d": [ + [ + -138.77964782714844, + -37.069976806640625, + 0.23070114850997925 + ], + [ + -139.55470275878906, + -37.069976806640625, + 0.23070114850997925 + ], + [ + -139.55470275878906, + -36.30554962158203, + 0.23070114850997925 + ], + [ + -138.77964782714844, + -36.30554962158203, + 0.23070114850997925 + ], + [ + -138.77964782714844, + -37.069976806640625, + 1.962369441986084 + ], + [ + -139.55470275878906, + -37.069976806640625, + 1.962369441986084 + ], + [ + -139.55470275878906, + -36.30554962158203, + 1.962369441986084 + ], + [ + -138.77964782714844, + -36.30554962158203, + 1.962369441986084 + ] + ], + "corners_2d": [ + [ + 625.3394399111153, + 388.9360841017062 + ], + [ + 651.1728139115355, + 391.4117246354429 + ], + [ + 654.4160429857864, + 374.04315639743163 + ], + [ + 629.0726155737136, + 371.6623066081678 + ], + [ + 624.7190049114546, + 345.1147314046536 + ], + [ + 651.6470112309687, + 347.56905235545423 + ], + [ + 655.0155531393532, + 330.36217821997593 + ], + [ + 628.6194665196771, + 328.0056945805317 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 46, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 41, + "semantic_pixel_counts": { + "1": 342931, + "2": 128129, + "3": 178161, + "4": 72484, + "6": 11426, + "10": 6, + "12": 3879, + "14": 4228, + "20": 257, + "24": 8972, + "25": 171127 + }, + "instance_pixel_counts": { + "3413": 12894, + "3662": 59918, + "11605": 3848, + "15960": 5293, + "17240": 5121, + "17496": 836, + "20565": 1802, + "21907": 11048, + "21909": 1954, + "22421": 1299, + "22931": 57520, + "22933": 5719, + "23443": 274339, + "23955": 24, + "25856": 176, + "36096": 615, + "36352": 607, + "36608": 548, + "36864": 624, + "37120": 705, + "37376": 780, + "41728": 4228, + "47201": 3722, + "47713": 457, + "48225": 170, + "48737": 13651, + "48980": 159617, + "49249": 1867, + "49761": 2582, + "51297": 74448, + "51526": 12566, + "51809": 10819, + "52321": 2610, + "52833": 212, + "53345": 13, + "54366": 151382, + "54878": 19745, + "56970": 496, + "57482": 10865, + "57994": 6217, + "59737": 257 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 615, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -36.68776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37162595987319946, + "y": 0.508160412311554, + "z": 0.8869673609733582 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.5878793861073, + "ymin": 327.3170762836521, + "xmax": 659.1025970563871, + "ymax": 392.0658110997519 + }, + "corners_3d": [ + [ + -138.6590118408203, + -37.059391021728516, + 0.20956796407699585 + ], + [ + -139.6753387451172, + -37.05938720703125, + 0.20956796407699585 + ], + [ + -139.6753387451172, + -36.31613540649414, + 0.20956796407699585 + ], + [ + -138.6590118408203, + -36.316139221191406, + 0.20956796407699585 + ], + [ + -138.6590118408203, + -37.059391021728516, + 1.9835026264190674 + ], + [ + -139.6753387451172, + -37.05938720703125, + 1.9835026264190674 + ], + [ + -139.6753387451172, + -36.31613540649414, + 1.9835026264190674 + ], + [ + -138.6590118408203, + -36.316139221191406, + 1.9835026264190674 + ] + ], + "corners_2d": [ + [ + 621.3943169781787, + 388.82111945101985 + ], + [ + 655.2437408893771, + 392.0658110997519 + ], + [ + 658.3211334422456, + 375.16262495075597 + ], + [ + 625.0957645434997, + 372.0387356766183 + ], + [ + 620.5878793861073, + 343.93486010719 + ], + [ + 655.9069602803522, + 347.1508459562771 + ], + [ + 659.1025970563871, + 330.4082812504225 + ], + [ + 624.462394153191, + 327.3170762836521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 607, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -33.690059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4514160454273224, + "y": 0.4855603575706482, + "z": 0.9204654693603516 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 507.78780643840946, + "ymin": 257.9702052230727, + "xmax": 543.0435787024181, + "ymax": 321.68752833430636 + }, + "corners_3d": [ + [ + -134.6601104736328, + -34.232566833496094, + 0.023672401905059814 + ], + [ + -135.61000061035156, + -34.03065872192383, + 0.023672401905059814 + ], + [ + -135.4222869873047, + -33.147552490234375, + 0.023672401905059814 + ], + [ + -134.47239685058594, + -33.34946060180664, + 0.023672401905059814 + ], + [ + -134.6601104736328, + -34.232566833496094, + 1.8646032810211182 + ], + [ + -135.61000061035156, + -34.03065872192383, + 1.8646032810211182 + ], + [ + -135.4222869873047, + -33.147552490234375, + 1.8646032810211182 + ], + [ + -134.47239685058594, + -33.34946060180664, + 1.8646032810211182 + ] + ], + "corners_2d": [ + [ + 513.0109567095592, + 321.68752833430636 + ], + [ + 542.966123688233, + 320.3129327908006 + ], + [ + 543.0435787024181, + 303.01144352304624 + ], + [ + 513.7168955220993, + 304.32902113504656 + ], + [ + 507.78780643840946, + 276.33167633185315 + ], + [ + 538.981952691071, + 274.97907486917404 + ], + [ + 539.1493084692996, + 257.9702052230727 + ], + [ + 508.6361194998291, + 259.26447050850334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 548, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -29.74505043029785, + "z": 1.0920968055725098 + }, + "extent": { + "x": 0.4265380799770355, + "y": 0.5333617925643921, + "z": 0.9370132088661194 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 715.1372909629623, + "ymin": 202.3211392314968, + "xmax": 750.6146010899075, + "ymax": 262.20844310066246 + }, + "corners_3d": [ + [ + -140.93714904785156, + -30.225004196166992, + 0.15508359670639038 + ], + [ + -141.99803161621094, + -30.113500595092773, + 0.15508359670639038 + ], + [ + -141.9088592529297, + -29.26509666442871, + 0.15508359670639038 + ], + [ + -140.8479766845703, + -29.37660026550293, + 0.15508359670639038 + ], + [ + -140.93714904785156, + -30.225004196166992, + 2.0291099548339844 + ], + [ + -141.99803161621094, + -30.113500595092773, + 2.0291099548339844 + ], + [ + -141.9088592529297, + -29.26509666442871, + 2.0291099548339844 + ], + [ + -140.8479766845703, + -29.37660026550293, + 2.0291099548339844 + ] + ], + "corners_2d": [ + [ + 715.7606541381141, + 261.61436007475265 + ], + [ + 746.4585235384748, + 262.20844310066246 + ], + [ + 745.2636753621632, + 247.92215009226908 + ], + [ + 715.1372909629623, + 247.3499543729195 + ], + [ + 718.7159280899948, + 216.25590888053543 + ], + [ + 750.6146010899075, + 216.83670156269957 + ], + [ + 749.293740646453, + 202.87972333497484 + ], + [ + 718.0116873048889, + 202.3211392314968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 624, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -36.68776321411133, + "z": 1.0934102535247803 + }, + "extent": { + "x": 0.39438962936401367, + "y": 0.42006468772888184, + "z": 0.8760768175125122 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 744.6971109687154, + "ymin": 338.4393944531352, + "xmax": 780.0706719423104, + "ymax": 403.7477046217596 + }, + "corners_3d": [ + [ + -142.32687377929688, + -37.0821533203125, + 0.21733343601226807 + ], + [ + -143.1669921875, + -37.0821533203125, + 0.21733343601226807 + ], + [ + -143.1669921875, + -36.293373107910156, + 0.21733343601226807 + ], + [ + -142.32687377929688, + -36.293373107910156, + 0.21733343601226807 + ], + [ + -142.32687377929688, + -37.0821533203125, + 1.9694870710372925 + ], + [ + -143.1669921875, + -37.0821533203125, + 1.9694870710372925 + ], + [ + -143.1669921875, + -36.293373107910156, + 1.9694870710372925 + ], + [ + -142.32687377929688, + -36.293373107910156, + 1.9694870710372925 + ] + ], + "corners_2d": [ + [ + 744.6971109687154, + 400.9925549336518 + ], + [ + 773.4275678241231, + 403.7477046217596 + ], + [ + 774.343163864699, + 385.35819875647815 + ], + [ + 746.1891272724663, + 382.7131661020953 + ], + [ + 749.2424121490251, + 356.5620055420624 + ], + [ + 779.2385336086229, + 359.29627606182197 + ], + [ + 780.0706719423104, + 341.0597799938002 + ], + [ + 750.7023248252607, + 338.4393944531352 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 705, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.2977294921875, + "y": -43.24491500854492, + "z": 1.0930001735687256 + }, + "extent": { + "x": 0.3992920219898224, + "y": 0.3168066740036011, + "z": 0.8781076073646545 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 672.9948047690357, + "ymin": 510.02300587582954, + "xmax": 707.9392233375048, + "ymax": 585.7700910802715 + }, + "corners_3d": [ + [ + -140.94091796875, + -43.60890579223633, + 0.21489256620407104 + ], + [ + -141.57106018066406, + -43.67513656616211, + 0.21489256620407104 + ], + [ + -141.654541015625, + -42.880924224853516, + 0.21489256620407104 + ], + [ + -141.02439880371094, + -42.814693450927734, + 0.21489256620407104 + ], + [ + -140.94091796875, + -43.60890579223633, + 1.9711077213287354 + ], + [ + -141.57106018066406, + -43.67513656616211, + 1.9711077213287354 + ], + [ + -141.654541015625, + -42.880924224853516, + 1.9711077213287354 + ], + [ + -141.02439880371094, + -42.814693450927734, + 1.9711077213287354 + ] + ], + "corners_2d": [ + [ + 672.9948047690357, + 580.5406509362733 + ], + [ + 698.3547069843341, + 585.7700910802715 + ], + [ + 704.6107599313057, + 559.5932829627628 + ], + [ + 679.8268948294619, + 554.6110694853922 + ], + [ + 674.7297287106849, + 536.1684284985756 + ], + [ + 701.4386493111041, + 541.4493535478828 + ], + [ + 707.9392233375048, + 515.0416036862682 + ], + [ + 681.8685158617973, + 510.02300587582954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 780, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -44.85797882080078, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.2978906035423279, + "y": 0.45838621258735657, + "z": 0.8890272378921509 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 100.84596951004858, + "ymin": 506.9587702958962, + "xmax": 173.87806316238675, + "ymax": 580.621433878649 + }, + "corners_3d": [ + [ + -127.41153717041016, + -45.054054260253906, + 0.05512517690658569 + ], + [ + -128.3082733154297, + -45.24466323852539, + 0.05512517690658569 + ], + [ + -128.43214416503906, + -44.661903381347656, + 0.05512517690658569 + ], + [ + -127.53540802001953, + -44.47129440307617, + 0.05512517690658569 + ], + [ + -127.41153717041016, + -45.054054260253906, + 1.8331797122955322 + ], + [ + -128.3082733154297, + -45.24466323852539, + 1.8331797122955322 + ], + [ + -128.43214416503906, + -44.661903381347656, + 1.8331797122955322 + ], + [ + -127.53540802001953, + -44.47129440307617, + 1.8331797122955322 + ] + ], + "corners_2d": [ + [ + 127.63673459643655, + 570.131094391735 + ], + [ + 157.5154279114106, + 580.621433878649 + ], + [ + 173.87806316238675, + 561.9030466502049 + ], + [ + 144.35396698517496, + 551.7693819333135 + ], + [ + 100.84596951004858, + 525.4619234383681 + ], + [ + 132.02801402038705, + 536.0478998932706 + ], + [ + 149.70124364573752, + 517.1664132377022 + ], + [ + 118.9023120187477, + 506.9587702958962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4228, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 353.9345938211486, + "ymin": 109.37217360389636, + "xmax": 454.52955411824445, + "ymax": 215.2284471074406 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 361.42205157086596, + 210.8931941544288 + ], + [ + 413.57324134792265, + 215.2284471074406 + ], + [ + 454.52955411824445, + 143.92929953971932 + ], + [ + 407.28533276537826, + 140.4069273487865 + ], + [ + 353.9345938211486, + 178.27693094359097 + ], + [ + 407.4496666637398, + 182.52680629440775 + ], + [ + 450.02165497359533, + 112.80688870694263 + ], + [ + 401.66055614604045, + 109.37217360389636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 475.022939438257, + "ymin": 0.0, + "xmax": 683.7384321018939, + "ymax": 92.03739530298492 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 674.5636122270686, + 92.03739530298492 + ], + [ + 676.3516966244081, + 84.62129909721267 + ], + [ + 506.56721589864014, + 73.94273858884509 + ], + [ + 502.7184102872174, + 81.09139020063014 + ], + [ + 681.6934164901747, + -182.80572394345995 + ], + [ + 683.7384321018939, + -187.6268024510822 + ], + [ + 480.04126173217537, + -194.52568297123196 + ], + [ + 475.022939438257, + -189.91290257529943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 277.0608734011105, + "ymin": 0.0, + "xmax": 613.5949613470631, + "ymax": 360.38672744634744 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 609.8622868223972, + 360.38672744634744 + ], + [ + 613.5949613470631, + 344.9054261045623 + ], + [ + 372.52293731909634, + 322.91240473002335 + ], + [ + 364.6169677962073, + 337.59670616753664 + ], + [ + 599.9360214144021, + 9.935504035552015 + ], + [ + 605.1035208204183, + -2.246760090809971 + ], + [ + 289.42111190039793, + -19.309975666159062 + ], + [ + 277.0608734011105, + -7.948595806667356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1129.6160788845093, + "ymin": 0.0, + "xmax": 1219.4448235454495, + "ymax": 27.07140623251263 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1147.8070717635046, + 26.57754549383594 + ], + [ + 1156.9525491482232, + 27.07140623251263 + ], + [ + 1138.23964535517, + -2.4111907004194677 + ], + [ + 1129.6160788845093, + -2.851940291124265 + ], + [ + 1209.1300274152866, + -142.225435850665 + ], + [ + 1219.4448235454495, + -141.84738427613098 + ], + [ + 1194.7595767428315, + -164.26895615979754 + ], + [ + 1185.1036210355917, + -164.60188715404945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 283.92421492708183, + "ymin": 0.0, + "xmax": 318.0591769973525, + "ymax": 1.2149628738366687 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 310.4903393573501, + 1.2149628738366687 + ], + [ + 318.0591769973525, + -6.336312858456381 + ], + [ + 292.21973350162614, + -7.765678543809088 + ], + [ + 284.2833792091374, + -0.25788367155178094 + ], + [ + 310.1566658155879, + -0.2262186543115945 + ], + [ + 317.7380279400883, + -7.76354257825875 + ], + [ + 291.87380230708976, + -9.190241765453948 + ], + [ + 283.92421492708183, + -1.6963618009531274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.92357898987768, + "ymin": 0.0, + "xmax": 457.8477496836488, + "ymax": 11.572946708446466 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 240.56503903880161, + -4.697851357106117 + ], + [ + 236.9072265038413, + -1.590299193056353 + ], + [ + 455.4770067985854, + 11.572946708446466 + ], + [ + 457.8477496836488, + 8.301556996751685 + ], + [ + 191.3777964971527, + -180.68139231502846 + ], + [ + 186.92357898987768, + -178.41510726350145 + ], + [ + 431.9225336120926, + -168.7768398537396 + ], + [ + 434.76155081265455, + -171.17802691883958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.7341251973512, + "ymin": 0.0, + "xmax": 747.206074065668, + "ymax": 30.612056941119988 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 710.7341251973512, + 30.091237127340662 + ], + [ + 719.3313898614091, + 30.612056941119988 + ], + [ + 736.5766780786304, + -52.651036420981484 + ], + [ + 729.2985841820456, + -53.0227814621004 + ], + [ + 720.1294690069095, + -155.1110827585038 + ], + [ + 729.8802775607255, + -154.72492471477278 + ], + [ + 747.206074065668, + -215.21915852707457 + ], + [ + 739.1179917969816, + -215.4837617941514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 557.4686570857746, + "xmax": 462.0814914789005, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 450.64411901242295, + 1020.7455632700046 + ], + [ + 462.0814914789005, + 973.3089561448053 + ], + [ + 57.47578264074957, + 908.071229045668 + ], + [ + 34.17224914916778, + 951.3544877243387 + ], + [ + 303.88118949739146, + 707.8781402939558 + ], + [ + 331.61058130821795, + 642.5067200844873 + ], + [ + -338.06617840007664, + 557.4686570857746 + ], + [ + -398.7857560471725, + 613.2813492596614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 283.9334971444633, + "ymin": 0.0, + "xmax": 318.06746012015714, + "ymax": 1.2521334606494179 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 310.4989453803312, + 1.2521334606494179 + ], + [ + 318.06746012015714, + -6.29950154367242 + ], + [ + 292.2286558350161, + -7.728935896140058 + ], + [ + 284.292642710749, + -0.22078269816501006 + ], + [ + 310.1652892767136, + -0.18897274977473444 + ], + [ + 317.7463275964257, + -7.726657786225246 + ], + [ + 291.8827423988699, + -9.153425987781304 + ], + [ + 283.9334971444633, + -1.659185869596456 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00047/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00047/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a117535aec58031f4ccddfe7473533c7971804b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00047/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 47, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 23.5, + "sim_timestamp": 2662.8886298106518 + }, + "drone_pose": { + "x": -142.24537641048107, + "y": -56.88829949768987, + "z": 20.000936013471303, + "pitch": -42.773428768726156, + "yaw": 79.82076536494861, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.12972640991210938, + -0.7224907875061035, + 0.6791009902954102, + 45.971595764160156 + ], + [ + 0.9842597246170044, + 0.17672812938690186, + 0.0, + -129.95263671875 + ], + [ + -0.12001624703407288, + 0.6684117317199707, + 0.7340449094772339, + -69.77814483642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.34849222037573, + "y": -56.253499761170026, + "z": 20.11903121619407 + }, + "t1_image_uv": [ + 1201.911945441263, + -951.2155891684429 + ], + "t1_depth": 0.3650615773627185 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -139.16718292236328, + "y": -36.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 661.4050490336651, + 348.7893035736495 + ], + "depth": 28.193266585611504, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 630, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -36.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3951757848262787, + "y": 0.34145262837409973, + "z": 0.879364013671875 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 647.4887249152902, + "ymin": 316.0030417066818, + "xmax": 675.676754634008, + "ymax": 380.9594867616608 + }, + "corners_3d": [ + [ + -138.8257293701172, + -36.58293914794922, + 0.217171311378479 + ], + [ + -139.5086212158203, + -36.58293914794922, + 0.217171311378479 + ], + [ + -139.5086212158203, + -35.79258728027344, + 0.217171311378479 + ], + [ + -138.8257293701172, + -35.79258728027344, + 0.217171311378479 + ], + [ + -138.8257293701172, + -36.58293914794922, + 1.975899338722229 + ], + [ + -139.5086212158203, + -36.58293914794922, + 1.975899338722229 + ], + [ + -139.5086212158203, + -35.79258728027344, + 1.975899338722229 + ], + [ + -138.8257293701172, + -35.79258728027344, + 1.975899338722229 + ] + ], + "corners_2d": [ + [ + 647.4887249152902, + 378.1385163923206 + ], + [ + 670.1839511268031, + 380.9594867616608 + ], + [ + 674.209023566519, + 363.0784029609813 + ], + [ + 651.946585373397, + 360.3671467609213 + ], + [ + 647.8156936191975, + 333.6242525844734 + ], + [ + 671.5061084851028, + 336.42416255457357 + ], + [ + 675.676754634008, + 318.6894401152173 + ], + [ + 652.4575251361236, + 316.0030417066818 + ] + ], + "center_offset_px": [ + 21.405049033665136, + -11.210696426350523 + ] + }, + "trace_timestep_index": 47, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 37, + "semantic_pixel_counts": { + "1": 353616, + "2": 132066, + "3": 167287, + "4": 72671, + "6": 9767, + "10": 1, + "12": 3787, + "14": 4307, + "20": 238, + "24": 8774, + "25": 169086 + }, + "instance_pixel_counts": { + "3413": 13407, + "3662": 59050, + "11605": 3049, + "15960": 3829, + "17240": 5008, + "17496": 806, + "20565": 3270, + "21907": 6981, + "21909": 1506, + "22421": 1324, + "22931": 58375, + "22933": 5944, + "23443": 288260, + "25856": 124, + "36096": 630, + "36352": 605, + "36608": 557, + "36864": 641, + "37120": 674, + "37376": 680, + "41728": 4307, + "47201": 3709, + "47713": 317, + "48737": 14292, + "48980": 147561, + "49249": 1925, + "49761": 2521, + "51297": 76132, + "51526": 13621, + "51809": 11083, + "52321": 3183, + "52833": 202, + "54366": 154685, + "54878": 14401, + "57482": 10201, + "57994": 8501, + "59737": 238 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 630, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -36.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.37660643458366394, + "y": 0.4722985625267029, + "z": 0.8733207583427429 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 643.265041394577, + "ymin": 316.05440024962235, + "xmax": 680.043187988737, + "ymax": 380.9265621052406 + }, + "corners_3d": [ + [ + -138.6948699951172, + -36.564369201660156, + 0.22321456670761108 + ], + [ + -139.6394805908203, + -36.564369201660156, + 0.22321456670761108 + ], + [ + -139.6394805908203, + -35.8111572265625, + 0.22321456670761108 + ], + [ + -138.6948699951172, + -35.8111572265625, + 0.22321456670761108 + ], + [ + -138.6948699951172, + -36.564369201660156, + 1.9698560237884521 + ], + [ + -139.6394805908203, + -36.564369201660156, + 1.9698560237884521 + ], + [ + -139.6394805908203, + -35.8111572265625, + 1.9698560237884521 + ], + [ + -138.6948699951172, + -35.8111572265625, + 1.9698560237884521 + ] + ], + "corners_2d": [ + [ + 643.265041394577, + 377.02818398619866 + ], + [ + 674.6484926736632, + 380.9265621052406 + ], + [ + 678.4051980770035, + 363.86608416782803 + ], + [ + 647.5924315104296, + 360.1123523894815 + ], + [ + 643.4064398763242, + 332.82743203707645 + ], + [ + 676.1557513986506, + 336.6967509549969 + ], + [ + 680.043187988737, + 319.7741014460556 + ], + [ + 647.914829787618, + 316.05440024962235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 605, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -135.04119873046875, + "y": -33.190059661865234, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.46689456701278687, + "y": 0.5595044493675232, + "z": 0.9250472187995911 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 529.7465247576132, + "ymin": 243.63659590412777, + "xmax": 569.2119731745681, + "ymax": 307.55694166194394 + }, + "corners_3d": [ + [ + -134.5909881591797, + -33.76308059692383, + 0.019090652465820312 + ], + [ + -135.685546875, + -33.53042221069336, + 0.019090652465820312 + ], + [ + -135.4914093017578, + -32.61703872680664, + 0.019090652465820312 + ], + [ + -134.3968505859375, + -32.84969711303711, + 0.019090652465820312 + ], + [ + -134.5909881591797, + -33.76308059692383, + 1.8691850900650024 + ], + [ + -135.685546875, + -33.53042221069336, + 1.8691850900650024 + ], + [ + -135.4914093017578, + -32.61703872680664, + 1.8691850900650024 + ], + [ + -134.3968505859375, + -32.84969711303711, + 1.8691850900650024 + ] + ], + "corners_2d": [ + [ + 534.1763516861785, + 307.55694166194394 + ], + [ + 568.5722307714055, + 306.8599895862045 + ], + [ + 569.2119731745681, + 288.9729272773233 + ], + [ + 535.5540315155891, + 289.64032765002196 + ], + [ + 529.7465247576132, + 261.9242800200442 + ], + [ + 565.5848291445405, + 261.23782668276993 + ], + [ + 566.3173432075207, + 243.63659590412777 + ], + [ + 531.2794459981687, + 244.29276540654092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 557, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -141.42300415039062, + "y": -29.24505043029785, + "z": 1.0920674800872803 + }, + "extent": { + "x": 0.45322751998901367, + "y": 0.6010021567344666, + "z": 0.9414204359054565 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 739.3178478624282, + "ymin": 191.68214987890534, + "xmax": 779.6330196817859, + "ymax": 253.9200212836701 + }, + "corners_3d": [ + [ + -140.87266540527344, + -29.758617401123047, + 0.15064704418182373 + ], + [ + -142.06808471679688, + -29.632972717285156, + 0.15064704418182373 + ], + [ + -141.9733428955078, + -28.731483459472656, + 0.15064704418182373 + ], + [ + -140.77792358398438, + -28.857128143310547, + 0.15064704418182373 + ], + [ + -140.87266540527344, + -29.758617401123047, + 2.0334877967834473 + ], + [ + -142.06808471679688, + -29.632972717285156, + 2.0334877967834473 + ], + [ + -141.9733428955078, + -28.731483459472656, + 2.0334877967834473 + ], + [ + -140.77792358398438, + -28.857128143310547, + 2.0334877967834473 + ] + ], + "corners_2d": [ + [ + 739.39250320151, + 252.40806192447383 + ], + [ + 774.2545040102475, + 253.9200212836701 + ], + [ + 773.4964342663866, + 238.59209011079201 + ], + [ + 739.3178478624282, + 237.13876173479508 + ], + [ + 743.3663684324808, + 206.6187041502305 + ], + [ + 779.6330196817859, + 208.0989865716922 + ], + [ + 778.7356461069526, + 193.10280220387256 + ], + [ + 743.2080064958113, + 191.68214987890534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 641, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.74693298339844, + "y": -36.18776321411133, + "z": 1.0933712720870972 + }, + "extent": { + "x": 0.4071630835533142, + "y": 0.47252073884010315, + "z": 0.8947895765304565 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 763.4758759805602, + "ymin": 329.15285387566126, + "xmax": 804.551172561205, + "ymax": 397.3386908769525 + }, + "corners_3d": [ + [ + -142.2744140625, + -36.59492492675781, + 0.19858169555664062 + ], + [ + -143.21945190429688, + -36.59492492675781, + 0.19858169555664062 + ], + [ + -143.21945190429688, + -35.780601501464844, + 0.19858169555664062 + ], + [ + -142.2744140625, + -35.780601501464844, + 0.19858169555664062 + ], + [ + -142.2744140625, + -36.59492492675781, + 1.9881608486175537 + ], + [ + -143.21945190429688, + -36.59492492675781, + 1.9881608486175537 + ], + [ + -143.21945190429688, + -35.780601501464844, + 1.9881608486175537 + ], + [ + -142.2744140625, + -35.780601501464844, + 1.9881608486175537 + ] + ], + "corners_2d": [ + [ + 763.4758759805602, + 393.3017807296383 + ], + [ + 795.9272573000734, + 397.3386908769525 + ], + [ + 797.5519081659977, + 378.2813056811406 + ], + [ + 765.7589645093971, + 374.40859085142694 + ], + [ + 769.0563161048751, + 347.9097566920806 + ], + [ + 803.0065992828208, + 351.9220546771513 + ], + [ + 804.551172561205, + 332.9948022362199 + ], + [ + 771.3208975206616, + 329.15285387566126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 674, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.2977294921875, + "y": -42.74491500854492, + "z": 1.0929464101791382 + }, + "extent": { + "x": 0.37772464752197266, + "y": 0.33457767963409424, + "z": 0.8652627468109131 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 686.4381397889999, + "ymin": 500.97819617129494, + "xmax": 723.9606812192653, + "ymax": 575.3434119351932 + }, + "corners_3d": [ + [ + -140.92550659179688, + -43.08559799194336, + 0.2276836633682251 + ], + [ + -141.5909881591797, + -43.15554428100586, + 0.2276836633682251 + ], + [ + -141.66995239257812, + -42.404232025146484, + 0.2276836633682251 + ], + [ + -141.0044708251953, + -42.334285736083984, + 0.2276836633682251 + ], + [ + -140.92550659179688, + -43.08559799194336, + 1.9582091569900513 + ], + [ + -141.5909881591797, + -43.15554428100586, + 1.9582091569900513 + ], + [ + -141.66995239257812, + -42.404232025146484, + 1.9582091569900513 + ], + [ + -141.0044708251953, + -42.334285736083984, + 1.9582091569900513 + ] + ], + "corners_2d": [ + [ + 686.4381397889999, + 568.9361282646036 + ], + [ + 713.0352293872311, + 575.3434119351932 + ], + [ + 719.8437898632232, + 550.8230511283798 + ], + [ + 693.795693478603, + 544.6965633316796 + ], + [ + 688.8748805808341, + 525.4500832568384 + ], + [ + 716.8911587252026, + 531.9282619047059 + ], + [ + 723.9606812192653, + 507.1580489371745 + ], + [ + 696.5529402895658, + 500.97819617129494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 680, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.92184448242188, + "y": -44.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.29631346464157104, + "y": 0.5379687547683716, + "z": 0.8827162981033325 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 123.0412478924427, + "ymin": 478.8370688690446, + "xmax": 198.33947329616495, + "ymax": 553.8304250172716 + }, + "corners_3d": [ + [ + -127.33402252197266, + -44.53596878051758, + 0.06142157316207886 + ], + [ + -128.38644409179688, + -44.759666442871094, + 0.06142157316207886 + ], + [ + -128.50965881347656, + -44.179988861083984, + 0.06142157316207886 + ], + [ + -127.45723724365234, + -43.95629119873047, + 0.06142157316207886 + ], + [ + -127.33402252197266, + -44.53596878051758, + 1.8268542289733887 + ], + [ + -128.38644409179688, + -44.759666442871094, + 1.8268542289733887 + ], + [ + -128.50965881347656, + -44.179988861083984, + 1.8268542289733887 + ], + [ + -127.45723724365234, + -43.95629119873047, + 1.8268542289733887 + ] + ], + "corners_2d": [ + [ + 148.4425170119834, + 540.609554507404 + ], + [ + 182.0466066381394, + 553.8304250172716 + ], + [ + 198.33947329616495, + 536.043921911178 + ], + [ + 165.0853063088211, + 523.2515833056294 + ], + [ + 123.0412478924427, + 496.3208630749998 + ], + [ + 158.0737648029703, + 509.65726942556114 + ], + [ + 175.6191461143917, + 491.71929172681894 + ], + [ + 140.9628825393064, + 478.8370688690446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4307, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 378.1737351934075, + "ymin": 98.16423352233915, + "xmax": 480.73210191198314, + "ymax": 205.78073788756635 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 385.1538550013449, + 200.18770171861053 + ], + [ + 437.0029431253259, + 205.78073788756635 + ], + [ + 480.73210191198314, + 133.99904165105912 + ], + [ + 433.6185382167563, + 129.443181695865 + ], + [ + 378.1737351934075, + 167.3891913162836 + ], + [ + 431.3990709319222, + 172.8778060417209 + ], + [ + 476.77610486582387, + 102.61116674753521 + ], + [ + 428.5284454851468, + 98.16423352233915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 508.9308494367855, + "ymin": 0.0, + "xmax": 720.7109650142138, + "ymax": 85.31683777859689 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 704.5878637749828, + 85.31683777859689 + ], + [ + 706.6916422665414, + 77.73574322084062 + ], + [ + 535.5837435461765, + 63.631669842937185 + ], + [ + 531.4389877029884, + 70.86181054314488 + ], + [ + 718.3710867334783, + -194.74296187264918 + ], + [ + 720.7109650142138, + -199.7291955989308 + ], + [ + 514.2496405490792, + -208.93626560080827 + ], + [ + 508.9308494367855, + -204.22769477142003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 299.6726565120652, + "ymin": 0.0, + "xmax": 632.9728178718141, + "ymax": 359.15900349889506 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 628.5957687107189, + 359.15900349889506 + ], + [ + 632.9728178718141, + 343.386038946136 + ], + [ + 391.7722486885413, + 314.4974340680513 + ], + [ + 383.32479250961654, + 329.2332349314106 + ], + [ + 624.7050687726215, + 4.857445382760261 + ], + [ + 630.6322164952226, + -7.773187637088654 + ], + [ + 312.7064907712257, + -30.515986279515005 + ], + [ + 299.6726565120652, + -18.977512500028695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1177.0310080399972, + "ymin": 0.0, + "xmax": 1276.08748880477, + "ymax": 26.978072524973356 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1194.909254207138, + 26.302470657131494 + ], + [ + 1204.4607012762654, + 26.978072524973356 + ], + [ + 1186.027780315417, + -4.063788540217615 + ], + [ + 1177.0310080399972, + -4.665985904161801 + ], + [ + 1265.2274617356134, + -147.47755981054587 + ], + [ + 1276.08748880477, + -146.95485241769018 + ], + [ + 1250.9801409832562, + -170.80614003999062 + ], + [ + 1240.8310390153424, + -171.2655207812063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.8058876424851, + "ymin": 0.0, + "xmax": 788.5013426294245, + "ymax": 22.98519928683652 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 743.8058876424851, + 22.301787372363663 + ], + [ + 752.5376503126278, + 22.98519928683652 + ], + [ + 773.3326681449648, + -62.3485577786754 + ], + [ + 765.929669410585, + -62.836814294372175 + ], + [ + 758.0562413895059, + -166.50726990335272 + ], + [ + 768.0085082812998, + -165.9965519033235 + ], + [ + 788.5013426294245, + -228.4485489162097 + ], + [ + 780.2394133159094, + -228.7983930050898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15178117245363240955, + "instance_id": 64319, + "pixel_count": null, + "type_id": "BP_StreetLight_simple35_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -52.85001754760742, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 550.5804566612549, + "xmax": 455.98830200984116, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -52.48363494873047, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -53.216400146484375, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -53.216400146484375, + 11.111722946166992 + ], + [ + -138.1054229736328, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -52.48363494873047, + 11.111722946166992 + ], + [ + -130.23475646972656, + -53.216400146484375, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 442.6849517741929, + 1029.1000530969013 + ], + [ + 455.98830200984116, + 981.1606149892942 + ], + [ + 58.09125640584455, + 896.572913990519 + ], + [ + 33.647043776195915, + 939.213568830224 + ], + [ + 283.5512046623317, + 731.8494932525367 + ], + [ + 315.63687931417087, + 663.4755635500053 + ], + [ + -343.69875576518916, + 550.5804566612549 + ], + [ + -406.65018703654505, + 606.3095249202878 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00051/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00051/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a06ef71a09a709960d55c2c45baea63b10b4951c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00051/meta.json @@ -0,0 +1,2899 @@ +{ + "frame_id": 51, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 25.5, + "sim_timestamp": 2713.4587755703833 + }, + "drone_pose": { + "x": -142.65599320373136, + "y": -54.52747193800166, + "z": 20.000313696330664, + "pitch": -37.84078700723067, + "yaw": 78.80227527974135, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.15335965156555176, + -0.7746846079826355, + 0.6134693622589111, + 51.849693298339844 + ], + [ + 0.9809629321098328, + 0.19419533014297485, + 0.0, + -129.3512420654297 + ], + [ + -0.1191328912973404, + 0.6017906665802002, + 0.789718508720398, + -65.60376739501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.46709083990567, + "y": -53.87204158379452, + "z": 20.059925162115825 + }, + "t1_image_uv": [ + 528.6265248112591, + -530.6336203447023 + ], + "t1_depth": 0.5001519548220081 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -138.66718292236328, + "y": -34.18776321411133, + "z": 1.0965352994203568 + }, + "image_uv": [ + 641.2702415373135, + 435.97544316159275 + ], + "depth": 27.96546968110875, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 604, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -138.66717529296875, + "y": -34.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4768359363079071, + "y": 0.45442381501197815, + "z": 0.8791598081588745 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.8793823646309, + "ymin": 398.51036315059946, + "xmax": 663.8964431923562, + "ymax": 473.36877869376167 + }, + "corners_3d": [ + [ + -138.6830291748047, + -34.84626388549805, + 0.2173755168914795 + ], + [ + -139.32566833496094, + -34.203609466552734, + 0.2173755168914795 + ], + [ + -138.6513214111328, + -33.52926254272461, + 0.2173755168914795 + ], + [ + -138.00868225097656, + -34.17191696166992, + 0.2173755168914795 + ], + [ + -138.6830291748047, + -34.84626388549805, + 1.9756951332092285 + ], + [ + -139.32566833496094, + -34.203609466552734, + 1.9756951332092285 + ], + [ + -138.6513214111328, + -33.52926254272461, + 1.9756951332092285 + ], + [ + -138.00868225097656, + -34.17191696166992, + 1.9756951332092285 + ] + ], + "corners_2d": [ + [ + 637.4165352194979, + 473.36877869376167 + ], + [ + 662.9885496387582, + 461.28614357540147 + ], + [ + 644.9400898910733, + 443.01798927409453 + ], + [ + 619.6754628505006, + 454.581509560756 + ], + [ + 637.3129919378252, + 428.3823176755335 + ], + [ + 663.8964431923562, + 416.4801773632063 + ], + [ + 645.1308200858407, + 398.51036315059946 + ], + [ + 618.8793823646309, + 409.8814830925145 + ] + ], + "center_offset_px": [ + 1.2702415373134954, + 75.97544316159275 + ] + }, + "trace_timestep_index": 51, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 382608, + "2": 119375, + "3": 184440, + "4": 46264, + "6": 9736, + "7": 174, + "9": 205, + "10": 9, + "12": 3795, + "14": 9628, + "24": 11430, + "25": 153936 + }, + "instance_pixel_counts": { + "3413": 7352, + "3662": 24762, + "11605": 5424, + "16994": 246, + "17240": 6647, + "17496": 1601, + "19083": 89, + "20066": 783, + "20565": 8906, + "21395": 1512, + "21397": 13, + "21907": 37741, + "21909": 3390, + "22155": 1210, + "22421": 1394, + "22931": 60867, + "22933": 4640, + "23138": 774, + "23443": 235843, + "23445": 43, + "23955": 3399, + "23957": 95, + "24467": 4908, + "25493": 57, + "25600": 650, + "25856": 1012, + "26003": 3850, + "36096": 604, + "36352": 575, + "36608": 541, + "36864": 633, + "37009": 2559, + "37120": 634, + "37376": 808, + "37888": 737, + "39680": 506, + "40448": 210, + "40704": 901, + "41216": 2548, + "41728": 4726, + "45971": 421, + "46483": 19159, + "47201": 4057, + "47713": 513, + "48225": 509, + "48531": 5536, + "48737": 15301, + "48980": 162758, + "49043": 2660, + "49249": 2067, + "49761": 2462, + "50579": 6712, + "51297": 57838, + "51526": 21502, + "51809": 8330, + "52321": 2660, + "52833": 218, + "53345": 16, + "53857": 62, + "54366": 144364, + "54878": 9572, + "56970": 1708, + "57482": 10955, + "57994": 6728, + "58506": 290, + "60307": 37, + "60819": 879, + "61254": 205, + "62355": 314, + "62867": 217, + "64403": 351 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 604, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -138.66717529296875, + "y": -34.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4174560308456421, + "y": 0.4562695324420929, + "z": 0.9019701480865479 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.9382124518877, + "ymin": 398.98269073643667, + "xmax": 662.7678430224415, + "ymax": 472.7599022002793 + }, + "corners_3d": [ + [ + -138.6397247314453, + -34.805580139160156, + 0.19456517696380615 + ], + [ + -139.2849884033203, + -34.160316467285156, + 0.19456517696380615 + ], + [ + -138.6946258544922, + -33.5699462890625, + 0.19456517696380615 + ], + [ + -138.0493621826172, + -34.2152099609375, + 0.19456517696380615 + ], + [ + -138.6397247314453, + -34.805580139160156, + 1.9985054731369019 + ], + [ + -139.2849884033203, + -34.160316467285156, + 1.9985054731369019 + ], + [ + -138.6946258544922, + -33.5699462890625, + 1.9985054731369019 + ], + [ + -138.0493621826172, + -34.2152099609375, + 1.9985054731369019 + ] + ], + "corners_2d": [ + [ + 636.2376351082469, + 472.7599022002793 + ], + [ + 661.8820624184539, + 460.65979552114527 + ], + [ + 646.0891747317681, + 444.66512383573246 + ], + [ + 620.7147023077556, + 456.3090912024688 + ], + [ + 636.083068787769, + 426.62262851313284 + ], + [ + 662.7678430224415, + 414.7093104423163 + ], + [ + 646.3308202850812, + 398.98269073643667 + ], + [ + 619.9382124518877, + 410.4291371272415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 575, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -134.54119873046875, + "y": -31.1900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39012205600738525, + "y": 0.4368237257003784, + "z": 0.8746140003204346 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 513.4759973110814, + "ymin": 328.61087275169945, + "xmax": 553.5514374331347, + "ymax": 393.5879234477302 + }, + "corners_3d": [ + [ + -134.63047790527344, + -31.768884658813477, + 0.0695238709449768 + ], + [ + -135.10629272460938, + -31.036182403564453, + 0.0695238709449768 + ], + [ + -134.45191955566406, + -30.611230850219727, + 0.0695238709449768 + ], + [ + -133.97610473632812, + -31.34393310546875, + 0.0695238709449768 + ], + [ + -134.63047790527344, + -31.768884658813477, + 1.8187518119812012 + ], + [ + -135.10629272460938, + -31.036182403564453, + 1.8187518119812012 + ], + [ + -134.45191955566406, + -30.611230850219727, + 1.8187518119812012 + ], + [ + -133.97610473632812, + -31.34393310546875, + 1.8187518119812012 + ] + ], + "corners_2d": [ + [ + 533.3689092352545, + 393.5879234477302 + ], + [ + 553.5514374331347, + 381.38226885075744 + ], + [ + 537.9363018895742, + 371.0886294213193 + ], + [ + 517.7837774138244, + 382.96638557376707 + ], + [ + 529.5566732735658, + 350.6066241708371 + ], + [ + 550.5108673925646, + 338.6685051294133 + ], + [ + 534.3963558805256, + 328.61087275169945 + ], + [ + 513.4759973110814, + 340.21714503526516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 541, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -140.92300415039062, + "y": -27.24505043029785, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.5241894125938416, + "y": 0.4905102550983429, + "z": 0.9325016736984253 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 722.3511154852147, + "ymin": 276.42474984422404, + "xmax": 767.8935755086695, + "ymax": 344.87431642645316 + }, + "corners_3d": [ + [ + -141.0216827392578, + -27.956130981445312, + 0.1640336513519287 + ], + [ + -141.63906860351562, + -27.193735122680664, + 0.1640336513519287 + ], + [ + -140.82432556152344, + -26.53396987915039, + 0.1640336513519287 + ], + [ + -140.20693969726562, + -27.29636573791504, + 0.1640336513519287 + ], + [ + -141.0216827392578, + -27.956130981445312, + 2.0290369987487793 + ], + [ + -141.63906860351562, + -27.193735122680664, + 2.0290369987487793 + ], + [ + -140.82432556152344, + -26.53396987915039, + 2.0290369987487793 + ], + [ + -140.20693969726562, + -27.29636573791504, + 2.0290369987487793 + ] + ], + "corners_2d": [ + [ + 743.4590170027216, + 344.87431642645316 + ], + [ + 763.5256285607206, + 334.0581642537727 + ], + [ + 742.3504838507648, + 320.64596565380305 + ], + [ + 722.3511154852147, + 331.05988080188627 + ], + [ + 747.1743421617749, + 299.95197101429164 + ], + [ + 767.8935755086695, + 289.44190063920286 + ], + [ + 745.8998887397213, + 276.42474984422404 + ], + [ + 725.2505480622858, + 286.53044124265057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 633, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -142.24693298339844, + "y": -34.18776321411133, + "z": 1.093214988708496 + }, + "extent": { + "x": 0.3324658274650574, + "y": 0.39488035440444946, + "z": 0.8612739443778992 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 744.1060771769423, + "ymin": 418.33830348790957, + "xmax": 785.2472108232791, + "ymax": 486.3518309140559 + }, + "corners_3d": [ + [ + -142.2028045654297, + -34.70207595825195, + 0.23194104433059692 + ], + [ + -142.76124572753906, + -34.14363098144531, + 0.23194104433059692 + ], + [ + -142.2910614013672, + -33.6734504699707, + 0.23194104433059692 + ], + [ + -141.7326202392578, + -34.231895446777344, + 0.23194104433059692 + ], + [ + -142.2028045654297, + -34.70207595825195, + 1.95448899269104 + ], + [ + -142.76124572753906, + -34.14363098144531, + 1.95448899269104 + ], + [ + -142.2910614013672, + -33.6734504699707, + 1.95448899269104 + ], + [ + -141.7326202392578, + -34.231895446777344, + 1.95448899269104 + ] + ], + "corners_2d": [ + [ + 758.642560279359, + 486.3518309140559 + ], + [ + 779.7463123714613, + 475.50688468436067 + ], + [ + 765.0628639420672, + 462.2455333026485 + ], + [ + 744.1060771769423, + 472.75703787229276 + ], + [ + 763.3738942763591, + 442.1079863721426 + ], + [ + 785.2472108232791, + 431.4079950308349 + ], + [ + 769.9070334339826, + 418.33830348790957 + ], + [ + 748.1904551309674, + 428.6965885708643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 634, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.2977294921875, + "y": -42.28375244140625, + "z": 1.092897653579712 + }, + "extent": { + "x": 0.37794920802116394, + "y": 0.4387768507003784, + "z": 0.88718581199646 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 661.0412619457263, + "ymin": 648.8228039889844, + "xmax": 714.8476049687454, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.194580078125, + -42.853607177734375, + 0.20571184158325195 + ], + [ + -141.87657165527344, + -42.30134201049805, + 0.20571184158325195 + ], + [ + -141.40087890625, + -41.713897705078125, + 0.20571184158325195 + ], + [ + -140.71888732910156, + -42.26616287231445, + 0.20571184158325195 + ], + [ + -141.194580078125, + -42.853607177734375, + 1.9800834655761719 + ], + [ + -141.87657165527344, + -42.30134201049805, + 1.9800834655761719 + ], + [ + -141.40087890625, + -41.713897705078125, + 1.9800834655761719 + ], + [ + -140.71888732910156, + -42.26616287231445, + 1.9800834655761719 + ] + ], + "corners_2d": [ + [ + 677.3676869794291, + 738.1000040349172 + ], + [ + 711.0990008943506, + 721.3856973657572 + ], + [ + 694.2095633713469, + 695.1258247703311 + ], + [ + 661.0412619457263, + 711.0509454796568 + ], + [ + 679.3691871186235, + 692.1592240532485 + ], + [ + 714.8476049687454, + 675.28294988645 + ], + [ + 696.9964169091835, + 648.8228039889844 + ], + [ + 662.1397393330797, + 664.8614854806144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 808, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -127.42184448242188, + "y": -42.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3469335734844208, + "y": 0.4231591820716858, + "z": 0.9010411500930786 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 92.5086495454376, + "ymin": 562.270473770545, + "xmax": 155.14380859588329, + "ymax": 640.9992327257994 + }, + "corners_3d": [ + [ + -127.25590515136719, + -42.87940979003906, + 0.043096721172332764 + ], + [ + -127.96569061279297, + -42.41847229003906, + 0.043096721172332764 + ], + [ + -127.58778381347656, + -41.8365478515625, + 0.043096721172332764 + ], + [ + -126.87799835205078, + -42.2974853515625, + 0.043096721172332764 + ], + [ + -127.25590515136719, + -42.87940979003906, + 1.8451790809631348 + ], + [ + -127.96569061279297, + -42.41847229003906, + 1.8451790809631348 + ], + [ + -127.58778381347656, + -41.8365478515625, + 1.8451790809631348 + ], + [ + -126.87799835205078, + -42.2974853515625, + 1.8451790809631348 + ] + ], + "corners_2d": [ + [ + 118.12452644954521, + 640.9992327257994 + ], + [ + 155.14380859588329, + 630.3248928789595 + ], + [ + 155.11427776509777, + 609.1261711478533 + ], + [ + 118.8749827647249, + 619.3575088532127 + ], + [ + 92.5086495454376, + 594.1331896675304 + ], + [ + 131.60442710350804, + 583.4515060629764 + ], + [ + 132.08792736215668, + 562.270473770545 + ], + [ + 93.86097479418811, + 572.4879195546752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 737, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 307.3741633749283, + "ymin": 0.0, + "xmax": 383.5240702340236, + "ymax": 17.33391534257072 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 371.778528353322, + 17.33391534257072 + ], + [ + 383.5240702340236, + 7.973680256784974 + ], + [ + 325.77692371444704, + 4.161164344185636 + ], + [ + 312.78864572597837, + 13.338896262020171 + ], + [ + 367.2950000704838, + -9.051476949004382 + ], + [ + 379.33805848849204, + -17.941769048794015 + ], + [ + 320.69886893423217, + -21.560895523483737 + ], + [ + 307.3741633749283, + -12.846764917232122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 155, + "instance_id": 39680, + "pixel_count": 506, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -159.75872802734375, + "y": 6.438357353210449, + "z": 0.9349406957626343 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1079.5562374313527, + "ymin": 2.2273563764012465, + "xmax": 1179.2588443985144, + "ymax": 50.00493519242758 + }, + "corners_3d": [ + [ + -162.06332397460938, + 5.478167533874512, + 0.007517642807215452 + ], + [ + -162.05862426757812, + 7.409754753112793, + 0.007517642807215452 + ], + [ + -157.45413208007812, + 7.398547172546387, + 0.007517642807215452 + ], + [ + -157.45883178710938, + 5.4669599533081055, + 0.007517642807215452 + ], + [ + -162.06332397460938, + 5.478167533874512, + 1.8623638153076172 + ], + [ + -162.05862426757812, + 7.409754753112793, + 1.8623638153076172 + ], + [ + -157.45413208007812, + 7.398547172546387, + 1.8623638153076172 + ], + [ + -157.45883178710938, + 5.4669599533081055, + 1.8623638153076172 + ] + ], + "corners_2d": [ + [ + 1168.2570012823726, + 50.00493519242758 + ], + [ + 1160.6585265088083, + 38.61419606260142 + ], + [ + 1079.5562374313527, + 33.50840568338572 + ], + [ + 1084.910800930892, + 44.623104419546394 + ], + [ + 1179.2588443985144, + 17.810999585276306 + ], + [ + 1171.212916842157, + 7.04797767802728 + ], + [ + 1088.3572312517103, + 2.2273563764012465 + ], + [ + 1094.0600239959354, + 12.724288948035507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 210, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 44.94434931528804, + "ymin": 0.0, + "xmax": 143.47932387773642, + "ymax": 20.488105500695895 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 73.533065710615, + 5.979031951524064 + ], + [ + 54.18749350803739, + 15.404156515195325 + ], + [ + 125.59284617301523, + 20.488105500695895 + ], + [ + 143.47932387773642, + 10.825447869185211 + ], + [ + 64.80839425247257, + -18.507351839260593 + ], + [ + 44.94434931528804, + -9.531964288556765 + ], + [ + 117.3718520768391, + -4.6878417873203375 + ], + [ + 135.7358699861744, + -13.893022504363216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 901, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 29.359493020370223, + "ymin": 0.0, + "xmax": 118.93554284227537, + "ymax": 40.50474697184171 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 62.458615515990004, + 25.629679319168872 + ], + [ + 41.56898351556947, + 36.17236234853647 + ], + [ + 99.29365076369686, + 40.50474697184171 + ], + [ + 118.93554284227537, + 29.74720238861073 + ], + [ + 50.975613735088814, + -5.589467109455654 + ], + [ + 29.359493020370223, + 4.351912127766809 + ], + [ + 88.14627554601464, + 8.440137605561631 + ], + [ + 108.46966880288085, + -1.7079936600132442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 2548, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 760.3360571304997, + "ymin": 48.66027024190595, + "xmax": 867.3999083851861, + "ymax": 97.43510623472986 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 763.4510642658281, + 77.11976256114309 + ], + [ + 760.3360571304997, + 89.75444822198943 + ], + [ + 862.7512907956036, + 97.43510623472986 + ], + [ + 863.1511839693106, + 84.39455320825516 + ], + [ + 765.7644797685906, + 48.66027024190595 + ], + [ + 762.653839340372, + 60.7465023805745 + ], + [ + 867.1123421952168, + 68.09980204007115 + ], + [ + 867.3999083851861, + 55.61776215153344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 4726, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 360.12570519487036, + "ymin": 209.93775674522908, + "xmax": 470.70298372816444, + "ymax": 322.3004602639575 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 367.10978555812835, + 315.71342763727586 + ], + [ + 420.20096753030435, + 322.3004602639575 + ], + [ + 470.70298372816444, + 246.0797050828782 + ], + [ + 422.86003844719903, + 240.82927721559088 + ], + [ + 360.12570519487036, + 282.95198747543293 + ], + [ + 414.5214607946722, + 289.3936320166315 + ], + [ + 466.81017168951394, + 215.04410383163503 + ], + [ + 417.90956330691444, + 209.93775674522908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 260.6275252964346, + "ymin": 17.788541199845156, + "xmax": 273.2087680685165, + "ymax": 37.392180944546 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 269.6230069380441, + 37.392180944546 + ], + [ + 273.2087680685165, + 34.909019506498055 + ], + [ + 268.2928191737528, + 34.55086473692728 + ], + [ + 264.6811347370409, + 37.02978709667269 + ], + [ + 265.61930593444526, + 20.546029266047128 + ], + [ + 269.26734638442707, + 18.13610718140103 + ], + [ + 264.30200955760034, + 17.788541199845156 + ], + [ + 260.6275252964346, + 20.19430495211077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.8718728163327, + "ymin": 57.856354072257716, + "xmax": 751.9035252044898, + "ymax": 79.224920642278 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 750.5969713777354, + 76.22816760190989 + ], + [ + 744.7522565534105, + 75.79624107974178 + ], + [ + 743.8718728163327, + 78.78737493966759 + ], + [ + 749.7536720192561, + 79.224920642278 + ], + [ + 751.9035252044898, + 58.2763962014958 + ], + [ + 745.988592300765, + 57.856354072257716 + ], + [ + 745.1058572447453, + 60.76537771483146 + ], + [ + 751.0587741719272, + 61.1909495753157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 505.169495811894, + "ymin": 0.0, + "xmax": 716.9922621730201, + "ymax": 197.2179688203271 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 702.2413174798703, + 197.2179688203271 + ], + [ + 704.6554274815443, + 189.32964558902904 + ], + [ + 531.1084638312508, + 173.246101923915 + ], + [ + 526.4496954392238, + 180.69650173045724 + ], + [ + 714.3120169182794, + -74.01581288623163 + ], + [ + 716.9922621730201, + -79.0388330006885 + ], + [ + 511.01928557918427, + -89.1992689765762 + ], + [ + 505.169495811894, + -84.506081077761 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.1848977425558, + "ymin": 0.0, + "xmax": 416.567773910779, + "ymax": 27.724250652117576 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 416.567773910779, + -28.85320704408275 + ], + [ + 410.8284688096065, + -29.21619736492795 + ], + [ + 334.6551274830302, + 27.237126817834223 + ], + [ + 341.2144181857554, + 27.724250652117576 + ], + [ + 398.1732504880115, + -162.60674334225087 + ], + [ + 391.98221248471833, + -162.85235926267035 + ], + [ + 305.1848977425558, + -124.15272411933006 + ], + [ + 312.3399544624035, + -123.81434900262627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 264.75401984813755, + "ymin": 95.87269419070338, + "xmax": 616.4922073542809, + "ymax": 495.30498393176845 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 611.0159932316803, + 495.30498393176845 + ], + [ + 616.4922073542809, + 477.4109579541133 + ], + [ + 363.25675806928484, + 441.6780588069657 + ], + [ + 352.9836028253726, + 458.10710343876343 + ], + [ + 601.5856982653956, + 137.24342356632235 + ], + [ + 609.0481954559931, + 123.2580341971414 + ], + [ + 280.3376892549521, + 95.87269419070338 + ], + [ + 264.75401984813755, + 108.37520993719284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2970657086687788400, + "instance_id": 28861, + "pixel_count": null, + "type_id": "BP_StreetLight_simple25_60_SM_2", + "bbox_3d": { + "center_world": { + "x": -149.7042694091797, + "y": 11.851532936096191, + "z": 4.030004978179932 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 939.2527733112713, + "ymin": 0.0, + "xmax": 975.3678726712185, + "ymax": 9.776206754287216 + }, + "corners_3d": [ + [ + -149.9238739013672, + 13.7682523727417, + 0.15328621864318848 + ], + [ + -149.4846649169922, + 13.768251419067383, + 0.15328621864318848 + ], + [ + -149.4846649169922, + 9.934813499450684, + 0.15328621864318848 + ], + [ + -149.9238739013672, + 9.934814453125, + 0.15328621864318848 + ], + [ + -149.9238739013672, + 13.7682523727417, + 7.906723976135254 + ], + [ + -149.4846649169922, + 13.768251419067383, + 7.906723976135254 + ], + [ + -149.4846649169922, + 9.934813499450684, + 7.906723976135254 + ], + [ + -149.9238739013672, + 9.934814453125, + 7.906723976135254 + ] + ], + "corners_2d": [ + [ + 946.0337660707303, + -8.58575618291843 + ], + [ + 939.2527733112713, + -8.982473856562251 + ], + [ + 942.1026937690583, + 9.339943056124184 + ], + [ + 949.216963277114, + 9.776206754287216 + ], + [ + 970.6174050364284, + -137.46634657393417 + ], + [ + 963.2643821073154, + -137.74845583705974 + ], + [ + 967.6213781481835, + -124.66929658071479 + ], + [ + 975.3678726712185, + -124.35662773036239 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1185.1803621058914, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 140.76575149111395 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1204.8873938774514, + 139.99294448809786 + ], + [ + 1214.7440439213628, + 140.76575149111395 + ], + [ + 1194.409897043985, + 108.72032051342077 + ], + [ + 1185.1803621058914, + 108.03866130837343 + ], + [ + 1270.2076258263987, + -28.3487697588817 + ], + [ + 1281.3130477875384, + -27.762566447867016 + ], + [ + 1254.2933025962102, + -51.9041842378233 + ], + [ + 1243.9769248259095, + -52.41404560139097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5584709582724997987, + "instance_id": 25379, + "pixel_count": null, + "type_id": "BP_StreetLight_simple26_SM_2", + "bbox_3d": { + "center_world": { + "x": -170.6206817626953, + "y": 11.851532936096191, + "z": 4.030099868774414 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1278.856007736273, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 31.72842966673909 + }, + "corners_3d": [ + [ + -170.8402862548828, + 13.7682523727417, + 0.1533811092376709 + ], + [ + -170.4010772705078, + 13.768251419067383, + 0.1533811092376709 + ], + [ + -170.4010772705078, + 9.934813499450684, + 0.1533811092376709 + ], + [ + -170.8402862548828, + 9.934814453125, + 0.1533811092376709 + ], + [ + -170.8402862548828, + 13.7682523727417, + 7.906818389892578 + ], + [ + -170.4010772705078, + 13.768251419067383, + 7.906818389892578 + ], + [ + -170.4010772705078, + 9.934813499450684, + 7.906818389892578 + ], + [ + -170.8402862548828, + 9.934814453125, + 7.906818389892578 + ] + ], + "corners_2d": [ + [ + 1286.3714611341256, + 11.324146384636549 + ], + [ + 1278.856007736273, + 10.88446103960149 + ], + [ + 1299.2947767874825, + 31.242422799581902 + ], + [ + 1307.2202477052451, + 31.72842966673909 + ], + [ + 1341.2683846797772, + -123.24744238779533 + ], + [ + 1333.049458582304, + -123.56277128268596 + ], + [ + 1358.3497348342098, + -108.90019494600074 + ], + [ + 1367.0610172797083, + -108.54858690783271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 272.2464294987016, + "ymin": 106.28479728850317, + "xmax": 309.0454571732876, + "ymax": 118.31242284786555 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 299.4232704830076, + 118.31242284786555 + ], + [ + 309.0454571732876, + 109.96772490092292 + ], + [ + 282.62544052275746, + 107.71341366433512 + ], + [ + 272.60505585565073, + 115.98175463839638 + ], + [ + 299.08927644603375, + 116.86348538966504 + ], + [ + 308.7262775722073, + 108.53474989082355 + ], + [ + 282.28234977212173, + 106.28479728850317 + ], + [ + 272.2464294987016, + 114.53724826274689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.7895996176016, + "ymin": 0.0, + "xmax": 489.02701973312617, + "ymax": 106.66863928817241 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 275.24264070402097, + 85.05834699616162 + ], + [ + 271.21980744044083, + 88.1297389563909 + ], + [ + 486.2960311358731, + 106.66863928817241 + ], + [ + 489.02701973312617, + 103.3530708736065 + ], + [ + 234.55959379836878, + -83.44232073188772 + ], + [ + 229.7895996176016, + -81.2486165182741 + ], + [ + 468.273573823936, + -67.9392961028027 + ], + [ + 471.4578474783673, + -70.32820799383325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 744.2716788289681, + "ymin": 0.0, + "xmax": 789.96074854672, + "ymax": 132.99573648647393 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 744.2716788289681, + 132.22922999418577 + ], + [ + 753.1071561765773, + 132.99573648647393 + ], + [ + 776.1315927616624, + 46.93912741397884 + ], + [ + 768.7316800284873, + 46.405714888727914 + ], + [ + 757.2113926025706, + -49.39513563745561 + ], + [ + 767.1666713666167, + -48.83552843105383 + ], + [ + 789.96074854672, + -110.40520951462423 + ], + [ + 781.7913460185752, + -110.77908496714275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 272.25569751129063, + "ymin": 106.32171656902048, + "xmax": 309.05368977900685, + "ymax": 118.34979469779998 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 299.43188505429794, + 118.34979469779998 + ], + [ + 309.05368977900685, + 110.00468565350124 + ], + [ + 282.6342899090393, + 107.75026216035184 + ], + [ + 272.614305801298, + 116.01901237253384 + ], + [ + 299.0979079215311, + 116.90093057365976 + ], + [ + 308.73452606478594, + 108.57178196836293 + ], + [ + 282.2912161577239, + 106.32171656902048 + ], + [ + 272.25569751129063, + 114.57457876848065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15541648444425877081, + "instance_id": 22966, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1855_41", + "bbox_3d": { + "center_world": { + "x": -174.2873992919922, + "y": 16.800701141357422, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1251.7393908721845, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 16.5732864568854 + }, + "corners_3d": [ + [ + -170.39651489257812, + 19.551532745361328, + 0.20090246200561523 + ], + [ + -171.42578125, + 12.990555763244629, + 0.20090246200561523 + ], + [ + -178.17828369140625, + 14.0498685836792, + 0.20090246200561523 + ], + [ + -177.14901733398438, + 20.6108455657959, + 0.20090246200561523 + ], + [ + -170.39651489257812, + 19.551532745361328, + 11.886947631835938 + ], + [ + -171.42578125, + 12.990555763244629, + 11.886947631835938 + ], + [ + -178.17828369140625, + 14.0498685836792, + 11.886947631835938 + ], + [ + -177.14901733398438, + 20.6108455657959, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1251.7393908721845, + -17.048794838377944 + ], + [ + 1300.9067893446709, + 15.133061712419362 + ], + [ + 1412.8765418667904, + 16.5732864568854 + ], + [ + 1354.5283387002632, + -15.830876242554098 + ], + [ + 1327.2085359155606, + -216.02379998574224 + ], + [ + 1390.5233981871795, + -199.2007005543594 + ], + [ + 1518.103619723488, + -198.43925522358631 + ], + [ + 1443.0056054454117, + -215.3937307502773 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00053/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00053/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c325c32f44fffc83fc7e3378f86da3a3a6f1e568 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00053/meta.json @@ -0,0 +1,1829 @@ +{ + "frame_id": 53, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 26.5, + "sim_timestamp": 2740.816753195366 + }, + "drone_pose": { + "x": -142.59428631999444, + "y": -53.25625281900246, + "z": 20.000172805084716, + "pitch": -43.13239108474666, + "yaw": 78.96838000213498, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.13964307308197021, + -0.7162909507751465, + 0.6836864352226257, + 44.38541793823242 + ], + [ + 0.981521725654602, + 0.19135057926177979, + 0.0, + -129.76876831054688 + ], + [ + -0.1308237910270691, + 0.6710531115531921, + 0.7297759056091309, + -68.98814392089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.52130751404425, + "y": -52.60558966340018, + "z": 19.914902976342532 + }, + "t1_image_uv": [ + 734.9570810990338, + -329.5315176223821 + ], + "t1_depth": 0.5345529053744192 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -137.66718292236328, + "y": -33.18776321411133, + "z": 1.0965401870012284 + }, + "image_uv": [ + 605.8377260751131, + 349.15419608978357 + ], + "depth": 27.98706982696687, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 587, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -137.66717529296875, + "y": -33.18776321411133, + "z": 1.0965402126312256 + }, + "extent": { + "x": 0.3374267518520355, + "y": 0.38078123331069946, + "z": 0.8843141794204712 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 587.4959703993729, + "ymin": 315.07191594104467, + "xmax": 623.4648705640215, + "ymax": 382.6446181022837 + }, + "corners_3d": [ + [ + -137.6365203857422, + -33.695613861083984, + 0.2122260332107544 + ], + [ + -138.17501831054688, + -33.157108306884766, + 0.2122260332107544 + ], + [ + -137.6978302001953, + -32.67991256713867, + 0.2122260332107544 + ], + [ + -137.15933227539062, + -33.21841812133789, + 0.2122260332107544 + ], + [ + -137.6365203857422, + -33.695613861083984, + 1.9808543920516968 + ], + [ + -138.17501831054688, + -33.157108306884766, + 1.9808543920516968 + ], + [ + -137.6978302001953, + -32.67991256713867, + 1.9808543920516968 + ], + [ + -137.15933227539062, + -33.21841812133789, + 1.9808543920516968 + ] + ], + "corners_2d": [ + [ + 601.8065390902904, + 382.6446181022837 + ], + [ + 623.4648705640215, + 372.61359453451155 + ], + [ + 611.1951453216836, + 359.7471907991389 + ], + [ + 589.7126540817957, + 369.4956599690424 + ], + [ + 600.0975110758069, + 337.8052911687389 + ], + [ + 622.7333852384876, + 327.83992067958235 + ], + [ + 609.9396299910185, + 315.07191594104467 + ], + [ + 587.4959703993729, + 324.74436838908133 + ] + ], + "center_offset_px": [ + -34.162273924886904, + -10.845803910216432 + ] + }, + "trace_timestep_index": 53, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 359209, + "2": 130042, + "3": 180055, + "4": 42963, + "6": 8868, + "10": 10, + "12": 3197, + "14": 5410, + "24": 9934, + "25": 181912 + }, + "instance_pixel_counts": { + "3413": 12226, + "3662": 29640, + "11605": 4402, + "17240": 7426, + "17496": 1128, + "20565": 1265, + "21907": 18959, + "21909": 3078, + "22421": 1542, + "22931": 68765, + "22933": 5250, + "23443": 267499, + "23445": 8, + "23955": 1344, + "25493": 56, + "25856": 314, + "26003": 2642, + "36096": 587, + "36352": 617, + "36608": 533, + "36864": 609, + "37120": 116, + "37376": 735, + "41216": 105, + "41728": 5305, + "47201": 4671, + "47713": 608, + "48225": 242, + "48737": 17113, + "48980": 162162, + "49249": 2329, + "49761": 2795, + "51297": 71476, + "51526": 13323, + "51809": 10086, + "52321": 2286, + "52833": 256, + "53345": 20, + "54366": 170480, + "54878": 11432, + "56970": 723, + "57482": 12576, + "57994": 4861 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 587, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -137.66717529296875, + "y": -33.18776321411133, + "z": 1.0965402126312256 + }, + "extent": { + "x": 0.4175097644329071, + "y": 0.4119201600551605, + "z": 0.8769546151161194 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 585.107458563623, + "ymin": 313.3861011704845, + "xmax": 625.8185895559416, + "ymax": 384.46782826520393 + }, + "corners_3d": [ + [ + -137.67112731933594, + -33.77425765991211, + 0.2195855975151062 + ], + [ + -138.25367736816406, + -33.191715240478516, + 0.2195855975151062 + ], + [ + -137.66322326660156, + -32.60126876831055, + 0.2195855975151062 + ], + [ + -137.08067321777344, + -33.18381118774414, + 0.2195855975151062 + ], + [ + -137.67112731933594, + -33.77425765991211, + 1.9734947681427002 + ], + [ + -138.25367736816406, + -33.191715240478516, + 1.9734947681427002 + ], + [ + -137.66322326660156, + -32.60126876831055, + 1.9734947681427002 + ], + [ + -137.08067321777344, + -33.18381118774414, + 1.9734947681427002 + ] + ], + "corners_2d": [ + [ + 602.3616022179698, + 384.46782826520393 + ], + [ + 625.8185895559416, + 373.5795554404858 + ], + [ + 610.6247625031672, + 357.6735281563105 + ], + [ + 587.4032320949958, + 368.1835167166956 + ], + [ + 600.6879513192249, + 339.9901845427436 + ], + [ + 625.1957493025473, + 329.1709366924582 + ], + [ + 609.3580642231526, + 313.3861011704845 + ], + [ + 585.107458563623, + 323.81330487580567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 617, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -133.54119873046875, + "y": -30.1900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5037646293640137, + "y": 0.453399658203125, + "z": 0.9308241009712219 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 476.2884665631443, + "ymin": 237.998319975397, + "xmax": 524.1056314918474, + "ymax": 309.92421060581063 + }, + "corners_3d": [ + [ + -133.7167510986328, + -30.844680786132812, + 0.013313770294189453 + ], + [ + -134.21063232421875, + -30.08417510986328, + 0.013313770294189453 + ], + [ + -133.3656463623047, + -29.53543472290039, + 0.013313770294189453 + ], + [ + -132.87176513671875, + -30.295940399169922, + 0.013313770294189453 + ], + [ + -133.7167510986328, + -30.844680786132812, + 1.8749619722366333 + ], + [ + -134.21063232421875, + -30.08417510986328, + 1.8749619722366333 + ], + [ + -133.3656463623047, + -29.53543472290039, + 1.8749619722366333 + ], + [ + -132.87176513671875, + -30.295940399169922, + 1.8749619722366333 + ] + ], + "corners_2d": [ + [ + 502.7794848958774, + 309.92421060581063 + ], + [ + 524.1056314918474, + 297.06928301129443 + ], + [ + 504.19084880398293, + 283.6877434831893 + ], + [ + 482.90994839406073, + 296.13159001874277 + ], + [ + 496.89594457141214, + 263.8408365041206 + ], + [ + 519.2148695038728, + 251.17038217103521 + ], + [ + 498.5551728463222, + 237.998319975397 + ], + [ + 476.2884665631443, + 250.24678855674244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 533, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -139.92300415039062, + "y": -26.24505043029785, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.5075634717941284, + "y": 0.5140514969825745, + "z": 0.9360879063606262 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 692.6168348464302, + "ymin": 187.21602071592858, + "xmax": 738.1170788983109, + "ymax": 257.28545343679684 + }, + "corners_3d": [ + [ + -139.99395751953125, + -26.96396255493164, + 0.16044741868972778 + ], + [ + -140.64096069335938, + -26.164976119995117, + 0.16044741868972778 + ], + [ + -139.85205078125, + -25.526138305664062, + 0.16044741868972778 + ], + [ + -139.20504760742188, + -26.325124740600586, + 0.16044741868972778 + ], + [ + -139.99395751953125, + -26.96396255493164, + 2.032623291015625 + ], + [ + -140.64096069335938, + -26.164976119995117, + 2.032623291015625 + ], + [ + -139.85205078125, + -25.526138305664062, + 2.032623291015625 + ], + [ + -139.20504760742188, + -26.325124740600586, + 2.032623291015625 + ] + ], + "corners_2d": [ + [ + 712.63747930035, + 257.28545343679684 + ], + [ + 734.3391040609442, + 245.73523646546846 + ], + [ + 714.239423267296, + 232.55119379310963 + ], + [ + 692.6168348464302, + 243.71399158418177 + ], + [ + 715.5909092506978, + 211.44425779653665 + ], + [ + 738.1170788983109, + 200.1227308741241 + ], + [ + 717.1605812021386, + 187.21602071592858 + ], + [ + 694.7183268055744, + 198.14287726858123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 609, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -141.24693298339844, + "y": -33.18776321411133, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.45320311188697815, + "y": 0.3483837842941284, + "z": 0.8952575325965881 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 707.1765767365937, + "ymin": 328.649179619986, + "xmax": 749.8392694406767, + "ymax": 401.458789159329 + }, + "corners_3d": [ + [ + -141.321044921875, + -33.75457000732422, + 0.20127779245376587 + ], + [ + -141.81373596191406, + -33.26188278198242, + 0.20127779245376587 + ], + [ + -141.17282104492188, + -32.62095642089844, + 0.20127779245376587 + ], + [ + -140.6801300048828, + -33.113643646240234, + 0.20127779245376587 + ], + [ + -141.321044921875, + -33.75457000732422, + 1.991792917251587 + ], + [ + -141.81373596191406, + -33.26188278198242, + 1.991792917251587 + ], + [ + -141.17282104492188, + -32.62095642089844, + 1.991792917251587 + ], + [ + -140.6801300048828, + -33.113643646240234, + 1.991792917251587 + ] + ], + "corners_2d": [ + [ + 726.0700122886792, + 401.458789159329 + ], + [ + 745.0314692407743, + 391.90125641965756 + ], + [ + 725.9614882326446, + 373.9852588718337 + ], + [ + 707.1765767365937, + 383.17677465532654 + ], + [ + 730.0521594337791, + 355.96701846094294 + ], + [ + 749.8392694406767, + 346.4552789794834 + ], + [ + 729.8172674146662, + 328.649179619986 + ], + [ + 710.2214613348383, + 337.7803981117976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 116, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -141.28268432617188, + "y": -44.31512451171875, + "z": 1.0931124687194824 + }, + "extent": { + "x": 0.33693358302116394, + "y": 0.37935301661491394, + "z": 0.8643395900726318 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 636.4884710444959, + "ymin": 692.3102872276781, + "xmax": 686.7154510672773, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.1999053955078, + -44.815704345703125, + 0.22877287864685059 + ], + [ + -141.78953552246094, + -44.33823776245117, + 0.22877287864685059 + ], + [ + -141.36546325683594, + -43.814544677734375, + 0.22877287864685059 + ], + [ + -140.7758331298828, + -44.29201126098633, + 0.22877287864685059 + ], + [ + -141.1999053955078, + -44.815704345703125, + 1.9574520587921143 + ], + [ + -141.78953552246094, + -44.33823776245117, + 1.9574520587921143 + ], + [ + -141.36546325683594, + -43.814544677734375, + 1.9574520587921143 + ], + [ + -140.7758331298828, + -44.29201126098633, + 1.9574520587921143 + ] + ], + "corners_2d": [ + [ + 651.976393855046, + 776.9911001050123 + ], + [ + 683.9573031902169, + 759.9154236985295 + ], + [ + 668.1897727263502, + 732.3227848464604 + ], + [ + 636.6940033886993, + 748.6763336719629 + ], + [ + 652.738369916993, + 738.3256817257277 + ], + [ + 686.7154510672773, + 720.7116077638765 + ], + [ + 669.9187027025888, + 692.3102872276781 + ], + [ + 636.4884710444959, + 709.1339925212196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 735, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -126.42184448242188, + "y": -41.35797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3310937285423279, + "y": 0.3177416920661926, + "z": 0.8906071186065674 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 62.57866808877577, + "ymin": 476.9978215619579, + "xmax": 118.9654723057497, + "ymax": 549.0602555463164 + }, + "corners_3d": [ + [ + -126.335693359375, + -41.808712005615234, + 0.05352586507797241 + ], + [ + -126.86865234375, + -41.46260070800781, + 0.05352586507797241 + ], + [ + -126.50799560546875, + -40.90724563598633, + 0.05352586507797241 + ], + [ + -125.97503662109375, + -41.25335693359375, + 0.05352586507797241 + ], + [ + -126.335693359375, + -41.808712005615234, + 1.834740161895752 + ], + [ + -126.86865234375, + -41.46260070800781, + 1.834740161895752 + ], + [ + -126.50799560546875, + -40.90724563598633, + 1.834740161895752 + ], + [ + -125.97503662109375, + -41.25335693359375, + 1.834740161895752 + ] + ], + "corners_2d": [ + [ + 91.74724191476514, + 549.0602555463164 + ], + [ + 118.9654723057497, + 541.2831848758715 + ], + [ + 118.79120248677157, + 521.6987575119176 + ], + [ + 92.06849532200954, + 529.1955207513541 + ], + [ + 62.57866808877577, + 504.60101067991775 + ], + [ + 91.4535114889286, + 496.74773532692467 + ], + [ + 91.79463292411367, + 476.9978215619579 + ], + [ + 63.47681329439615, + 484.5534691370858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 105, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 759.9789128145783, + "ymin": 0.0, + "xmax": 873.1209669828306, + "ymax": 9.43689799838063 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 763.4174166431745, + -12.862642565549208 + ], + [ + 759.9789128145783, + 1.094941307093734 + ], + [ + 867.3461852844006, + 9.43689799838063 + ], + [ + 868.0219232000633, + -4.949138760242306 + ], + [ + 766.1355192938614, + -43.64244603698069 + ], + [ + 762.6929202160636, + -30.203553736277286 + ], + [ + 872.5701166392371, + -22.164101684269838 + ], + [ + 873.1209669828306, + -36.02495076393558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 5305, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 340.7960991799199, + "ymin": 134.47523344159808, + "xmax": 456.5079130875037, + "ymax": 254.72429519760178 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 349.42455425563327, + 247.74537493172676 + ], + [ + 404.56212152283297, + 254.72429519760178 + ], + [ + 456.5079130875037, + 172.43559286270957 + ], + [ + 406.6295612074522, + 166.8230316189733 + ], + [ + 340.7960991799199, + 213.98372977064597 + ], + [ + 397.50709744505565, + 220.86346136778081 + ], + [ + 451.5945101520001, + 139.97411110032576 + ], + [ + 400.4311378938248, + 134.47523344159808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 486.0719383562789, + "ymin": 0.0, + "xmax": 714.4207482056627, + "ymax": 119.11672221710981 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 697.9485309745678, + 119.11672221710981 + ], + [ + 700.5421832305016, + 110.5130546098203 + ], + [ + 519.2323783365364, + 93.2058845425858 + ], + [ + 514.3731138996535, + 101.3545294536728 + ], + [ + 711.4493692113043, + -175.74250653004412 + ], + [ + 714.4207482056627, + -181.58273180642686 + ], + [ + 492.4486412052406, + -193.22422714947947 + ], + [ + 486.0719383562789, + -187.76077237672314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.4610070044825, + "ymin": 21.877512398164242, + "xmax": 607.3830472212309, + "ymax": 438.3907189651518 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 601.7005400334788, + 438.3907189651518 + ], + [ + 607.3830472212309, + 419.5406966047521 + ], + [ + 346.81851179233456, + 382.33182005505546 + ], + [ + 336.441066559944, + 399.7340662965151 + ], + [ + 586.7638482812843, + 69.3260398644257 + ], + [ + 595.000852335067, + 53.136264218873066 + ], + [ + 241.39140133757263, + 21.877512398164242 + ], + [ + 224.4610070044825, + 36.38319753273697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5273212530887346427, + "instance_id": 64456, + "pixel_count": null, + "type_id": "BP_StreetLight_simple37_87_SM_2", + "bbox_3d": { + "center_world": { + "x": -161.073974609375, + "y": -5.487204551696777, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1204.9786114281794, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 56.6838480707176 + }, + "corners_3d": [ + [ + -160.8543701171875, + -7.403923034667969, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -7.403923511505127, + 0.15328097343444824 + ], + [ + -161.2935791015625, + -3.570486068725586, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 0.15328097343444824 + ], + [ + -160.8543701171875, + -7.403923034667969, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -7.403923511505127, + 7.9067182540893555 + ], + [ + -161.2935791015625, + -3.570486068725586, + 7.9067182540893555 + ], + [ + -160.8543701171875, + -3.5704855918884277, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 1224.292497555076, + 55.85039112327911 + ], + [ + 1234.5589588820458, + 56.6838480707176 + ], + [ + 1214.6139982836619, + 21.52218576796298 + ], + [ + 1204.9786114281794, + 20.78409998593503 + ], + [ + 1304.612514211747, + -126.82276666775601 + ], + [ + 1316.4204602547138, + -126.16556136667828 + ], + [ + 1288.4625133432178, + -153.6734814701224 + ], + [ + 1277.4809910776314, + -154.2461569907008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 233.06349990258292, + "ymin": 33.37832774415233, + "xmax": 272.81832825101793, + "ymax": 47.15589735949902 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 262.3806428176731, + 47.15589735949902 + ], + [ + 272.81832825101793, + 37.500917162359826 + ], + [ + 244.40296145634068, + 34.93181819720684 + ], + [ + 233.53910590756703, + 44.50027971917086 + ], + [ + 261.93677266514146, + 45.58367056700064 + ], + [ + 272.3938399308178, + 35.94343931451073 + ], + [ + 243.94766203871956, + 33.37832774415233 + ], + [ + 233.06349990258292, + 42.93207245341779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 192.82721862983266, + "ymin": 0.0, + "xmax": 474.9656233026384, + "ymax": 20.095539082205676 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 249.9379131964975, + -3.4872641715873556 + ], + [ + 245.7595307699782, + -0.08779726102102359 + ], + [ + 472.11178712616373, + 20.095539082205676 + ], + [ + 474.9656233026384, + 16.437714791157305 + ], + [ + 197.94074770041806, + -188.54156252989412 + ], + [ + 192.82721862983266, + -186.0172084881334 + ], + [ + 448.60869873659044, + -170.94115574196007 + ], + [ + 452.03409188177, + -173.6846751858178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.6004082850126, + "ymin": 0.0, + "xmax": 793.8157959430815, + "ymax": 48.69740884690805 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 742.6004082850126, + 47.867917342230044 + ], + [ + 751.8451560307727, + 48.69740884690805 + ], + [ + 777.1685550421155, + -46.2962705168668 + ], + [ + 769.3854359427224, + -46.87955365153368 + ], + [ + 757.7822039317764, + -149.9457538587609 + ], + [ + 768.4217398924135, + -149.3141533899281 + ], + [ + 793.8157959430815, + -219.96884358983107 + ], + [ + 785.0672642457173, + -220.39247520538765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 233.07579335090264, + "ymin": 33.41848156403114, + "xmax": 272.82927493662254, + "ymax": 47.19644106819965 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 262.3920890939044, + 47.19644106819965 + ], + [ + 272.82927493662254, + 37.54108133066603 + ], + [ + 244.41470275914168, + 34.97187975033387 + ], + [ + 233.55137063723907, + 44.54071999532931 + ], + [ + 261.9482458656768, + 45.62430964393474 + ], + [ + 272.40481194098027, + 35.983696400421366 + ], + [ + 243.9594303832048, + 33.41848156403114 + ], + [ + 233.07579335090264, + 42.972607423065256 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00056/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00056/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b32f8512da60286989e04f1cda227cf497b851a5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00056/meta.json @@ -0,0 +1,1303 @@ +{ + "frame_id": 56, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 28.0, + "sim_timestamp": 2775.7401810006704 + }, + "drone_pose": { + "x": -142.4515618625244, + "y": -51.26162624871547, + "z": 20.000065807419666, + "pitch": -47.08337703178277, + "yaw": 69.54373862135529, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.23798096179962158, + -0.6379932761192322, + 0.7323453426361084, + 51.9583740234375 + ], + [ + 0.9369392991065979, + 0.34949225187301636, + 0.0, + -115.55291748046875 + ], + [ + -0.2559490501880646, + 0.6861631274223328, + 0.6809333562850952, + -85.25289154052734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.56434407139193, + "y": -50.552881184370435, + "z": 19.912316181004687 + }, + "t1_image_uv": [ + 1332.8877337445688, + -419.8011254679766 + ], + "t1_depth": 0.4895975544054595 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -136.16718292236328, + "y": -31.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 672.739760430596, + 289.09623767197206 + ], + "depth": 27.93907465809911, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 587, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -136.16717529296875, + "y": -31.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5030956864356995, + "y": 0.4547668397426605, + "z": 0.8956007957458496 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 651.0141855059753, + "ymin": 251.03112011007045, + "xmax": 695.8098410278777, + "ymax": 326.5781546632383 + }, + "corners_3d": [ + [ + -136.20135498046875, + -32.365074157714844, + 0.04853707551956177 + ], + [ + -136.844482421875, + -31.72193717956543, + 0.04853707551956177 + ], + [ + -136.13299560546875, + -31.010452270507812, + 0.04853707551956177 + ], + [ + -135.4898681640625, + -31.653589248657227, + 0.04853707551956177 + ], + [ + -136.20135498046875, + -32.365074157714844, + 1.8397386074066162 + ], + [ + -136.844482421875, + -31.72193717956543, + 1.8397386074066162 + ], + [ + -136.13299560546875, + -31.010452270507812, + 1.8397386074066162 + ], + [ + -135.4898681640625, + -31.653589248657227, + 1.8397386074066162 + ] + ], + "corners_2d": [ + [ + 665.5093625115791, + 326.5781546632383 + ], + [ + 693.2331061786342, + 317.5318565645611 + ], + [ + 678.271270967143, + 296.2811426786218 + ], + [ + 651.0141855059753, + 304.9415514866441 + ], + [ + 666.7559708407439, + 281.3244052721387 + ], + [ + 695.8098410278777, + 272.26982190863225 + ], + [ + 680.082136244655, + 251.03112011007045 + ], + [ + 651.5402204284538, + 259.6813087099285 + ] + ], + "center_offset_px": [ + 32.73976043059599, + -70.90376232802794 + ] + }, + "trace_timestep_index": 56, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 37, + "semantic_pixel_counts": { + "1": 407664, + "2": 151165, + "3": 70614, + "4": 48185, + "6": 8094, + "10": 9, + "12": 3954, + "14": 5793, + "24": 9124, + "25": 216998 + }, + "instance_pixel_counts": { + "3413": 9238, + "3662": 31924, + "11605": 6003, + "12117": 1, + "17240": 7091, + "17496": 966, + "20565": 19, + "21907": 1110, + "21909": 324, + "22421": 1555, + "22931": 69012, + "22933": 7245, + "23443": 337192, + "25856": 37, + "26003": 350, + "36096": 587, + "36352": 574, + "36608": 606, + "36864": 640, + "37120": 915, + "37376": 632, + "41728": 5793, + "47201": 3929, + "47713": 211, + "48737": 21248, + "48980": 55353, + "49249": 2821, + "49761": 1914, + "51297": 81280, + "51526": 16261, + "51809": 11954, + "52321": 5020, + "52833": 211, + "54366": 200225, + "54878": 16773, + "57482": 6927, + "57994": 15650 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 587, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -136.16717529296875, + "y": -31.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.36894041299819946, + "y": 0.45372191071510315, + "z": 0.8952035307884216 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 652.9420802585947, + "ymin": 253.827994841733, + "xmax": 693.6378152029629, + "ymax": 323.61812468103943 + }, + "corners_3d": [ + [ + -136.1072235107422, + -32.269474029541016, + 0.048934340476989746 + ], + [ + -136.74888610839844, + -31.6278133392334, + 0.048934340476989746 + ], + [ + -136.2271270751953, + -31.10605239868164, + 0.048934340476989746 + ], + [ + -135.58546447753906, + -31.747713088989258, + 0.048934340476989746 + ], + [ + -136.1072235107422, + -32.269474029541016, + 1.839341402053833 + ], + [ + -136.74888610839844, + -31.6278133392334, + 1.839341402053833 + ], + [ + -136.2271270751953, + -31.10605239868164, + 1.839341402053833 + ], + [ + -135.58546447753906, + -31.747713088989258, + 1.839341402053833 + ] + ], + "corners_2d": [ + [ + 663.5718008344131, + 323.61812468103943 + ], + [ + 691.1696286924131, + 314.6454850801267 + ], + [ + 680.1984684948644, + 299.06201611271894 + ], + [ + 652.9420802585947, + 307.75234845410023 + ], + [ + 664.7196337542807, + 278.38088869369363 + ], + [ + 693.6378152029629, + 269.4025921686857 + ], + [ + 682.1053946480221, + 253.827994841733 + ], + [ + 653.5617784262661, + 262.51045528961976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 574, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -132.04119873046875, + "y": -28.6900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3808984160423279, + "y": 0.43025144934654236, + "z": 0.8631311058998108 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 562.598727863501, + "ymin": 166.14487952578125, + "xmax": 600.5142072635335, + "ymax": 230.9915273968036 + }, + "corners_3d": [ + [ + -132.12631225585938, + -29.25834846496582, + 0.08100676536560059 + ], + [ + -132.59498596191406, + -28.536670684814453, + 0.08100676536560059 + ], + [ + -131.95608520507812, + -28.121767044067383, + 0.08100676536560059 + ], + [ + -131.48741149902344, + -28.84344482421875, + 0.08100676536560059 + ], + [ + -132.12631225585938, + -29.25834846496582, + 1.8072689771652222 + ], + [ + -132.59498596191406, + -28.536670684814453, + 1.8072689771652222 + ], + [ + -131.95608520507812, + -28.121767044067383, + 1.8072689771652222 + ], + [ + -131.48741149902344, + -28.84344482421875, + 1.8072689771652222 + ] + ], + "corners_2d": [ + [ + 578.7187922514489, + 230.9915273968036 + ], + [ + 600.5142072635335, + 220.96301186061203 + ], + [ + 587.3579657987573, + 209.2718544309911 + ], + [ + 565.7051940895387, + 219.03819683680018 + ], + [ + 576.1206478488391, + 187.67804532762523 + ], + [ + 598.8594858201507, + 177.73019269422997 + ], + [ + 585.1819695268675, + 166.14487952578125 + ], + [ + 562.598727863501, + 175.82193004301547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 606, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -138.42300415039062, + "y": -24.74505043029785, + "z": 1.0953439474105835 + }, + "extent": { + "x": 0.5090869069099426, + "y": 0.47789672017097473, + "z": 0.9365295171737671 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 782.2751810078963, + "ymin": 131.73757341019473, + "xmax": 831.4640470360107, + "ymax": 203.23162805829367 + }, + "corners_3d": [ + [ + -138.51788330078125, + -25.436824798583984, + 0.1588144302368164 + ], + [ + -139.119384765625, + -24.694032669067383, + 0.1588144302368164 + ], + [ + -138.328125, + -24.05327606201172, + 0.1588144302368164 + ], + [ + -137.72662353515625, + -24.79606819152832, + 0.1588144302368164 + ], + [ + -138.51788330078125, + -25.436824798583984, + 2.0318734645843506 + ], + [ + -139.119384765625, + -24.694032669067383, + 2.0318734645843506 + ], + [ + -138.328125, + -24.05327606201172, + 2.0318734645843506 + ], + [ + -137.72662353515625, + -24.79606819152832, + 2.0318734645843506 + ] + ], + "corners_2d": [ + [ + 800.4851763276745, + 203.23162805829367 + ], + [ + 823.3262397891908, + 194.25702194771608 + ], + [ + 804.8845637431048, + 178.5125200214373 + ], + [ + 782.2751810078963, + 187.16240929964326 + ], + [ + 807.6861481432076, + 156.14617738129897 + ], + [ + 831.4640470360107, + 147.27715820023866 + ], + [ + 812.0650049582254, + 131.73757341019473 + ], + [ + 788.5367711583983, + 140.27178214744472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 640, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -139.74693298339844, + "y": -31.687763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3834863305091858, + "y": 0.3982214331626892, + "z": 0.8718469142913818 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 771.0033122391696, + "ymin": 280.09318964010237, + "xmax": 816.8354361461196, + "ymax": 350.1130920278135 + }, + "corners_3d": [ + [ + -139.73651123046875, + -32.24051284790039, + 0.22468841075897217 + ], + [ + -140.2996826171875, + -31.677343368530273, + 0.22468841075897217 + ], + [ + -139.75735473632812, + -31.135011672973633, + 0.22468841075897217 + ], + [ + -139.19418334960938, + -31.698183059692383, + 0.22468841075897217 + ], + [ + -139.73651123046875, + -32.24051284790039, + 1.9683822393417358 + ], + [ + -140.2996826171875, + -31.677343368530273, + 1.9683822393417358 + ], + [ + -139.75735473632812, + -31.135011672973633, + 1.9683822393417358 + ], + [ + -139.19418334960938, + -31.698183059692383, + 1.9683822393417358 + ] + ], + "corners_2d": [ + [ + 784.5039588041777, + 350.1130920278135 + ], + [ + 808.6206903064946, + 341.73289960105785 + ], + [ + 794.8191145518098, + 324.5029981012282 + ], + [ + 771.0033122391696, + 332.5997843556369 + ], + [ + 791.6048291946764, + 305.76491792226614 + ], + [ + 816.8354361461196, + 297.3576049763954 + ], + [ + 802.2272207488991, + 280.09318964010237 + ], + [ + 777.3251955548477, + 288.20263720713683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 915, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -139.78268432617188, + "y": -42.81512451171875, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3953954875469208, + "y": 0.45839110016822815, + "z": 0.8993127942085266 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 634.5998608244066, + "ymin": 624.9598722079165, + "xmax": 690.977277876253, + "ymax": 711.5506315509429 + }, + "corners_3d": [ + [ + -139.67527770996094, + -43.41088104248047, + 0.1972225308418274 + ], + [ + -140.38775634765625, + -42.83393096923828, + 0.1972225308418274 + ], + [ + -139.8900909423828, + -42.21936798095703, + 0.1972225308418274 + ], + [ + -139.1776123046875, + -42.79631805419922, + 0.1972225308418274 + ], + [ + -139.67527770996094, + -43.41088104248047, + 1.9958481788635254 + ], + [ + -140.38775634765625, + -42.83393096923828, + 1.9958481788635254 + ], + [ + -139.8900909423828, + -42.21936798095703, + 1.9958481788635254 + ], + [ + -139.1776123046875, + -42.79631805419922, + 1.9958481788635254 + ] + ], + "corners_2d": [ + [ + 646.7847850266207, + 711.5506315509429 + ], + [ + 687.6809369944042, + 698.0616299802496 + ], + [ + 674.9526425405121, + 664.5530546269017 + ], + [ + 634.9437823275302, + 677.3874428746399 + ], + [ + 647.2587786423604, + 673.7518076715473 + ], + [ + 690.977277876253, + 659.7241283432213 + ], + [ + 677.305977979599, + 624.9598722079165 + ], + [ + 634.5998608244066, + 638.2613373595098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 632, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -124.92184448242188, + "y": -39.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.26169919967651367, + "y": 0.3607446253299713, + "z": 0.8675709962844849 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 141.845996765917, + "ymin": 353.43698132152383, + "xmax": 196.15467241848626, + "ymax": 415.7741695467503 + }, + "corners_3d": [ + [ + -124.76183319091797, + -40.27393341064453, + 0.07656687498092651 + ], + [ + -125.3669204711914, + -39.8809814453125, + 0.07656687498092651 + ], + [ + -125.08185577392578, + -39.44202423095703, + 0.07656687498092651 + ], + [ + -124.47676849365234, + -39.83497619628906, + 0.07656687498092651 + ], + [ + -124.76183319091797, + -40.27393341064453, + 1.811708927154541 + ], + [ + -125.3669204711914, + -39.8809814453125, + 1.811708927154541 + ], + [ + -125.08185577392578, + -39.44202423095703, + 1.811708927154541 + ], + [ + -124.47676849365234, + -39.83497619628906, + 1.811708927154541 + ] + ], + "corners_2d": [ + [ + 166.37125444619772, + 415.7741695467503 + ], + [ + 194.40755091765976, + 411.2938515472742 + ], + [ + 196.15467241848626, + 396.9389535921532 + ], + [ + 168.49836531540842, + 401.30113277342025 + ], + [ + 141.845996765917, + 372.44166102773397 + ], + [ + 171.4339481829487, + 367.9179457193427 + ], + [ + 173.58965455446685, + 353.43698132152383 + ], + [ + 144.4245351711075, + 357.8353788019755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 5793, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 454.4263487088044, + "ymin": 75.81281372861451, + "xmax": 577.726105583363, + "ymax": 204.3453344986927 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 460.29492993670544, + 191.1192641708916 + ], + [ + 514.2344052044609, + 204.3453344986927 + ], + [ + 577.726105583363, + 120.33980955743186 + ], + [ + 528.0167599921168, + 109.5110090246558 + ], + [ + 454.4263487088044, + 156.45456375125477 + ], + [ + 510.0623244084722, + 169.57088674024973 + ], + [ + 575.8641028779917, + 86.48480277479189 + ], + [ + 524.7155187147034, + 75.81281372861451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 646.7903241916105, + "ymin": 0.0, + "xmax": 898.0580856106329, + "ymax": 84.42913492358974 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 838.6494549561546, + 84.42913492358974 + ], + [ + 842.7363651993569, + 74.97598575521533 + ], + [ + 652.9644408535903, + 39.35663846365975 + ], + [ + 646.7903241916105, + 47.9251305631073 + ], + [ + 893.7316043263031, + -239.48670294354713 + ], + [ + 898.0580856106329, + -246.370066076669 + ], + [ + 656.2902827987402, + -271.8851953293075 + ], + [ + 648.5587136781274, + -265.80736755377086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 339.1973170454387, + "ymin": 0.0, + "xmax": 725.3041480887733, + "ymax": 427.58511140674216 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 690.2917330662927, + 427.58511140674216 + ], + [ + 698.8757690230677, + 407.7299720625265 + ], + [ + 440.02004146072744, + 334.88270376387135 + ], + [ + 427.59319691992766, + 352.1287852842621 + ], + [ + 713.4730916764562, + 47.30173293838152 + ], + [ + 725.3041480887733, + 28.478709751064798 + ], + [ + 358.7657426636205, + -37.99956542321672 + ], + [ + 339.1973170454387, + -22.616721541161155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 898.063343090322, + "ymin": 0.0, + "xmax": 995.515836994064, + "ymax": 9.352185081497055 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 898.063343090322, + 7.617877577913703 + ], + [ + 908.1040424546579, + 9.352185081497055 + ], + [ + 950.6519227391325, + -97.26360390101831 + ], + [ + 942.0865393600817, + -98.49843134696272 + ], + [ + 943.3195956452987, + -210.71420376045523 + ], + [ + 955.2621066056881, + -209.32953622973162 + ], + [ + 995.515836994064, + -292.2099073475172 + ], + [ + 985.6063064389439, + -293.1438459133234 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00058/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00058/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b929668e613fe15fa350b7aada41c140f35caa6d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00058/meta.json @@ -0,0 +1,1732 @@ +{ + "frame_id": 58, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 29.0, + "sim_timestamp": 2799.010322596645 + }, + "drone_pose": { + "x": -142.42371894833144, + "y": -49.99686048604022, + "z": 20.000032753681406, + "pitch": -42.731905422200846, + "yaw": 69.40331890010968, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2584008574485779, + -0.687585175037384, + 0.6785688400268555, + 57.60810470581055 + ], + [ + 0.9360799193382263, + 0.3517874479293823, + -2.9802322387695312e-08, + -115.73172760009766 + ], + [ + -0.23871196806430817, + 0.6351946592330933, + 0.7345368266105652, + -80.44673919677734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.3462172343332, + "y": -49.33712094989134, + "z": 19.843038835130233 + }, + "t1_image_uv": [ + 903.9825454384776, + -173.20242185038467 + ], + "t1_depth": 0.5801848151126551 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -135.16718292236328, + "y": -30.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.08248000661948, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 589, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -135.16717529296875, + "y": -30.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3777148425579071, + "y": 0.5385473370552063, + "z": 0.904201328754425 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.6395405459772, + "ymin": 324.42689309786914, + "xmax": 662.1645570933015, + "ymax": 395.0331922791593 + }, + "corners_3d": [ + [ + -134.62863159179688, + -31.06547737121582, + 0.03993654251098633 + ], + [ + -135.70571899414062, + -31.06547737121582, + 0.03993654251098633 + ], + [ + -135.70571899414062, + -30.310049057006836, + 0.03993654251098633 + ], + [ + -134.62863159179688, + -30.310049057006836, + 0.03993654251098633 + ], + [ + -134.62863159179688, + -31.06547737121582, + 1.8483392000198364 + ], + [ + -135.70571899414062, + -31.06547737121582, + 1.8483392000198364 + ], + [ + -135.70571899414062, + -30.310049057006836, + 1.8483392000198364 + ], + [ + -134.62863159179688, + -30.310049057006836, + 1.8483392000198364 + ] + ], + "corners_2d": [ + [ + 618.5997721580817, + 386.05418536237664 + ], + [ + 652.5944803203962, + 395.0331922791593 + ], + [ + 661.220701796573, + 378.4161273613677 + ], + [ + 627.7503712967971, + 369.756377383388 + ], + [ + 617.6395405459772, + 340.5950537600233 + ], + [ + 653.1654068813527, + 349.5137050975172 + ], + [ + 662.1645570933015, + 333.01453174608815 + ], + [ + 627.2109731822812, + 324.42689309786914 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 58, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 426147, + "2": 142527, + "3": 65500, + "4": 57430, + "6": 11216, + "7": 125, + "10": 3, + "12": 3023, + "14": 9581, + "24": 12521, + "25": 193527 + }, + "instance_pixel_counts": { + "3662": 33031, + "11605": 18579, + "17240": 8632, + "17496": 1737, + "20565": 6029, + "21907": 36424, + "21909": 3924, + "22421": 1755, + "22931": 77734, + "22933": 5857, + "23443": 288599, + "23445": 68, + "23955": 6139, + "25493": 63, + "25600": 53, + "25856": 919, + "26003": 5824, + "36096": 589, + "36352": 613, + "36608": 567, + "36864": 657, + "37376": 597, + "41216": 3612, + "41728": 5969, + "46483": 1232, + "47201": 5915, + "47713": 800, + "48225": 433, + "48531": 4183, + "48737": 22470, + "48980": 40892, + "49249": 2449, + "49761": 2805, + "50579": 6012, + "51297": 64943, + "51526": 24399, + "51809": 9426, + "52321": 4602, + "52833": 343, + "53345": 29, + "54366": 175561, + "54878": 17966, + "56970": 1484, + "57482": 12624, + "57994": 14199, + "58506": 5, + "60819": 233, + "62355": 306, + "64403": 315 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 589, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -135.16717529296875, + "y": -30.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.40019041299819946, + "y": 0.5759948492050171, + "z": 0.9067223072052002 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.1250485905974, + "ymin": 323.59396880492096, + "xmax": 663.6558454365961, + "ymax": 395.91333262703967 + }, + "corners_3d": [ + [ + -134.5911865234375, + -31.087953567504883, + 0.03741556406021118 + ], + [ + -135.7431640625, + -31.087953567504883, + 0.03741556406021118 + ], + [ + -135.7431640625, + -30.287572860717773, + 0.03741556406021118 + ], + [ + -134.5911865234375, + -30.287572860717773, + 0.03741556406021118 + ], + [ + -134.5911865234375, + -31.087953567504883, + 1.8508601188659668 + ], + [ + -135.7431640625, + -31.087953567504883, + 1.8508601188659668 + ], + [ + -135.7431640625, + -30.287572860717773, + 1.8508601188659668 + ], + [ + -134.5911865234375, + -30.287572860717773, + 1.8508601188659668 + ] + ], + "corners_2d": [ + [ + 617.1533223318285, + 386.2994762640051 + ], + [ + 653.5265779660974, + 395.91333262703967 + ], + [ + 662.6459390344882, + 378.2952255091309 + ], + [ + 626.8668341309577, + 369.04313335114625 + ], + [ + 616.1250485905974, + 340.71215611704554 + ], + [ + 654.1420777581944, + 350.2616796834433 + ], + [ + 663.6558454365961, + 332.76836857026603 + ], + [ + 626.2874050948393, + 323.59396880492096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 613, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -131.93727111816406, + "y": -28.308874130249023, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.44712406396865845, + "y": 0.43928956985473633, + "z": 0.8746490478515625 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 553.0716696295938, + "ymin": 256.5348814423994, + "xmax": 588.5092301808381, + "ymax": 319.59951341984805 + }, + "corners_3d": [ + [ + -131.6005401611328, + -28.837560653686523, + 0.06948882341384888 + ], + [ + -132.45993041992188, + -28.65489387512207, + 0.06948882341384888 + ], + [ + -132.2740020751953, + -27.780187606811523, + 0.06948882341384888 + ], + [ + -131.41461181640625, + -27.962854385375977, + 0.06948882341384888 + ], + [ + -131.6005401611328, + -28.837560653686523, + 1.818786859512329 + ], + [ + -132.45993041992188, + -28.65489387512207, + 1.818786859512329 + ], + [ + -132.2740020751953, + -27.780187606811523, + 1.818786859512329 + ], + [ + -131.41461181640625, + -27.962854385375977, + 1.818786859512329 + ] + ], + "corners_2d": [ + [ + 556.4142775256381, + 316.95434711315255 + ], + [ + 583.2526508057532, + 319.59951341984805 + ], + [ + 588.5092301808381, + 302.1041544495572 + ], + [ + 562.2077942538315, + 299.56704034005315 + ], + [ + 553.0716696295938, + 273.6759367880363 + ], + [ + 580.9759148969349, + 276.2861164031386 + ], + [ + 586.4877664449353, + 259.034304068977 + ], + [ + 559.1634817502272, + 256.5348814423994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 567, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -137.42300415039062, + "y": -23.74505043029785, + "z": 1.0965206623077393 + }, + "extent": { + "x": 0.4786767363548279, + "y": 0.5654138326644897, + "z": 0.9426554441452026 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 754.5314525570986, + "ymin": 207.27588963056593, + "xmax": 797.8085193663974, + "ymax": 274.5740510574839 + }, + "corners_3d": [ + [ + -136.9107208251953, + -24.28020668029785, + 0.15386521816253662 + ], + [ + -138.0353546142578, + -24.162002563476562, + 0.15386521816253662 + ], + [ + -137.93528747558594, + -23.20989418029785, + 0.15386521816253662 + ], + [ + -136.81065368652344, + -23.32809829711914, + 0.15386521816253662 + ], + [ + -136.9107208251953, + -24.28020668029785, + 2.0391759872436523 + ], + [ + -138.0353546142578, + -24.162002563476562, + 2.0391759872436523 + ], + [ + -137.93528747558594, + -23.20989418029785, + 2.0391759872436523 + ], + [ + -136.81065368652344, + -23.32809829711914, + 2.0391759872436523 + ] + ], + "corners_2d": [ + [ + 754.5314525570986, + 269.42381796150414 + ], + [ + 787.7322700608981, + 274.5740510574839 + ], + [ + 791.699100889017, + 258.0699096880436 + ], + [ + 759.1527282783717, + 253.12896064884052 + ], + [ + 759.213456532014, + 223.2397831621553 + ], + [ + 793.812180071465, + 228.29096670550973 + ], + [ + 797.8085193663974, + 212.11366347515514 + ], + [ + 763.919982648815, + 207.27588963056593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 657, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -138.74693298339844, + "y": -30.687763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.38060057163238525, + "y": 0.4564489722251892, + "z": 0.8889180421829224 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 737.3404318842807, + "ymin": 350.65884020793237, + "xmax": 781.2170780517243, + "ymax": 421.45686868855114 + }, + "corners_3d": [ + [ + -138.2904815673828, + -31.068363189697266, + 0.20761728286743164 + ], + [ + -139.20338439941406, + -31.068363189697266, + 0.20761728286743164 + ], + [ + -139.20338439941406, + -30.30716323852539, + 0.20761728286743164 + ], + [ + -138.2904815673828, + -30.30716323852539, + 0.20761728286743164 + ], + [ + -138.2904815673828, + -31.068363189697266, + 1.9854533672332764 + ], + [ + -139.20338439941406, + -31.068363189697266, + 1.9854533672332764 + ], + [ + -139.20338439941406, + -30.30716323852539, + 1.9854533672332764 + ], + [ + -138.2904815673828, + -30.30716323852539, + 1.9854533672332764 + ] + ], + "corners_2d": [ + [ + 737.3404318842807, + 413.32626570940397 + ], + [ + 768.2570040578321, + 421.45686868855114 + ], + [ + 775.0891669287388, + 403.60370985757373 + ], + [ + 744.6922581665331, + 395.7750998008996 + ], + [ + 741.8042408968341, + 368.1172577219275 + ], + [ + 774.1917931914538, + 376.21502980007983 + ], + [ + 781.2170780517243, + 358.44238917111176 + ], + [ + 749.3995517340732, + 350.65884020793237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 597, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -123.92184448242188, + "y": -38.85797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.32078123092651367, + "y": 0.39009642601013184, + "z": 0.8715946078300476 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 100.4367228743173, + "ymin": 418.7899168485377, + "xmax": 163.832461373974, + "ymax": 490.1344475054296 + }, + "corners_3d": [ + [ + -123.47357940673828, + -39.09064483642578, + 0.07254326343536377 + ], + [ + -124.23672485351562, + -39.25285720825195, + 0.07254326343536377 + ], + [ + -124.37010955810547, + -38.62531280517578, + 0.07254326343536377 + ], + [ + -123.60696411132812, + -38.46310043334961, + 0.07254326343536377 + ], + [ + -123.47357940673828, + -39.09064483642578, + 1.815732479095459 + ], + [ + -124.23672485351562, + -39.25285720825195, + 1.815732479095459 + ], + [ + -124.37010955810547, + -38.62531280517578, + 1.815732479095459 + ], + [ + -123.60696411132812, + -38.46310043334961, + 1.815732479095459 + ] + ], + "corners_2d": [ + [ + 125.06203361020016, + 478.02014540242027 + ], + [ + 143.4941696525475, + 490.1344475054296 + ], + [ + 163.832461373974, + 474.6085860220189 + ], + [ + 145.4398050924991, + 462.8592104051602 + ], + [ + 100.4367228743173, + 433.9685161872001 + ], + [ + 119.45021149979175, + 446.11268504268673 + ], + [ + 141.1422186672326, + 430.55107242808896 + ], + [ + 122.16262229111874, + 418.7899168485377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 3612, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 915.2105524682971, + "ymin": 2.8727063817689213, + "xmax": 1045.9401596665143, + "ymax": 68.42711771343534 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 920.8658452506971, + 34.94646171963609 + ], + [ + 915.2105524682971, + 50.32022525853131 + ], + [ + 1033.757198667459, + 68.42711771343534 + ], + [ + 1036.3310496693944, + 52.08727782603836 + ], + [ + 927.469128204589, + 2.8727063817689213 + ], + [ + 921.862218298112, + 17.719124957768486 + ], + [ + 1043.5800704419928, + 35.22945569268825 + ], + [ + 1045.9401596665143, + 19.42678970074803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 5969, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 440.86208438945766, + "ymin": 170.47971518857298, + "xmax": 567.8473319472845, + "ymax": 300.5472608929703 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 446.79231770308365, + 286.77679516215136 + ], + [ + 501.17552466254784, + 300.5472608929703 + ], + [ + 567.8473319472845, + 214.38752160338728 + ], + [ + 518.0470189606929, + 203.31650882912894 + ], + [ + 440.86208438945766, + 252.63315986782843 + ], + [ + 496.84013729723904, + 266.23774870048777 + ], + [ + 565.8352405046105, + 181.34769670255812 + ], + [ + 514.6983560758923, + 170.47971518857298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.4095732399235, + "ymin": 17.391803013087895, + "xmax": 908.592547568636, + "ymax": 42.39666839857449 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 904.642773708551, + 38.68879541739767 + ], + [ + 897.9355326651423, + 37.67520516261823 + ], + [ + 896.4095732399235, + 41.36975579208695 + ], + [ + 903.158031348146, + 42.39666839857449 + ], + [ + 908.592547568636, + 18.38355935125304 + ], + [ + 901.7781991021579, + 17.391803013087895 + ], + [ + 900.25488071523, + 21.00702449542115 + ], + [ + 907.1117831279424, + 22.01201252218766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 638.2655130486686, + "ymin": 0.0, + "xmax": 883.4853707985039, + "ymax": 178.48755399246903 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 830.8595112759979, + 178.48755399246903 + ], + [ + 834.918453514671, + 168.9540573241884 + ], + [ + 644.9109864480365, + 132.95548215099794 + ], + [ + 638.5978434274177, + 141.5219658018077 + ], + [ + 879.2317949468262, + -130.89025999483022 + ], + [ + 883.4853707985039, + -137.57566161196542 + ], + [ + 646.0565592477034, + -162.41343941596733 + ], + [ + 638.2655130486686, + -156.56035718878002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 314.92701249397726, + "ymin": 70.4638099123149, + "xmax": 706.7356370789552, + "ymax": 538.527727693102 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 677.5702912236178, + 538.527727693102 + ], + [ + 686.7671364233311, + 516.9265104511387 + ], + [ + 420.1337808636038, + 437.96207719008714 + ], + [ + 406.55338408285905, + 456.3897045404897 + ], + [ + 694.0899075252181, + 160.09970156413738 + ], + [ + 706.7356370789552, + 140.2242405975578 + ], + [ + 336.0733166079228, + 70.4638099123149 + ], + [ + 314.92701249397726, + 86.35013039073351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 323.78255683861664, + "ymin": 82.79938392224892, + "xmax": 366.06059136388694, + "ymax": 100.52048874403118 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 352.8263926527625, + 100.52048874403118 + ], + [ + 366.06059136388694, + 89.85313740589618 + ], + [ + 337.775924829247, + 84.40847264328198 + ], + [ + 324.1757136426057, + 94.88669923182812 + ], + [ + 352.4656585010703, + 98.88917252033394 + ], + [ + 365.72233959216584, + 88.23642131220504 + ], + [ + 337.406046709987, + 82.79938392224892 + ], + [ + 323.78255683861664, + 93.26303712994729 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 354.3902363371338, + "ymin": 0.0, + "xmax": 611.7056150553855, + "ymax": 48.97843154087201 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 392.6761534043835, + 7.9213528059206055 + ], + [ + 388.0863501136167, + 11.186274723927454 + ], + [ + 608.2245753606635, + 48.97843154087201 + ], + [ + 611.7056150553855, + 45.24033488337409 + ], + [ + 359.82139089484724, + -176.89497076871953 + ], + [ + 354.3902363371338, + -174.4726064989727 + ], + [ + 603.6325894763809, + -146.14431622322445 + ], + [ + 607.6470386700454, + -148.97024781214407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.7658492742232, + "ymin": 0.0, + "xmax": 979.5534473603078, + "ymax": 103.25530844416437 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 889.7658492742232, + 101.52112950264211 + ], + [ + 899.7997470649709, + 103.25530844416437 + ], + [ + 940.4288107455908, + -1.381229978644626 + ], + [ + 931.9640350116783, + -2.587821112254005 + ], + [ + 929.6802906587177, + -105.85447123518026 + ], + [ + 941.4506301711369, + -104.50633559000539 + ], + [ + 979.5534473603078, + -183.7753980939217 + ], + [ + 969.8876623084936, + -184.66550000158247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 323.7927198817846, + "ymin": 82.84097776917287, + "xmax": 366.06931348198754, + "ymax": 100.56255273961239 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 352.8356942949225, + 100.56255273961239 + ], + [ + 366.06931348198754, + 89.89482584593748 + ], + [ + 337.785462567064, + 84.44996486881882 + ], + [ + 324.18585143023074, + 94.9285663479427 + ], + [ + 352.47498352611024, + 98.93134225824934 + ], + [ + 365.73108326281545, + 88.27821276531466 + ], + [ + 337.4156078073161, + 82.84097776917287 + ], + [ + 323.7927198817846, + 93.30500854660397 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00059/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00059/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f40c8d444671851c533865463afdb11f8bb65f8e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00059/meta.json @@ -0,0 +1,1732 @@ +{ + "frame_id": 59, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 29.5, + "sim_timestamp": 2810.337675943738 + }, + "drone_pose": { + "x": -142.3462172343332, + "y": -49.33712094989134, + "z": 19.843038835130233, + "pitch": -42.741460917649874, + "yaw": 69.44913528355899, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2578112483024597, + -0.6876855492591858, + 0.6786913275718689, + 57.159576416015625 + ], + [ + 0.9363608956336975, + 0.3510388731956482, + 0.0, + -115.96818542480469 + ], + [ + -0.23824703693389893, + 0.6355000138282776, + 0.7344236373901367, + -79.84049987792969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.46847679009295, + "y": -48.96496549348206, + "z": 19.96385331200503 + }, + "t1_image_uv": [ + 2292.374848535189, + -1636.0741899697487 + ], + "t1_depth": 0.14241034062683255 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -135.16718292236328, + "y": -30.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 27.846092975111688, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 590, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -135.16717529296875, + "y": -30.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.36674314737319946, + "y": 0.5334033370018005, + "z": 0.8952505588531494 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.7657954621751, + "ymin": 324.63992404732545, + "xmax": 662.0472548873984, + "ymax": 394.81090763414994 + }, + "corners_3d": [ + [ + -134.63377380371094, + -30.554506301879883, + 0.04888731241226196 + ], + [ + -135.70057678222656, + -30.554506301879883, + 0.04888731241226196 + ], + [ + -135.70057678222656, + -29.821020126342773, + 0.04888731241226196 + ], + [ + -134.63377380371094, + -29.821020126342773, + 0.04888731241226196 + ], + [ + -134.63377380371094, + -30.554506301879883, + 1.839388370513916 + ], + [ + -135.70057678222656, + -30.554506301879883, + 1.839388370513916 + ], + [ + -135.70057678222656, + -29.821020126342773, + 1.839388370513916 + ], + [ + -134.63377380371094, + -29.821020126342773, + 1.839388370513916 + ] + ], + "corners_2d": [ + [ + 618.7192145378934, + 385.8631612580035 + ], + [ + 652.6810197785177, + 394.81090763414994 + ], + [ + 661.109442941879, + 378.53262595842165 + ], + [ + 627.6611865374846, + 369.89657605859605 + ], + [ + 617.7657954621751, + 340.4802268950336 + ], + [ + 653.2549730838329, + 349.3680614360437 + ], + [ + 662.0472548873984, + 333.2045891927169 + ], + [ + 627.1184770637907, + 324.63992404732545 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 59, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 428738, + "2": 142589, + "3": 60377, + "4": 57583, + "6": 11801, + "7": 129, + "10": 10, + "12": 3099, + "14": 9950, + "24": 12608, + "25": 194716 + }, + "instance_pixel_counts": { + "3662": 33435, + "11605": 17074, + "17240": 9073, + "17496": 1822, + "20565": 6448, + "21907": 38331, + "21909": 4051, + "22421": 1849, + "22931": 80797, + "22933": 5678, + "23443": 285116, + "23445": 69, + "23955": 6417, + "25493": 67, + "25600": 68, + "25856": 967, + "26003": 5854, + "36096": 590, + "36352": 620, + "36608": 591, + "36864": 651, + "37376": 647, + "41216": 3705, + "41728": 6245, + "46483": 1505, + "47201": 6115, + "47713": 838, + "48225": 468, + "48531": 4543, + "48737": 23449, + "48980": 36855, + "49249": 2556, + "49761": 2904, + "50579": 6175, + "51297": 64164, + "51526": 24148, + "51809": 9301, + "52321": 4398, + "52833": 362, + "53345": 30, + "54366": 175801, + "54878": 18915, + "56970": 1633, + "57482": 13012, + "57994": 13340, + "58506": 19, + "60819": 265, + "62355": 313, + "64403": 316 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 590, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -135.16717529296875, + "y": -30.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3670947253704071, + "y": 0.5425048470497131, + "z": 0.8786389827728271 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.4706531573435, + "ymin": 324.99823871397024, + "xmax": 662.3434556820099, + "ymax": 394.4924877636527 + }, + "corners_3d": [ + [ + -134.62466430664062, + -30.55485725402832, + 0.06549888849258423 + ], + [ + -135.70968627929688, + -30.55485725402832, + 0.06549888849258423 + ], + [ + -135.70968627929688, + -29.820669174194336, + 0.06549888849258423 + ], + [ + -134.62466430664062, + -29.820669174194336, + 0.06549888849258423 + ], + [ + -134.62466430664062, + -30.55485725402832, + 1.8227767944335938 + ], + [ + -135.70968627929688, + -30.55485725402832, + 1.8227767944335938 + ], + [ + -135.70968627929688, + -29.820669174194336, + 1.8227767944335938 + ], + [ + -134.62466430664062, + -29.820669174194336, + 1.8227767944335938 + ] + ], + "corners_2d": [ + [ + 618.419109213891, + 385.39213000942397 + ], + [ + 652.9749981681838, + 394.4924877636527 + ], + [ + 661.4102423890909, + 378.1966232368747 + ], + [ + 627.377588617827, + 369.4137000540144 + ], + [ + 617.4706531573435, + 340.8525480013308 + ], + [ + 653.5511740870907, + 349.89312502828346 + ], + [ + 662.3434556820099, + 333.70991705949956 + ], + [ + 626.8329802319711, + 324.99823871397024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 620, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -132.24569702148438, + "y": -27.78394317626953, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4692383110523224, + "y": 0.5077515244483948, + "z": 0.9319505095481873 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 559.3760999872618, + "ymin": 255.2792812888624, + "xmax": 599.3502381461973, + "ymax": 323.06405031311454 + }, + "corners_3d": [ + [ + -131.8466033935547, + -28.348495483398438, + 0.012187361717224121 + ], + [ + -132.8399200439453, + -28.137359619140625, + 0.012187361717224121 + ], + [ + -132.64479064941406, + -27.219390869140625, + 0.012187361717224121 + ], + [ + -131.65147399902344, + -27.430526733398438, + 0.012187361717224121 + ], + [ + -131.8466033935547, + -28.348495483398438, + 1.8760883808135986 + ], + [ + -132.8399200439453, + -28.137359619140625, + 1.8760883808135986 + ], + [ + -132.64479064941406, + -27.219390869140625, + 1.8760883808135986 + ], + [ + -131.65147399902344, + -27.430526733398438, + 1.8760883808135986 + ] + ], + "corners_2d": [ + [ + 562.7091690501682, + 319.9828653773572 + ], + [ + 594.0480666402098, + 323.06405031311454 + ], + [ + 599.3502381461973, + 304.47293291623544 + ], + [ + 568.6753838783935, + 301.52479000917674 + ], + [ + 559.3760999872618, + 273.4588340958795 + ], + [ + 592.0589282642014, + 276.4968535491214 + ], + [ + 597.6307210205256, + 258.18064753522765 + ], + [ + 565.6694426105715, + 255.2792812888624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 591, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -137.42300415039062, + "y": -23.24505043029785, + "z": 1.0965206623077393 + }, + "extent": { + "x": 0.4570702910423279, + "y": 0.6040685772895813, + "z": 0.9251130223274231 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 754.2477597765771, + "ymin": 206.6961092787547, + "xmax": 799.8609000264099, + "ymax": 273.2279534317761 + }, + "corners_3d": [ + [ + -136.87002563476562, + -23.762760162353516, + 0.17140763998031616 + ], + [ + -138.071533203125, + -23.636474609375, + 0.17140763998031616 + ], + [ + -137.97598266601562, + -22.727340698242188, + 0.17140763998031616 + ], + [ + -136.77447509765625, + -22.853626251220703, + 0.17140763998031616 + ], + [ + -136.87002563476562, + -23.762760162353516, + 2.0216336250305176 + ], + [ + -138.071533203125, + -23.636474609375, + 2.0216336250305176 + ], + [ + -137.97598266601562, + -22.727340698242188, + 2.0216336250305176 + ], + [ + -136.77447509765625, + -22.853626251220703, + 2.0216336250305176 + ] + ], + "corners_2d": [ + [ + 754.2477597765771, + 267.7126974627839 + ], + [ + 789.9830897366418, + 273.2279534317761 + ], + [ + 793.7363745186509, + 257.359692599757 + ], + [ + 758.679392308865, + 252.0602353546891 + ], + [ + 758.8616333877218, + 222.0326352725441 + ], + [ + 796.083864795824, + 227.4423823346662 + ], + [ + 799.8609000264099, + 211.88587011316977 + ], + [ + 763.3741221176391, + 206.6961092787547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 651, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -138.74693298339844, + "y": -30.187763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4061523377895355, + "y": 0.2935436964035034, + "z": 0.875657320022583 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 743.5306910147077, + "ymin": 351.6855463724686, + "xmax": 776.9175423775143, + "ymax": 420.7414346203468 + }, + "corners_3d": [ + [ + -138.45338439941406, + -30.593915939331055, + 0.220878005027771 + ], + [ + -139.0404815673828, + -30.593915939331055, + 0.220878005027771 + ], + [ + -139.0404815673828, + -29.7816104888916, + 0.220878005027771 + ], + [ + -138.45338439941406, + -29.7816104888916, + 0.220878005027771 + ], + [ + -138.45338439941406, + -30.593915939331055, + 1.972192645072937 + ], + [ + -139.0404815673828, + -30.593915939331055, + 1.972192645072937 + ], + [ + -139.0404815673828, + -29.7816104888916, + 1.972192645072937 + ], + [ + -138.45338439941406, + -29.7816104888916, + 1.972192645072937 + ] + ], + "corners_2d": [ + [ + 743.5306910147077, + 415.46871576519857 + ], + [ + 763.6132628904143, + 420.7414346203468 + ], + [ + 771.0249252657653, + 401.5688622785391 + ], + [ + 751.3059420119835, + 396.5067146357707 + ], + [ + 748.2596727045606, + 370.5515006640909 + ], + [ + 769.2925929587038, + 375.8036742739739 + ], + [ + 776.9175423775143, + 356.71866300950876 + ], + [ + 756.2832272308648, + 351.6855463724686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 647, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -123.92184448242188, + "y": -38.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3076269328594208, + "y": 0.35725095868110657, + "z": 0.8718196749687195 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 96.4255971683923, + "ymin": 420.46750564552167, + "xmax": 158.2392907941001, + "ymax": 490.82951336519636 + }, + "corners_3d": [ + [ + -123.50843811035156, + -38.5846061706543, + 0.0723181962966919 + ], + [ + -124.20732879638672, + -38.73316192626953, + 0.0723181962966919 + ], + [ + -124.33525085449219, + -38.131351470947266, + 0.0723181962966919 + ], + [ + -123.63636016845703, + -37.98279571533203, + 0.0723181962966919 + ], + [ + -123.50843811035156, + -38.5846061706543, + 1.8159575462341309 + ], + [ + -124.20732879638672, + -38.73316192626953, + 1.8159575462341309 + ], + [ + -124.33525085449219, + -38.131351470947266, + 1.8159575462341309 + ], + [ + -123.63636016845703, + -37.98279571533203, + 1.8159575462341309 + ] + ], + "corners_2d": [ + [ + 121.48532496208054, + 479.6325056408798 + ], + [ + 138.49322020727163, + 490.82951336519636 + ], + [ + 158.2392907941001, + 475.78259000043124 + ], + [ + 141.26605098416474, + 464.9123784002444 + ], + [ + 96.4255971683923, + 435.20771307497967 + ], + [ + 113.97273933619556, + 446.4339520617954 + ], + [ + 135.0491971947248, + 431.3505343251455 + ], + [ + 117.53151370172282, + 420.46750564552167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 3705, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 914.5942834970818, + "ymin": 4.873523336283824, + "xmax": 1047.0085870593557, + "ymax": 71.34335059462285 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 920.3076916917178, + 37.2997673831818 + ], + [ + 914.5942834970818, + 52.94695962760835 + ], + [ + 1034.6988165877067, + 71.34335059462285 + ], + [ + 1037.2488621512332, + 54.70223157841497 + ], + [ + 926.9834946356136, + 4.873523336283824 + ], + [ + 921.3197451992751, + 19.983043020134005 + ], + [ + 1044.680243741408, + 37.77284627556844 + ], + [ + 1047.0085870593557, + 21.67924536269112 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 6245, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 431.43518114364036, + "ymin": 176.1873163804443, + "xmax": 561.5826138732407, + "ymax": 309.3200808183386 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 437.76230401364296, + 295.17260008587283 + ], + [ + 493.03794769475473, + 309.3200808183386 + ], + [ + 561.5826138732407, + 220.73976420476257 + ], + [ + 511.0336414613379, + 209.40975156868137 + ], + [ + 431.43518114364036, + 260.6439575349981 + ], + [ + 488.35853469526944, + 274.62895154477906 + ], + [ + 559.3576459530674, + 187.3132609974854 + ], + [ + 507.43141026032, + 176.1873163804443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.5367429035233, + "ymin": 19.958972428199104, + "xmax": 907.8852659525711, + "ymax": 45.31313531619327 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 903.8877715302579, + 41.5294482018769 + ], + [ + 897.0835192897355, + 40.49776637678866 + ], + [ + 895.5367429035233, + 44.26769191716846 + ], + [ + 902.3834370879922, + 45.31313531619327 + ], + [ + 907.8852659525711, + 20.968388542074308 + ], + [ + 900.970767762164, + 19.958972428199104 + ], + [ + 899.4266549858517, + 23.647804671636607 + ], + [ + 906.3849920454929, + 24.670891202934342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 632.4139957770844, + "ymin": 0.0, + "xmax": 882.2303480034454, + "ymax": 183.8774464764355 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 829.011831912941, + 183.8774464764355 + ], + [ + 833.145229639001, + 174.1145594245625 + ], + [ + 640.345493687845, + 137.3727750203114 + ], + [ + 633.8898727138586, + 146.13304575469778 + ], + [ + 877.888163277614, + -130.2963033741422 + ], + [ + 882.2303480034454, + -137.1301730556927 + ], + [ + 640.4276024345579, + -162.4211078822657 + ], + [ + 632.4139957770844, + -156.4515739956106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 295.5202896314319, + "ymin": 77.90175398499338, + "xmax": 699.2601783584936, + "ymax": 555.7152940591554 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 671.5836341375128, + 555.7152940591554 + ], + [ + 681.1023018805718, + 533.2326576862035 + ], + [ + 408.9180739209248, + 451.4195353069198 + ], + [ + 394.8311558119496, + 470.5354680645937 + ], + [ + 685.9669787148516, + 171.75541649588132 + ], + [ + 699.2601783584936, + 150.8341522587665 + ], + [ + 317.81399099199285, + 77.90175398499338 + ], + [ + 295.5202896314319, + 94.50888376053865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 304.8654730265788, + "ymin": 90.60786913930701, + "xmax": 348.6428064751824, + "ymax": 109.08997325708896 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 334.69566083225936, + 109.08997325708896 + ], + [ + 348.6428064751824, + 97.93296347438655 + ], + [ + 319.626710384907, + 92.25672166263939 + ], + [ + 305.2953374502373, + 103.210247221587 + ], + [ + 334.299893396085, + 107.4180737446506 + ], + [ + 348.27175030323923, + 96.27621055962163 + ], + [ + 319.22241066398726, + 90.60786913930701 + ], + [ + 304.8654730265788, + 101.54626680818421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 345.91278031117747, + "ymin": 0.0, + "xmax": 607.2109059617826, + "ymax": 51.691074148395614 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 385.72547016666874, + 9.999140293863661 + ], + [ + 381.0424363325814, + 13.319433930815705 + ], + [ + 603.6616658296693, + 51.691074148395614 + ], + [ + 607.2109059617826, + 47.88424343964056 + ], + [ + 351.47156319581666, + -177.09382527896207 + ], + [ + 345.91278031117747, + -174.63647696262808 + ], + [ + 598.3307523977895, + -145.9375623637572 + ], + [ + 602.436915038904, + -148.80968484472015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 888.8357289046459, + "ymin": 0.0, + "xmax": 979.665261679196, + "ymax": 106.90485358817114 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 888.8357289046459, + 105.13926044958262 + ], + [ + 899.0095523630633, + 106.90485358817114 + ], + [ + 940.063534091, + 0.366926275675155 + ], + [ + 931.5000642672906, + -0.8557522326511275 + ], + [ + 929.258771587038, + -105.01956888656406 + ], + [ + 941.2219595710005, + -103.64871176518125 + ], + [ + 979.665261679196, + -184.19952273206127 + ], + [ + 969.870696973715, + -185.09904555595006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 304.8765853825993, + "ymin": 90.650492433838, + "xmax": 348.6523741033809, + "ymax": 109.13308193211373 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 334.7058653987806, + 109.13308193211373 + ], + [ + 348.6523741033809, + 97.97568260184966 + ], + [ + 319.63713531674006, + 92.29923758404414 + ], + [ + 305.3064213182112, + 103.2531522358151 + ], + [ + 334.31012443576486, + 107.46129425419502 + ], + [ + 348.2813423161432, + 96.31903856394734 + ], + [ + 319.23286192378134, + 90.650492433838 + ], + [ + 304.8765853825993, + 101.58928209799905 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00062/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00062/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73298072e1a225be93cda9a635e63d56fad4a05a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00062/meta.json @@ -0,0 +1,1839 @@ +{ + "frame_id": 62, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 31.0, + "sim_timestamp": 2845.240906202933 + }, + "drone_pose": { + "x": -142.16029151660055, + "y": -47.673720581810365, + "z": 20.069701946695556, + "pitch": -42.87453415005676, + "yaw": 67.16885466920044, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.28435617685317993, + -0.6754286289215088, + 0.680395245552063, + 58.96902847290039 + ], + [ + 0.9216523170471191, + 0.38801664113998413, + 0.0, + -112.524169921875 + ], + [ + -0.2640047073364258, + 0.6270878911018372, + 0.7328453063964844, + -82.13458251953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.9626886039128, + "y": -47.11299762750321, + "z": 20.0531244013812 + }, + "t1_image_uv": [ + 716.2682867112394, + -482.62326937523903 + ], + "t1_depth": 0.4461972618102596 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -134.16718292236328, + "y": -28.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.10949242469352, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 588, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -134.16717529296875, + "y": -28.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4267285168170929, + "y": 0.40700316429138184, + "z": 0.8786513209342957 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.3488465846156, + "ymin": 325.0137748134048, + "xmax": 658.8922855131507, + "ymax": 394.5023658176242 + }, + "corners_3d": [ + [ + -134.18112182617188, + -29.277299880981445, + 0.06548655033111572 + ], + [ + -134.7567138671875, + -28.701711654663086, + 0.06548655033111572 + ], + [ + -134.15322875976562, + -28.09822654724121, + 0.06548655033111572 + ], + [ + -133.57763671875, + -28.67381477355957, + 0.06548655033111572 + ], + [ + -134.18112182617188, + -29.277299880981445, + 1.822789192199707 + ], + [ + -134.7567138671875, + -28.701711654663086, + 1.822789192199707 + ], + [ + -134.15322875976562, + -28.09822654724121, + 1.822789192199707 + ], + [ + -133.57763671875, + -28.67381477355957, + 1.822789192199707 + ] + ], + "corners_2d": [ + [ + 632.6774121510243, + 394.5023658176242 + ], + [ + 658.1005383562374, + 387.198111136984 + ], + [ + 647.1197967866154, + 368.9221338629585 + ], + [ + 622.1209053947831, + 375.9374925553317 + ], + [ + 632.3544506492838, + 350.4195022890495 + ], + [ + 658.8922855131507, + 343.15876213771486 + ], + [ + 647.4247660940117, + 325.0137748134048 + ], + [ + 621.3488465846156, + 331.9751189661245 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 62, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 445482, + "2": 145162, + "3": 46369, + "4": 58254, + "6": 13258, + "7": 140, + "10": 7, + "12": 3148, + "14": 10851, + "24": 13512, + "25": 185417 + }, + "instance_pixel_counts": { + "3662": 31271, + "11605": 22774, + "17240": 9804, + "17496": 2186, + "20565": 7592, + "21907": 47486, + "21909": 4519, + "22421": 2008, + "22931": 87518, + "22933": 5516, + "23138": 382, + "23443": 279528, + "23445": 84, + "23955": 7838, + "25493": 44, + "25600": 149, + "25856": 1259, + "26003": 4045, + "36096": 588, + "36352": 638, + "36608": 563, + "36864": 687, + "37009": 36, + "37120": 6, + "37376": 666, + "41216": 4061, + "41728": 6790, + "46483": 5567, + "47201": 6889, + "47713": 974, + "48225": 635, + "48531": 8414, + "48737": 26696, + "48980": 16003, + "49249": 3425, + "49761": 3073, + "50579": 5086, + "51297": 58484, + "51526": 26983, + "51809": 8367, + "52321": 4721, + "52833": 424, + "53345": 37, + "54366": 169213, + "54878": 16204, + "56970": 2153, + "57482": 13997, + "57994": 14661, + "58506": 208, + "60819": 620, + "62355": 442, + "64403": 279 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 588, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -134.16717529296875, + "y": -28.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.40581053495407104, + "y": 0.43296873569488525, + "z": 0.8885313272476196 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.7692466014321, + "ymin": 324.97156833022984, + "xmax": 659.449199389464, + "ymax": 394.5102335905285 + }, + "corners_3d": [ + [ + -134.14796447753906, + -29.28087043762207, + 0.05560654401779175 + ], + [ + -134.76028442382812, + -28.668560028076172, + 0.05560654401779175 + ], + [ + -134.18638610839844, + -28.094655990600586, + 0.05560654401779175 + ], + [ + -133.57406616210938, + -28.706966400146484, + 0.05560654401779175 + ], + [ + -134.14796447753906, + -29.28087043762207, + 1.8326692581176758 + ], + [ + -134.76028442382812, + -28.668560028076172, + 1.8326692581176758 + ], + [ + -134.18638610839844, + -28.094655990600586, + 1.8326692581176758 + ], + [ + -133.57406616210938, + -28.706966400146484, + 1.8326692581176758 + ] + ], + "corners_2d": [ + [ + 631.5980421910994, + 394.5102335905285 + ], + [ + 658.6257585145914, + 386.7476015373789 + ], + [ + 648.1733914121709, + 369.37585938382614 + ], + [ + 621.5746576209923, + 376.84629661770913 + ], + [ + 631.2233124727782, + 349.9325133877377 + ], + [ + 659.449199389464, + 342.21699495676626 + ], + [ + 648.5276014282858, + 324.97156833022984 + ], + [ + 620.7692466014321, + 332.38415118497545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 638, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -132.61984252929688, + "y": -25.265750885009766, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3958056569099426, + "y": 0.46422117948532104, + "z": 0.9008418321609497 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 617.6706794249444, + "ymin": 246.88628361170626, + "xmax": 656.1511429638178, + "ymax": 313.7971665625956 + }, + "corners_3d": [ + [ + -132.69895935058594, + -25.870651245117188, + 0.0433008074760437 + ], + [ + -133.20462036132812, + -25.09199333190918, + 0.0433008074760437 + ], + [ + -132.5407257080078, + -24.660850524902344, + 0.0433008074760437 + ], + [ + -132.03506469726562, + -25.43950843811035, + 0.0433008074760437 + ], + [ + -132.69895935058594, + -25.870651245117188, + 1.844984531402588 + ], + [ + -133.20462036132812, + -25.09199333190918, + 1.844984531402588 + ], + [ + -132.5407257080078, + -24.660850524902344, + 1.844984531402588 + ], + [ + -132.03506469726562, + -25.43950843811035, + 1.844984531402588 + ] + ], + "corners_2d": [ + [ + 631.9561961641567, + 313.7971665625956 + ], + [ + 655.5210997395467, + 303.52049482507255 + ], + [ + 641.9101125381989, + 290.96123384523935 + ], + [ + 618.5390246352367, + 300.929172668711 + ], + [ + 631.6254917506645, + 269.3866775882005 + ], + [ + 656.1511429638178, + 259.25482198441205 + ], + [ + 641.9864360461262, + 246.88628361170626 + ], + [ + 617.6706794249444, + 256.7016144063869 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 563, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -136.42300415039062, + "y": -21.74505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5248095393180847, + "y": 0.4889538586139679, + "z": 0.9342967867851257 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 759.2374343902071, + "ymin": 212.69723530726847, + "xmax": 806.9344852757712, + "ymax": 282.6401667056932 + }, + "corners_3d": [ + [ + -136.5231475830078, + -22.455312728881836, + 0.009841084480285645 + ], + [ + -137.13856506347656, + -21.695335388183594, + 0.009841084480285645 + ], + [ + -136.32286071777344, + -21.034788131713867, + 0.009841084480285645 + ], + [ + -135.7074432373047, + -21.79476547241211, + 0.009841084480285645 + ], + [ + -136.5231475830078, + -22.455312728881836, + 1.878434658050537 + ], + [ + -137.13856506347656, + -21.695335388183594, + 1.878434658050537 + ], + [ + -136.32286071777344, + -21.034788131713867, + 1.878434658050537 + ], + [ + -135.7074432373047, + -21.79476547241211, + 1.878434658050537 + ] + ], + "corners_2d": [ + [ + 776.475504350942, + 282.6401667056932 + ], + [ + 800.4287495284901, + 274.1994190620335 + ], + [ + 782.8780512010137, + 257.7974350777557 + ], + [ + 759.2374343902071, + 265.8962016672508 + ], + [ + 782.0702559898898, + 237.08029680778998 + ], + [ + 806.9344852757712, + 228.78888904208242 + ], + [ + 788.5494029027196, + 212.69723530726847 + ], + [ + 764.0209289259367, + 220.63945088181364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 687, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -137.74693298339844, + "y": -28.687763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.2915283143520355, + "y": 0.3775683641433716, + "z": 0.8618197441101074 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 738.5276395167288, + "ymin": 357.1663309796816, + "xmax": 777.1668946165938, + "ymax": 421.44664524078865 + }, + "corners_3d": [ + [ + -137.68609619140625, + -29.160886764526367, + 0.23471558094024658 + ], + [ + -138.22006225585938, + -28.626924514770508, + 0.23471558094024658 + ], + [ + -137.80776977539062, + -28.21463966369629, + 0.23471558094024658 + ], + [ + -137.2738037109375, + -28.74860191345215, + 0.23471558094024658 + ], + [ + -137.68609619140625, + -29.160886764526367, + 1.9583550691604614 + ], + [ + -138.22006225585938, + -28.626924514770508, + 1.9583550691604614 + ], + [ + -137.80776977539062, + -28.21463966369629, + 1.9583550691604614 + ], + [ + -137.2738037109375, + -28.74860191345215, + 1.9583550691604614 + ] + ], + "corners_2d": [ + [ + 747.7020456644111, + 421.44664524078865 + ], + [ + 771.3132352022052, + 414.2071231151494 + ], + [ + 761.8723918700696, + 400.78576741587585 + ], + [ + 738.5276395167288, + 407.82045378601435 + ], + [ + 752.5415826366537, + 377.7452593815342 + ], + [ + 777.1668946165938, + 370.5298892687658 + ], + [ + 767.2246934595096, + 357.1663309796816 + ], + [ + 742.8888067906173, + 364.1686148505827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 6, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -137.78268432617188, + "y": -39.81512451171875, + "z": 1.0965402126312256 + }, + "extent": { + "x": 0.35752928256988525, + "y": 0.39958372712135315, + "z": 0.8903182744979858 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 565.8942371072253, + "ymin": 703.1316591996424, + "xmax": 615.7788430058426, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -137.6971435546875, + -40.344444274902344, + 0.20622193813323975 + ], + [ + -138.31822204589844, + -39.84151077270508, + 0.20622193813323975 + ], + [ + -137.86822509765625, + -39.285804748535156, + 0.20622193813323975 + ], + [ + -137.2471466064453, + -39.78873825073242, + 0.20622193813323975 + ], + [ + -137.6971435546875, + -40.344444274902344, + 1.9868584871292114 + ], + [ + -138.31822204589844, + -39.84151077270508, + 1.9868584871292114 + ], + [ + -137.86822509765625, + -39.285804748535156, + 1.9868584871292114 + ], + [ + -137.2471466064453, + -39.78873825073242, + 1.9868584871292114 + ] + ], + "corners_2d": [ + [ + 578.2399662357823, + 787.2289659459277 + ], + [ + 615.7788430058426, + 776.4218892858636 + ], + [ + 607.0065781057642, + 744.1600537834978 + ], + [ + 570.3305716581976, + 754.4383825240576 + ], + [ + 574.2004202336368, + 747.5415392230675 + ], + [ + 614.2084337287022, + 736.3801553623374 + ], + [ + 604.9235140927999, + 703.1316591996424 + ], + [ + 565.8942371072253, + 713.7127963027347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 666, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -122.92184448242188, + "y": -36.85797882080078, + "z": 0.9441280961036682 + }, + "extent": { + "x": 0.35536131262779236, + "y": 0.510723888874054, + "z": 0.8807665705680847 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 100.51376219042447, + "ymin": 405.5250656240726, + "xmax": 169.37066380142704, + "ymax": 474.15236008870676 + }, + "corners_3d": [ + [ + -122.68705749511719, + -37.43416976928711, + 0.0633615255355835 + ], + [ + -123.54371643066406, + -36.87784957885742, + 0.0633615255355835 + ], + [ + -123.15663146972656, + -36.28178787231445, + 0.0633615255355835 + ], + [ + -122.29997253417969, + -36.83810806274414, + 0.0633615255355835 + ], + [ + -122.68705749511719, + -37.43416976928711, + 1.824894666671753 + ], + [ + -123.54371643066406, + -36.87784957885742, + 1.824894666671753 + ], + [ + -123.15663146972656, + -36.28178787231445, + 1.824894666671753 + ], + [ + -122.29997253417969, + -36.83810806274414, + 1.824894666671753 + ] + ], + "corners_2d": [ + [ + 125.32018000966093, + 474.15236008870676 + ], + [ + 164.75885080478548, + 469.08025903871965 + ], + [ + 169.37066380142704, + 449.87961416945876 + ], + [ + 130.715654734157, + 454.75840625737305 + ], + [ + 100.51376219042447, + 429.8175517365435 + ], + [ + 141.97437885362586, + 424.7366546119821 + ], + [ + 147.26071118234222, + 405.5250656240726 + ], + [ + 106.66511938494136, + 410.40329026159816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 4061, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 950.6375262499073, + "ymin": 26.869404693260037, + "xmax": 1090.179835892328, + "ymax": 98.53108294090629 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 957.1279482775498, + 59.80887067782794 + ], + [ + 950.6375262499073, + 76.44530376496687 + ], + [ + 1075.7772719687457, + 98.53108294090629 + ], + [ + 1078.9502930445192, + 80.68126953865624 + ], + [ + 964.9574050067895, + 26.869404693260037 + ], + [ + 958.5280748269054, + 42.97779817972088 + ], + [ + 1087.2593795220928, + 64.39721778612295 + ], + [ + 1090.179835892328, + 47.08289334618024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 6790, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 441.96305756357503, + "ymin": 201.8278087230007, + "xmax": 578.6301913340595, + "ymax": 341.9194141474011 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 448.1521104091397, + 325.2132547980163 + ], + [ + 503.9538068626691, + 341.9194141474011 + ], + [ + 578.6301913340595, + 248.51953197489985 + ], + [ + 527.4166236216081, + 235.16879596189904 + ], + [ + 441.96305756357503, + 290.7338337259529 + ], + [ + 499.4765059031639, + 307.29514063213946 + ], + [ + 576.8328571016851, + 214.97178261590793 + ], + [ + 524.1774745356988, + 201.8278087230007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 930.5320886007104, + "ymin": 45.07772237552575, + "xmax": 944.0711378031668, + "ymax": 71.24557597284581 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 939.3562937015106, + 67.19136064345571 + ], + [ + 932.2839424144862, + 65.95044139109996 + ], + [ + 930.5320886007104, + 69.98780510583066 + ], + [ + 937.6486844615924, + 71.24557597284581 + ], + [ + 944.0711378031668, + 46.29413475517356 + ], + [ + 936.8777023979308, + 45.07772237552575 + ], + [ + 935.1296712853305, + 49.03564360249061 + ], + [ + 942.3688942816666, + 50.26883737449225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.264993098316, + "ymin": 0.0, + "xmax": 920.3320276252591, + "ymax": 215.53950982204506 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 856.6601509827444, + 215.53950982204506 + ], + [ + 861.337920903662, + 205.10600696429353 + ], + [ + 663.2980488948509, + 161.34919019669093 + ], + [ + 656.264993098316, + 170.5718482780456 + ], + [ + 915.4476542932039, + -104.21934550845162 + ], + [ + 920.3320276252591, + -111.77594264088515 + ], + [ + 669.04773118407, + -142.85547515889766 + ], + [ + 660.3458577499116, + -136.3856865078535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 289.9875594422144, + "ymin": 120.54607590202926, + "xmax": 710.3488118187942, + "ymax": 616.729653218016 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 676.7900526147652, + 616.729653218016 + ], + [ + 687.7610612862992, + 592.2594350880037 + ], + [ + 410.01683105375935, + 493.4844864541711 + ], + [ + 394.52269176946015, + 513.8024183770744 + ], + [ + 694.7532250896468, + 237.21624458430705 + ], + [ + 710.3488118187942, + 213.08836615563195 + ], + [ + 314.7723315814405, + 120.54607590202926 + ], + [ + 289.9875594422144, + 138.97339947991884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 299.9900645272843, + "ymin": 133.8104645377382, + "xmax": 345.94486987007804, + "ymax": 154.9497374873833 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 330.38462992301004, + 154.9497374873833 + ], + [ + 345.94486987007804, + 142.54937368361703 + ], + [ + 316.3805857808463, + 135.47865923540374 + ], + [ + 300.44835053436645, + 147.61780681790847 + ], + [ + 329.9622292129428, + 153.2593255399235 + ], + [ + 345.55095649316104, + 140.8729369216696 + ], + [ + 315.95162336657694, + 133.8104645377382 + ], + [ + 299.9900645272843, + 145.935584147863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 373.2786619553973, + "ymin": 0.0, + "xmax": 633.4780533055247, + "ymax": 69.2385801657777 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 410.59574819201066, + 21.377172194631555 + ], + [ + 405.70061340762214, + 24.781670272047222 + ], + [ + 629.6743065684196, + 69.2385801657777 + ], + [ + 633.4780533055247, + 65.26989970418578 + ], + [ + 379.07223651922, + -167.24194219809863 + ], + [ + 373.2786619553973, + -164.68903124669384 + ], + [ + 628.1139588067817, + -130.95090018063155 + ], + [ + 632.4999914634008, + -133.99336653944812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 921.9600109972189, + "ymin": 0.0, + "xmax": 1025.4733272695557, + "ymax": 134.0053514893763 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 921.9600109972189, + 131.89627406040628 + ], + [ + 932.5111885644894, + 134.0053514893763 + ], + [ + 978.9598414603968, + 20.703447147320276 + ], + [ + 970.0785898423393, + 19.25078049382944 + ], + [ + 969.7672146920461, + -82.09809539660222 + ], + [ + 982.291946179158, + -80.42645131890612 + ], + [ + 1025.4733272695557, + -167.74663224701305 + ], + [ + 1015.2378443774148, + -168.83425544905322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 300.00191235853936, + "ymin": 133.8535904991325, + "xmax": 345.95502618069867, + "ymax": 154.99332045683457 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 330.3955204501805, + 154.99332045683457 + ], + [ + 345.95502618069867, + 142.59259743149636 + ], + [ + 316.39164592400925, + 135.52167109743664 + ], + [ + 300.4601664492501, + 147.66117929618048 + ], + [ + 329.9731494752213, + 153.3030275067643 + ], + [ + 345.5611400321248, + 140.91627654932876 + ], + [ + 315.9627128494432, + 133.8535904991325 + ], + [ + 300.00191235853936, + 145.9790737810181 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00063/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00063/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66f61ca84bb94d27ac4f238979960c4a38800fce --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00063/meta.json @@ -0,0 +1,1835 @@ +{ + "frame_id": 63, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 31.5, + "sim_timestamp": 2856.1896479071584 + }, + "drone_pose": { + "x": -141.9626886039128, + "y": -47.11299762750321, + "z": 20.0531244013812, + "pitch": -44.94480205061915, + "yaw": 65.74276116024726, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2907833456993103, + -0.6452971696853638, + 0.7064251899719238, + 57.5162353515625 + ], + [ + 0.9117101430892944, + 0.41083407402038574, + 0.0, + -110.07318878173828 + ], + [ + -0.29022353887557983, + 0.6440550088882446, + 0.7077876925468445, + -85.73763275146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.67519126446757, + "y": -46.4579836366328, + "z": 20.000002902395504 + }, + "t1_image_uv": [ + 652.3358539451457, + -465.6582095139088 + ], + "t1_depth": 0.543804477683359 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -133.66718292236328, + "y": -28.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 647.2377663435702, + 323.4298996766845 + ], + "depth": 28.12366537456947, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 609, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -133.66717529296875, + "y": -28.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.375556617975235, + "y": 0.41435179114341736, + "z": 0.8879119157791138 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 629.2863439691746, + "ymin": 289.27880191856445, + "xmax": 665.7106177009784, + "ymax": 356.91994183241746 + }, + "corners_3d": [ + [ + -133.63973999023438, + -28.746313095092773, + 0.05622595548629761 + ], + [ + -134.22572326660156, + -28.16033172607422, + 0.05622595548629761 + ], + [ + -133.69461059570312, + -27.629213333129883, + 0.05622595548629761 + ], + [ + -133.10862731933594, + -28.215194702148438, + 0.05622595548629761 + ], + [ + -133.63973999023438, + -28.746313095092773, + 1.83204984664917 + ], + [ + -134.22572326660156, + -28.16033172607422, + 1.83204984664917 + ], + [ + -133.69461059570312, + -27.629213333129883, + 1.83204984664917 + ], + [ + -133.10862731933594, + -28.215194702148438, + 1.83204984664917 + ] + ], + "corners_2d": [ + [ + 638.5647412823358, + 356.91994183241746 + ], + [ + 664.5831126380904, + 349.9842152419072 + ], + [ + 655.3882835728039, + 333.7873617555615 + ], + [ + 629.7514711218263, + 340.4873113955788 + ], + [ + 638.4984093104953, + 312.3246286795187 + ], + [ + 665.7106177009784, + 305.40949911121993 + ], + [ + 656.0814676727672, + 289.27880191856445 + ], + [ + 629.2863439691746, + 295.94832152190315 + ] + ], + "center_offset_px": [ + 7.237766343570229, + -36.5701003233155 + ] + }, + "trace_timestep_index": 63, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 448377, + "2": 152493, + "3": 31024, + "4": 56910, + "6": 13181, + "7": 149, + "10": 6, + "12": 3705, + "14": 11356, + "24": 13340, + "25": 191059 + }, + "instance_pixel_counts": { + "3662": 31403, + "11605": 18836, + "17240": 10191, + "17496": 2067, + "20565": 3792, + "21907": 36393, + "21909": 4603, + "22421": 2110, + "22931": 92717, + "22933": 5879, + "23443": 301663, + "23445": 89, + "23955": 8737, + "25493": 31, + "25856": 1072, + "26003": 1945, + "36096": 609, + "36352": 443, + "36608": 586, + "36864": 639, + "37120": 810, + "37376": 618, + "41216": 4400, + "41728": 6956, + "46483": 714, + "47201": 7454, + "47713": 1049, + "48225": 176, + "48531": 4695, + "48737": 28491, + "48980": 8396, + "49249": 3650, + "49761": 3279, + "50579": 1513, + "51297": 63881, + "51526": 25507, + "51809": 8030, + "52321": 5130, + "52833": 477, + "53345": 46, + "54366": 181157, + "54878": 9902, + "56970": 138, + "57482": 14497, + "57994": 16195, + "60819": 135, + "62355": 392, + "64403": 101 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 609, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -133.66717529296875, + "y": -28.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5001562237739563, + "y": 0.45976927876472473, + "z": 0.8896099925041199 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 626.3129980940743, + "ymin": 286.2534058274377, + "xmax": 668.8265854137285, + "ymax": 360.12783707272064 + }, + "corners_3d": [ + [ + -133.69573974609375, + -28.866533279418945, + 0.054527878761291504 + ], + [ + -134.345947265625, + -28.216320037841797, + 0.054527878761291504 + ], + [ + -133.63861083984375, + -27.50899314880371, + 0.054527878761291504 + ], + [ + -132.9884033203125, + -28.15920639038086, + 0.054527878761291504 + ], + [ + -133.69573974609375, + -28.866533279418945, + 1.8337478637695312 + ], + [ + -134.345947265625, + -28.216320037841797, + 1.8337478637695312 + ], + [ + -133.63861083984375, + -27.50899314880371, + 1.8337478637695312 + ], + [ + -132.9884033203125, + -28.15920639038086, + 1.8337478637695312 + ] + ], + "corners_2d": [ + [ + 638.6165118542207, + 360.12783707272064 + ], + [ + 667.5569141748102, + 352.38701900084146 + ], + [ + 655.2834413290603, + 330.83213300737424 + ], + [ + 626.9068620453912, + 338.2244973533095 + ], + [ + 638.5522250961833, + 315.43927529401515 + ], + [ + 668.8265854137285, + 307.71942152561144 + ], + [ + 655.9709318001586, + 286.2534058274377 + ], + [ + 626.3129980940743, + 293.6102412664769 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 443, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -131.8754119873047, + "y": -23.48800277709961, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.47191405296325684, + "y": 0.4480248987674713, + "z": 0.9077466130256653 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 636.2150964527121, + "ymin": 185.84696941244684, + "xmax": 675.4288896515565, + "ymax": 253.8306969120954 + }, + "corners_3d": [ + [ + -132.0271759033203, + -24.120771408081055, + 0.036391258239746094 + ], + [ + -132.51519775390625, + -23.369279861450195, + 0.036391258239746094 + ], + [ + -131.72364807128906, + -22.855234146118164, + 0.036391258239746094 + ], + [ + -131.23562622070312, + -23.606725692749023, + 0.036391258239746094 + ], + [ + -132.0271759033203, + -24.120771408081055, + 1.8518844842910767 + ], + [ + -132.51519775390625, + -23.369279861450195, + 1.8518844842910767 + ], + [ + -131.72364807128906, + -22.855234146118164, + 1.8518844842910767 + ], + [ + -131.23562622070312, + -23.606725692749023, + 1.8518844842910767 + ] + ], + "corners_2d": [ + [ + 651.6792702886472, + 253.8306969120954 + ], + [ + 674.0181796777406, + 244.75712627478362 + ], + [ + 658.4809836507558, + 230.30491878344904 + ], + [ + 636.3647868894687, + 239.0683952351558 + ], + [ + 652.1690336646977, + 209.0438691319398 + ], + [ + 675.4288896515565, + 200.09078111994972 + ], + [ + 659.2337015472443, + 185.84696941244684 + ], + [ + 636.2150964527121, + 194.48166297574443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 586, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -135.92300415039062, + "y": -21.24505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5415722727775574, + "y": 0.5037634372711182, + "z": 0.9202187061309814 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 769.6626664460402, + "ymin": 177.62562362979295, + "xmax": 819.3936688942385, + "ymax": 248.28146849240727 + }, + "corners_3d": [ + [ + -136.02685546875, + -21.977371215820312, + 0.02391916513442993 + ], + [ + -136.66091918945312, + -21.194374084472656, + 0.02391916513442993 + ], + [ + -135.81915283203125, + -20.51272964477539, + 0.02391916513442993 + ], + [ + -135.18508911132812, + -21.295726776123047, + 0.02391916513442993 + ], + [ + -136.02685546875, + -21.977371215820312, + 1.864356517791748 + ], + [ + -136.66091918945312, + -21.194374084472656, + 1.864356517791748 + ], + [ + -135.81915283203125, + -20.51272964477539, + 1.864356517791748 + ], + [ + -135.18508911132812, + -21.295726776123047, + 1.864356517791748 + ] + ], + "corners_2d": [ + [ + 787.0073433420107, + 248.28146849240727 + ], + [ + 812.1986041848809, + 239.90250319346 + ], + [ + 794.5010318742616, + 222.56866484434516 + ], + [ + 769.6626664460402, + 230.60294186237775 + ], + [ + 793.2138344379142, + 202.95650309475099 + ], + [ + 819.3936688942385, + 194.69486068458082 + ], + [ + 800.8176467744238, + 177.62562362979295 + ], + [ + 775.0178279984091, + 185.5335907214631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 639, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -137.24693298339844, + "y": -28.187763214111328, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3565624952316284, + "y": 0.3207141160964966, + "z": 0.880551278591156 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 745.4862663752361, + "ymin": 321.14861549086066, + "xmax": 782.986078090452, + "ymax": 388.1083006365894 + }, + "corners_3d": [ + [ + -137.27227783203125, + -28.666669845581055, + 0.215984046459198 + ], + [ + -137.72584533691406, + -28.213111877441406, + 0.215984046459198 + ], + [ + -137.22158813476562, + -27.7088565826416, + 0.215984046459198 + ], + [ + -136.7680206298828, + -28.16241455078125, + 0.215984046459198 + ], + [ + -137.27227783203125, + -28.666669845581055, + 1.9770865440368652 + ], + [ + -137.72584533691406, + -28.213111877441406, + 1.9770865440368652 + ], + [ + -137.22158813476562, + -27.7088565826416, + 1.9770865440368652 + ], + [ + -136.7680206298828, + -28.16241455078125, + 1.9770865440368652 + ] + ], + "corners_2d": [ + [ + 756.1993432509728, + 388.1083006365894 + ], + [ + 776.5036650778371, + 382.3294388638372 + ], + [ + 765.50894787118, + 365.74927357604184 + ], + [ + 745.4862663752361, + 371.333787522991 + ], + [ + 761.7516034191655, + 343.49199776851043 + ], + [ + 782.986078090452, + 337.7125420499855 + ], + [ + 771.3637420573676, + 321.14861549086066 + ], + [ + 750.436881312693, + 326.72469029493055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 810, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -137.28268432617188, + "y": -39.31512451171875, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4203124940395355, + "y": 0.41871824860572815, + "z": 0.8765621781349182 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 561.9668655724527, + "ymin": 657.6088652566509, + "xmax": 613.7891729190533, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -137.22178649902344, + -39.905277252197266, + 0.2199731469154358 + ], + [ + -137.8726043701172, + -39.37826156616211, + 0.2199731469154358 + ], + [ + -137.3435821533203, + -38.724971771240234, + 0.2199731469154358 + ], + [ + -136.69276428222656, + -39.25198745727539, + 0.2199731469154358 + ], + [ + -137.22178649902344, + -39.905277252197266, + 1.973097562789917 + ], + [ + -137.8726043701172, + -39.37826156616211, + 1.973097562789917 + ], + [ + -137.3435821533203, + -38.724971771240234, + 1.973097562789917 + ], + [ + -136.69276428222656, + -39.25198745727539, + 1.973097562789917 + ] + ], + "corners_2d": [ + [ + 574.7962218380131, + 744.1645794700565 + ], + [ + 613.7891729190533, + 734.1370248545794 + ], + [ + 604.6262353618636, + 697.2221607467326 + ], + [ + 566.6545593204361, + 706.6997533421777 + ], + [ + 570.5013487448346, + 706.1132269550324 + ], + [ + 612.0764458972278, + 695.7332600888662 + ], + [ + 602.3828706395982, + 657.6088652566509 + ], + [ + 561.9668655724527, + 667.3838408428205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 618, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -122.42184448242188, + "y": -36.35797882080078, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.26972654461860657, + "y": 0.3758288621902466, + "z": 0.8712744116783142 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 118.63564260139606, + "ymin": 363.0480256327301, + "xmax": 174.82452382264114, + "ymax": 424.19007973608586 + }, + "corners_3d": [ + [ + -122.25355529785156, + -36.788883209228516, + 0.07285857200622559 + ], + [ + -122.88394165039062, + -36.37949752807617, + 0.07285857200622559 + ], + [ + -122.59013366699219, + -35.92707443237305, + 0.07285857200622559 + ], + [ + -121.95974731445312, + -36.33646011352539, + 0.07285857200622559 + ], + [ + -122.25355529785156, + -36.788883209228516, + 1.815407395362854 + ], + [ + -122.88394165039062, + -36.37949752807617, + 1.815407395362854 + ], + [ + -122.59013366699219, + -35.92707443237305, + 1.815407395362854 + ], + [ + -121.95974731445312, + -36.33646011352539, + 1.815407395362854 + ] + ], + "corners_2d": [ + [ + 142.8470071086528, + 424.19007973608586 + ], + [ + 171.18267831678742, + 421.08061552419645 + ], + [ + 174.82452382264114, + 406.8167450167051 + ], + [ + 146.89754959676628, + 409.8396570330359 + ], + [ + 118.63564260139606, + 380.4739444515864 + ], + [ + 148.42407481155612, + 377.3529499148997 + ], + [ + 152.57385509426803, + 363.0480256327301 + ], + [ + 123.23670241361754, + 366.07801585618284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 4400, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 981.0101356161813, + "ymin": 0.0, + "xmax": 1126.8819638379837, + "ymax": 72.90055164482993 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 988.1708353255196, + 30.769898190323772 + ], + [ + 981.0101356161813, + 48.15508128010032 + ], + [ + 1110.0629928809387, + 72.90055164482993 + ], + [ + 1113.8895779295092, + 54.177898449834515 + ], + [ + 997.3648782554453, + -3.3233064483509906 + ], + [ + 990.2707703171541, + 13.565971204804782 + ], + [ + 1123.330793510427, + 37.64818710053794 + ], + [ + 1126.8819638379837, + 19.422746166540662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 6956, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 456.4648730042364, + "ymin": 173.82337194348054, + "xmax": 595.8814102011013, + "ymax": 317.4115097668307 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 462.4963993042886, + 299.2889763366254 + ], + [ + 518.5955816438623, + 317.4115097668307 + ], + [ + 595.8814102011013, + 222.282988564339 + ], + [ + 544.1339517003473, + 207.7007958750005 + ], + [ + 456.4648730042364, + 264.5425675757988 + ], + [ + 514.3840968813546, + 282.56777253624244 + ], + [ + 594.5148916091612, + 188.2252183419186 + ], + [ + 541.2190006172513, + 173.82337194348054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 960.7189392065395, + "ymin": 16.22027809972542, + "xmax": 975.486953586962, + "ymax": 43.450106915993274 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 969.9265469823791, + 39.203882397749794 + ], + [ + 962.6367090659415, + 37.812756153851126 + ], + [ + 960.7189392065395, + 42.040403364568476 + ], + [ + 968.053120914618, + 43.450106915993274 + ], + [ + 975.486953586962, + 17.58682166774372 + ], + [ + 968.0621887666712, + 16.22027809972542 + ], + [ + 966.1486286332217, + 20.373529818041902 + ], + [ + 973.6194132516597, + 21.75863275366163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.4031448303571, + "ymin": 0.0, + "xmax": 956.4211073325336, + "ymax": 192.3295596524173 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 880.6027354201426, + 192.3295596524173 + ], + [ + 885.6649305383593, + 181.5317049778443 + ], + [ + 683.7677603919598, + 133.17949515878183 + ], + [ + 676.4031448303571, + 142.67146367338685 + ], + [ + 951.1419808096867, + -138.8205586010862 + ], + [ + 956.4211073325336, + -146.90210037616168 + ], + [ + 695.3844566450377, + -182.31394865494428 + ], + [ + 686.2243848915186, + -175.4606680899892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 299.27206569646324, + "ymin": 94.80276024659526, + "xmax": 730.4310534227279, + "ymax": 602.434717114874 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 688.3393286018772, + 602.434717114874 + ], + [ + 699.9344563233409, + 577.7018687861073 + ], + [ + 421.59149587714955, + 471.0883550626311 + ], + [ + 405.7540755010676, + 491.5005944123818 + ], + [ + 713.7250089640078, + 224.62880518648802 + ], + [ + 730.4310534227279, + 199.0543857053253 + ], + [ + 324.9911955523002, + 94.80276024659526 + ], + [ + 299.27206569646324, + 114.04501265808389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 309.5856216891398, + "ymin": 108.55553298124423, + "xmax": 356.6642529501486, + "ymax": 131.1208204366359 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 340.4931968992068, + 131.1208204366359 + ], + [ + 356.6642529501486, + 118.17130412152912 + ], + [ + 326.5878991855881, + 110.26977111544835 + ], + [ + 310.0608011866434, + 122.93265406549546 + ], + [ + 340.05694096568936, + 129.3864247154296 + ], + [ + 356.2588901916492, + 116.44922307924563 + ], + [ + 326.1444598627223, + 108.55553298124423 + ], + [ + 309.5856216891398, + 121.2059673007067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 392.119245137283, + "ymin": 0.0, + "xmax": 657.6588107659053, + "ymax": 36.74779290440722 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 429.0017667338081, + -15.636275216712988 + ], + [ + 423.98681799193946, + -12.14502668799048 + ], + [ + 651.2505871055886, + 36.74779290440722 + ], + [ + 655.2150478268032, + 32.651700578590294 + ], + [ + 398.08665065337783, + -211.60279461655523 + ], + [ + 392.119245137283, + -208.94427124620609 + ], + [ + 653.0712312675396, + -171.21615716439192 + ], + [ + 657.6588107659053, + -174.41295612681847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 949.9248699011713, + "ymin": 0.0, + "xmax": 1066.9224705262254, + "ymax": 108.23236406756848 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 949.9248699011713, + 105.8857466210975 + ], + [ + 960.7568069042238, + 108.23236406756848 + ], + [ + 1011.8447638452831, + -10.089559669521293 + ], + [ + 1002.6808280347716, + -11.716787090322214 + ], + [ + 1006.5381797931877, + -116.23210150174981 + ], + [ + 1019.5798696469908, + -114.33124854409749 + ], + [ + 1066.9224705262254, + -207.37688310202907 + ], + [ + 1056.230573461164, + -208.61785264278967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 309.5979073409001, + "ymin": 108.59985310447948, + "xmax": 356.67470348622254, + "ymax": 131.1655331878707 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 340.50444358460373, + 131.1655331878707 + ], + [ + 356.67470348622254, + 118.21570057798002 + ], + [ + 326.59933154724985, + 110.31396609165802 + ], + [ + 310.0730515276897, + 122.97716882646475 + ], + [ + 340.0682204377482, + 129.43126781456772 + ], + [ + 356.2693706513044, + 116.4937466584555 + ], + [ + 326.1559245974313, + 108.59985310447948 + ], + [ + 309.5979073409001, + 121.2506103722252 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00067/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00067/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dea687559e07c4e96691de3d20236d36c09e0e94 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00067/meta.json @@ -0,0 +1,1829 @@ +{ + "frame_id": 67, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 33.5, + "sim_timestamp": 2914.0255976577755 + }, + "drone_pose": { + "x": -140.61984966832222, + "y": -44.71653852729611, + "z": 20.15694284229225, + "pitch": -45.89269254105201, + "yaw": 64.33774225075925, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3014153838157654, + -0.627352237701416, + 0.718037486076355, + 55.964569091796875 + ], + [ + 0.9013625383377075, + 0.43306535482406616, + 0.0, + -107.38427734375 + ], + [ + -0.3109571635723114, + 0.6472121477127075, + 0.6960043907165527, + -86.69715881347656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.24553891901496, + "y": -44.371986325030974, + "z": 19.922378299094746 + }, + "t1_image_uv": [ + 276.81695799345465, + 20.056266333406143 + ], + "t1_depth": 0.49740477956417506 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -131.66718292236328, + "y": -26.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 638.4490769187237, + 312.07358127223887 + ], + "depth": 28.118055790390358, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 400, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -131.66717529296875, + "y": -26.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.47336912155151367, + "y": 0.4519103765487671, + "z": 0.8766706585884094 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.2111263476467, + "ymin": 275.98210143117615, + "xmax": 658.921674952864, + "ymax": 347.6185464111938 + }, + "corners_3d": [ + [ + -131.68234252929688, + -26.8420352935791, + 0.06746721267700195 + ], + [ + -132.32144165039062, + -26.20293617248535, + 0.06746721267700195 + ], + [ + -131.65200805664062, + -25.533491134643555, + 0.06746721267700195 + ], + [ + -131.01290893554688, + -26.172590255737305, + 0.06746721267700195 + ], + [ + -131.68234252929688, + -26.8420352935791, + 1.8208085298538208 + ], + [ + -132.32144165039062, + -26.20293617248535, + 1.8208085298538208 + ], + [ + -131.65200805664062, + -25.533491134643555, + 1.8208085298538208 + ], + [ + -131.01290893554688, + -26.172590255737305, + 1.8208085298538208 + ] + ], + "corners_2d": [ + [ + 629.3232146539608, + 347.6185464111938 + ], + [ + 658.0870203155662, + 340.4805215342027 + ], + [ + 647.3816892589599, + 319.78123977869154 + ], + [ + 619.1585317268349, + 326.6170677625608 + ], + [ + 628.8267263736484, + 303.7710293902205 + ], + [ + 658.921674952864, + 296.63839912601634 + ], + [ + 647.7147389520399, + 275.98210143117615 + ], + [ + 618.2111263476467, + 282.7992420303783 + ] + ], + "center_offset_px": [ + -1.5509230812763235, + -47.92641872776113 + ] + }, + "trace_timestep_index": 67, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 42, + "semantic_pixel_counts": { + "1": 475151, + "2": 159444, + "3": 28399, + "4": 60235, + "6": 15846, + "7": 176, + "10": 7, + "12": 3580, + "14": 12772, + "24": 15337, + "25": 150653 + }, + "instance_pixel_counts": { + "3662": 31651, + "11605": 23372, + "17240": 11917, + "17496": 2646, + "20565": 5027, + "21907": 48707, + "21909": 5646, + "22421": 2446, + "22931": 110750, + "22933": 6118, + "23443": 297655, + "23445": 289, + "23955": 8873, + "25856": 1459, + "36096": 400, + "36352": 578, + "36608": 564, + "36864": 497, + "37120": 916, + "37376": 625, + "41216": 5113, + "41728": 7659, + "46483": 2705, + "47201": 8970, + "47713": 1244, + "48225": 351, + "48531": 6461, + "48737": 34863, + "49249": 4638, + "49761": 4100, + "51297": 55152, + "51526": 28584, + "51809": 8054, + "52321": 5647, + "52833": 715, + "53345": 80, + "54366": 150653, + "56970": 706, + "57482": 16905, + "57994": 18019, + "60819": 436, + "62355": 402 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 400, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -131.66717529296875, + "y": -26.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4219140410423279, + "y": 0.4565405249595642, + "z": 0.9039212465286255 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.6083082377826, + "ymin": 276.3343321390801, + "xmax": 658.4654473208484, + "ymax": 347.14095936853187 + }, + "corners_3d": [ + [ + -131.64268493652344, + -26.808923721313477, + 0.04021662473678589 + ], + [ + -132.288330078125, + -26.163278579711914, + 0.04021662473678589 + ], + [ + -131.69166564941406, + -25.56660270690918, + 0.04021662473678589 + ], + [ + -131.0460205078125, + -26.212247848510742, + 0.04021662473678589 + ], + [ + -131.64268493652344, + -26.808923721313477, + 1.8480591773986816 + ], + [ + -132.288330078125, + -26.163278579711914, + 1.8480591773986816 + ], + [ + -131.69166564941406, + -25.56660270690918, + 1.8480591773986816 + ], + [ + -131.0460205078125, + -26.212247848510742, + 1.8480591773986816 + ] + ], + "corners_2d": [ + [ + 628.6189006929568, + 347.14095936853187 + ], + [ + 657.6271968536995, + 339.9470626891743 + ], + [ + 648.0900146941165, + 321.4996336056344 + ], + [ + 619.5678630233881, + 328.42162331300034 + ], + [ + 628.0734747343208, + 301.9295527601089 + ], + [ + 658.4654473208484, + 294.74209916369057 + ], + [ + 648.4670754934937, + 276.3343321390801 + ], + [ + 618.6083082377826, + 283.2375403297358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 578, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -127.12689971923828, + "y": -22.013185501098633, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39570310711860657, + "y": 0.4503137171268463, + "z": 0.8834686279296875 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 551.1190104693936, + "ymin": 162.90057210635783, + "xmax": 588.8791289292786, + "ymax": 226.6730842731672 + }, + "corners_3d": [ + [ + -127.21350860595703, + -22.606365203857422, + 0.06066924333572388 + ], + [ + -127.70402526855469, + -21.851036071777344, + 0.06066924333572388 + ], + [ + -127.04029083251953, + -21.420005798339844, + 0.06066924333572388 + ], + [ + -126.54977416992188, + -22.175334930419922, + 0.06066924333572388 + ], + [ + -127.21350860595703, + -22.606365203857422, + 1.827606439590454 + ], + [ + -127.70402526855469, + -21.851036071777344, + 1.827606439590454 + ], + [ + -127.04029083251953, + -21.420005798339844, + 1.827606439590454 + ], + [ + -126.54977416992188, + -22.175334930419922, + 1.827606439590454 + ] + ], + "corners_2d": [ + [ + 565.5303796345606, + 226.6730842731672 + ], + [ + 588.8791289292786, + 218.11998022595316 + ], + [ + 577.6809532434625, + 206.0735248250329 + ], + [ + 554.5557231972444, + 214.38430354270884 + ], + [ + 562.4897350192989, + 183.2345950754217 + ], + [ + 586.8135014149468, + 174.78690058573545 + ], + [ + 575.2000172783524, + 162.90057210635783 + ], + [ + 551.1190104693936, + 171.09942166121064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 564, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -133.92300415039062, + "y": -19.24505043029785, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.533740222454071, + "y": 0.49394407868385315, + "z": 0.935358464717865 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 766.9956145491648, + "ymin": 167.2745871220061, + "xmax": 815.945970849109, + "ymax": 238.53773685155554 + }, + "corners_3d": [ + [ + -134.02694702148438, + -19.964811325073242, + 0.008774518966674805 + ], + [ + -134.64865112304688, + -19.19707679748535, + 0.008774518966674805 + ], + [ + -133.81906127929688, + -18.52528953552246, + 0.008774518966674805 + ], + [ + -133.19735717773438, + -19.29302406311035, + 0.008774518966674805 + ], + [ + -134.02694702148438, + -19.964811325073242, + 1.8794914484024048 + ], + [ + -134.64865112304688, + -19.19707679748535, + 1.8794914484024048 + ], + [ + -133.81906127929688, + -18.52528953552246, + 1.8794914484024048 + ], + [ + -133.19735717773438, + -19.29302406311035, + 1.8794914484024048 + ] + ], + "corners_2d": [ + [ + 783.3745425969643, + 238.53773685155554 + ], + [ + 808.623693449014, + 230.61618773565405 + ], + [ + 791.8764506848712, + 213.06847473217593 + ], + [ + 766.9956145491648, + 220.66899932546366 + ], + [ + 789.6601977795457, + 192.41701707131142 + ], + [ + 815.945970849109, + 184.5901999875763 + ], + [ + 798.3313768318536, + 167.2745871220061 + ], + [ + 772.4438000072566, + 174.7708204117726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 497, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -135.24693298339844, + "y": -26.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3227636516094208, + "y": 0.3772241175174713, + "z": 0.8648135662078857 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 733.9235172938851, + "ymin": 316.8494765885002, + "xmax": 773.049713070422, + "ymax": 381.742430033691 + }, + "corners_3d": [ + [ + -135.2084197998047, + -26.682729721069336, + 0.07932907342910767 + ], + [ + -135.7418975830078, + -26.149253845214844, + 0.07932907342910767 + ], + [ + -135.2854461669922, + -25.69279670715332, + 0.07932907342910767 + ], + [ + -134.75196838378906, + -26.226272583007812, + 0.07932907342910767 + ], + [ + -135.2084197998047, + -26.682729721069336, + 1.8089561462402344 + ], + [ + -135.7418975830078, + -26.149253845214844, + 1.8089561462402344 + ], + [ + -135.2854461669922, + -25.69279670715332, + 1.8089561462402344 + ], + [ + -134.75196838378906, + -26.226272583007812, + 1.8089561462402344 + ] + ], + "corners_2d": [ + [ + 742.8785714942213, + 381.742430033691 + ], + [ + 767.0486455220876, + 375.35098286205766 + ], + [ + 757.7827930938903, + 360.1009440528155 + ], + [ + 733.9235172938851, + 366.29943662584697 + ], + [ + 747.7703296307908, + 338.5300443388416 + ], + [ + 773.049713070422, + 332.12246911314276 + ], + [ + 763.2579144814588, + 316.8494765885002 + ], + [ + 738.3181436108051, + 323.05466102397554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 916, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -135.28268432617188, + "y": -37.31512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.37312009930610657, + "y": 0.4322143495082855, + "z": 0.8882635831832886 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 536.5152446571799, + "ymin": 650.5411307661118, + "xmax": 588.5495929625323, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -135.1815948486328, + -37.87709426879883, + 0.0558742880821228 + ], + [ + -135.8533935546875, + -37.333091735839844, + 0.0558742880821228 + ], + [ + -135.38377380371094, + -36.75315475463867, + 0.0558742880821228 + ], + [ + -134.71197509765625, + -37.297157287597656, + 0.0558742880821228 + ], + [ + -135.1815948486328, + -37.87709426879883, + 1.8324015140533447 + ], + [ + -135.8533935546875, + -37.333091735839844, + 1.8324015140533447 + ], + [ + -135.38377380371094, + -36.75315475463867, + 1.8324015140533447 + ], + [ + -134.71197509765625, + -37.297157287597656, + 1.8324015140533447 + ] + ], + "corners_2d": [ + [ + 548.5452069329995, + 731.1533885420008 + ], + [ + 588.5495929625323, + 721.9362695308201 + ], + [ + 581.9205334196504, + 689.4033267193971 + ], + [ + 542.8408462233223, + 698.1808680736635 + ], + [ + 542.4333435844349, + 693.7698063134892 + ], + [ + 585.1360172126307, + 684.2110226973105 + ], + [ + 578.1658340768145, + 650.5411307661118 + ], + [ + 536.5152446571799, + 659.6148511945484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 625, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -120.42184448242188, + "y": -34.35797882080078, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3356005847454071, + "y": 0.3266320824623108, + "z": 0.8914394974708557 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 112.51861108487367, + "ymin": 341.4626019232464, + "xmax": 167.13187874668046, + "ymax": 405.798407356278 + }, + "corners_3d": [ + [ + -120.3306884765625, + -34.81733322143555, + 0.052698373794555664 + ], + [ + -120.8785629272461, + -34.46154022216797, + 0.052698373794555664 + ], + [ + -120.51300048828125, + -33.898624420166016, + 0.052698373794555664 + ], + [ + -119.96512603759766, + -34.254417419433594, + 0.052698373794555664 + ], + [ + -120.3306884765625, + -34.81733322143555, + 1.835577368736267 + ], + [ + -120.8785629272461, + -34.46154022216797, + 1.835577368736267 + ], + [ + -120.51300048828125, + -33.898624420166016, + 1.835577368736267 + ], + [ + -119.96512603759766, + -34.254417419433594, + 1.835577368736267 + ] + ], + "corners_2d": [ + [ + 137.7515608895148, + 405.798407356278 + ], + [ + 162.0311232618712, + 403.5548399566129 + ], + [ + 167.13187874668046, + 385.99574465139193 + ], + [ + 143.2764061815414, + 388.16367593581384 + ], + [ + 112.51861108487367, + 361.3489015822909 + ], + [ + 138.07257784331904, + 359.0939404897558 + ], + [ + 143.85136710101284, + 341.4626019232464 + ], + [ + 118.76669257976232, + 343.6378296335778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5113, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1028.40091563457, + "ymin": 14.317106955547104, + "xmax": 1186.1729550004795, + "ymax": 98.46654134626323 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1035.8743592159658, + 49.618083347933464 + ], + [ + 1028.40091563457, + 68.96470504743007 + ], + [ + 1166.6480745317567, + 98.46654134626323 + ], + [ + 1170.4466144586083, + 77.47773875002804 + ], + [ + 1047.1359275789941, + 14.317106955547104 + ], + [ + 1039.7734381090822, + 33.196465095037865 + ], + [ + 1182.7389015280487, + 62.0447188856254 + ], + [ + 1186.1729550004795, + 41.51358366148304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 7659, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 470.0828981738938, + "ymin": 207.37514436359768, + "xmax": 618.7181836991516, + "ymax": 365.81888380029227 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 476.1123347154763, + 344.1257363852557 + ], + [ + 535.2610151044338, + 365.81888380029227 + ], + [ + 618.7181836991516, + 259.1090948628147 + ], + [ + 564.1555241674739, + 241.77403221256222 + ], + [ + 470.0828981738938, + 309.3070219658646 + ], + [ + 531.3186559402919, + 331.01244266346583 + ], + [ + 618.0058160994236, + 224.58386957301502 + ], + [ + 561.6678764883577, + 207.37514436359768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1009.9344597141503, + "ymin": 40.085509545002594, + "xmax": 1026.7074681969134, + "ymax": 68.93772750088357 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1019.7678895629618, + 64.14471044961113 + ], + [ + 1011.9356610963036, + 62.47125210019573 + ], + [ + 1009.9344597141503, + 67.24112044590572 + ], + [ + 1017.815871905224, + 68.93772750088357 + ], + [ + 1026.7074681969134, + 41.734491405756614 + ], + [ + 1018.7154454318577, + 40.085509545002594 + ], + [ + 1016.7250404892927, + 44.785995340831334 + ], + [ + 1024.7683018191442, + 46.45820801947491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 704.9385567851917, + "ymin": 0.0, + "xmax": 1019.4021126570094, + "ymax": 230.3278755921887 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 922.213289826712, + 230.3278755921887 + ], + [ + 927.5927398192955, + 218.15857007881613 + ], + [ + 712.8152452986227, + 160.45569494689087 + ], + [ + 704.9385567851917, + 171.01590572410345 + ], + [ + 1014.0177000871888, + -114.56143807058868 + ], + [ + 1019.4021126570094, + -124.18270598773927 + ], + [ + 734.0193274813387, + -168.6298741964364 + ], + [ + 724.1762327177596, + -160.637344543655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 293.19867818691233, + "ymin": 165.2817045081817, + "xmax": 778.026086985923, + "ymax": 701.4336617514473 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 713.9606483694267, + 701.4336617514473 + ], + [ + 726.7415548932635, + 672.5208999559378 + ], + [ + 428.7807780831876, + 541.2583427440891 + ], + [ + 411.38050833207274, + 564.5867396762272 + ], + [ + 759.2532809639005, + 340.67053020039486 + ], + [ + 778.026086985923, + 307.12588740928754 + ], + [ + 322.794914857218, + 165.2817045081817 + ], + [ + 293.19867818691233, + 189.3136583682029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 304.91858518831225, + "ymin": 180.4721061925678, + "xmax": 357.4649717119968, + "ymax": 208.93751366454956 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 338.8742404766005, + 208.93751366454956 + ], + [ + 357.4649717119968, + 192.74806267955634 + ], + [ + 324.45556474017945, + 182.25023771886444 + ], + [ + 305.4657443586586, + 198.0254234317478 + ], + [ + 338.37522543856454, + 207.14511640030472 + ], + [ + 357.00581031312333, + 190.9639841531473 + ], + [ + 323.9493086779318, + 180.4721061925678 + ], + [ + 304.91858518831225, + 196.23851956378277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 411.1075090358617, + "ymin": 0.0, + "xmax": 691.0547722708832, + "ymax": 51.97357985692133 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 447.6363646629926, + -8.622786818310601 + ], + [ + 442.3427005642901, + -4.840428158000066 + ], + [ + 679.2957676059518, + 51.97357985692133 + ], + [ + 683.5050545101508, + 47.47544520288875 + ], + [ + 417.450361868771, + -212.48978526599308 + ], + [ + 411.1075090358617, + -209.54586326768435 + ], + [ + 686.1681847683731, + -164.63906161497584 + ], + [ + 691.0547722708832, + -168.24208505031584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 995.6970592132542, + "ymin": 0.0, + "xmax": 1128.2812722961266, + "ymax": 136.11873179886297 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 995.6970592132542, + 133.32108935638553 + ], + [ + 1007.2813618234941, + 136.11873179886297 + ], + [ + 1060.6704635684941, + 4.348980984225079 + ], + [ + 1050.9101173795357, + 2.429337785282314 + ], + [ + 1066.803299354769, + -98.01520584409604 + ], + [ + 1081.0263467214027, + -95.67342455280561 + ], + [ + 1128.2812722961266, + -202.369980919579 + ], + [ + 1116.7205084008742, + -203.87176172421118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 304.9327345458741, + "ymin": 180.5180866984213, + "xmax": 357.4768068572043, + "ymax": 208.98371220480112 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 338.8871024502158, + 208.98371220480112 + ], + [ + 357.4768068572043, + 192.79404831439734 + ], + [ + 324.46861405444656, + 182.29607104082368 + ], + [ + 305.47984754554955, + 198.0714813991036 + ], + [ + 338.3881300754103, + 207.19146818134394 + ], + [ + 357.0176839565192, + 191.01011937327857 + ], + [ + 323.962399897276, + 180.5180866984213 + ], + [ + 304.9327345458741, + 196.2847283145938 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00072/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00072/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fbfd2e093e4ab8d004b1371cfc5d6b1d8fb4187c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00072/meta.json @@ -0,0 +1,3536 @@ +{ + "frame_id": 72, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 36.0, + "sim_timestamp": 2974.2699847815093 + }, + "drone_pose": { + "x": -138.56487436043224, + "y": -42.24048752911819, + "z": 20.000000031959978, + "pitch": -38.309094018684526, + "yaw": 67.23025625101218, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.30369293689727783, + -0.7235262393951416, + 0.619903564453125, + 60.245201110839844 + ], + [ + 0.9220676422119141, + 0.38702869415283203, + 0.0, + -111.41790771484375 + ], + [ + -0.2399204969406128, + 0.5715930461883545, + 0.7846779823303223, + -73.08248138427734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.96666833065638, + "y": -41.6401651457327, + "z": 19.920575650166395 + }, + "t1_image_uv": [ + 179.3127711599821, + -252.3450714658586 + ], + "t1_depth": 0.6652553655126847 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -129.16718292236328, + "y": -23.687763214111328, + "z": 0.9441183137892222 + }, + "image_uv": [ + 589.253649162034, + 431.5440524777589 + ], + "depth": 28.090203784646814, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 444, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -129.16717529296875, + "y": -23.687763214111328, + "z": 0.944118320941925 + }, + "extent": { + "x": 0.3777783215045929, + "y": 0.4154052734375, + "z": 0.888798713684082 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 570.2341480245668, + "ymin": 397.17395962412667, + "xmax": 607.7387678073192, + "ymax": 465.54102274805985 + }, + "corners_3d": [ + [ + -129.14056396484375, + -24.248628616333008, + 0.05531960725784302 + ], + [ + -129.72804260253906, + -23.661157608032227, + 0.05531960725784302 + ], + [ + -129.19378662109375, + -23.12689781188965, + 0.05531960725784302 + ], + [ + -128.60630798339844, + -23.71436882019043, + 0.05531960725784302 + ], + [ + -129.14056396484375, + -24.248628616333008, + 1.8329169750213623 + ], + [ + -129.72804260253906, + -23.661157608032227, + 1.8329169750213623 + ], + [ + -129.19378662109375, + -23.12689781188965, + 1.8329169750213623 + ], + [ + -128.60630798339844, + -23.71436882019043, + 1.8329169750213623 + ] + ], + "corners_2d": [ + [ + 581.3164525875884, + 465.54102274805985 + ], + [ + 607.7387678073192, + 458.06183674326417 + ], + [ + 598.8986435794639, + 441.87553807306074 + ], + [ + 572.904230860909, + 449.07351195132276 + ], + [ + 578.9339148987312, + 420.4901850297733 + ], + [ + 606.4407647393696, + 413.11577505465215 + ], + [ + 597.2774509510261, + 397.17395962412667 + ], + [ + 570.2341480245668, + 404.26022079932113 + ] + ], + "center_offset_px": [ + -50.74635083796602, + 71.5440524777589 + ] + }, + "trace_timestep_index": 72, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 84, + "semantic_pixel_counts": { + "1": 491240, + "2": 147606, + "3": 60427, + "4": 66153, + "6": 20996, + "7": 1420, + "9": 9587, + "10": 10, + "12": 2909, + "14": 17954, + "24": 19768, + "25": 83530 + }, + "instance_pixel_counts": { + "3662": 28751, + "11605": 25752, + "15701": 4166, + "15970": 35, + "16479": 20, + "16482": 692, + "16994": 776, + "17240": 9786, + "17496": 5645, + "17503": 5340, + "17506": 677, + "18015": 187, + "18018": 150, + "18059": 1258, + "19083": 1404, + "19554": 1003, + "19595": 2590, + "20066": 1544, + "20107": 306, + "20565": 26535, + "21395": 5170, + "21397": 189, + "21643": 1936, + "21907": 74500, + "21909": 6918, + "22155": 4273, + "22421": 3270, + "22931": 139775, + "22933": 3693, + "23138": 47, + "23443": 168645, + "23445": 338, + "23955": 10590, + "23957": 297, + "24467": 9421, + "25344": 70, + "25600": 3154, + "25856": 3347, + "26112": 364, + "32166": 50, + "36096": 444, + "36352": 577, + "36608": 561, + "36864": 615, + "37009": 197, + "37376": 712, + "37888": 1565, + "40448": 1605, + "40704": 356, + "41216": 4911, + "41728": 9517, + "45409": 199, + "45971": 4364, + "46483": 47102, + "46995": 11622, + "47201": 9636, + "47713": 1421, + "48225": 932, + "48468": 3974, + "48531": 12184, + "48737": 43061, + "49043": 7809, + "49249": 6304, + "49761": 4727, + "50579": 58, + "51297": 17919, + "51526": 37402, + "51809": 2031, + "52321": 4788, + "52833": 1023, + "53345": 137, + "53857": 350, + "54366": 78003, + "56970": 2841, + "57482": 19778, + "57994": 14887, + "58506": 664, + "60307": 164, + "60819": 3339, + "61254": 9587, + "61331": 393, + "62355": 674, + "62867": 489, + "64403": 4 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 444, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -129.16717529296875, + "y": -23.687763214111328, + "z": 0.944118320941925 + }, + "extent": { + "x": 0.31956052780151367, + "y": 0.41813352704048157, + "z": 0.8727915287017822 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 570.8275777468714, + "ymin": 398.7752906340072, + "xmax": 607.1197340766539, + "ymax": 463.88433386312806 + }, + "corners_3d": [ + [ + -129.09747314453125, + -24.209392547607422, + 0.07132679224014282 + ], + [ + -129.6887969970703, + -23.618061065673828, + 0.07132679224014282 + ], + [ + -129.23687744140625, + -23.166133880615234, + 0.07132679224014282 + ], + [ + -128.6455535888672, + -23.757465362548828, + 0.07132679224014282 + ], + [ + -129.09747314453125, + -24.209392547607422, + 1.8169097900390625 + ], + [ + -129.6887969970703, + -23.618061065673828, + 1.8169097900390625 + ], + [ + -129.23687744140625, + -23.166133880615234, + 1.8169097900390625 + ], + [ + -128.6455535888672, + -23.757465362548828, + 1.8169097900390625 + ] + ], + "corners_2d": [ + [ + 580.5485055560462, + 463.88433386312806 + ], + [ + 607.1197340766539, + 456.37903501996664 + ], + [ + 599.6387132692325, + 442.6898532321637 + ], + [ + 573.4320662409352, + 449.9556651451769 + ], + [ + 578.182740243186, + 419.66255025135547 + ], + [ + 605.823160340497, + 412.2613722278851 + ], + [ + 598.0736159781578, + 398.7752906340072 + ], + [ + 570.8275777468714, + 405.93118252593234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 577, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -125.04119873046875, + "y": -20.6900577545166, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.3897656202316284, + "y": 0.4449041783809662, + "z": 0.8641611933708191 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 494.1049134437975, + "ymin": 309.81050535065486, + "xmax": 533.7107918905527, + "ymax": 372.8521534531234 + }, + "corners_3d": [ + [ + -125.12577056884766, + -21.275466918945312, + 0.0799717903137207 + ], + [ + -125.61039733886719, + -20.529211044311523, + 0.0799717903137207 + ], + [ + -124.95662689208984, + -20.10464859008789, + 0.0799717903137207 + ], + [ + -124.47200012207031, + -20.85090446472168, + 0.0799717903137207 + ], + [ + -125.12577056884766, + -21.275466918945312, + 1.8082941770553589 + ], + [ + -125.61039733886719, + -20.529211044311523, + 1.8082941770553589 + ], + [ + -124.95662689208984, + -20.10464859008789, + 1.8082941770553589 + ], + [ + -124.47200012207031, + -20.85090446472168, + 1.8082941770553589 + ] + ], + "corners_2d": [ + [ + 510.03886226477255, + 372.8521534531234 + ], + [ + 533.7107918905527, + 363.38336947546344 + ], + [ + 522.4110325793063, + 351.5281601126707 + ], + [ + 498.973759042618, + 360.7027515830343 + ], + [ + 505.4777018059327, + 330.65504687779327 + ], + [ + 530.0278141348539, + 321.3941692922608 + ], + [ + 518.4020825977886, + 309.81050535065486 + ], + [ + 494.1049134437975, + 318.7738584764956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 561, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -131.42300415039062, + "y": -16.74505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4909960925579071, + "y": 0.5091094970703125, + "z": 0.9397289752960205 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 715.308247212299, + "ymin": 286.2045100400655, + "xmax": 760.0321678076073, + "ymax": 354.7114245309825 + }, + "corners_3d": [ + [ + -131.48419189453125, + -17.449697494506836, + 0.004408895969390869 + ], + [ + -132.12496948242188, + -16.65839195251465, + 0.004408895969390869 + ], + [ + -131.36181640625, + -16.040403366088867, + 0.004408895969390869 + ], + [ + -130.72103881835938, + -16.831708908081055, + 0.004408895969390869 + ], + [ + -131.48419189453125, + -17.449697494506836, + 1.883866786956787 + ], + [ + -132.12496948242188, + -16.65839195251465, + 1.883866786956787 + ], + [ + -131.36181640625, + -16.040403366088867, + 1.883866786956787 + ], + [ + -130.72103881835938, + -16.831708908081055, + 1.883866786956787 + ] + ], + "corners_2d": [ + [ + 730.6102159946435, + 354.7114245309825 + ], + [ + 755.7763655591798, + 346.04970646930053 + ], + [ + 740.1374162339737, + 330.98052376463374 + ], + [ + 715.308247212299, + 339.2931759269655 + ], + [ + 733.9811347213815, + 309.30726199408906 + ], + [ + 760.0321678076073, + 300.8685423644344 + ], + [ + 743.7411591636709, + 286.2045100400655 + ], + [ + 718.0504505791273, + 294.290970296012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 615, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -132.74693298339844, + "y": -23.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4456103444099426, + "y": 0.3434985280036926, + "z": 0.8891799449920654 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 685.9453090580739, + "ymin": 428.51633338586527, + "xmax": 724.2678142585903, + "ymax": 501.061183240785 + }, + "corners_3d": [ + [ + -132.8191375732422, + -24.245746612548828, + 0.05496269464492798 + ], + [ + -133.30491638183594, + -23.759967803955078, + 0.05496269464492798 + ], + [ + -132.6747283935547, + -23.129779815673828, + 0.05496269464492798 + ], + [ + -132.18894958496094, + -23.615558624267578, + 0.05496269464492798 + ], + [ + -132.8191375732422, + -24.245746612548828, + 1.833322525024414 + ], + [ + -133.30491638183594, + -23.759967803955078, + 1.833322525024414 + ], + [ + -132.6747283935547, + -23.129779815673828, + 1.833322525024414 + ], + [ + -132.18894958496094, + -23.615558624267578, + 1.833322525024414 + ] + ], + "corners_2d": [ + [ + 698.9732690351234, + 501.061183240785 + ], + [ + 720.8690164520684, + 494.34964032395715 + ], + [ + 707.4294388764519, + 473.6948121189515 + ], + [ + 685.9453090580739, + 480.0982780639184 + ], + [ + 701.4712453617041, + 455.56414631960104 + ], + [ + 724.2678142585903, + 448.92427898691847 + ], + [ + 710.1951368833303, + 428.51633338586527 + ], + [ + 687.8442190408934, + 434.8390181545692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 712, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -117.92184448242188, + "y": -31.85797691345215, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.34001463651657104, + "y": 0.4912146031856537, + "z": 0.8859421610832214 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 40.27697432272191, + "ymin": 477.6091134036958, + "xmax": 110.83502109475478, + "ymax": 546.7825949609642 + }, + "corners_3d": [ + [ + -117.69506072998047, + -32.41067123413086, + 0.05819571018218994 + ], + [ + -118.51899719238281, + -31.87560272216797, + 0.05819571018218994 + ], + [ + -118.14862823486328, + -31.305282592773438, + 0.05819571018218994 + ], + [ + -117.32469177246094, + -31.840351104736328, + 0.05819571018218994 + ], + [ + -117.69506072998047, + -32.41067123413086, + 1.8300800323486328 + ], + [ + -118.51899719238281, + -31.87560272216797, + 1.8300800323486328 + ], + [ + -118.14862823486328, + -31.305282592773438, + 1.8300800323486328 + ], + [ + -117.32469177246094, + -31.840351104736328, + 1.8300800323486328 + ] + ], + "corners_2d": [ + [ + 65.7973004926913, + 546.7825949609642 + ], + [ + 104.59467235726936, + 541.795570232072 + ], + [ + 110.83502109475478, + 523.1464282054848 + ], + [ + 72.84364257782806, + 527.9370739116562 + ], + [ + 40.27697432272191, + 501.07593014607124 + ], + [ + 80.92978956128184, + 496.1202959237281 + ], + [ + 87.92996872130811, + 477.6091134036958 + ], + [ + 48.16094992571823, + 482.36122366709503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 1565, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 474.1149713863073, + "ymin": 24.079289502740608, + "xmax": 557.1654426444451, + "ymax": 74.93615499265036 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 541.7971128378314, + 74.93615499265036 + ], + [ + 557.1654426444451, + 62.97598409795256 + ], + [ + 493.8792444238835, + 52.73742110040706 + ], + [ + 477.257515691748, + 64.16611383232845 + ], + [ + 539.8557993252139, + 45.27885509931252 + ], + [ + 555.5701085683314, + 33.852131790499016 + ], + [ + 491.12868835575887, + 24.079289502740608 + ], + [ + 474.1149713863073, + 34.98866815100598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 1605, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 198.23245089753925, + "ymin": 8.252763636025236, + "xmax": 297.9989238874065, + "ymax": 57.8451738544486 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 228.62403044743587, + 34.633652735026544 + ], + [ + 205.85390944740357, + 45.33529240248163 + ], + [ + 276.34964527941526, + 57.8451738544486 + ], + [ + 297.9989238874065, + 46.5393229608236 + ], + [ + 221.57944889598514, + 8.252763636025236 + ], + [ + 198.23245089753925, + 18.47888527651196 + ], + [ + 269.78252076280427, + 30.443883551581507 + ], + [ + 291.9784989035803, + 19.629957714595605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 356, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 175.05979268852496, + "ymin": 25.6389546275293, + "xmax": 266.3006399192818, + "ymax": 82.304325217663 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 210.36067981716917, + 59.39243056640612 + ], + [ + 185.45599499707697, + 71.52595425070655 + ], + [ + 242.34137514727092, + 82.304325217663 + ], + [ + 266.3006399192818, + 69.61534782659459 + ], + [ + 200.79345825231331, + 25.6389546275293 + ], + [ + 175.05979268852496, + 37.13493456407025 + ], + [ + 233.03275147839315, + 47.35836052575081 + ], + [ + 257.78903494778757, + 35.32381843910315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 4911, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1012.5335712871346, + "ymin": 173.52876334113296, + "xmax": 1169.345716261313, + "ymax": 254.69918490680863 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1016.9730812921572, + 207.411549168313 + ], + [ + 1012.5335712871346, + 227.62732789626227 + ], + [ + 1155.5507253286435, + 254.69918490680863 + ], + [ + 1155.3645037806068, + 232.72789599330451 + ], + [ + 1026.3116151045533, + 173.52876334113296 + ], + [ + 1022.0779670976301, + 193.10286584804967 + ], + [ + 1169.345716261313, + 219.3662087775478 + ], + [ + 1168.6786162615317, + 198.04665281464125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 9517, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 448.05421029182355, + "ymin": 396.6441507750561, + "xmax": 607.6327180479288, + "ymax": 580.7117759897527 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 454.6028272054766, + 556.7390888770368 + ], + [ + 521.7194180173545, + 580.7117759897527 + ], + [ + 607.6327180479288, + 449.6260098695562 + ], + [ + 547.4829448519713, + 431.5835309692434 + ], + [ + 448.05421029182355, + 520.7658235683865 + ], + [ + 517.4328406923287, + 544.6717075703125 + ], + [ + 606.6216533910174, + 414.46698597654364 + ], + [ + 544.6563316882597, + 396.6441507750561 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1037.189828169446, + "ymin": 74.39246275709809, + "xmax": 1052.1675134155482, + "ymax": 102.13184266647193 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1045.917567469569, + 98.26745554785185 + ], + [ + 1038.0858523520078, + 97.09605454216927 + ], + [ + 1037.189828169446, + 100.94216445539632 + ], + [ + 1045.0803430623346, + 102.13184266647193 + ], + [ + 1052.1675134155482, + 75.52740107167915 + ], + [ + 1044.200534748176, + 74.39246275709809 + ], + [ + 1043.33883582528, + 78.11916219635134 + ], + [ + 1051.3666785608802, + 79.27208435188493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 624.8798930082156, + "ymin": 55.483693327621836, + "xmax": 635.6042678743077, + "ymax": 82.21202706097819 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 631.7350385748413, + 82.21202706097819 + ], + [ + 635.6042678743077, + 78.64806070586997 + ], + [ + 629.0107941687851, + 77.56727051472632 + ], + [ + 625.1012504914034, + 81.11504654938165 + ], + [ + 631.6119571947838, + 59.97891058025431 + ], + [ + 635.5392994468253, + 56.52957166798154 + ], + [ + 628.8487483320315, + 55.483693327621836 + ], + [ + 624.8798930082156, + 58.91713097520437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1075.3797992072382, + "ymin": 11.205212691461156, + "xmax": 1086.3575071174166, + "ymax": 31.236645647748787 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1075.8113231868715, + 28.13353618587007 + ], + [ + 1075.3797992072382, + 30.502072146683076 + ], + [ + 1081.117406131084, + 31.236645647748787 + ], + [ + 1081.517926905629, + 28.860012296418404 + ], + [ + 1080.5801408544546, + 11.205212691461156 + ], + [ + 1080.1706404356069, + 13.504776589447829 + ], + [ + 1085.9797877286544, + 14.218015996657982 + ], + [ + 1086.3575071174166, + 11.910504014912817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1043.9082994587054, + "ymin": 46.89336939303365, + "xmax": 1058.075889440177, + "ymax": 73.15976911584869 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1052.100622768139, + 69.72825023676813 + ], + [ + 1044.7041730741557, + 68.68745862057943 + ], + [ + 1043.9082994587054, + 72.1036804833729 + ], + [ + 1051.3571798181279, + 73.15976911584869 + ], + [ + 1058.075889440177, + 47.899986026459544 + ], + [ + 1050.558959815366, + 46.89336939303365 + ], + [ + 1049.7949313826618, + 50.19766078307424 + ], + [ + 1057.366026104562, + 51.21928881231247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 405.04933072925746, + "ymin": 85.90979910360238, + "xmax": 418.33085322993514, + "ymax": 109.25859974855362 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 413.49880703857957, + 109.25859974855362 + ], + [ + 418.33085322993514, + 105.94374072074206 + ], + [ + 412.92771690871984, + 104.93184983513677 + ], + [ + 408.0699885510219, + 108.23337738234895 + ], + [ + 410.5428068713047, + 90.12736766135492 + ], + [ + 415.45704922486436, + 86.89607185411546 + ], + [ + 409.98984727247336, + 85.90979910360238 + ], + [ + 405.04933072925746, + 89.1279309758828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1048.94106802738, + "ymin": 26.307987092736766, + "xmax": 1062.497318980916, + "ymax": 51.46043740222581 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1056.7347908200395, + 48.33641062242691 + ], + [ + 1049.6657759571906, + 47.388468358650755 + ], + [ + 1048.94106802738, + 50.49920538917473 + ], + [ + 1056.0579636197804, + 51.46043740222581 + ], + [ + 1062.497318980916, + 27.223592092261242 + ], + [ + 1055.318369305824, + 26.307987092736766 + ], + [ + 1054.6235824086395, + 29.31280834355482 + ], + [ + 1061.8519240172127, + 30.241428931601433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 565.5369275343396, + "ymin": 46.26273618734132, + "xmax": 577.19219079927, + "ymax": 72.49509748944388 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 572.9736293995029, + 72.49509748944388 + ], + [ + 577.19219079927, + 69.07326975635021 + ], + [ + 570.8604419938558, + 68.03538101099952 + ], + [ + 566.605072143602, + 71.44197621644366 + ], + [ + 571.9959505731769, + 50.576297896710116 + ], + [ + 576.2827994859673, + 47.266504631805844 + ], + [ + 569.8616282306539, + 46.26273618734132 + ], + [ + 565.5369275343396, + 49.5575822554016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 497.4547953219543, + "ymin": 35.68035758572279, + "xmax": 510.11994112723676, + "ymax": 61.341127067137904 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 505.52198270668475, + 61.341127067137904 + ], + [ + 510.11994112723676, + 58.0789186184611 + ], + [ + 504.082197526434, + 57.08922264968976 + ], + [ + 499.45122549164785, + 60.33725076503356 + ], + [ + 503.60754523327296, + 39.790104033797775 + ], + [ + 508.2842655330915, + 36.63686748638139 + ], + [ + 502.1654103561473, + 35.68035758572279 + ], + [ + 497.4547953219543, + 38.81969369855835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1000.7510993677731, + "ymin": 204.85377364692397, + "xmax": 1016.1508970386828, + "ymax": 233.271979362293 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1010.1702832323435, + 228.14780169066148 + ], + [ + 1001.9868267270542, + 226.58691651711672 + ], + [ + 1000.7510993677731, + 231.68549132792185 + ], + [ + 1008.9983712802109, + 233.271979362293 + ], + [ + 1016.1508970386828, + 206.3847231691658 + ], + [ + 1007.8204210818133, + 204.85377364692397 + ], + [ + 1006.6129766371677, + 209.85502096575274 + ], + [ + 1015.0096019263299, + 211.4114925768335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.2788612491574, + "ymin": 14.930347865767203, + "xmax": 1015.2248878317114, + "ymax": 406.0878672657972 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 928.3445202215125, + 406.0878672657972 + ], + [ + 932.2319308586752, + 392.19929241068354 + ], + [ + 700.6506058986947, + 335.107907461954 + ], + [ + 693.2788612491574, + 347.0479178313513 + ], + [ + 1012.0898035066621, + 66.54449825626608 + ], + [ + 1015.2248878317114, + 56.23809544038136 + ], + [ + 716.3102221687661, + 14.930347865767203 + ], + [ + 707.3180632966587, + 23.431511000923024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 481.409506205647, + "ymin": 0.0, + "xmax": 602.1983873055001, + "ymax": 86.67773482710965 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 602.1983873055001, + 15.396994643703522 + ], + [ + 595.8435531370122, + 14.45977543353274 + ], + [ + 497.8284376829646, + 85.39032241045527 + ], + [ + 505.0171053978297, + 86.67773482710965 + ], + [ + 598.5257511553518, + -136.14400863692663 + ], + [ + 591.564167687181, + -136.79557376224284 + ], + [ + 481.409506205647, + -86.65997886809743 + ], + [ + 489.38208261980947, + -85.73430967348935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 247.9149644437183, + "ymin": 423.4439059484342, + "xmax": 848.4049667666541, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 756.1794016649084, + 1021.1831992727385 + ], + [ + 768.1259840592659, + 978.5015740642639 + ], + [ + 404.89761879234953, + 814.1388425678787 + ], + [ + 384.53709948143506, + 847.1167634341269 + ], + [ + 832.7160801578781, + 656.2249201340967 + ], + [ + 848.4049667666541, + 604.6486407240545 + ], + [ + 284.2024320596549, + 423.4439059484342 + ], + [ + 247.9149644437183, + 457.749981536316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2970657086687788400, + "instance_id": 28861, + "pixel_count": null, + "type_id": "BP_StreetLight_simple25_60_SM_2", + "bbox_3d": { + "center_world": { + "x": -149.7042694091797, + "y": 11.851532936096191, + "z": 4.030004978179932 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1255.5441516030742, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 122.603669128702 + }, + "corners_3d": [ + [ + -149.9238739013672, + 13.7682523727417, + 0.15328621864318848 + ], + [ + -149.4846649169922, + 13.768251419067383, + 0.15328621864318848 + ], + [ + -149.4846649169922, + 9.934813499450684, + 0.15328621864318848 + ], + [ + -149.9238739013672, + 9.934814453125, + 0.15328621864318848 + ], + [ + -149.9238739013672, + 13.7682523727417, + 7.906723976135254 + ], + [ + -149.4846649169922, + 13.768251419067383, + 7.906723976135254 + ], + [ + -149.4846649169922, + 9.934813499450684, + 7.906723976135254 + ], + [ + -149.9238739013672, + 9.934814453125, + 7.906723976135254 + ] + ], + "corners_2d": [ + [ + 1265.0806449300358, + 93.33754435056125 + ], + [ + 1255.5441516030742, + 92.01275251825263 + ], + [ + 1261.5985484036191, + 121.1167345045971 + ], + [ + 1271.7199302120443, + 122.603669128702 + ], + [ + 1332.487489385609, + -66.459334266229 + ], + [ + 1321.7245553685052, + -67.44977526522985 + ], + [ + 1332.8506002660304, + -45.557691242651 + ], + [ + 1344.3632500643682, + -44.43166386527395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.8637196140609, + "ymin": 23.93627827841567, + "xmax": 739.916597828468, + "ymax": 34.222399790749364 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 734.2864143294152, + 34.222399790749364 + ], + [ + 739.833353792015, + 28.498227281990808 + ], + [ + 716.6755736396015, + 25.218741174568095 + ], + [ + 710.8637196140609, + 30.854725333818294 + ], + [ + 734.3660882089647, + 32.92026509270215 + ], + [ + 739.916597828468, + 27.208562557197524 + ], + [ + 716.7390164791116, + 23.93627827841567 + ], + [ + 710.9231343391563, + 29.559911567621896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 262.08423734792865, + "ymin": 441.0493319592544, + "xmax": 325.62059275411747, + "ymax": 479.1833166279556 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 303.1024719967245, + 479.1833166279556 + ], + [ + 325.62059275411747, + 455.94570809491427 + ], + [ + 285.94885384926124, + 442.9114359731723 + ], + [ + 262.72134447329563, + 465.43606827234663 + ], + [ + 302.52448686010246, + 477.30302243335404 + ], + [ + 325.0955452199112, + 454.0764756655134 + ], + [ + 285.36658614999766, + 441.0493319592544 + ], + [ + 262.08423734792865, + 463.5620632394712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.8621869310052, + "ymin": 23.9694162834532, + "xmax": 739.9144468434214, + "ymax": 34.2559898867832 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 734.2843590479843, + 34.2559898867832 + ], + [ + 739.8312063895597, + 28.531496081950422 + ], + [ + 716.673937027415, + 25.25182441013476 + ], + [ + 710.8621869310052, + 30.888126803177556 + ], + [ + 734.3640294525974, + 32.95391198068876 + ], + [ + 739.9144468434214, + 27.241886860731313 + ], + [ + 716.737377157505, + 23.9694162834532 + ], + [ + 710.9215990849364, + 29.593369069873233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 378.7760048836934, + "ymin": 0.0, + "xmax": 664.0251755778637, + "ymax": 219.03638600754974 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 415.71638231834345, + 161.78208852898953 + ], + [ + 410.3162318957303, + 165.8121488576372 + ], + [ + 656.896036736511, + 219.03638600754974 + ], + [ + 660.875529370474, + 214.21338555857386 + ], + [ + 385.1676537617123, + -30.730114358259925 + ], + [ + 378.7760048836934, + -27.72177302121389 + ], + [ + 659.4683921402262, + 12.569709684469785 + ], + [ + 664.0251755778637, + 8.875109764939111 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 847.261719396999, + "ymin": 0.0, + "xmax": 1119.320877182107, + "ymax": 79.48934408939203 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1070.015286141709, + 79.48934408939203 + ], + [ + 1070.59877092835, + 76.5949414905221 + ], + [ + 849.0635549602356, + 44.45613420549171 + ], + [ + 847.261719396999, + 46.97107971498724 + ], + [ + 1119.0016277273946, + -90.89560218724188 + ], + [ + 1119.320877182107, + -92.96880311762413 + ], + [ + 870.9509340215336, + -115.798519067308 + ], + [ + 869.0966640640445, + -114.02455245624168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 989.4741554875827, + "ymin": 0.0, + "xmax": 1087.9835661244183, + "ymax": 299.1795166511396 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 989.4741554875827, + 296.5202041560448 + ], + [ + 1001.6933713429582, + 299.1795166511396 + ], + [ + 1034.385670297085, + 160.6829840281482 + ], + [ + 1024.4850292718415, + 158.97349721404277 + ], + [ + 1050.5234766057245, + 73.15329741514199 + ], + [ + 1065.1614717899076, + 75.27449664773559 + ], + [ + 1087.9835661244183, + -31.549546025080417 + ], + [ + 1076.556001134179, + -32.8231753216362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 262.10071358117716, + "ymin": 441.097485782851, + "xmax": 325.6341255286986, + "ymax": 479.23177778653803 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 303.1173685110276, + 479.23177778653803 + ], + [ + 325.6341255286986, + 455.9938864015604 + ], + [ + 285.96386183035463, + 442.95943180373285 + ], + [ + 262.7377652018507, + 465.4843686707103 + ], + [ + 302.53943453036743, + 477.35165001188705 + ], + [ + 325.1091232336502, + 454.1248150290081 + ], + [ + 285.381643534476, + 441.097485782851 + ], + [ + 262.10071358117716, + 463.61052690092026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1058.0791532671897, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 79.46379179413088 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1058.0791532671897, + 26.308905886497087 + ], + [ + 1069.4061261319198, + 67.6556084784408 + ], + [ + 1205.9700118298229, + 79.46379179413088 + ], + [ + 1181.9878334431107, + 36.09291987444698 + ], + [ + 1118.909668773444, + -199.0509960616314 + ], + [ + 1138.952144526579, + -176.50001110514074 + ], + [ + 1300.3433577565525, + -169.94023490747838 + ], + [ + 1262.9350180582512, + -193.77257233851435 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00073/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00073/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..75948b427ae45b4946198f0c035ffc16677c9454 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00073/meta.json @@ -0,0 +1,3426 @@ +{ + "frame_id": 73, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 36.5, + "sim_timestamp": 2986.4571257883217 + }, + "drone_pose": { + "x": -137.96666833065638, + "y": -41.6401651457327, + "z": 19.920575650166395, + "pitch": -38.477982859213796, + "yaw": 66.08315756204954, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3173743486404419, + -0.7156280279159546, + 0.6222138404846191, + 61.19109344482422 + ], + [ + 0.9141348600387573, + 0.4054102301597595, + 0.0, + -109.23880004882812 + ], + [ + -0.25225186347961426, + 0.5687873363494873, + 0.7828473448753357, + -74.08152770996094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.4860502903977, + "y": -41.28565975383694, + "z": 19.925166113881808 + }, + "t1_image_uv": [ + -63.576963071834825, + -416.9717846641314 + ], + "t1_depth": 0.40337358325609296 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -128.66718292236328, + "y": -23.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 604.9768976497601, + 429.1525579762254 + ], + "depth": 27.96387626533588, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 473, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -128.66717529296875, + "y": -23.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3547314405441284, + "y": 0.38484373688697815, + "z": 0.8900505900382996 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 587.5119499159648, + "ymin": 395.4411685660569, + "xmax": 621.9450619733398, + "ymax": 462.41756171244145 + }, + "corners_3d": [ + [ + -128.64588928222656, + -23.710721969604492, + 0.054087281227111816 + ], + [ + -129.1901397705078, + -23.16646957397461, + 0.054087281227111816 + ], + [ + -128.68846130371094, + -22.664804458618164, + 0.054087281227111816 + ], + [ + -128.1442108154297, + -23.209056854248047, + 0.054087281227111816 + ], + [ + -128.64588928222656, + -23.710721969604492, + 1.834188461303711 + ], + [ + -129.1901397705078, + -23.16646957397461, + 1.834188461303711 + ], + [ + -128.68846130371094, + -22.664804458618164, + 1.834188461303711 + ], + [ + -128.1442108154297, + -23.209056854248047, + 1.834188461303711 + ] + ], + "corners_2d": [ + [ + 597.3146534427415, + 462.41756171244145 + ], + [ + 621.9450619733398, + 455.8048033473832 + ], + [ + 613.7866831096841, + 440.3967917694007 + ], + [ + 589.5398244552632, + 446.7735202539959 + ], + [ + 595.5663576293118, + 417.142034017689 + ], + [ + 621.211452319739, + 410.6205913173683 + ], + [ + 612.7414523799692, + 395.4411685660569 + ], + [ + 587.5119499159648, + 401.7206106417979 + ] + ], + "center_offset_px": [ + -35.023102350239924, + 69.15255797622541 + ] + }, + "trace_timestep_index": 73, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 78, + "semantic_pixel_counts": { + "1": 497933, + "2": 151526, + "3": 66650, + "4": 66681, + "6": 21486, + "7": 1506, + "9": 8984, + "10": 6, + "12": 3013, + "14": 19016, + "24": 19745, + "25": 65054 + }, + "instance_pixel_counts": { + "3662": 26987, + "11605": 31955, + "15701": 4781, + "15970": 6, + "16479": 9, + "16482": 720, + "16994": 804, + "17240": 9439, + "17496": 6054, + "17503": 5344, + "17506": 743, + "18018": 152, + "18059": 1289, + "19083": 1445, + "19554": 990, + "19595": 2846, + "20066": 1343, + "20107": 288, + "20565": 27692, + "21395": 5049, + "21397": 191, + "21643": 1776, + "21907": 78908, + "21909": 6995, + "22155": 3758, + "22421": 3422, + "22931": 148298, + "22933": 3745, + "23443": 163841, + "23445": 284, + "23955": 8155, + "23957": 306, + "24467": 9658, + "25344": 71, + "25600": 3240, + "25856": 3808, + "26112": 380, + "36096": 473, + "36352": 589, + "36608": 578, + "36864": 680, + "37376": 693, + "37888": 1591, + "40448": 1626, + "40704": 358, + "41216": 5168, + "41728": 10273, + "45409": 291, + "45971": 4010, + "46483": 49711, + "46995": 12495, + "47201": 10284, + "47713": 1593, + "48225": 957, + "48468": 2222, + "48531": 9773, + "48737": 46877, + "49043": 8035, + "49249": 6892, + "49761": 4888, + "51297": 12823, + "51526": 39694, + "51809": 2551, + "52321": 5299, + "52833": 1191, + "53345": 165, + "53857": 438, + "54366": 59710, + "56970": 2939, + "57482": 20496, + "57994": 16990, + "58506": 683, + "60307": 145, + "60819": 3172, + "61254": 8984, + "61331": 431, + "62355": 548, + "62867": 506 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 473, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -128.66717529296875, + "y": -23.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.415717750787735, + "y": 0.4572192132472992, + "z": 0.9024580121040344 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 584.4287890484655, + "ymin": 393.2535116255511, + "xmax": 624.9641055680446, + "ymax": 464.7214995156693 + }, + "corners_3d": [ + [ + -128.63783264160156, + -23.805023193359375, + 0.04167985916137695 + ], + [ + -129.28443908691406, + -23.158416748046875, + 0.04167985916137695 + ], + [ + -128.69651794433594, + -22.57050323486328, + 0.04167985916137695 + ], + [ + -128.04991149902344, + -23.21710968017578, + 0.04167985916137695 + ], + [ + -128.63783264160156, + -23.805023193359375, + 1.8465958833694458 + ], + [ + -129.28443908691406, + -23.158416748046875, + 1.8465958833694458 + ], + [ + -128.69651794433594, + -22.57050323486328, + 1.8465958833694458 + ], + [ + -128.04991149902344, + -23.21710968017578, + 1.8465958833694458 + ] + ], + "corners_2d": [ + [ + 595.6696289615745, + 464.7214995156693 + ], + [ + 624.9641055680446, + 456.8396597547859 + ], + [ + 615.3640140624885, + 438.80630969727054 + ], + [ + 586.6032922746471, + 446.35956006100673 + ], + [ + 593.8236869623025, + 418.78710560358735 + ], + [ + 624.3439239205206, + 411.0146065368239 + ], + [ + 614.3700310837002, + 393.2535116255511 + ], + [ + 584.4287890484655, + 400.6889902066871 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 589, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -124.54119873046875, + "y": -20.1900577545166, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.5056054592132568, + "y": 0.4542657434940338, + "z": 0.9311847686767578 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 508.8088272436258, + "ymin": 302.5086688551194, + "xmax": 552.0167707371525, + "ymax": 372.6697983854665 + }, + "corners_3d": [ + [ + -124.71782684326172, + -20.84640884399414, + 0.012948215007781982 + ], + [ + -125.212646484375, + -20.08445167541504, + 0.012948215007781982 + ], + [ + -124.36457061767578, + -19.533706665039062, + 0.012948215007781982 + ], + [ + -123.8697509765625, + -20.295663833618164, + 0.012948215007781982 + ], + [ + -124.71782684326172, + -20.84640884399414, + 1.8753178119659424 + ], + [ + -125.212646484375, + -20.08445167541504, + 1.8753178119659424 + ], + [ + -124.36457061767578, + -19.533706665039062, + 1.8753178119659424 + ], + [ + -123.8697509765625, + -20.295663833618164, + 1.8753178119659424 + ] + ], + "corners_2d": [ + [ + 527.7113553984076, + 372.6697983854665 + ], + [ + 552.0167707371525, + 363.2176990705929 + ], + [ + 537.5184222172127, + 347.5912031521929 + ], + [ + 513.5395203167516, + 356.65942214362667 + ], + [ + 523.4188971740379, + 326.98210864286375 + ], + [ + 548.6959663609066, + 317.7509917684934 + ], + [ + 533.7321963645836, + 302.5086688551194 + ], + [ + 508.8088272436258, + 311.35109167681657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 578, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -130.92300415039062, + "y": -16.24505043029785, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4903222620487213, + "y": 0.5088446140289307, + "z": 0.9399844408035278 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 732.6255468458239, + "ymin": 284.84742767988394, + "xmax": 778.2715225727791, + "ymax": 353.6382065112998 + }, + "corners_3d": [ + [ + -130.98382568359375, + -16.949066162109375, + 0.004153430461883545 + ], + [ + -131.62428283691406, + -16.158172607421875, + 0.004153430461883545 + ], + [ + -130.8621826171875, + -15.541033744812012, + 0.004153430461883545 + ], + [ + -130.2217254638672, + -16.331928253173828, + 0.004153430461883545 + ], + [ + -130.98382568359375, + -16.949066162109375, + 1.884122371673584 + ], + [ + -131.62428283691406, + -16.158172607421875, + 1.884122371673584 + ], + [ + -130.8621826171875, + -15.541033744812012, + 1.884122371673584 + ], + [ + -130.2217254638672, + -16.331928253173828, + 1.884122371673584 + ] + ], + "corners_2d": [ + [ + 747.8656129316388, + 353.6382065112998 + ], + [ + 773.3163116107628, + 345.229886113006 + ], + [ + 757.7201187703579, + 329.88265898634 + ], + [ + 732.6255468458239, + 337.94774821992195 + ], + [ + 751.9215986711868, + 307.9816145878295 + ], + [ + 778.2715225727791, + 299.78698338060343 + ], + [ + 762.0026267260604, + 284.84742767988394 + ], + [ + 736.0335908741094, + 292.6954434354093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 680, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -132.24693298339844, + "y": -23.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.459785133600235, + "y": 0.36461180448532104, + "z": 0.8971002101898193 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 700.7089140497006, + "ymin": 427.09022148587695, + "xmax": 741.6833671194972, + "ymax": 501.3661537746515 + }, + "corners_3d": [ + [ + -132.31422424316406, + -23.770700454711914, + 0.04703766107559204 + ], + [ + -132.82986450195312, + -23.25506019592285, + 0.04703766107559204 + ], + [ + -132.1796417236328, + -22.604825973510742, + 0.04703766107559204 + ], + [ + -131.66400146484375, + -23.120466232299805, + 0.04703766107559204 + ], + [ + -132.31422424316406, + -23.770700454711914, + 1.841238021850586 + ], + [ + -132.82986450195312, + -23.25506019592285, + 1.841238021850586 + ], + [ + -132.1796417236328, + -22.604825973510742, + 1.841238021850586 + ], + [ + -131.66400146484375, + -23.120466232299805, + 1.841238021850586 + ] + ], + "corners_2d": [ + [ + 714.0061420204083, + 501.3661537746515 + ], + [ + 737.5026932036017, + 494.52633728478725 + ], + [ + 723.7363911836669, + 472.8594229942167 + ], + [ + 700.7089140497006, + 479.3717974611438 + ], + [ + 717.2045688273093, + 455.27495867402985 + ], + [ + 741.6833671194972, + 448.50540057503764 + ], + [ + 727.2365038900437, + 427.09022148587695 + ], + [ + 703.2661594153864, + 433.52227590418045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 693, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -117.42184448242188, + "y": -31.35797691345215, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3737500011920929, + "y": 0.45342040061950684, + "z": 0.9037767052650452 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 58.81889777251911, + "ymin": 467.1665130152552, + "xmax": 126.54175680951039, + "ymax": 538.1324278484021 + }, + "corners_3d": [ + [ + -117.24513244628906, + -31.918380737304688, + 0.04036116600036621 + ], + [ + -118.00567626953125, + -31.42447853088379, + 0.04036116600036621 + ], + [ + -117.59855651855469, + -30.79757308959961, + 0.04036116600036621 + ], + [ + -116.8380126953125, + -31.291475296020508, + 0.04036116600036621 + ], + [ + -117.24513244628906, + -31.918380737304688, + 1.8479145765304565 + ], + [ + -118.00567626953125, + -31.42447853088379, + 1.8479145765304565 + ], + [ + -117.59855651855469, + -30.79757308959961, + 1.8479145765304565 + ], + [ + -116.8380126953125, + -31.291475296020508, + 1.8479145765304565 + ] + ], + "corners_2d": [ + [ + 84.05285443054322, + 538.1324278484021 + ], + [ + 119.4917676631162, + 534.0780162300866 + ], + [ + 126.54175680951039, + 513.7160999125595 + ], + [ + 91.90598358549482, + 517.5958662115133 + ], + [ + 58.81889777251911, + 491.3949975680256 + ], + [ + 95.97272801861664, + 487.36782792586257 + ], + [ + 103.86764915564356, + 467.1665130152552 + ], + [ + 67.59539706000885, + 471.0126216304158 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 1591, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 497.2557347166664, + "ymin": 23.460641619340947, + "xmax": 580.7089580948198, + "ymax": 75.46858429456955 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 565.1429296291352, + 75.46858429456955 + ], + [ + 580.7089580948198, + 63.3606198102907 + ], + [ + 516.810834555548, + 52.42085204912007 + ], + [ + 500.00030151251474, + 63.96044174193622 + ], + [ + 563.6385329377266, + 45.47655665159863 + ], + [ + 579.5481333690789, + 33.9053384680488 + ], + [ + 514.4566414485976, + 23.460641619340947 + ], + [ + 497.2557347166664, + 34.47829334102829 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 1626, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 220.35420464735722, + "ymin": 5.479619138051191, + "xmax": 319.86981435806837, + "ymax": 55.98739361993336 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 250.53402178633104, + 32.04857898184355 + ], + [ + 227.66609147138263, + 42.749419999512156 + ], + [ + 298.0787971977278, + 55.98739361993336 + ], + [ + 319.86981435806837, + 44.649628961345 + ], + [ + 243.79630951813732, + 5.479619138051191 + ], + [ + 220.35420464735722, + 15.70513994996952 + ], + [ + 291.83218246743974, + 28.36714955027287 + ], + [ + 314.1683391370262, + 17.521853905055252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 358, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 196.9943764008234, + "ymin": 23.063597182512297, + "xmax": 287.9061617787449, + "ymax": 80.61215977980288 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 232.02320856991713, + 57.062581617660726 + ], + [ + 207.00177536239346, + 69.20257367252236 + ], + [ + 263.7903676492139, + 80.61215977980288 + ], + [ + 287.9061617787449, + 67.88634095374539 + ], + [ + 222.84196417870686, + 23.063597182512297 + ], + [ + 196.9943764008234, + 34.56630995759451 + ], + [ + 254.88040048626578, + 45.38942607512405 + ], + [ + 279.79181933853874, + 33.31851120706102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5168, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1046.2821793706094, + "ymin": 181.82276887181445, + "xmax": 1209.744170057786, + "ymax": 266.9289889889852 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1050.6641690122124, + 216.25579240401527 + ], + [ + 1046.2821793706094, + 237.19313120371143 + ], + [ + 1194.4317112931285, + 266.9289889889852 + ], + [ + 1193.9478618339026, + 244.0363020606315 + ], + [ + 1061.1262858671253, + 181.82276887181445 + ], + [ + 1056.991830417921, + 202.11716457378964 + ], + [ + 1209.744170057786, + 231.0001049524186 + ], + [ + 1208.7102405454893, + 208.75778484057778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 10273, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 468.92471152176756, + "ymin": 408.19795078721063, + "xmax": 631.5076477895034, + "ymax": 598.7908224955602 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 474.9183342182906, + 572.5883424731011 + ], + [ + 543.3931283984105, + 598.7908224955602 + ], + [ + 631.5076477895034, + 463.10284948153554 + ], + [ + 570.0974716320776, + 443.448026877638 + ], + [ + 468.92471152176756, + 536.4538040775398 + ], + [ + 539.7879021080523, + 562.627414924166 + ], + [ + 631.2350286092185, + 427.63894836205816 + ], + [ + 567.9059989921518, + 408.19795078721063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1075.0835222288708, + "ymin": 81.02596865362682, + "xmax": 1091.108834780436, + "ymax": 109.51634863381 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1084.0569424827102, + 105.49657688502901 + ], + [ + 1075.934409783827, + 104.20950789339659 + ], + [ + 1075.0835222288708, + 108.20887693051478 + ], + [ + 1083.268087015105, + 109.51634863381 + ], + [ + 1091.108834780436, + 82.27371539133003 + ], + [ + 1082.8395116381284, + 81.02596865362682 + ], + [ + 1082.0303528333347, + 84.90347827114499 + ], + [ + 1090.3639884598838, + 86.17132186584388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.7677075750858, + "ymin": 58.12304568179695, + "xmax": 662.8025311867954, + "ymax": 85.3876486359739 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 658.5352862185704, + 85.3876486359739 + ], + [ + 662.4627295510836, + 81.7361595291652 + ], + [ + 655.7361485185077, + 80.56641503527447 + ], + [ + 651.7677075750858, + 84.20023671364561 + ], + [ + 658.81782031668, + 62.79060243557535 + ], + [ + 662.8025311867954, + 59.255375520403106 + ], + [ + 655.9736116976304, + 58.12304568179695 + ], + [ + 651.9466404746756, + 61.64090890613625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.6026595786811, + "ymin": 14.774342206021686, + "xmax": 1122.2658623047057, + "ymax": 35.265215333389506 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1111.01161508181, + 32.02210700258257 + ], + [ + 1110.6026595786811, + 34.464674249755774 + ], + [ + 1116.5236640688233, + 35.265215333389506 + ], + [ + 1116.900245107899, + 32.81372570673 + ], + [ + 1116.3012455650892, + 14.774342206021686 + ], + [ + 1115.917705855705, + 17.14656309026742 + ], + [ + 1121.9155426635966, + 17.924113547274032 + ], + [ + 1122.2658623047057, + 15.543129386627015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1081.4585076601659, + "ymin": 52.444595809460225, + "xmax": 1096.598196019717, + "ymax": 79.40348821108478 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1089.8767568206563, + 75.84054200978551 + ], + [ + 1082.212920809786, + 74.69904854989204 + ], + [ + 1081.4585076601659, + 78.24496548593396 + ], + [ + 1089.1775505553924, + 79.40348821108478 + ], + [ + 1096.598196019717, + 53.54917273491418 + ], + [ + 1088.8038732442114, + 52.444595809460225 + ], + [ + 1088.0877882727245, + 55.87609324538073 + ], + [ + 1095.9392281474666, + 56.9973973881244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 427.75342766002495, + "ymin": 86.61094169982556, + "xmax": 440.8999587277292, + "ymax": 110.29551715778382 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 436.00553736535653, + 110.29551715778382 + ], + [ + 440.8999587277292, + 106.9360400599393 + ], + [ + 435.44850802851494, + 105.8526461391379 + ], + [ + 430.5287168161858, + 109.19781716252237 + ], + [ + 433.2969417312697, + 90.94257670595607 + ], + [ + 438.2738800469809, + 87.66711894236823 + ], + [ + 432.75633340771253, + 86.61094169982556 + ], + [ + 427.75342766002495, + 89.8722671862073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1086.2263186597743, + "ymin": 31.08417566713399, + "xmax": 1100.699183423075, + "ymax": 56.88620176108827 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1094.231691045714, + 53.646983147374726 + ], + [ + 1086.912341795607, + 52.60873224669251 + ], + [ + 1086.2263186597743, + 55.833186464614926 + ], + [ + 1093.5960113827168, + 56.88620176108827 + ], + [ + 1100.699183423075, + 32.0874622764573 + ], + [ + 1093.2609461983293, + 31.08417566713399 + ], + [ + 1092.6106796505044, + 34.20025508983338 + ], + [ + 1100.1009209401038, + 35.21801398321833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 591.4677326229183, + "ymin": 48.15465894570889, + "xmax": 602.940620277513, + "ymax": 74.88199828921199 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 598.6589397867562, + 74.88199828921199 + ], + [ + 602.940620277513, + 71.38534562236515 + ], + [ + 596.4979029102858, + 70.26496465952488 + ], + [ + 592.1790346037573, + 73.74506036087274 + ], + [ + 598.042533403121, + 52.62162355789218 + ], + [ + 602.392157712671, + 49.23850554269944 + ], + [ + 595.8556338750572, + 48.15465894570889 + ], + [ + 591.4677326229183, + 51.521520480889535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 522.2816854007273, + "ymin": 36.74709051410849, + "xmax": 534.78560543214, + "ymax": 62.85678718847987 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 530.1219566759448, + 62.85678718847987 + ], + [ + 534.78560543214, + 59.533279108614124 + ], + [ + 528.6604247487093, + 58.468117377407 + ], + [ + 523.9636839266286, + 61.776281560480584 + ], + [ + 528.5254686513647, + 40.989960062027365 + ], + [ + 533.2679416759999, + 37.77675874401746 + ], + [ + 527.0581599632245, + 36.74709051410849 + ], + [ + 522.2816854007273, + 39.945243187323626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1036.4124292241079, + "ymin": 215.20865911003023, + "xmax": 1052.8684245437712, + "ymax": 244.3704865535493 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1046.1013972226847, + 239.035783233529 + ], + [ + 1037.6236318692713, + 237.31935586206913 + ], + [ + 1036.4124292241079, + 242.62545643364456 + ], + [ + 1044.9573612866795, + 244.3704865535493 + ], + [ + 1052.8684245437712, + 216.89343239849404 + ], + [ + 1044.2313835511266, + 215.20865911003023 + ], + [ + 1043.05555572263, + 220.41739067754898 + ], + [ + 1051.762334955658, + 222.13071234224114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.1616218683721, + "ymin": 19.369604831976744, + "xmax": 1060.9914462063648, + "ymax": 422.2961690856727 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 961.0691440194204, + 422.2961690856727 + ], + [ + 964.9770211847614, + 407.8190384633921 + ], + [ + 726.6843030693085, + 345.29093499695483 + ], + [ + 719.1616218683721, + 357.6043777245123 + ], + [ + 1058.1347044311653, + 75.97624606172911 + ], + [ + 1060.9914462063648, + 65.09162084381614 + ], + [ + 749.7936528735488, + 19.369604831976744 + ], + [ + 740.7072659102224, + 28.211698545944046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 506.66234020999923, + "ymin": 0.0, + "xmax": 626.3267609364185, + "ymax": 87.1821199241503 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 626.3267609364185, + 15.092805992609954 + ], + [ + 619.899632060527, + 14.092488036662758 + ], + [ + 520.6851946899865, + 85.80768445170344 + ], + [ + 527.9415065378478, + 87.1821199241503 + ], + [ + 624.9752212199952, + -138.389227864119 + ], + [ + 617.9180209245252, + -139.08475924439193 + ], + [ + 506.66234020999923, + -88.37265063660021 + ], + [ + 514.7300771173641, + -87.3836584151669 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 267.639516488814, + "ymin": 451.5732111410885, + "xmax": 904.3157926698727, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 785.7537857097125, + 1071.7698436555127 + ], + [ + 798.0623708140472, + 1026.171431322774 + ], + [ + 422.8015700395407, + 842.699043769385 + ], + [ + 401.72369649674977, + 877.2001985777994 + ], + [ + 889.0750888732538, + 720.1193642138426 + ], + [ + 904.3157926698727, + 662.0499403955685 + ], + [ + 305.6489354672757, + 451.5732111410885 + ], + [ + 267.639516488814, + 488.56072289658255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 744.1445425532419, + "ymin": 28.64331393685677, + "xmax": 774.0735088231936, + "ymax": 39.52297057972231 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 768.361858442747, + 39.52297057972231 + ], + [ + 773.9581139612063, + 33.56235218813026 + ], + [ + 750.0180773100573, + 29.957133585010013 + ], + [ + 744.1445425532419, + 35.8190532912692 + ], + [ + 768.4739435394849, + 38.18845175477304 + ], + [ + 774.0735088231936, + 32.240689025364645 + ], + [ + 750.1120663392085, + 28.64331393685677 + ], + [ + 744.2347193927062, + 34.49250649397527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 282.2702265855602, + "ymin": 469.9835110791479, + "xmax": 348.49783132743767, + "ymax": 511.8362130795134 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 324.9203535295475, + 511.8362130795134 + ], + [ + 348.49783132743767, + 486.7236449835972 + ], + [ + 307.22249374349605, + 471.87707866432675 + ], + [ + 282.904351325503, + 496.14713139436964 + ], + [ + 324.3510598079925, + 509.9282031995391 + ], + [ + 347.98562103661595, + 484.82397541055275 + ], + [ + 306.6475308989818, + 469.9835110791479 + ], + [ + 282.2702265855602, + 494.2440402346598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 744.1422163853449, + "ymin": 28.677263068337993, + "xmax": 774.0705269965061, + "ymax": 39.55739506825324 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 768.3589671593459, + 39.55739506825324 + ], + [ + 773.9551372650712, + 33.59644547062794 + ], + [ + 750.0156527755802, + 29.991024785529248 + ], + [ + 744.1422163853449, + 35.85327239444473 + ], + [ + 768.4710472046204, + 38.22293638754371 + ], + [ + 774.0705269965061, + 32.27484107011617 + ], + [ + 750.1096376604222, + 28.677263068337993 + ], + [ + 744.2323891947385, + 34.52678488152492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 402.89054104208026, + "ymin": 0.0, + "xmax": 692.9598582201799, + "ymax": 224.54195369440444 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 437.4580795383685, + 163.28243453200747 + ], + [ + 431.9871766072502, + 167.36175741927846 + ], + [ + 681.815084914395, + 224.54195369440444 + ], + [ + 685.8656578066908, + 219.60727048934336 + ], + [ + 409.35744571362346, + -31.585354670992444 + ], + [ + 402.89054104208026, + -28.535498445208304 + ], + [ + 688.3420309063914, + 14.865959587137468 + ], + [ + 692.9598582201799, + 11.071775734613595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.4144510068477, + "ymin": 0.0, + "xmax": 1158.586674401218, + "ymax": 84.38272359392147 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1103.970862830105, + 84.38272359392147 + ], + [ + 1104.539625121509, + 81.40088663903646 + ], + [ + 877.2402053309406, + 46.60748661466016 + ], + [ + 875.4144510068477, + 49.17522872305119 + ], + [ + 1158.3229443540054, + -89.39730914563881 + ], + [ + 1158.586674401218, + -91.53921414746827 + ], + [ + 902.6471905272729, + -116.30704224538016 + ], + [ + 900.7854051511476, + -114.49322288295372 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1023.1363673572966, + "ymin": 0.0, + "xmax": 1128.1064560600457, + "ymax": 311.5008379271298 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1023.1363673572966, + 308.584445367521 + ], + [ + 1035.7724669895622, + 311.5008379271298 + ], + [ + 1068.1424317773563, + 167.99556716294782 + ], + [ + 1057.9302368738174, + 166.13147833432743 + ], + [ + 1092.397138159459, + 80.94523900854125 + ], + [ + 1107.6639848224158, + 83.28897559433057 + ], + [ + 1128.1064560600457, + -28.06109049214382 + ], + [ + 1116.2462307596697, + -29.455944135102925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 282.2866270802721, + "ymin": 470.0324825089619, + "xmax": 348.5110320534901, + "ymax": 511.8853839666382 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 324.9350246681077, + 511.8853839666382 + ], + [ + 348.5110320534901, + 486.772603425224 + ], + [ + 307.2373121792278, + 471.9258813127629 + ], + [ + 282.92069372885663, + 496.196177081112 + ], + [ + 324.3657840095638, + 509.97755192939337 + ], + [ + 347.99886819343504, + 484.8731060531608 + ], + [ + 306.6624005834896, + 470.0324825089619 + ], + [ + 282.2866270802721, + 494.29326026115496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1091.2317892881301, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 85.5104327731213 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1091.2317892881301, + 29.52572920821933 + ], + [ + 1103.3334427234804, + 72.2136283538224 + ], + [ + 1244.3390705209706, + 85.5104327731213 + ], + [ + 1218.9423171822111, + 40.51341438893297 + ], + [ + 1158.6926395271, + -200.45771453725047 + ], + [ + 1180.579591478424, + -177.13424356268342 + ], + [ + 1348.397919205636, + -169.72588679671037 + ], + [ + 1308.0334167322385, + -194.52038023427485 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00077/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00077/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02caffa8d7eadf493679b0bb4fa27a1c9cce2a36 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00077/meta.json @@ -0,0 +1,1834 @@ +{ + "frame_id": 77, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 38.5, + "sim_timestamp": 3037.4677248855587 + }, + "drone_pose": { + "x": -136.41696885002534, + "y": -39.81229564151182, + "z": 20.059963236804936, + "pitch": -46.618936457816694, + "yaw": 65.83114501238128, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2812139391899109, + -0.626640260219574, + 0.7268016934394836, + 48.7307243347168 + ], + [ + 0.9123428463935852, + 0.40942710638046265, + 0.0, + -108.15879821777344 + ], + [ + -0.2975723147392273, + 0.663092315196991, + 0.6868473291397095, + -80.77127075195312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -136.10344196779445, + "y": -39.52572601202709, + "z": 19.98462013948787 + }, + "t1_image_uv": [ + 137.78551444336028, + -329.31632607252004 + ], + "t1_depth": 0.3225036853139665 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -21.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 596.9361883236196, + 288.05283734243426 + ], + "depth": 28.306071831593975, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 586, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -21.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3782128691673279, + "y": 0.4461413621902466, + "z": 0.8876877427101135 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 576.1734915543564, + "ymin": 253.3009269576611, + "xmax": 616.6176779645455, + "ymax": 322.11743835071405 + }, + "corners_3d": [ + [ + -126.22103881835938, + -21.565977096557617, + 0.05645012855529785 + ], + [ + -127.11332702636719, + -21.565975189208984, + 0.05645012855529785 + ], + [ + -127.11332702636719, + -20.80954933166504, + 0.05645012855529785 + ], + [ + -126.22103881835938, + -20.809551239013672, + 0.05645012855529785 + ], + [ + -126.22103881835938, + -21.565977096557617, + 1.831825613975525 + ], + [ + -127.11332702636719, + -21.565975189208984, + 1.831825613975525 + ], + [ + -127.11332702636719, + -20.80954933166504, + 1.831825613975525 + ], + [ + -126.22103881835938, + -20.809551239013672, + 1.831825613975525 + ] + ], + "corners_2d": [ + [ + 579.0292171317739, + 313.6085888805435 + ], + [ + 605.8303473914505, + 322.11743835071405 + ], + [ + 616.6176779645455, + 306.1671312990396 + ], + [ + 590.1575872377128, + 297.93240432544866 + ], + [ + 576.1734915543564, + 268.94342921023105 + ], + [ + 604.2152117847675, + 277.4439213128362 + ], + [ + 615.531302999761, + 261.5150074116418 + ], + [ + 587.8625752510234, + 253.3009269576611 + ] + ], + "center_offset_px": [ + -43.063811676380396, + -71.94716265756574 + ] + }, + "trace_timestep_index": 77, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 524027, + "2": 171871, + "3": 47982, + "4": 70258, + "6": 17274, + "7": 247, + "10": 9, + "12": 3907, + "14": 18379, + "24": 18583, + "25": 49063 + }, + "instance_pixel_counts": { + "3662": 33021, + "11605": 31955, + "17240": 9115, + "17496": 4968, + "20066": 103, + "20565": 16027, + "21907": 90707, + "21909": 8206, + "22421": 4085, + "22931": 176937, + "22933": 4744, + "23443": 229823, + "23445": 137, + "23955": 4131, + "24467": 17, + "25600": 378, + "25856": 3060, + "36096": 586, + "36352": 594, + "36608": 585, + "36864": 612, + "37120": 971, + "37376": 559, + "41216": 6194, + "41728": 12185, + "46483": 16693, + "47201": 12266, + "47713": 2110, + "48225": 1221, + "48531": 5719, + "48737": 54201, + "49249": 8180, + "49761": 5847, + "51297": 25168, + "51526": 37237, + "51809": 5019, + "52321": 6540, + "52833": 1763, + "53345": 333, + "53857": 113, + "54366": 49063, + "56970": 3707, + "57482": 25021, + "57994": 19423, + "58506": 856, + "60819": 1080, + "62355": 331 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 586, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -21.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3774365186691284, + "y": 0.4501708745956421, + "z": 0.8717482686042786 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 576.0871313953807, + "ymin": 253.69893949219562, + "xmax": 616.718000806843, + "ymax": 321.7564147162436 + }, + "corners_3d": [ + [ + -126.21701049804688, + -21.565200805664062, + 0.07238960266113281 + ], + [ + -127.11735534667969, + -21.56519889831543, + 0.07238960266113281 + ], + [ + -127.11735534667969, + -20.810325622558594, + 0.07238960266113281 + ], + [ + -126.21701049804688, + -20.810327529907227, + 0.07238960266113281 + ], + [ + -126.21701049804688, + -21.565200805664062, + 1.81588613986969 + ], + [ + -127.11735534667969, + -21.56519889831543, + 1.81588613986969 + ], + [ + -127.11735534667969, + -20.810325622558594, + 1.81588613986969 + ], + [ + -126.21701049804688, + -20.810327529907227, + 1.81588613986969 + ] + ], + "corners_2d": [ + [ + 578.896344340767, + 313.17093962554753 + ], + [ + 605.9498644822561, + 321.7564147162436 + ], + [ + 616.718000806843, + 305.83748970986704 + ], + [ + 590.0081637672538, + 297.528155994363 + ], + [ + 576.0871313953807, + 269.3086875986664 + ], + [ + 604.3699115242458, + 277.8858834636955 + ], + [ + 615.6560914637969, + 261.9878409946793 + ], + [ + 587.7485909197336, + 253.69893949219562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 594, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -18.1900577545166, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.467216819524765, + "y": 0.5589478015899658, + "z": 0.925390899181366 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 499.60548980670694, + "ymin": 162.53869400657595, + "xmax": 545.880250126117, + "ymax": 229.95451988184467 + }, + "corners_3d": [ + [ + -122.09160614013672, + -18.763277053833008, + 0.01874697208404541 + ], + [ + -123.18507385253906, + -18.530853271484375, + 0.01874697208404541 + ], + [ + -122.99079132080078, + -17.616838455200195, + 0.01874697208404541 + ], + [ + -121.89732360839844, + -17.849262237548828, + 0.01874697208404541 + ], + [ + -122.09160614013672, + -18.763277053833008, + 1.8695287704467773 + ], + [ + -123.18507385253906, + -18.530853271484375, + 1.8695287704467773 + ], + [ + -122.99079132080078, + -17.616838455200195, + 1.8695287704467773 + ], + [ + -121.89732360839844, + -17.849262237548828, + 1.8695287704467773 + ] + ], + "corners_2d": [ + [ + 505.54709700156207, + 225.4438985547999 + ], + [ + 538.033329976651, + 229.95451988184467 + ], + [ + 545.880250126117, + 212.72224472598614 + ], + [ + 513.9836624823973, + 208.38498544891763 + ], + [ + 499.60548980670694, + 179.40651192268544 + ], + [ + 533.5032343136195, + 183.87142995846418 + ], + [ + 541.7836582013159, + 166.82463294418858 + ], + [ + 508.52733671904036, + 162.53869400657595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 585, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -14.245049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45289549231529236, + "y": 0.6031463742256165, + "z": 0.9402058720588684 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 726.0468197822537, + "ymin": 143.93403471714197, + "xmax": 772.4015094680403, + "ymax": 212.5374865873777 + }, + "corners_3d": [ + [ + -128.37049865722656, + -14.758509635925293, + 0.003931999206542969 + ], + [ + -129.5701904296875, + -14.632417678833008, + 0.003931999206542969 + ], + [ + -129.4755096435547, + -13.731589317321777, + 0.003931999206542969 + ], + [ + -128.27581787109375, + -13.857681274414062, + 0.003931999206542969 + ], + [ + -128.37049865722656, + -14.758509635925293, + 1.8843437433242798 + ], + [ + -129.5701904296875, + -14.632417678833008, + 1.8843437433242798 + ], + [ + -129.4755096435547, + -13.731589317321777, + 1.8843437433242798 + ], + [ + -128.27581787109375, + -13.857681274414062, + 1.8843437433242798 + ] + ], + "corners_2d": [ + [ + 726.0468197822537, + 205.6426949213259 + ], + [ + 760.8209548494447, + 212.5374865873777 + ], + [ + 766.89678562366, + 196.92182235543163 + ], + [ + 732.6957196479979, + 190.27182277793327 + ], + [ + 729.8193370336433, + 159.10010914194137 + ], + [ + 766.1623298817898, + 165.9107476746929 + ], + [ + 772.4015094680403, + 150.49252054268297 + ], + [ + 736.6841107368696, + 143.93403471714197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 612, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -21.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4081103503704071, + "y": 0.45888426899909973, + "z": 0.8922041654586792 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 688.6693813742113, + "ymin": 286.27941584103894, + "xmax": 732.5648764015674, + "ymax": 358.7394937445212 + }, + "corners_3d": [ + [ + -129.78805541992188, + -21.59587287902832, + 0.05193370580673218 + ], + [ + -130.705810546875, + -21.59587287902832, + 0.05193370580673218 + ], + [ + -130.705810546875, + -20.779653549194336, + 0.05193370580673218 + ], + [ + -129.78805541992188, + -20.779653549194336, + 0.05193370580673218 + ], + [ + -129.78805541992188, + -21.59587287902832, + 1.8363420963287354 + ], + [ + -130.705810546875, + -21.59587287902832, + 1.8363420963287354 + ], + [ + -130.705810546875, + -20.779653549194336, + 1.8363420963287354 + ], + [ + -129.78805541992188, + -20.779653549194336, + 1.8363420963287354 + ] + ], + "corners_2d": [ + [ + 688.6693813742113, + 349.3276168282654 + ], + [ + 718.2878467486519, + 358.7394937445212 + ], + [ + 728.2888175696485, + 340.2553165167463 + ], + [ + 699.1139404956824, + 331.18172256760226 + ], + [ + 691.0490856406591, + 304.44669299187103 + ], + [ + 722.1533671149213, + 313.8822981422761 + ], + [ + 732.5648764015674, + 295.35969477350216 + ], + [ + 701.9496526866125, + 286.27941584103894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 971, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.28268432617188, + "y": -32.31512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.37470218539237976, + "y": 0.34520024061203003, + "z": 0.8660641312599182 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 492.2635776444326, + "ymin": 617.7051414918951, + "xmax": 546.9487023107345, + "ymax": 699.626130661748 + }, + "corners_3d": [ + [ + -129.90020751953125, + -32.65169143676758, + 0.07807374000549316 + ], + [ + -130.58682250976562, + -32.72385787963867, + 0.07807374000549316 + ], + [ + -130.6651611328125, + -31.978557586669922, + 0.07807374000549316 + ], + [ + -129.97854614257812, + -31.906391143798828, + 0.07807374000549316 + ], + [ + -129.90020751953125, + -32.65169143676758, + 1.8102020025253296 + ], + [ + -130.58682250976562, + -32.72385787963867, + 1.8102020025253296 + ], + [ + -130.6651611328125, + -31.978557586669922, + 1.8102020025253296 + ], + [ + -129.97854614257812, + -31.906391143798828, + 1.8102020025253296 + ] + ], + "corners_2d": [ + [ + 501.1870053181307, + 684.1280872918629 + ], + [ + 527.3915394639397, + 699.626130661748 + ], + [ + 546.9487023107345, + 670.9700061086155 + ], + [ + 521.0730226629241, + 656.1167369257795 + ], + [ + 492.2635776444326, + 646.6443312665717 + ], + [ + 520.0634658112818, + 662.6891728527619 + ], + [ + 541.0294854192746, + 633.0407253021071 + ], + [ + 513.5978052157596, + 617.7051414918951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 559, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -29.35797691345215, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.29216307401657104, + "y": 0.520733654499054, + "z": 0.9043290019035339 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 60.649131663358276, + "ymin": 316.69757527506727, + "xmax": 129.29558209399352, + "ymax": 391.170442119274 + }, + "corners_3d": [ + [ + -114.85174560546875, + -29.53548812866211, + 0.19220632314682007 + ], + [ + -115.87045288085938, + -29.75202178955078, + 0.19220632314682007 + ], + [ + -115.991943359375, + -29.180465698242188, + 0.19220632314682007 + ], + [ + -114.97323608398438, + -28.963932037353516, + 0.19220632314682007 + ], + [ + -114.85174560546875, + -29.53548812866211, + 2.000864267349243 + ], + [ + -115.87045288085938, + -29.75202178955078, + 2.000864267349243 + ], + [ + -115.991943359375, + -29.180465698242188, + 2.000864267349243 + ], + [ + -114.97323608398438, + -28.963932037353516, + 2.000864267349243 + ] + ], + "corners_2d": [ + [ + 88.91409259679165, + 374.7657705896224 + ], + [ + 110.57443837734479, + 391.170442119274 + ], + [ + 129.29558209399352, + 378.5344090896526 + ], + [ + 107.60276139192331, + 362.5202840199871 + ], + [ + 60.649131663358276, + 328.99186425658826 + ], + [ + 82.96566509511274, + 345.4854163217675 + ], + [ + 103.00105583229254, + 332.77853805814584 + ], + [ + 80.63721664401135, + 316.69757527506727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 6194, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1097.9220941664491, + "ymin": 71.17531994157059, + "xmax": 1277.7079168856533, + "ymax": 167.54401183739103 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1103.010205860283, + 108.49991394660157 + ], + [ + 1097.9220941664491, + 132.78678539197205 + ], + [ + 1256.2699775793908, + 167.54401183739103 + ], + [ + 1256.4905931322696, + 141.10506862520126 + ], + [ + 1117.9245739193618, + 71.17531994157059 + ], + [ + 1113.1568516508469, + 95.04476076410481 + ], + [ + 1277.7079168856533, + 129.28980917109362 + ], + [ + 1277.2244297045354, + 103.23132248324572 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 12185, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 491.53419997006984, + "ymin": 330.55998724028854, + "xmax": 658.7364467865982, + "ymax": 535.9340443080252 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 497.8452597531391, + 507.25014251738025 + ], + [ + 569.757990236023, + 535.9340443080252 + ], + [ + 658.0219372018797, + 387.5776135417203 + ], + [ + 593.0066829029149, + 365.5245629996782 + ], + [ + 491.53419997006984, + 473.5104773666243 + ], + [ + 566.5591382254049, + 502.63068517685605 + ], + [ + 658.7364467865982, + 352.7024929430019 + ], + [ + 591.1844596571559, + 330.55998724028854 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1092.9071951587803, + "ymin": 115.05275254027072, + "xmax": 1113.2001019499533, + "ymax": 147.11040059524234 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1103.4159485887235, + 140.85314130165077 + ], + [ + 1094.2616888088855, + 138.81478893810365 + ], + [ + 1092.9071951587803, + 145.03994565551247 + ], + [ + 1102.129850853251, + 147.11040059524234 + ], + [ + 1113.2001019499533, + 117.07190279177576 + ], + [ + 1103.8275122212563, + 115.05275254027072 + ], + [ + 1102.5207944100134, + 121.21995001142349 + ], + [ + 1111.96511308441, + 123.27157901208275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.7312619781192, + "ymin": 0.0, + "xmax": 1153.967901412546, + "ymax": 343.72448367863046 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1005.0420300308067, + 343.72448367863046 + ], + [ + 1009.2972251340061, + 327.50217954844686 + ], + [ + 756.5356758754549, + 256.1576200518524 + ], + [ + 748.7312619781192, + 270.0946867845439 + ], + [ + 1151.350429895396, + -26.413813173310473 + ], + [ + 1153.967901412546, + -40.630796947893316 + ], + [ + 797.7056940328457, + -101.03518788903312 + ], + [ + 787.9428322235043, + -89.49909948078528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1803934008017853923, + "instance_id": 58269, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -35.43140411376953, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 283.34794155558563, + "ymin": 459.15320629404926, + "xmax": 1011.4894960475933, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.06502151489258, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -35.797786712646484, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -35.797786712646484, + 11.111722946166992 + ], + [ + -138.1054229736328, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.06502151489258, + 11.111722946166992 + ], + [ + -130.23475646972656, + -35.797786712646484, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 825.1627383189755, + 1029.487769756213 + ], + [ + 837.126187381198, + 983.8788835767276 + ], + [ + 454.98411368548165, + 794.6662513052157 + ], + [ + 435.06236965298376, + 830.2423598592869 + ], + [ + 997.7457144280072, + 807.9011863178805 + ], + [ + 1011.4894960475933, + 733.2508533508135 + ], + [ + 323.6245595907587, + 459.15320629404926 + ], + [ + 283.34794155558563, + 506.74525824693103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8615573110231139010, + "instance_id": 49666, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 299.9144537297835, + "ymin": 479.1962043513359, + "xmax": 373.63175584206635, + "ymax": 532.2274329687681 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.879636764526367 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.879636764526367 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.914764404296875 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.914764404296875 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 348.8499368054414, + 532.2274329687681 + ], + [ + 373.63175584206635, + 500.16833263425247 + ], + [ + 326.35272748960676, + 480.97871085222397 + ], + [ + 300.7046897821974, + 511.96802701998104 + ], + [ + 348.1600417538679, + 530.4858159560781 + ], + [ + 373.01765352867415, + 498.3999089419501 + ], + [ + 325.6416556931564, + 479.1962043513359 + ], + [ + 299.9144537297835, + 510.2089926497356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 398.67528281507634, + "ymin": 0.0, + "xmax": 724.9661465376736, + "ymax": 117.16259364165825 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 441.68223011838745, + 45.132850476344856 + ], + [ + 435.96685540609707, + 49.899303227308565 + ], + [ + 706.4348191244105, + 117.16259364165825 + ], + [ + 710.6913903003094, + 111.44795583881398 + ], + [ + 405.72446025104165, + -176.4496419276494 + ], + [ + 398.67528281507634, + -172.59409870226136 + ], + [ + 719.9703138094627, + -117.15245226814426 + ], + [ + 724.9661465376736, + -121.93902912203191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1071.9629805246282, + "ymin": 0.0, + "xmax": 1211.3740659263035, + "ymax": 218.22936794281713 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1071.9629805246282, + 214.86010564046256 + ], + [ + 1085.4052167919704, + 218.22936794281713 + ], + [ + 1122.7964085029466, + 52.16950157271276 + ], + [ + 1111.7831671243146, + 49.957223409961045 + ], + [ + 1173.7147414342976, + -33.031709114197554 + ], + [ + 1190.8254670246706, + -30.05127113934151 + ], + [ + 1211.3740659263035, + -170.75440609355326 + ], + [ + 1198.02035219776, + -172.54718902044078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15417258959501261805, + "instance_id": 60923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple34_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -35.43140411376953, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 299.93490275807886, + "ymin": 479.24232769814336, + "xmax": 373.64757365657044, + "ymax": 532.2722899372652 + }, + "corners_3d": [ + [ + -130.9680633544922, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.878729820251465 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.878729820251465 + ], + [ + -130.9680633544922, + -35.670387268066406, + 10.913857460021973 + ], + [ + -130.9680633544922, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.192420959472656, + 10.913857460021973 + ], + [ + -130.3018035888672, + -35.670387268066406, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 348.86770569513953, + 532.2722899372652 + ], + [ + 373.64757365657044, + 500.21388302108454 + ], + [ + 326.37104372627834, + 481.0246257810706 + ], + [ + 300.725043891426, + 512.0133344665339 + ], + [ + 348.1778949493488, + 530.530885751708 + ], + [ + 373.03354435987075, + 498.4456695941503 + ], + [ + 325.66005507125476, + 479.24232769814336 + ], + [ + 299.93490275807886, + 510.2545113823976 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00082/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00082/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67ca975b93f8b5d94a5033beed8a82377dfa4dd8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00082/meta.json @@ -0,0 +1,3535 @@ +{ + "frame_id": 82, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 41.0, + "sim_timestamp": 3102.8726706167217 + }, + "drone_pose": { + "x": -134.93576598291548, + "y": -37.87498167254858, + "z": 20.122576416289736, + "pitch": -38.607706983216076, + "yaw": 68.12577637220403, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.29114001989364624, + -0.725176215171814, + 0.6239848136901855, + 54.19505310058594 + ], + [ + 0.9280040264129639, + 0.372570276260376, + 0.0, + -111.10983276367188 + ], + [ + -0.23247823119163513, + 0.5790603160858154, + 0.7814365029335022, + -69.02603912353516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.692458776563, + "y": -37.26412639564449, + "z": 19.866224575715503 + }, + "t1_image_uv": [ + 642.5596711729212, + 60.84258337424518 + ], + "t1_depth": 0.6737738216038701 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -18.687763214111328, + "z": 0.9441036653547781 + }, + "image_uv": [ + 622.1941103294191, + 426.30893336914136 + ], + "depth": 28.28850406092453, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 592, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -18.687763214111328, + "z": 0.9441035985946655 + }, + "extent": { + "x": 0.3902246057987213, + "y": 0.3893817067146301, + "z": 0.8682138919830322 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 604.0946680741212, + "ymin": 392.7127438836198, + "xmax": 639.4055911666951, + "ymax": 459.5615157994045 + }, + "corners_3d": [ + [ + -126.27780151367188, + -19.077987670898438, + 0.0758897066116333 + ], + [ + -127.05656433105469, + -19.077987670898438, + 0.0758897066116333 + ], + [ + -127.05656433105469, + -18.29753875732422, + 0.0758897066116333 + ], + [ + -126.27780151367188, + -18.29753875732422, + 0.0758897066116333 + ], + [ + -126.27780151367188, + -19.077987670898438, + 1.8123174905776978 + ], + [ + -127.05656433105469, + -19.077987670898438, + 1.8123174905776978 + ], + [ + -127.05656433105469, + -18.29753875732422, + 1.8123174905776978 + ], + [ + -126.27780151367188, + -18.29753875732422, + 1.8123174905776978 + ] + ], + "corners_2d": [ + [ + 605.4520552742495, + 452.709713163865 + ], + [ + 629.5765654120049, + 459.5615157994045 + ], + [ + 639.4055911666951, + 442.6580617298219 + ], + [ + 615.6719938645012, + 436.070072549434 + ], + [ + 604.0946680741212, + 409.1163367936846 + ], + [ + 629.1636341652924, + 415.87819827715447 + ], + [ + 639.3825206668369, + 399.20429318704964 + ], + [ + 614.7353698416407, + 392.7127438836198 + ] + ], + "center_offset_px": [ + -17.805889670580882, + 66.30893336914136 + ] + }, + "trace_timestep_index": 82, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 82, + "semantic_pixel_counts": { + "1": 511937, + "2": 169899, + "3": 71059, + "4": 56197, + "6": 16883, + "7": 1922, + "9": 12593, + "10": 22, + "12": 2994, + "14": 23748, + "20": 334, + "24": 22339, + "25": 31673 + }, + "instance_pixel_counts": { + "3662": 13113, + "11605": 28084, + "15701": 12576, + "15967": 92, + "15970": 1261, + "16479": 2833, + "16482": 840, + "16994": 1064, + "17496": 7887, + "17503": 5756, + "17506": 1061, + "17547": 2637, + "18018": 551, + "18059": 1584, + "19042": 94, + "19083": 1977, + "19554": 1125, + "19595": 3966, + "20066": 1139, + "20107": 2208, + "20565": 28702, + "21131": 425, + "21395": 3898, + "21397": 156, + "21643": 4350, + "21907": 103590, + "21909": 9572, + "22155": 3348, + "22421": 4917, + "22931": 210793, + "22933": 1180, + "23443": 65728, + "23445": 155, + "23955": 5031, + "23957": 408, + "24467": 12547, + "25344": 270, + "25600": 4583, + "25856": 5331, + "26112": 734, + "36096": 592, + "36352": 592, + "36608": 557, + "36864": 652, + "37376": 601, + "37888": 1932, + "40448": 2152, + "40704": 611, + "41216": 5843, + "41728": 13210, + "45409": 513, + "45971": 8053, + "46483": 61033, + "46995": 22702, + "47201": 13241, + "47507": 319, + "47713": 2407, + "48225": 1279, + "48468": 1697, + "48531": 7947, + "48737": 46642, + "49043": 10296, + "49249": 8179, + "49761": 6797, + "51526": 43084, + "52321": 5812, + "52833": 2290, + "53345": 478, + "53857": 880, + "54366": 25917, + "56458": 596, + "56970": 3914, + "57482": 29302, + "57994": 15408, + "58506": 1606, + "60307": 293, + "60819": 3956, + "61254": 12927, + "61331": 685, + "61843": 7, + "62355": 431, + "62867": 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": 141, + "instance_id": 36096, + "pixel_count": 592, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -18.687763214111328, + "z": 0.9441035985946655 + }, + "extent": { + "x": 0.4104540944099426, + "y": 0.3940441906452179, + "z": 0.883137583732605 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 603.6518861941014, + "ymin": 391.87078759129514, + "xmax": 639.7984496423231, + "ymax": 460.4110470639565 + }, + "corners_3d": [ + [ + -126.27313995361328, + -19.098217010498047, + 0.06096601486206055 + ], + [ + -127.06122589111328, + -19.098217010498047, + 0.06096601486206055 + ], + [ + -127.06122589111328, + -18.27730941772461, + 0.06096601486206055 + ], + [ + -126.27313995361328, + -18.27730941772461, + 0.06096601486206055 + ], + [ + -126.27313995361328, + -19.098217010498047, + 1.8272411823272705 + ], + [ + -127.06122589111328, + -19.098217010498047, + 1.8272411823272705 + ], + [ + -127.06122589111328, + -18.27730941772461, + 1.8272411823272705 + ], + [ + -126.27313995361328, + -18.27730941772461, + 1.8272411823272705 + ] + ], + "corners_2d": [ + [ + 605.0498275201088, + 453.4694467910855 + ], + [ + 629.4656694553132, + 460.4110470639565 + ], + [ + 639.7984496423231, + 442.62774845249237 + ], + [ + 615.7984442904761, + 435.9669026551471 + ], + [ + 603.6518861941014, + 409.12072414786894 + ], + [ + 629.0407779729933, + 415.96991899050516 + ], + [ + 639.7904936431698, + 398.4321915461791 + ], + [ + 614.850898758999, + 391.87078759129514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 592, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -15.690058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4509179890155792, + "y": 0.443220853805542, + "z": 0.8959175944328308 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 523.1574281695255, + "ymin": 306.20195307278294, + "xmax": 559.5988327286491, + "ymax": 368.5567531153765 + }, + "corners_3d": [ + [ + -122.201416015625, + -16.22327423095703, + 0.048220276832580566 + ], + [ + -123.06848907470703, + -16.038970947265625, + 0.048220276832580566 + ], + [ + -122.8809814453125, + -15.156843185424805, + 0.048220276832580566 + ], + [ + -122.01390838623047, + -15.341145515441895, + 0.048220276832580566 + ], + [ + -122.201416015625, + -16.22327423095703, + 1.8400554656982422 + ], + [ + -123.06848907470703, + -16.038970947265625, + 1.8400554656982422 + ], + [ + -122.8809814453125, + -15.156843185424805, + 1.8400554656982422 + ], + [ + -122.01390838623047, + -15.341145515441895, + 1.8400554656982422 + ] + ], + "corners_2d": [ + [ + 527.2482250159836, + 365.67353578766796 + ], + [ + 553.1781001578727, + 368.5567531153765 + ], + [ + 559.5988327286491, + 352.003219883236 + ], + [ + 534.1973358592046, + 349.241599726714 + ], + [ + 523.1574281695255, + 322.26039791612794 + ], + [ + 550.0158873797677, + 325.0806381761074 + ], + [ + 556.7352399516509, + 308.89907048361323 + ], + [ + 530.4432409794589, + 306.20195307278294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 557, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -11.745049476623535, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4563623070716858, + "y": 0.3862048387527466, + "z": 0.9499382376670837 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 746.4499795867042, + "ymin": 282.48790167194005, + "xmax": 778.1079579321914, + "ymax": 346.5570023105608 + }, + "corners_3d": [ + [ + -128.5866241455078, + -12.239280700683594, + -0.005800366401672363 + ], + [ + -129.35479736328125, + -12.15854263305664, + -0.005800366401672363 + ], + [ + -129.25938415527344, + -11.250818252563477, + -0.005800366401672363 + ], + [ + -128.4912109375, + -11.33155632019043, + -0.005800366401672363 + ], + [ + -128.5866241455078, + -12.239280700683594, + 1.8940761089324951 + ], + [ + -129.35479736328125, + -12.15854263305664, + 1.8940761089324951 + ], + [ + -129.25938415527344, + -11.250818252563477, + 1.8940761089324951 + ], + [ + -128.4912109375, + -11.33155632019043, + 1.8940761089324951 + ] + ], + "corners_2d": [ + [ + 746.4499795867042, + 342.78901438273596 + ], + [ + 768.7078239459246, + 346.5570023105608 + ], + [ + 773.2234728880655, + 331.14293468179324 + ], + [ + 751.39680982297, + 327.52723526273144 + ], + [ + 750.4167549122475, + 297.34714400289147 + ], + [ + 773.5290404740074, + 301.01922173934446 + ], + [ + 778.1079579321914, + 286.0061976944379 + ], + [ + 755.4602974408751, + 282.48790167194005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 652, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -18.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3725244104862213, + "y": 0.5369952321052551, + "z": 0.90220707654953 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 714.878509651167, + "ymin": 421.6355239885837, + "xmax": 763.0388659879824, + "ymax": 494.33373829675145 + }, + "corners_3d": [ + [ + -129.70993041992188, + -19.060287475585938, + 0.04193556308746338 + ], + [ + -130.783935546875, + -19.060287475585938, + 0.04193556308746338 + ], + [ + -130.783935546875, + -18.31523895263672, + 0.04193556308746338 + ], + [ + -129.70993041992188, + -18.31523895263672, + 0.04193556308746338 + ], + [ + -129.70993041992188, + -19.060287475585938, + 1.8463497161865234 + ], + [ + -130.783935546875, + -19.060287475585938, + 1.8463497161865234 + ], + [ + -130.783935546875, + -18.31523895263672, + 1.8463497161865234 + ], + [ + -129.70993041992188, + -18.31523895263672, + 1.8463497161865234 + ] + ], + "corners_2d": [ + [ + 714.878509651167, + 484.16239562334454 + ], + [ + 750.6757680770689, + 494.33373829675145 + ], + [ + 758.0776305136473, + 476.90188592287706 + ], + [ + 722.8833846200064, + 467.1182147280044 + ], + [ + 718.0516107318724, + 438.4770888148885 + ], + [ + 755.4216902454255, + 448.54053705079593 + ], + [ + 763.0388659879824, + 431.2995517146113 + ], + [ + 726.3257058804658, + 421.6355239885837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 601, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -26.85797882080078, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.3252539038658142, + "y": 0.46086668968200684, + "z": 0.8895328044891357 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 80.06527089153826, + "ymin": 470.6555572331499, + "xmax": 145.7869951094246, + "ymax": 545.9570525411867 + }, + "corners_3d": [ + [ + -114.90342712402344, + -27.080305099487305, + 0.20700252056121826 + ], + [ + -115.80501556396484, + -27.271944046020508, + 0.20700252056121826 + ], + [ + -115.94026184082031, + -26.635652542114258, + 0.20700252056121826 + ], + [ + -115.0386734008789, + -26.444013595581055, + 0.20700252056121826 + ], + [ + -114.90342712402344, + -27.080305099487305, + 1.9860681295394897 + ], + [ + -115.80501556396484, + -27.271944046020508, + 1.9860681295394897 + ], + [ + -115.94026184082031, + -26.635652542114258, + 1.9860681295394897 + ], + [ + -115.0386734008789, + -26.444013595581055, + 1.9860681295394897 + ] + ], + "corners_2d": [ + [ + 103.89256029257865, + 531.2984961027806 + ], + [ + 124.11545726727456, + 545.9570525411867 + ], + [ + 145.7869951094246, + 530.5589414272863 + ], + [ + 125.55786497666486, + 516.3669509244396 + ], + [ + 80.06527089153826, + 485.47833338936994 + ], + [ + 100.8124222126321, + 500.05052890917943 + ], + [ + 123.83979330506895, + 484.74367226205544 + ], + [ + 103.0734173751199, + 470.6555572331499 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 1932, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 477.81672417482537, + "ymin": 58.4839557074057, + "xmax": 568.227149690392, + "ymax": 114.97941082694106 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 552.3169518064122, + 114.97941082694106 + ], + [ + 568.227149690392, + 100.60897612651138 + ], + [ + 498.64293166197587, + 88.88374065433783 + ], + [ + 481.1860979771127, + 102.58845436823378 + ], + [ + 550.4104241060357, + 83.51105356028825 + ], + [ + 566.7104718790133, + 69.72233021562045 + ], + [ + 495.72630789738304, + 58.4839557074057 + ], + [ + 477.81672417482537, + 71.62069904830946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 2152, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 174.94765645904647, + "ymin": 41.19186488297822, + "xmax": 284.6503824259073, + "ymax": 96.47750626568984 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 208.6162993978466, + 69.22499249685927 + ], + [ + 183.75001652399823, + 82.06932014934785 + ], + [ + 261.1639874932577, + 96.47750626568984 + ], + [ + 284.6503824259073, + 82.87508863912035 + ], + [ + 200.51655615287285, + 41.19186488297822 + ], + [ + 174.94765645904647, + 53.51262639869515 + ], + [ + 253.63536952588004, + 67.34837950839346 + ], + [ + 277.7831538704154, + 54.28596637479683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 611, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 149.27184305729548, + "ymin": 62.87352087311598, + "xmax": 250.32597281715374, + "ymax": 126.0362466113717 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 188.75074473261992, + 98.79459382702316 + ], + [ + 161.37055043029227, + 113.49921787679034 + ], + [ + 224.12058909008874, + 126.0362466113717 + ], + [ + 250.32597281715374, + 110.62462810709559 + ], + [ + 177.67457976406604, + 62.87352087311598 + ], + [ + 149.27184305729548, + 76.87822645169905 + ], + [ + 213.34808129962687, + 88.8343305277021 + ], + [ + 240.531677512236, + 74.1388889423717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5843, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1087.9648748649684, + "ymin": 236.7933868381739, + "xmax": 1269.8247499762679, + "ymax": 330.49015434005656 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1089.4649512576607, + 272.58013708586066 + ], + [ + 1087.9648748649684, + 297.8776697424094 + ], + [ + 1251.369621393702, + 330.49015434005656 + ], + [ + 1246.8070082188083, + 302.8420654863592 + ], + [ + 1101.937151417958, + 236.7933868381739 + ], + [ + 1100.8718147602644, + 261.4483795992786 + ], + [ + 1269.8247499762679, + 293.30791282924224 + ], + [ + 1264.4173563408829, + 266.29267286501613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 13210, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 477.9891191944124, + "ymin": 534.372430114469, + "xmax": 657.7245803133073, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 484.63724369680676, + 746.4991463267459 + ], + [ + 566.790141735711, + 779.7971733499635 + ], + [ + 657.0935183921931, + 593.8824242204361 + ], + [ + 585.3621323464129, + 570.0983689653299 + ], + [ + 477.9891191944124, + 711.5928168347064 + ], + [ + 563.5629663997115, + 745.3062085930499 + ], + [ + 657.7245803133073, + 558.1324238498685 + ], + [ + 583.3946813262296, + 534.372430114469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 512.1503209912361, + "ymin": 0.0, + "xmax": 523.0598323518517, + "ymax": 5.42613947640973 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 513.7458310679156, + 4.662669378682324 + ], + [ + 519.1923947273929, + 5.42613947640973 + ], + [ + 523.0598323518517, + 2.8311732402499956 + ], + [ + 517.6403897709223, + 2.0772811312240265 + ], + [ + 512.1503209912361, + -15.020875177111634 + ], + [ + 517.6628442010502, + -14.284744779748792 + ], + [ + 521.5886904526519, + -16.786645018814397 + ], + [ + 516.1039398609498, + -17.51342470835715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1125.1388681160263, + "ymin": 134.40048958694908, + "xmax": 1143.0044389840343, + "ymax": 165.3351546527131 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1134.2653136107624, + 160.34707945323473 + ], + [ + 1125.2091243490809, + 158.90258835494726 + ], + [ + 1125.1388681160263, + 163.86516566417893 + ], + [ + 1134.274558181682, + 165.3351546527131 + ], + [ + 1142.9175588602857, + 135.80658091834906 + ], + [ + 1133.6808189395292, + 134.40048958694908 + ], + [ + 1133.6849822997115, + 139.2316685675595 + ], + [ + 1143.0044389840343, + 140.66301971209435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.0163639692109, + "ymin": 113.15915912735693, + "xmax": 670.0558953555106, + "ymax": 143.0081383169789 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 665.6386306080956, + 143.0081383169789 + ], + [ + 669.5588281942723, + 138.40043291017375 + ], + [ + 661.9907078673789, + 137.06547883088587 + ], + [ + 658.0163639692109, + 141.65054292064906 + ], + [ + 666.0734820848294, + 118.93685029241217 + ], + [ + 670.0558953555106, + 114.45687032485492 + ], + [ + 662.3595869500679, + 113.15915912735693 + ], + [ + 658.3211681580476, + 117.6167550038196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1133.6774499510707, + "ymin": 44.12861515781606, + "xmax": 1146.0613190092145, + "ymax": 65.77745206581938 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1133.6774499510707, + 62.10028342311051 + ], + [ + 1133.680250120091, + 64.93583162318578 + ], + [ + 1140.0234706583683, + 65.77745206581938 + ], + [ + 1139.9824508438624, + 62.931802667563375 + ], + [ + 1139.591705873031, + 44.12861515781606 + ], + [ + 1139.6307535615588, + 46.88829833557742 + ], + [ + 1146.0613190092145, + 47.707478242578304 + ], + [ + 1145.9829953751776, + 44.93784566836223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1125.6622372520126, + "ymin": 99.05954167645854, + "xmax": 1142.3579669110732, + "ymax": 128.18219190973807 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1134.1976142640883, + 123.81867428287757 + ], + [ + 1125.723717050165, + 122.5541257222726 + ], + [ + 1125.6622372520126, + 126.89677601851932 + ], + [ + 1134.2057013210283, + 128.18219190973807 + ], + [ + 1142.2821376927066, + 100.28770875914688 + ], + [ + 1133.6503632068952, + 99.05954167645854 + ], + [ + 1133.6539982443514, + 103.27765295742483 + ], + [ + 1142.3579669110732, + 104.52642230934347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 406.63854513397087, + "ymin": 140.29012744626533, + "xmax": 421.3607716448513, + "ymax": 166.05883892200157 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 416.1302093987998, + 166.05883892200157 + ], + [ + 421.3607716448513, + 161.88197012887616 + ], + [ + 415.2705377433754, + 160.6635321751612 + ], + [ + 410.00661584310507, + 164.822448971835 + ], + [ + 412.84461588581223, + 145.56798942122634 + ], + [ + 418.17569056922486, + 141.48191491882153 + ], + [ + 412.0038548588562, + 140.29012744626533 + ], + [ + 406.63854513397087, + 144.3583842299082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1126.0487685674611, + "ymin": 72.95389686967712, + "xmax": 1141.8806039175715, + "ymax": 100.71938975408489 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1134.147079088415, + 96.79090511284909 + ], + [ + 1126.1041359733072, + 95.65181306254465 + ], + [ + 1126.0487685674611, + 99.56246858537048 + ], + [ + 1134.1543564210583, + 100.71938975408489 + ], + [ + 1141.8124528758062, + 74.05837896696306 + ], + [ + 1133.6274166411426, + 72.95389686967712 + ], + [ + 1133.630681051007, + 76.74605568875575 + ], + [ + 1141.8806039175715, + 77.86809623289935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 590.1160770561127, + "ymin": 101.73947332849593, + "xmax": 602.6093498318431, + "ymax": 131.00047552565158 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 598.2211158640722, + 131.00047552565158 + ], + [ + 602.6093498318431, + 126.59110936345292 + ], + [ + 595.3652889011138, + 125.31331666111032 + ], + [ + 590.9278933415626, + 129.70148586390917 + ], + [ + 597.5282518582083, + 107.26470474459444 + ], + [ + 601.9944304828434, + 102.98071527382899 + ], + [ + 594.6330232603439, + 101.73947332849593 + ], + [ + 590.1160770561127, + 106.00252968692175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 512.1562069828079, + "ymin": 88.6812544194051, + "xmax": 526.0029508840055, + "ymax": 117.26619762826527 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 521.1094642368456, + 117.26619762826527 + ], + [ + 526.0029508840055, + 113.07838392529939 + ], + [ + 519.1210141722177, + 111.86446692415305 + ], + [ + 514.1837202431718, + 116.03265922466304 + ], + [ + 519.1889631428364, + 93.92478674467128 + ], + [ + 524.176454256144, + 89.85946775305894 + ], + [ + 517.1888496532005, + 88.6812544194051 + ], + [ + 512.1562069828079, + 92.72722059580428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 607.7118934645703, + "ymin": 0.0, + "xmax": 615.3994308143194, + "ymax": 0.1561414038892508 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 608.0430970923699, + -0.46800759284724336 + ], + [ + 612.6969125745719, + 0.1561414038892508 + ], + [ + 615.3994308143194, + -1.9555698807781141 + ], + [ + 610.7656152626387, + -2.5732594840827687 + ], + [ + 607.7118934645703, + -16.664020193009776 + ], + [ + 612.4135020023567, + -16.058542933032186 + ], + [ + 615.145412333159, + -18.107003525962966 + ], + [ + 610.4642149041606, + -18.706150145750655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1091.088677828202, + "ymin": 287.12994528309673, + "xmax": 1109.5366627234632, + "ymax": 318.8534732955637 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1101.0124405222273, + 312.16298440183766 + ], + [ + 1091.4756211720178, + 310.21627332905274 + ], + [ + 1091.088677828202, + 316.8704007006546 + ], + [ + 1100.713212221732, + 318.8534732955637 + ], + [ + 1109.5366627234632, + 289.04879220903547 + ], + [ + 1099.8004780205024, + 287.12994528309673 + ], + [ + 1099.485052812066, + 293.6896235530503 + ], + [ + 1109.3126799905008, + 295.64498275394715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 746.1570995618487, + "ymin": 93.52442131679157, + "xmax": 1159.4032790049382, + "ymax": 531.5249630924367 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1023.5979127466182, + 531.5249630924367 + ], + [ + 1025.7810206580964, + 512.8420352751622 + ], + [ + 753.2560018039733, + 440.12591872653945 + ], + [ + 746.1570995618487, + 455.94502829228907 + ], + [ + 1159.4032790049382, + 166.62055880387217 + ], + [ + 1158.7020035836001, + 151.27177232838872 + ], + [ + 788.2388233202261, + 93.52442131679157 + ], + [ + 779.7537067202963, + 105.82486133988812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 487.565473048788, + "ymin": 0.0, + "xmax": 613.4345921448795, + "ymax": 129.33399221532406 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 613.4345921448795, + 44.216291710620396 + ], + [ + 606.5070981557423, + 43.16001485309329 + ], + [ + 504.93384714407335, + 127.84181853678623 + ], + [ + 512.8857816549535, + 129.33399221532406 + ], + [ + 610.6098977558029, + -117.19480791696913 + ], + [ + 602.9550345366767, + -117.94477887071929 + ], + [ + 487.565473048788, + -56.609691664029185 + ], + [ + 496.4884316133331, + -55.5064907214462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 783.1849112829321, + "ymin": 104.20179764272143, + "xmax": 817.1578703467435, + "ymax": 118.44604290610636 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 811.9132006141332, + 118.44604290610636 + ], + [ + 816.981159594168, + 110.16485773719688 + ], + [ + 788.6576983382761, + 105.64342987281913 + ], + [ + 783.1849112829321, + 113.77918736637537 + ], + [ + 812.0876048139967, + 116.98132905545779 + ], + [ + 817.1578703467435, + 108.71500167986505 + ], + [ + 788.8048288507816, + 104.20179764272143 + ], + [ + 783.3288784149893, + 112.32281407924899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 262.18912601888354, + "ymin": 0.0, + "xmax": 336.0865534516405, + "ymax": 6.226036957262863 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 336.0865534516405, + -12.240085006392746 + ], + [ + 330.42712755309515, + -13.049811111698034 + ], + [ + 292.9141741530295, + 5.338782825189298 + ], + [ + 298.7578231291551, + 6.226036957262863 + ], + [ + 310.4283266782158, + -145.1672562148384 + ], + [ + 304.3492868632889, + -145.7492426822197 + ], + [ + 262.18912601888354, + -132.48260459932618 + ], + [ + 268.47923053678346, + -131.83983384857538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 783.1811980920436, + "ymin": 104.23905436454055, + "xmax": 817.1533034958877, + "ymax": 118.48382036084107 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 811.9087024339849, + 118.48382036084107 + ], + [ + 816.976601849301, + 110.20225259804698 + ], + [ + 788.6539034964901, + 105.68061295696452 + ], + [ + 783.1811980920436, + 113.81675005129483 + ], + [ + 812.0830975026222, + 117.01918319775783 + ], + [ + 817.1533034958877, + 108.75247125248399 + ], + [ + 788.801026493661, + 104.23905436454055 + ], + [ + 783.3251577534916, + 112.36045233694182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 377.0759493877378, + "ymin": 14.238641902866561, + "xmax": 704.8782698649873, + "ymax": 290.6282055138387 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 418.39577805041324, + 221.54327875066684 + ], + [ + 412.5681555594132, + 226.5745005103812 + ], + [ + 691.3440167674854, + 290.6282055138387 + ], + [ + 695.318629890693, + 284.5323960471232 + ], + [ + 384.1303110789963, + 14.238641902866561 + ], + [ + 377.0759493877378, + 18.135359782551575 + ], + [ + 700.3087281452022, + 68.60372959654927 + ], + [ + 704.8782698649873, + 63.731191883454244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 880.8333225193426, + "ymin": 0.0, + "xmax": 1186.5383002002563, + "ymax": 116.60623552399315 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1125.5750149177356, + 116.60623552399315 + ], + [ + 1125.7088779508135, + 113.16619594924705 + ], + [ + 882.4541960435009, + 76.71823477270453 + ], + [ + 880.8333225193426, + 79.6913267277476 + ], + [ + 1186.5383002002563, + -64.89106478142918 + ], + [ + 1186.2380387373335, + -67.41768088067545 + ], + [ + 910.3065926479271, + -93.93390761540189 + ], + [ + 908.6894011279294, + -91.78817854226389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1073.8679861699509, + "ymin": 7.4547161384149945, + "xmax": 1179.5346776515394, + "ymax": 388.9044188706906 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1073.8679861699509, + 385.6211264055427 + ], + [ + 1088.0295332120759, + 388.9044188706906 + ], + [ + 1100.7069372749372, + 214.7593208532469 + ], + [ + 1089.5947241754166, + 212.75442111504552 + ], + [ + 1162.0407138792057, + 146.5031077991585 + ], + [ + 1179.5346776515394, + 149.26352491705444 + ], + [ + 1171.0566884750472, + 8.999673992419048 + ], + [ + 1157.9924147794295, + 7.4547161384149945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17573842364388610194, + "instance_id": 37392, + "pixel_count": null, + "type_id": "BP_StreetLight_doble16_SM_2", + "bbox_3d": { + "center_world": { + "x": -141.83102416992188, + "y": 32.528778076171875, + "z": 4.309665679931641 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1145.0671337857011, + "ymin": 0.0, + "xmax": 1202.9016069957647, + "ymax": 5.679602570012889 + }, + "corners_3d": [ + [ + -142.07260131835938, + 35.362831115722656, + 0.20679092407226562 + ], + [ + -141.5894317626953, + 35.36282730102539, + 0.20679092407226562 + ], + [ + -141.58944702148438, + 29.694726943969727, + 0.20679092407226562 + ], + [ + -142.07261657714844, + 29.694726943969727, + 0.20679092407226562 + ], + [ + -142.07260131835938, + 35.362831115722656, + 8.412540435791016 + ], + [ + -141.5894317626953, + 35.36282730102539, + 8.412540435791016 + ], + [ + -141.58944702148438, + 29.694726943969727, + 8.412540435791016 + ], + [ + -142.07261657714844, + 29.694726943969727, + 8.412540435791016 + ] + ], + "corners_2d": [ + [ + 1152.9697258865901, + -21.022396854138094 + ], + [ + 1145.0671337857011, + -21.87512589016592 + ], + [ + 1145.8863318250587, + 4.704797860172334 + ], + [ + 1154.3381794973873, + 5.679602570012889 + ], + [ + 1197.991447825224, + -159.98026153073783 + ], + [ + 1189.288643944222, + -160.57340419061723 + ], + [ + 1193.528159285486, + -141.97597962404262 + ], + [ + 1202.9016069957647, + -141.2896244574307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1104.5221040861231, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 116.09396617040613 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1104.5221040861231, + 54.500973216454554 + ], + [ + 1123.6720614988476, + 103.05831681963593 + ], + [ + 1272.605999284657, + 116.09396617040613 + ], + [ + 1238.4959364466422, + 65.14494877646592 + ], + [ + 1178.4978471896468, + -185.60833134427844 + ], + [ + 1210.2615748851838, + -158.1719677842774 + ], + [ + 1389.2896299447257, + -150.6463331836232 + ], + [ + 1336.367291075437, + -179.67321074434915 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00085/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00085/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..90ea450ac860cbbbaa9674ef4cdec8028838e1d7 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00085/meta.json @@ -0,0 +1,3102 @@ +{ + "frame_id": 85, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 42.5, + "sim_timestamp": 3145.003192452481 + }, + "drone_pose": { + "x": -134.37081050651642, + "y": -36.53581706100125, + "z": 20.0, + "pitch": -42.356168231909834, + "yaw": 67.36523236763176, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2843970060348511, + -0.6820530891418457, + 0.6737372875213623, + 49.65927505493164 + ], + [ + 0.9229768514633179, + 0.3848554491996765, + 0.0, + -109.96013641357422 + ], + [ + -0.25929147005081177, + 0.6218439340591431, + 0.738970935344696, + -72.34019470214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.21476090102755, + "y": -36.00331002470851, + "z": 20.168143902221736 + }, + "t1_image_uv": [ + 838.6852753124666, + -1257.4950521793985 + ], + "t1_depth": 0.294293305250627 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -17.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 651.4255544598946, + 361.79493757703085 + ], + "depth": 28.225933306941876, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 573, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -17.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3688915967941284, + "y": 0.5330072045326233, + "z": 0.8966495394706726 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 629.6057837004704, + "ymin": 326.51839424419364, + "xmax": 673.5858398851522, + "ymax": 396.5728174096144 + }, + "corners_3d": [ + [ + -126.1341781616211, + -17.556655883789062, + 0.04748833179473877 + ], + [ + -127.20018768310547, + -17.55665397644043, + 0.04748833179473877 + ], + [ + -127.20018768310547, + -16.818870544433594, + 0.04748833179473877 + ], + [ + -126.1341781616211, + -16.818872451782227, + 0.04748833179473877 + ], + [ + -126.1341781616211, + -17.556655883789062, + 1.840787410736084 + ], + [ + -127.20018768310547, + -17.55665397644043, + 1.840787410736084 + ], + [ + -127.20018768310547, + -16.818870544433594, + 1.840787410736084 + ], + [ + -126.1341781616211, + -16.818872451782227, + 1.840787410736084 + ] + ], + "corners_2d": [ + [ + 630.0429021283378, + 386.9509139524843 + ], + [ + 663.1639832906038, + 396.5728174096144 + ], + [ + 672.1831870623905, + 380.71255252371753 + ], + [ + 639.5387017903669, + 371.42075796356187 + ], + [ + 629.6057837004704, + 341.90933416307087 + ], + [ + 664.1922129618024, + 351.45666039200273 + ], + [ + 673.5858398851522, + 335.72410051375635 + ], + [ + 639.5188143354428, + 326.51839424419364 + ] + ], + "center_offset_px": [ + 11.425554459894556, + 1.7949375770308507 + ] + }, + "trace_timestep_index": 85, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 541130, + "2": 164312, + "3": 59515, + "4": 47387, + "6": 17277, + "7": 1803, + "9": 5802, + "10": 8, + "12": 3023, + "14": 26538, + "24": 23615, + "25": 31190 + }, + "instance_pixel_counts": { + "3662": 1844, + "11605": 30758, + "15701": 4359, + "16994": 1304, + "17496": 9032, + "17503": 2258, + "17506": 515, + "19083": 2340, + "19595": 2027, + "20066": 790, + "20565": 24398, + "21395": 3736, + "21397": 145, + "21907": 117604, + "21909": 10608, + "22155": 2458, + "22421": 5488, + "22931": 236014, + "22933": 1406, + "23443": 82818, + "23445": 87, + "23955": 2187, + "23957": 460, + "24467": 14157, + "25600": 4256, + "25856": 5560, + "26112": 232, + "36096": 573, + "36352": 573, + "36608": 588, + "36864": 627, + "37376": 662, + "37888": 2238, + "40448": 1858, + "40704": 973, + "41216": 5851, + "41728": 15618, + "45409": 537, + "45971": 771, + "46483": 67351, + "46995": 3750, + "47201": 14850, + "47713": 2811, + "48225": 1438, + "48531": 4844, + "48737": 53633, + "49043": 7898, + "49249": 9497, + "49761": 7465, + "51526": 45543, + "52321": 5936, + "52833": 2283, + "53345": 274, + "53857": 1022, + "54366": 28932, + "56458": 854, + "56970": 4390, + "57482": 31694, + "57994": 16027, + "58506": 2167, + "60307": 67, + "60819": 4454, + "61254": 5802, + "61331": 152, + "62355": 285, + "62867": 463 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 573, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -17.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3868750035762787, + "y": 0.5891699194908142, + "z": 0.8913501501083374 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.5593696715382, + "ymin": 325.809372645094, + "xmax": 675.620931826463, + "ymax": 397.3518733517943 + }, + "corners_3d": [ + [ + -126.07801055908203, + -17.57463836669922, + 0.052787721157073975 + ], + [ + -127.25635528564453, + -17.57463836669922, + 0.052787721157073975 + ], + [ + -127.25635528564453, + -16.800888061523438, + 0.052787721157073975 + ], + [ + -126.07801055908203, + -16.800888061523438, + 0.052787721157073975 + ], + [ + -126.07801055908203, + -17.57463836669922, + 1.8354880809783936 + ], + [ + -127.25635528564453, + -17.57463836669922, + 1.8354880809783936 + ], + [ + -127.25635528564453, + -16.800888061523438, + 1.8354880809783936 + ], + [ + -126.07801055908203, + -16.800888061523438, + 1.8354880809783936 + ] + ], + "corners_2d": [ + [ + 628.0794534210717, + 386.7069401106831 + ], + [ + 664.7086215412531, + 397.3518733517943 + ], + [ + 674.1417070610046, + 380.70002070598287 + ], + [ + 638.0651910577716, + 370.43782430631944 + ], + [ + 627.5593696715382, + 341.9327592674323 + ], + [ + 665.7999232575205, + 352.49608272569424 + ], + [ + 675.620931826463, + 335.9766920672738 + ], + [ + 637.9823647172459, + 325.809372645094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 573, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -14.190058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4680469036102295, + "y": 0.4388635456562042, + "z": 0.8966604471206665 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 550.9016391082455, + "ymin": 239.89835454730422, + "xmax": 586.5223780080285, + "ymax": 303.7599025911768 + }, + "corners_3d": [ + [ + -122.20923614501953, + -14.73912239074707, + 0.04747742414474487 + ], + [ + -123.06778717041016, + -14.556632041931152, + 0.04747742414474487 + ], + [ + -122.87316131591797, + -13.640995025634766, + 0.04747742414474487 + ], + [ + -122.01461029052734, + -13.823485374450684, + 0.04747742414474487 + ], + [ + -122.20923614501953, + -14.73912239074707, + 1.8407983779907227 + ], + [ + -123.06778717041016, + -14.556632041931152, + 1.8407983779907227 + ], + [ + -122.87316131591797, + -13.640995025634766, + 1.8407983779907227 + ], + [ + -122.01461029052734, + -13.823485374450684, + 1.8407983779907227 + ] + ], + "corners_2d": [ + [ + 554.290305004302, + 300.6738685213923 + ], + [ + 580.1333993932037, + 303.7599025911768 + ], + [ + 586.5223780080285, + 286.5359429261482 + ], + [ + 561.1971924387119, + 283.57810885293054 + ], + [ + 550.9016391082455, + 256.69827622564816 + ], + [ + 577.75717278855, + 259.7338733569561 + ], + [ + 584.4461152485427, + 242.80301413321587 + ], + [ + 558.1494053164919, + 239.89835454730422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 588, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -10.245049476623535, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.471137672662735, + "y": 0.6005828976631165, + "z": 0.925116240978241 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 768.4329678394847, + "ymin": 217.20454152756838, + "xmax": 814.5375756738802, + "ymax": 283.8678535953408 + }, + "corners_3d": [ + [ + -128.3749542236328, + -10.776384353637695, + 0.01902639865875244 + ], + [ + -129.56954956054688, + -10.65082836151123, + 0.01902639865875244 + ], + [ + -129.47105407714844, + -9.713714599609375, + 0.01902639865875244 + ], + [ + -128.27645874023438, + -9.83927059173584, + 0.01902639865875244 + ], + [ + -128.3749542236328, + -10.776384353637695, + 1.8692588806152344 + ], + [ + -129.56954956054688, + -10.65082836151123, + 1.8692588806152344 + ], + [ + -129.47105407714844, + -9.713714599609375, + 1.8692588806152344 + ], + [ + -128.27645874023438, + -9.83927059173584, + 1.8692588806152344 + ] + ], + "corners_2d": [ + [ + 768.4329678394847, + 277.6649837805797 + ], + [ + 803.4521278853972, + 283.8678535953408 + ], + [ + 807.9741765155476, + 267.78456193446624 + ], + [ + 773.6200577459965, + 261.82792928861534 + ], + [ + 773.5171681327117, + 232.72309600762543 + ], + [ + 809.97524856005, + 238.80790958902116 + ], + [ + 814.5375756738802, + 223.03850218564867 + ], + [ + 778.7998524164041, + 217.20454152756838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 627, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -17.187763214111328, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4012109339237213, + "y": 0.3378991484642029, + "z": 0.884952962398529 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 750.2825709206351, + "ymin": 359.6412061341663, + "xmax": 787.1488524326318, + "ymax": 429.00680857121387 + }, + "corners_3d": [ + [ + -129.90902709960938, + -17.588973999023438, + 0.05918002128601074 + ], + [ + -130.5848388671875, + -17.588973999023438, + 0.05918002128601074 + ], + [ + -130.5848388671875, + -16.78655242919922, + 0.05918002128601074 + ], + [ + -129.90902709960938, + -16.78655242919922, + 0.05918002128601074 + ], + [ + -129.90902709960938, + -17.588973999023438, + 1.8290859460830688 + ], + [ + -130.5848388671875, + -17.588973999023438, + 1.8290859460830688 + ], + [ + -130.5848388671875, + -16.78655242919922, + 1.8290859460830688 + ], + [ + -129.90902709960938, + -16.78655242919922, + 1.8290859460830688 + ] + ], + "corners_2d": [ + [ + 750.2825709206351, + 422.43754813046536 + ], + [ + 772.8821424607124, + 429.00680857121387 + ], + [ + 780.8780304667159, + 410.5379573570675 + ], + [ + 758.6629224105681, + 404.22230132174866 + ], + [ + 755.2574579398729, + 377.755137891233 + ], + [ + 778.920407841311, + 384.2956510583584 + ], + [ + 787.1488524326318, + 365.9181405315304 + ], + [ + 763.9072706302766, + 359.6412061341663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 662, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -25.35797882080078, + "z": 1.095656394958496 + }, + "extent": { + "x": 0.2976757884025574, + "y": 0.4618811011314392, + "z": 0.8896658420562744 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 115.92435367990788, + "ymin": 401.60700449042326, + "xmax": 179.30322624483006, + "ymax": 474.75766572491074 + }, + "corners_3d": [ + [ + -114.90816497802734, + -25.553119659423828, + 0.20599055290222168 + ], + [ + -115.8117446899414, + -25.745180130004883, + 0.20599055290222168 + ], + [ + -115.9355239868164, + -25.162837982177734, + 0.20599055290222168 + ], + [ + -115.03194427490234, + -24.97077751159668, + 0.20599055290222168 + ], + [ + -114.90816497802734, + -25.553119659423828, + 1.9853222370147705 + ], + [ + -115.8117446899414, + -25.745180130004883, + 1.9853222370147705 + ], + [ + -115.9355239868164, + -25.162837982177734, + 1.9853222370147705 + ], + [ + -115.03194427490234, + -24.97077751159668, + 1.9853222370147705 + ] + ], + "corners_2d": [ + [ + 139.75662104455023, + 460.18753148966624 + ], + [ + 160.376753671443, + 474.75766572491074 + ], + [ + 179.30322624483006, + 461.1499779821105 + ], + [ + 158.68763174965284, + 446.97475570601296 + ], + [ + 115.92435367990788, + 414.7966122223597 + ], + [ + 137.1690343233497, + 429.3609485001473 + ], + [ + 157.33232376042628, + 415.75803629724425 + ], + [ + 136.08245233380376, + 401.60700449042326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2238, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 483.3269284553384, + "ymin": 0.0, + "xmax": 577.7929054103656, + "ymax": 57.168564930579976 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 561.0897366590643, + 57.168564930579976 + ], + [ + 577.7929054103656, + 41.66952464067725 + ], + [ + 505.2630434195118, + 28.53267585023775 + ], + [ + 486.9951300806308, + 43.299482722912785 + ], + [ + 559.1497800507666, + 23.837558009139173 + ], + [ + 576.3059830910917, + 8.89209603096657 + ], + [ + 502.1201959040675, + -3.7599845481123566 + ], + [ + 483.3269284553384, + 10.462901350521292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 1858, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 167.95278728692995, + "ymin": 0.0, + "xmax": 282.63280786527963, + "ymax": 35.38167975637009 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 203.74450162648134, + 5.575506981338492 + ], + [ + 177.99488091828619, + 19.341392009614594 + ], + [ + 258.25821416191394, + 35.38167975637009 + ], + [ + 282.63280786527963, + 20.78859954463468 + ], + [ + 194.51143926216747, + -24.2106689561831 + ], + [ + 167.95278728692995, + -10.949950420058599 + ], + [ + 249.7061759891061, + 4.520444812932453 + ], + [ + 274.8436266813702, + -9.554988680023655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 973, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 141.07792991018277, + "ymin": 0.0, + "xmax": 247.02049641370542, + "ymax": 67.12633561670742 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 183.2033376864357, + 37.46540767055325 + ], + [ + 154.89027953682148, + 53.1967620309714 + ], + [ + 219.8744966686288, + 67.12633561670742 + ], + [ + 247.02049641370542, + 50.62574923840259 + ], + [ + 170.56702644638221, + -0.5844771739924113 + ], + [ + 141.07792991018277, + 14.48099082195563 + ], + [ + 207.6107383106896, + 27.840777371655804 + ], + [ + 235.88337732011217, + 12.017182622751307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 5851, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1119.6490837321644, + "ymin": 194.63252752633167, + "xmax": 1280.0, + "ymax": 295.85953043010335 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1121.710839778427, + 231.80439416814573 + ], + [ + 1119.6490837321644, + 259.18122463747545 + ], + [ + 1290.9406497646912, + 295.85953043010335 + ], + [ + 1286.7649868099286, + 265.8782854885589 + ], + [ + 1136.8707660650298, + 194.63252752633167 + ], + [ + 1135.315367242954, + 221.49684142531143 + ], + [ + 1313.243102277615, + 257.58588287830685 + ], + [ + 1308.0783032983218, + 228.07797449827035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 15618, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 480.0856146554255, + "ymin": 511.2736692355981, + "xmax": 667.3040610237596, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 487.37643130868344, + 731.8025477869911 + ], + [ + 571.6199368805702, + 767.9831055586114 + ], + [ + 666.2183646438612, + 572.369578831132 + ], + [ + 592.23843594597, + 546.2667380591284 + ], + [ + 480.0856146554255, + 699.2641501205384 + ], + [ + 568.2539908518519, + 736.2351654281729 + ], + [ + 667.3040610237596, + 537.5613097208027 + ], + [ + 590.3100240330551, + 511.2736692355981 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1167.0951153390984, + "ymin": 87.72512463269453, + "xmax": 1187.7128531832977, + "ymax": 120.97676173264864 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1176.8659390873954, + 115.43943799253759 + ], + [ + 1167.2218025933494, + 113.77411631537731 + ], + [ + 1167.0951153390984, + 119.28210882341943 + ], + [ + 1176.8235864046414, + 120.97676173264864 + ], + [ + 1187.6593792422486, + 89.3535769696565 + ], + [ + 1177.7928030311364, + 87.72512463269453 + ], + [ + 1177.7579887877982, + 93.11183293270767 + ], + [ + 1187.7128531832977, + 94.7695507224816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.6241998276842, + "ymin": 61.08985658067013, + "xmax": 684.6828766918952, + "ymax": 93.09916207673712 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 679.6611252457537, + 93.09916207673712 + ], + [ + 683.8405175002237, + 88.03461291122909 + ], + [ + 675.8597732716244, + 86.51068850365601 + ], + [ + 671.6241998276842, + 91.54957676510372 + ], + [ + 680.4297022289638, + 67.5222901288198 + ], + [ + 684.6828766918952, + 62.577448693816336 + ], + [ + 676.5470152529471, + 61.08985658067013 + ], + [ + 672.2354413029177, + 66.00916204986373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1174.3479901161052, + "ymin": 0.0, + "xmax": 1188.5270151486545, + "ymax": 8.377346981006156 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1174.3918312156088, + 4.294149544393008 + ], + [ + 1174.3479901161052, + 7.41521214388996 + ], + [ + 1181.0668367953467, + 8.377346981006156 + ], + [ + 1181.0705638863192, + 5.244817685046087 + ], + [ + 1181.7017336998442, + -14.97474922274597 + ], + [ + 1181.7018060377775, + -11.928080094145116 + ], + [ + 1188.5270151486545, + -10.988777669328897 + ], + [ + 1188.4855526012655, + -14.046794184533667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1168.0389821775755, + "ymin": 48.32131879814318, + "xmax": 1187.31496508101, + "ymax": 79.72782260406763 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1177.1761422988889, + 74.88248869060595 + ], + [ + 1168.1498755194234, + 73.42421092076887 + ], + [ + 1168.0389821775755, + 78.24553015846232 + ], + [ + 1177.1390823580753, + 79.72782260406763 + ], + [ + 1187.2682954775569, + 49.743640556370735 + ], + [ + 1178.0474694449017, + 48.32131879814318 + ], + [ + 1178.0170743510025, + 53.02426474467933 + ], + [ + 1187.31496508101, + 54.47045407333553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 407.9474576084584, + "ymin": 86.33554426622828, + "xmax": 423.59339657517114, + "ymax": 113.68532006421492 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 418.1133602870775, + 113.68532006421492 + ], + [ + 423.59339657517114, + 109.1715433177427 + ], + [ + 417.24355186394223, + 107.80390246498504 + ], + [ + 411.7298049883781, + 112.297857239407 + ], + [ + 414.42852233917847, + 92.10861574828459 + ], + [ + 420.02578218030055, + 87.67783077580629 + ], + [ + 413.5794313308617, + 86.33554426622828 + ], + [ + 407.9474576084584, + 90.74655084489285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1168.7365745191848, + "ymin": 19.215581730451163, + "xmax": 1187.0209677454109, + "ymax": 49.22995282091517 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1177.4052464205806, + 44.86679594747221 + ], + [ + 1168.8364614324355, + 43.55292271887856 + ], + [ + 1168.7365745191848, + 47.89555494989503 + ], + [ + 1177.3718707634002, + 49.22995282091517 + ], + [ + 1186.9790270779022, + 20.494619809787537 + ], + [ + 1178.235098847781, + 19.215581730451163 + ], + [ + 1178.2077701565458, + 23.443483613509272 + ], + [ + 1187.0209677454109, + 24.74286191139288 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 600.2017861715749, + "ymin": 48.01000686965858, + "xmax": 613.2832833339753, + "ymax": 79.40167235729052 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 608.6190088803654, + 79.40167235729052 + ], + [ + 613.2832833339753, + 74.56171184746165 + ], + [ + 605.6545871026061, + 73.1050110269399 + ], + [ + 600.9394822777437, + 77.92099644014951 + ], + [ + 608.0248407487213, + 54.15223591667785 + ], + [ + 612.781623145966, + 49.430761614534504 + ], + [ + 605.0113053579314, + 48.01000686965858 + ], + [ + 600.2017861715749, + 52.707653672423135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 517.9968750021748, + "ymin": 33.07706837296905, + "xmax": 532.6659162051981, + "ymax": 63.7574597901027 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 527.480216922325, + 63.7574597901027 + ], + [ + 532.6659162051981, + 59.16782601463444 + ], + [ + 525.429766822977, + 57.78608204714669 + ], + [ + 520.1989642729529, + 62.35357433390743 + ], + [ + 525.406846418447, + 38.896253924974985 + ], + [ + 530.7040651545673, + 34.423399256204846 + ], + [ + 523.3407826524639, + 33.07706837296905 + ], + [ + 517.9968750021748, + 37.527950367932476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1125.193552270586, + "ymin": 252.17095024157976, + "xmax": 1146.1842058396185, + "ymax": 285.5379758125156 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1135.7520364122797, + 278.234564400982 + ], + [ + 1125.706821189355, + 276.0274193233276 + ], + [ + 1125.193552270586, + 283.29007141629864 + ], + [ + 1135.3297805327566, + 285.5379758125156 + ], + [ + 1146.1842058396185, + 254.35659674109846 + ], + [ + 1135.8985815726633, + 252.17095024157976 + ], + [ + 1135.469966248745, + 259.3638252153942 + ], + [ + 1145.8510398846124, + 261.5906941242504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.0036980680578, + "ymin": 48.139892720320574, + "xmax": 1217.7650524473538, + "ymax": 510.298447247718 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1048.0971968668437, + 510.298447247718 + ], + [ + 1050.7013252698341, + 490.3072893232457 + ], + [ + 767.5636359377041, + 409.56682728652163 + ], + [ + 760.0036980680578, + 426.44958557872656 + ], + [ + 1217.7650524473538, + 135.0175703054495 + ], + [ + 1216.7774760507168, + 117.21604617471195 + ], + [ + 813.5130822558799, + 48.139892720320574 + ], + [ + 804.3104425058965, + 62.22203298416872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 492.69714225478305, + "ymin": 0.0, + "xmax": 625.4689717465022, + "ymax": 72.49217758277877 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 625.4689717465022, + -19.387729200139745 + ], + [ + 618.2292645884291, + -20.574607999143893 + ], + [ + 511.6063041425556, + 70.82544844433659 + ], + [ + 519.8842432084482, + 72.49217758277877 + ], + [ + 623.6984641545507, + -193.90848838494037 + ], + [ + 615.5837682828447, + -194.77110910748797 + ], + [ + 492.69714225478305, + -126.83584398106893 + ], + [ + 502.1364722992654, + -125.56802366800116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 807.754650039969, + "ymin": 59.87406276077718, + "xmax": 844.5435921027473, + "ymax": 76.27402851963325 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 838.8146736420408, + 76.27402851963325 + ], + [ + 844.3057801063084, + 66.80076509341137 + ], + [ + 813.6879494284725, + 61.432704756978296 + ], + [ + 807.754650039969, + 70.7306421860838 + ], + [ + 839.0498649343992, + 74.69278348048226 + ], + [ + 844.5435921027473, + 65.23384610578108 + ], + [ + 813.8882555516407, + 59.87406276077718 + ], + [ + 807.9512364389236, + 69.15773669666413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 807.7495805608554, + "ymin": 59.91434982664657, + "xmax": 844.5374451826847, + "ymax": 76.31480447150824 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 838.8086087067644, + 76.31480447150824 + ], + [ + 844.2996474711189, + 66.84117240114392 + ], + [ + 813.682783928308, + 61.4728990623766 + ], + [ + 807.7495805608554, + 70.77120354520468 + ], + [ + 839.0437856416124, + 74.7336559611943 + ], + [ + 844.5374451826847, + 65.27434753508578 + ], + [ + 813.8830781305281, + 59.91434982664657 + ], + [ + 807.9461550715018, + 69.19839317520956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 374.9397250383653, + "ymin": 0.0, + "xmax": 722.5044899945086, + "ymax": 248.0988578899971 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 421.1886515258752, + 171.51879638001424 + ], + [ + 415.1235898603427, + 176.89965767377197 + ], + [ + 704.6246454746823, + 248.0988578899971 + ], + [ + 708.828120321917, + 241.55927279674592 + ], + [ + 382.44635827750085, + -48.2866187307489 + ], + [ + 374.9397250383653, + -43.974147663181384 + ], + [ + 717.5990073072111, + 14.237467828526349 + ], + [ + 722.5044899945086, + 8.800012996932026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 905.5548443914577, + "ymin": 0.0, + "xmax": 1238.5818303339452, + "ymax": 62.47095290467473 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1162.8376487132873, + 62.47095290467473 + ], + [ + 1163.04848753567, + 58.71735541663031 + ], + [ + 907.3021535693615, + 17.5102604563927 + ], + [ + 905.5548443914577, + 20.742724100008388 + ], + [ + 1238.5818303339452, + -133.17483565018557 + ], + [ + 1238.2600967685617, + -136.01424666997116 + ], + [ + 942.6147672495453, + -166.83785976674994 + ], + [ + 940.8777911820569, + -164.44270813629612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1103.1887376662917, + "ymin": 0.0, + "xmax": 1230.9394452081337, + "ymax": 357.47728181089315 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1103.1887376662917, + 353.8074489985227 + ], + [ + 1117.978587540235, + 357.47728181089315 + ], + [ + 1134.6608288060186, + 169.16822958564103 + ], + [ + 1122.9965833909846, + 166.90917230952928 + ], + [ + 1212.0857841267166, + 104.79972573979225 + ], + [ + 1230.9394452081337, + 108.03685307703697 + ], + [ + 1221.891843111127, + -50.16671894168394 + ], + [ + 1207.840149349489, + -51.97148048673603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.9471447567144, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 62.938674288154516 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1141.9471447567144, + -5.429607214148859 + ], + [ + 1161.233764875132, + 47.77753682114445 + ], + [ + 1318.5636118648622, + 62.938674288154516 + ], + [ + 1283.5784795704537, + 6.969885721869048 + ], + [ + 1234.7659914939493, + -267.71305028649294 + ], + [ + 1269.7728127330674, + -236.49912840415868 + ], + [ + 1464.487349935538, + -227.37869520536572 + ], + [ + 1406.032599199902, + -260.54705220394294 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00087/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00087/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..563c1edae9f8bbf3efea8c2db68559e2630872a2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00087/meta.json @@ -0,0 +1,3104 @@ +{ + "frame_id": 87, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 43.5, + "sim_timestamp": 3169.5701488831546 + }, + "drone_pose": { + "x": -134.07870171167698, + "y": -35.65191305292709, + "z": 20.0, + "pitch": -42.4565997636359, + "yaw": 69.15427077013697, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.26254427433013916, + -0.6894946694374084, + 0.6750315427780151, + 46.28277587890625 + ], + [ + 0.9345420002937317, + 0.3558529019355774, + 5.960464477539063e-08, + -112.6153335571289 + ], + [ + -0.24021196365356445, + 0.630845308303833, + 0.7377888560295105, + -69.45392608642578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.97048924657082, + "y": -35.20072561195801, + "z": 20.0 + }, + "t1_image_uv": [ + 808.040898345784, + -518.3410924778233 + ], + "t1_depth": 0.3395019004108799 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -16.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.229587708308287, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 595, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -16.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.36823728680610657, + "y": 0.526243269443512, + "z": 0.8912186026573181 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.2670373806499, + "ymin": 325.18233036408196, + "xmax": 661.5516533780865, + "ymax": 394.30457231790695 + }, + "corners_3d": [ + [ + -126.14093780517578, + -16.555999755859375, + 0.05291926860809326 + ], + [ + -127.19342803955078, + -16.555999755859375, + 0.05291926860809326 + ], + [ + -127.19342803955078, + -15.819525718688965, + 0.05291926860809326 + ], + [ + -126.14093780517578, + -15.819525718688965, + 0.05291926860809326 + ], + [ + -126.14093780517578, + -16.555999755859375, + 1.8353564739227295 + ], + [ + -127.19342803955078, + -16.555999755859375, + 1.8353564739227295 + ], + [ + -127.19342803955078, + -15.819525718688965, + 1.8353564739227295 + ], + [ + -126.14093780517578, + -15.819525718688965, + 1.8353564739227295 + ] + ], + "corners_2d": [ + [ + 619.1776665410458, + 385.5222926490582 + ], + [ + 652.1779285999365, + 394.30457231790695 + ], + [ + 660.6558421806741, + 378.29469044402674 + ], + [ + 628.1488415893725, + 369.81639933750074 + ], + [ + 618.2670373806499, + 340.75128100663 + ], + [ + 652.7159128537519, + 349.46730570611663 + ], + [ + 661.5516533780865, + 333.58375960524336 + ], + [ + 627.6399441774589, + 325.18233036408196 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 87, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 548710, + "2": 163783, + "3": 49952, + "4": 47571, + "6": 16875, + "7": 1859, + "9": 6955, + "10": 11, + "12": 3016, + "14": 26116, + "24": 24818, + "25": 31934 + }, + "instance_pixel_counts": { + "3662": 5854, + "11605": 27672, + "15701": 3269, + "16482": 289, + "16994": 1358, + "17496": 9380, + "17503": 3235, + "17506": 521, + "19083": 2380, + "19554": 26, + "19595": 2025, + "20066": 1066, + "20565": 19011, + "21395": 3551, + "21397": 135, + "21907": 123749, + "21909": 11158, + "22155": 3254, + "22421": 5720, + "22931": 248238, + "22933": 1227, + "23443": 60111, + "23445": 132, + "23955": 3934, + "23957": 505, + "24467": 15194, + "25600": 4592, + "25856": 4534, + "26112": 228, + "36096": 595, + "36352": 579, + "36608": 559, + "36864": 639, + "37376": 644, + "37888": 2486, + "40448": 2779, + "40704": 1327, + "41216": 6572, + "41728": 12952, + "45409": 515, + "45971": 1746, + "46483": 70512, + "46995": 4136, + "47201": 15531, + "47713": 3014, + "48225": 1554, + "48531": 7439, + "48737": 51392, + "49043": 10100, + "49249": 9139, + "49761": 8182, + "51526": 41717, + "52321": 4848, + "52833": 2957, + "53345": 439, + "53857": 1151, + "54366": 28699, + "56458": 922, + "56970": 4727, + "57482": 35046, + "57994": 10804, + "58506": 2643, + "60307": 72, + "60819": 4708, + "61254": 6955, + "61331": 180, + "62355": 409, + "62867": 572 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 595, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -16.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.36875486373901367, + "y": 0.5699054002761841, + "z": 0.8777603507041931 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.853753305117, + "ymin": 325.1779846923928, + "xmax": 662.9716531381175, + "ymax": 394.35974927794075 + }, + "corners_3d": [ + [ + -126.09727478027344, + -16.5565185546875, + 0.06637752056121826 + ], + [ + -127.23709106445312, + -16.5565185546875, + 0.06637752056121826 + ], + [ + -127.23709106445312, + -15.819007873535156, + 0.06637752056121826 + ], + [ + -126.09727478027344, + -15.819008827209473, + 0.06637752056121826 + ], + [ + -126.09727478027344, + -16.5565185546875, + 1.8218982219696045 + ], + [ + -127.23709106445312, + -16.5565185546875, + 1.8218982219696045 + ], + [ + -127.23709106445312, + -15.819007873535156, + 1.8218982219696045 + ], + [ + -126.09727478027344, + -15.819008827209473, + 1.8218982219696045 + ] + ], + "corners_2d": [ + [ + 617.8088874022341, + 384.8488904322539 + ], + [ + 653.5590878552057, + 394.35974927794075 + ], + [ + 662.0305810424506, + 378.31517149126614 + ], + [ + 626.8156533759019, + 369.1340987808748 + ], + [ + 616.853753305117, + 340.75731609141684 + ], + [ + 654.1491013824024, + 350.19753188999795 + ], + [ + 662.9716531381175, + 334.2770841669557 + ], + [ + 626.2584729140242, + 325.1779846923928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 579, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -13.190058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4690234661102295, + "y": 0.477186918258667, + "z": 0.9231739640235901 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 534.9914427260578, + "ymin": 239.02620256746548, + "xmax": 573.240516465263, + "ymax": 304.1523344595948 + }, + "corners_3d": [ + [ + -122.17195892333984, + -13.748045921325684, + 0.02096390724182129 + ], + [ + -123.10547637939453, + -13.549619674682617, + 0.02096390724182129 + ], + [ + -122.91043853759766, + -12.632071495056152, + 0.02096390724182129 + ], + [ + -121.97692108154297, + -12.830497741699219, + 0.02096390724182129 + ], + [ + -122.17195892333984, + -13.748045921325684, + 1.8673118352890015 + ], + [ + -123.10547637939453, + -13.549619674682617, + 1.8673118352890015 + ], + [ + -122.91043853759766, + -12.632071495056152, + 1.8673118352890015 + ], + [ + -121.97692108154297, + -12.830497741699219, + 1.8673118352890015 + ] + ], + "corners_2d": [ + [ + 539.1180757403245, + 301.3443301006234 + ], + [ + 567.4150371987148, + 304.1523344595948 + ], + [ + 573.240516465263, + 286.73361530570776 + ], + [ + 545.5213552295287, + 284.0430925264605 + ], + [ + 534.9914427260578, + 256.02478442843386 + ], + [ + 564.4353187083295, + 258.7864365429055 + ], + [ + 570.5603122403002, + 241.66773320152885 + ], + [ + 541.7414885158662, + 239.02620256746548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 559, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -9.245050430297852, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4635351598262787, + "y": 0.5978484749794006, + "z": 0.922188401222229 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 753.5206502435904, + "ymin": 213.40012589371995, + "xmax": 798.1665799553982, + "ymax": 278.97742587889866 + }, + "corners_3d": [ + [ + -128.3768768310547, + -9.768538475036621, + 0.02194458246231079 + ], + [ + -129.56602478027344, + -9.643553733825684, + 0.02194458246231079 + ], + [ + -129.46913146972656, + -8.721562385559082, + 0.02194458246231079 + ], + [ + -128.2799835205078, + -8.84654712677002, + 0.02194458246231079 + ], + [ + -128.3768768310547, + -9.768538475036621, + 1.866321325302124 + ], + [ + -129.56602478027344, + -9.643553733825684, + 1.866321325302124 + ], + [ + -129.46913146972656, + -8.721562385559082, + 1.866321325302124 + ], + [ + -128.2799835205078, + -8.84654712677002, + 1.866321325302124 + ] + ], + "corners_2d": [ + [ + 753.5206502435904, + 273.4879268882141 + ], + [ + 788.3396731302548, + 278.97742587889866 + ], + [ + 792.2467509232731, + 263.1302984014965 + ], + [ + 758.0887349022788, + 257.8561225231929 + ], + [ + 757.9954974009892, + 228.71752806960336 + ], + [ + 794.2291916287734, + 234.10227431085912 + ], + [ + 798.1665799553982, + 218.56555895521424 + ], + [ + 762.6482078538309, + 213.40012589371995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 639, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -16.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.398681640625, + "y": 0.31791990995407104, + "z": 0.8779422044754028 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 740.761759659571, + "ymin": 355.8942610267537, + "xmax": 775.1144695583062, + "ymax": 424.02000373213133 + }, + "corners_3d": [ + [ + -129.92901611328125, + -16.586444854736328, + 0.06619566679000854 + ], + [ + -130.56484985351562, + -16.586444854736328, + 0.06619566679000854 + ], + [ + -130.56484985351562, + -15.789081573486328, + 0.06619566679000854 + ], + [ + -129.92901611328125, + -15.789081573486328, + 0.06619566679000854 + ], + [ + -129.92901611328125, + -16.586444854736328, + 1.822080135345459 + ], + [ + -130.56484985351562, + -16.586444854736328, + 1.822080135345459 + ], + [ + -130.56484985351562, + -15.789081573486328, + 1.822080135345459 + ], + [ + -129.92901611328125, + -15.789081573486328, + 1.822080135345459 + ] + ], + "corners_2d": [ + [ + 740.761759659571, + 418.33899366015663 + ], + [ + 762.0982230603481, + 424.02000373213133 + ], + [ + 769.4099300888274, + 405.5654643790784 + ], + [ + 748.4456147224668, + 400.10413669707066 + ], + [ + 745.2676096396957, + 374.027545785481 + ], + [ + 767.5927991687364, + 379.68336335369435 + ], + [ + 775.1144695583062, + 361.32185805112556 + ], + [ + 753.1965273761137, + 355.8942610267537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 644, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -24.35797882080078, + "z": 1.095744252204895 + }, + "extent": { + "x": 0.32310056686401367, + "y": 0.4271813929080963, + "z": 0.8790175914764404 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 100.48437810207668, + "ymin": 411.4880457991836, + "xmax": 165.597772505519, + "ymax": 484.51153338843017 + }, + "corners_3d": [ + [ + -114.93682098388672, + -24.585203170776367, + 0.2167266607284546 + ], + [ + -115.77251434326172, + -24.762834548950195, + 0.2167266607284546 + ], + [ + -115.90686798095703, + -24.130754470825195, + 0.2167266607284546 + ], + [ + -115.07117462158203, + -23.953123092651367, + 0.2167266607284546 + ], + [ + -114.93682098388672, + -24.585203170776367, + 1.9747618436813354 + ], + [ + -115.77251434326172, + -24.762834548950195, + 1.9747618436813354 + ], + [ + -115.90686798095703, + -24.130754470825195, + 1.9747618436813354 + ], + [ + -115.07117462158203, + -23.953123092651367, + 1.9747618436813354 + ] + ], + "corners_2d": [ + [ + 125.09991043505715, + 471.32995215529314 + ], + [ + 145.08681012487716, + 484.51153338843017 + ], + [ + 165.597772505519, + 469.10302951065495 + ], + [ + 145.64848059487463, + 456.32081643500095 + ], + [ + 100.48437810207668, + 426.49131493091954 + ], + [ + 121.09637271827012, + 439.6856985133438 + ], + [ + 142.97176464404197, + 424.26388839172114 + ], + [ + 122.39058006380219, + 411.4880457991836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2486, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 449.23910143867795, + "ymin": 3.906959402427674, + "xmax": 546.5247034897463, + "ymax": 65.44967795775597 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 529.7590770887989, + 65.44967795775597 + ], + [ + 546.5247034897463, + 49.19343199410753 + ], + [ + 472.26414974166676, + 36.60847432733516 + ], + [ + 453.8022422051713, + 52.14191496022897 + ], + [ + 526.9928035698941, + 31.72970297470141 + ], + [ + 544.2460366158548, + 16.03903138752105 + ], + [ + 468.26804912934176, + 3.906959402427674 + ], + [ + 449.23910143867795, + 18.883306139576348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 2779, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 123.5602033439518, + "ymin": 0.0, + "xmax": 243.2993045533454, + "ymax": 47.11093425519675 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 161.48507919431654, + 16.82257509036748 + ], + [ + 134.8636768716725, + 31.504702310283335 + ], + [ + 218.23057595822416, + 47.11093425519675 + ], + [ + 243.2993045533454, + 31.59529494527328 + ], + [ + 151.06945986129597, + -13.485782276306566 + ], + [ + 123.5602033439518, + 0.6747765635281553 + ], + [ + 208.51856436239063, + 15.745177568513668 + ], + [ + 234.42080791986473, + 0.7622035128794096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 1327, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 95.54764541158772, + "ymin": 11.611586259478884, + "xmax": 206.73344761838558, + "ymax": 80.75145481130983 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 140.40883011251492, + 50.33175643467388 + ], + [ + 111.07738941610842, + 67.15593772540626 + ], + [ + 178.72869378872747, + 80.75145481130983 + ], + [ + 206.73344761838558, + 63.14861651116638 + ], + [ + 126.173797694379, + 11.611586259478884 + ], + [ + 95.54764541158772, + 27.750573759781958 + ], + [ + 164.86132651902597, + 40.812298384628434 + ], + [ + 194.10187571787566, + 23.90398737577391 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 6572, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1098.275319917332, + "ymin": 199.169276479321, + "xmax": 1280.0, + "ymax": 299.1435581614128 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1099.4848706570428, + 236.48559357043925 + ], + [ + 1098.275319917332, + 264.71232085843394 + ], + [ + 1269.7879946744615, + 299.1435581614128 + ], + [ + 1264.6045804488897, + 268.42865867826674 + ], + [ + 1114.1052606566222, + 199.169276479321 + ], + [ + 1113.4205339613345, + 226.8872888858297 + ], + [ + 1291.5482054365598, + 260.78753132771885 + ], + [ + 1285.3479116140295, + 230.5415697906685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 12952, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 456.1830164119846, + "ymin": 541.9523916555764, + "xmax": 647.354297175371, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 464.89391093580997, + 777.4548920164748 + ], + [ + 553.0821081050145, + 813.4723147816944 + ], + [ + 647.0528949985227, + 602.2952933097819 + ], + [ + 570.381255178329, + 576.6846741364243 + ], + [ + 456.1830164119846, + 746.0253362960211 + ], + [ + 548.6319199675914, + 782.9685161550346 + ], + [ + 647.354297175371, + 567.8104308318225 + ], + [ + 567.4769594753664, + 541.9523916555764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.9022968043646, + "ymin": 92.5538603831219, + "xmax": 1164.3159557355098, + "ymax": 126.08324960009958 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1153.5915408746537, + 120.35071383193107 + ], + [ + 1143.9022968043646, + 118.77636155751983 + ], + [ + 1143.9778580265424, + 124.48054496884791 + ], + [ + 1153.7542556534358, + 126.08324960009958 + ], + [ + 1164.054059742799, + 94.0941669881937 + ], + [ + 1154.1416159814041, + 92.5538603831219 + ], + [ + 1154.3122802383357, + 98.13542495271452 + ], + [ + 1164.3159557355098, + 99.70404292012358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 642.5831535835782, + "ymin": 72.1668634788715, + "xmax": 655.2921927209087, + "ymax": 104.7576093296683 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 650.8272945573741, + 104.7576093296683 + ], + [ + 654.9969067846273, + 99.39671270494426 + ], + [ + 646.8135844497095, + 97.92384185084575 + ], + [ + 642.5831535835782, + 103.25909460933428 + ], + [ + 651.0423685534694, + 78.84508437677715 + ], + [ + 655.2921927209087, + 73.60596368402065 + ], + [ + 646.9474163369686, + 72.1668634788715 + ], + [ + 642.6343396462712, + 77.38042898984122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1145.6034734762281, + "ymin": 0.0, + "xmax": 1159.4647265546514, + "ymax": 8.210966520363286 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1145.6034734762281, + 4.128274462349907 + ], + [ + 1145.6653094123715, + 7.314143706060122 + ], + [ + 1152.3581471504876, + 8.210966520363286 + ], + [ + 1152.2555738998399, + 5.014250205895507 + ], + [ + 1152.5612396313759, + -15.208050781895736 + ], + [ + 1152.6669456992972, + -12.097608757497937 + ], + [ + 1159.4647265546514, + -11.221924554386817 + ], + [ + 1159.317000295546, + -14.343103405090858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.3496553848818, + "ymin": 51.792946649362705, + "xmax": 1162.3697546044345, + "ymax": 83.43347739589876 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1152.4016926072177, + 78.4316711805539 + ], + [ + 1143.3496553848818, + 77.05697260941139 + ], + [ + 1143.4156062990025, + 82.03566537599534 + ], + [ + 1152.543666041794, + 83.43347739589876 + ], + [ + 1162.1418578295686, + 53.134336411975085 + ], + [ + 1152.8952932044328, + 51.792946649362705 + ], + [ + 1153.0438523225903, + 56.65156394455181 + ], + [ + 1162.3697546044345, + 58.01594081933325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 372.2092598536105, + "ymin": 100.00717742925798, + "xmax": 388.8969901096013, + "ymax": 127.9208268064493 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 383.30013869017154, + 127.9208268064493 + ], + [ + 388.8969901096013, + 123.11198303466719 + ], + [ + 382.3305705469113, + 121.78161260024513 + ], + [ + 376.6962895520742, + 126.57045556326634 + ], + [ + 378.9163308578675, + 106.0388363968757 + ], + [ + 384.64121241306583, + 101.31407452276784 + ], + [ + 377.97271343604837, + 100.00717742925798 + ], + [ + 372.2092598536105, + 104.71195493917921 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1142.941075719269, + "ymin": 21.761700301953226, + "xmax": 1160.9373182427205, + "ymax": 51.97895807390728 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1151.5228008445051, + 47.48441925410913 + ], + [ + 1142.941075719269, + 46.24845318567105 + ], + [ + 1143.0003486470018, + 50.72330039018868 + ], + [ + 1151.6503720358307, + 51.97895807390728 + ], + [ + 1160.7329443911217, + 22.965350235640585 + ], + [ + 1151.9765662534637, + 21.761700301953226 + ], + [ + 1152.109823442146, + 26.119995292959004 + ], + [ + 1160.9373182427205, + 27.343171060746954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 568.6170274505631, + "ymin": 59.495560729246165, + "xmax": 582.5680003453606, + "ymax": 91.49673236356034 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 577.8719457253326, + 91.49673236356034 + ], + [ + 582.5680003453606, + 86.36064995567477 + ], + [ + 574.7260230908458, + 84.94921587690652 + ], + [ + 569.9745727345006, + 90.06124866542882 + ], + [ + 576.6646055364728, + 65.88869853218904 + ], + [ + 581.4614998031417, + 60.87349020568968 + ], + [ + 573.4714286295209, + 59.495560729246165 + ], + [ + 568.6170274505631, + 64.48683264610719 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 483.918486718488, + "ymin": 44.989803538699164, + "xmax": 499.5887907188368, + "ymax": 76.3101841442085 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 494.32244066679687, + 76.3101841442085 + ], + [ + 499.5887907188368, + 71.42569584559578 + ], + [ + 492.12896314823377, + 70.08304274008577 + ], + [ + 486.8130604689421, + 74.9452247915691 + ], + [ + 491.56330890901035, + 51.064302032072135 + ], + [ + 496.9516581633234, + 46.29934110711707 + ], + [ + 489.35816496036523, + 44.989803538699164 + ], + [ + 483.918486718488, + 49.73259507733428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1105.8806737399286, + "ymin": 260.580502623031, + "xmax": 1126.457847829426, + "ymax": 294.223747269947 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1116.283844497698, + 286.6358239058573 + ], + [ + 1106.1556412227226, + 284.5418261929131 + ], + [ + 1105.8806737399286, + 292.0901386711848 + ], + [ + 1116.103624210903, + 294.223747269947 + ], + [ + 1126.457847829426, + 262.655402250421 + ], + [ + 1116.0868389598443, + 260.580502623031 + ], + [ + 1115.901333710115, + 268.0610542331498 + ], + [ + 1126.3717118963762, + 270.17605288468343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.9688405712706, + "ymin": 63.54694014974399, + "xmax": 1202.7138743119976, + "ymax": 527.1053265735202 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1034.20694122915, + 527.1053265735202 + ], + [ + 1036.2365670457523, + 506.14981342403644 + ], + [ + 747.2956758427204, + 428.524509861456 + ], + [ + 739.9688405712706, + 446.3970466966284 + ], + [ + 1202.7138743119976, + 150.02518239464297 + ], + [ + 1200.8059774735966, + 131.063837836549 + ], + [ + 787.2257966875517, + 63.54694014974399 + ], + [ + 778.1426623027535, + 78.72444752834997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 455.17766955829467, + "ymin": 0.0, + "xmax": 593.9191454717048, + "ymax": 81.91318015639007 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 593.9191454717048, + -14.37247193813397 + ], + [ + 586.5451653729701, + -15.504846912724474 + ], + [ + 479.41968580772675, + 80.30746543087167 + ], + [ + 487.91516176617586, + 81.91318015639007 + ], + [ + 588.1993416917427, + -191.08024447373975 + ], + [ + 579.9268178454709, + -191.90661432759555 + ], + [ + 455.17766955829467, + -120.31652437824937 + ], + [ + 464.88475726615496, + -119.08726265274913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 781.8334553992427, + "ymin": 75.61912128995056, + "xmax": 819.4679496678189, + "ymax": 92.67502217508508 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 813.8870555031633, + 92.67502217508508 + ], + [ + 819.2524959144854, + 82.48030978718992 + ], + [ + 787.6819110736074, + 77.20610995725423 + ], + [ + 781.8334553992427, + 87.22113139574219 + ], + [ + 814.0996109474501, + 91.06567106009783 + ], + [ + 819.4679496678189, + 80.88558912557085 + ], + [ + 787.8578582770401, + 75.61912128995056 + ], + [ + 782.005279878228, + 85.61955551936154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 781.8290246487644, + "ymin": 75.66014256992378, + "xmax": 819.4623804537712, + "ymax": 92.7165212295726 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 813.8815745053364, + 92.7165212295726 + ], + [ + 819.246940064041, + 82.52143243815027 + ], + [ + 787.6773739192837, + 77.24703366819097 + ], + [ + 781.8290246487644, + 87.26243041857094 + ], + [ + 814.0941165419595, + 91.10727162992555 + ], + [ + 819.4623804537712, + 80.92681068970393 + ], + [ + 787.8533103053744, + 75.66014256992378 + ], + [ + 782.0008383861286, + 85.66095466483483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 334.3031179161018, + "ymin": 0.0, + "xmax": 692.7487984810426, + "ymax": 261.1296495478484 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 388.071201041423, + 186.48043177091517 + ], + [ + 381.89413470443606, + 192.20395885304285 + ], + [ + 679.6781318813128, + 261.1296495478484 + ], + [ + 683.8197934321754, + 254.2472334691494 + ], + [ + 342.0616592082688, + -36.83305886750583 + ], + [ + 334.3031179161018, + -32.2019898150599 + ], + [ + 687.850062778336, + 24.667765283038705 + ], + [ + 692.7487984810426, + 18.89624447259365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 877.3976683554372, + "ymin": 0.0, + "xmax": 1207.248106108817, + "ymax": 62.39953207950521 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1135.0713071473185, + 62.39953207950521 + ], + [ + 1135.1614528268105, + 58.570540001083316 + ], + [ + 879.0668886357037, + 19.925353172325913 + ], + [ + 877.3976683554372, + 23.257065154246106 + ], + [ + 1207.248106108817, + -133.95885927063773 + ], + [ + 1206.806556697427, + -136.85989851016717 + ], + [ + 911.0306658561067, + -165.83054930053754 + ], + [ + 909.3611844187863, + -163.35483333336083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1084.7399007972047, + "ymin": 0.0, + "xmax": 1210.1606948662002, + "ymax": 366.273206086365 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1084.7399007972047, + 362.79021531714585 + ], + [ + 1099.6527288993987, + 366.273206086365 + ], + [ + 1110.439304480868, + 171.92031622187537 + ], + [ + 1098.759634761771, + 169.79782045592992 + ], + [ + 1191.1408765035296, + 112.43171213971851 + ], + [ + 1210.1606948662002, + 115.52451389999013 + ], + [ + 1194.2641445887532, + -48.55237814857492 + ], + [ + 1180.2073621926877, + -50.2534048036494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1112.2981638927604, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 60.79469004571121 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1112.2981638927604, + -6.376479020862973 + ], + [ + 1133.0828767603557, + 47.533947974331 + ], + [ + 1288.9583189683572, + 60.79469004571121 + ], + [ + 1252.5696580587623, + 4.453762430989627 + ], + [ + 1200.1021619803241, + -269.55286845051035 + ], + [ + 1236.4267546593614, + -237.864502604123 + ], + [ + 1428.846099706132, + -229.8750065536267 + ], + [ + 1369.3194768652625, + -263.2868691034415 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00089/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00089/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b833d6985d20ec31a3980302f83a96dc413ec17d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00089/meta.json @@ -0,0 +1,3102 @@ +{ + "frame_id": 89, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 44.5, + "sim_timestamp": 3195.1864288204815 + }, + "drone_pose": { + "x": -133.8352580468173, + "y": -34.81289395356171, + "z": 19.94901666663481, + "pitch": -41.516160269312124, + "yaw": 65.07824186650194, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3155163526535034, + -0.6790465712547302, + 0.6628312468528748, + 52.643959045410156 + ], + [ + 0.9068841338157654, + 0.4213802218437195, + 2.9802322387695312e-08, + -106.7035903930664 + ], + [ + -0.27930402755737305, + 0.6011110544204712, + 0.7487688064575195, + -73.24433898925781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.78977423154785, + "y": -34.32522958417232, + "z": 20.17254338810096 + }, + "t1_image_uv": [ + 1439.0072961087267, + -1942.0780074780846 + ], + "t1_depth": 0.19733716650976785 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -15.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 700.2542129122642, + 374.6904843975562 + ], + "depth": 28.185049037683726, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 600, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -15.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.36876463890075684, + "y": 0.539951741695404, + "z": 0.9059538245201111 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 677.5887441151393, + "ymin": 338.76314676392957, + "xmax": 723.7724871799868, + "ymax": 410.1625440437505 + }, + "corners_3d": [ + [ + -126.12722778320312, + -15.556528091430664, + 0.03818404674530029 + ], + [ + -127.20713806152344, + -15.556528091430664, + 0.03818404674530029 + ], + [ + -127.20713806152344, + -14.818998336791992, + 0.03818404674530029 + ], + [ + -126.12722778320312, + -14.818998336791992, + 0.03818404674530029 + ], + [ + -126.12722778320312, + -15.556528091430664, + 1.8500916957855225 + ], + [ + -127.20713806152344, + -15.556528091430664, + 1.8500916957855225 + ], + [ + -127.20713806152344, + -14.818998336791992, + 1.8500916957855225 + ], + [ + -126.12722778320312, + -14.818998336791992, + 1.8500916957855225 + ] + ], + "corners_2d": [ + [ + 677.5887441151393, + 399.4799160400245 + ], + [ + 711.1862969316248, + 410.1625440437505 + ], + [ + 720.2870275693001, + 394.5478924471531 + ], + [ + 687.1594189489797, + 384.23061047970185 + ], + [ + 679.2300628850955, + 353.85041964709006 + ], + [ + 714.3336482266881, + 364.43300301715936 + ], + [ + 723.7724871799868, + 348.96833030838764 + ], + [ + 689.1818178963392, + 338.76314676392957 + ] + ], + "center_offset_px": [ + 60.254212912264165, + 14.69048439755619 + ] + }, + "trace_timestep_index": 89, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 552736, + "2": 161771, + "3": 74322, + "4": 47358, + "6": 17953, + "7": 2332, + "9": 5253, + "10": 10, + "12": 3108, + "14": 20131, + "24": 25915, + "25": 10711 + }, + "instance_pixel_counts": { + "11605": 35396, + "15701": 10089, + "16482": 995, + "16994": 1517, + "17496": 10775, + "17503": 2249, + "17506": 1085, + "18018": 56, + "18059": 1497, + "19083": 2722, + "19554": 825, + "19595": 4202, + "20066": 329, + "20107": 2, + "20565": 28837, + "21395": 3024, + "21397": 119, + "21643": 937, + "21907": 133056, + "21909": 12117, + "22155": 848, + "22421": 5569, + "22931": 247270, + "22933": 950, + "23443": 47344, + "23957": 501, + "24467": 14862, + "25344": 42, + "25600": 5415, + "25856": 3401, + "26112": 652, + "36096": 600, + "36352": 588, + "36608": 583, + "36864": 662, + "37376": 675, + "37888": 2684, + "40448": 2847, + "40704": 1537, + "41216": 3928, + "41728": 9135, + "45409": 479, + "45971": 3906, + "46483": 76420, + "46995": 15214, + "47201": 15718, + "47713": 3380, + "48225": 1590, + "48737": 42364, + "49043": 11640, + "49249": 7942, + "49761": 8285, + "51526": 47358, + "52321": 5950, + "53857": 1163, + "54366": 8462, + "56458": 1096, + "56970": 4765, + "57482": 35083, + "57994": 16046, + "58506": 2895, + "60307": 124, + "60819": 5313, + "61254": 5253, + "61331": 581, + "62867": 641 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 600, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -15.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.36970213055610657, + "y": 0.5734972953796387, + "z": 0.877447247505188 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 676.5697362564981, + "ymin": 339.17679158911943, + "xmax": 724.8142288558349, + "ymax": 409.8291480675956 + }, + "corners_3d": [ + [ + -126.09368896484375, + -15.557465553283691, + 0.06669062376022339 + ], + [ + -127.24067687988281, + -15.557465553283691, + 0.06669062376022339 + ], + [ + -127.24067687988281, + -14.818060874938965, + 0.06669062376022339 + ], + [ + -126.09368896484375, + -14.818060874938965, + 0.06669062376022339 + ], + [ + -126.09368896484375, + -15.557465553283691, + 1.8215851783752441 + ], + [ + -127.24067687988281, + -15.557465553283691, + 1.8215851783752441 + ], + [ + -127.24067687988281, + -14.818060874938965, + 1.8215851783752441 + ], + [ + -126.09368896484375, + -14.818060874938965, + 1.8215851783752441 + ] + ], + "corners_2d": [ + [ + 676.5697362564981, + 398.48364436574695 + ], + [ + 712.2790802920389, + 409.8291480675956 + ], + [ + 721.3930445999437, + 394.164949941971 + ], + [ + 686.1847864247225, + 383.2086847966753 + ], + [ + 678.1146945707228, + 354.2941182382916 + ], + [ + 715.3733181198239, + 365.53676318032973 + ], + [ + 724.8142288558349, + 350.0177647586387 + ], + [ + 688.1010072437732, + 339.17679158911943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 588, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -12.190058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.468803733587265, + "y": 0.47375065088272095, + "z": 0.9222816824913025 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 600.0262678761547, + "ymin": 250.10645848998888, + "xmax": 635.7625465506378, + "ymax": 315.8211530500732 + }, + "corners_3d": [ + [ + -122.1752700805664, + -12.747116088867188, + 0.021856188774108887 + ], + [ + -123.10206604003906, + -12.550119400024414, + 0.021856188774108887 + ], + [ + -122.9071273803711, + -11.633001327514648, + 0.021856188774108887 + ], + [ + -121.98033142089844, + -11.829998016357422, + 0.021856188774108887 + ], + [ + -122.1752700805664, + -12.747116088867188, + 1.8664195537567139 + ], + [ + -123.10206604003906, + -12.550119400024414, + 1.8664195537567139 + ], + [ + -122.9071273803711, + -11.633001327514648, + 1.8664195537567139 + ], + [ + -121.98033142089844, + -11.829998016357422, + 1.8664195537567139 + ] + ], + "corners_2d": [ + [ + 601.559741246076, + 311.8107822684965 + ], + [ + 629.3239886780544, + 315.8211530500732 + ], + [ + 635.7625465506378, + 298.80462606064503 + ], + [ + 608.5504940083333, + 294.961474117907 + ], + [ + 600.0262678761547, + 266.6264664605942 + ], + [ + 628.89588111237, + 270.5625416684046 + ], + [ + 635.5963546649683, + 253.87206323852917 + ], + [ + 607.3232974998632, + 250.10645848998888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 583, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -8.245050430297852, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4667675793170929, + "y": 0.5917803645133972, + "z": 0.9252758622169495 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 817.4689050178163, + "ymin": 233.4526963022278, + "xmax": 865.2242365143638, + "ymax": 300.62729803480426 + }, + "corners_3d": [ + [ + -128.3832550048828, + -8.771119117736816, + 0.018866777420043945 + ], + [ + -129.56033325195312, + -8.6474027633667, + 0.018866777420043945 + ], + [ + -129.46275329589844, + -7.718981742858887, + 0.018866777420043945 + ], + [ + -128.28567504882812, + -7.842697620391846, + 0.018866777420043945 + ], + [ + -128.3832550048828, + -8.771119117736816, + 1.8694185018539429 + ], + [ + -129.56033325195312, + -8.6474027633667, + 1.8694185018539429 + ], + [ + -129.46275329589844, + -7.718981742858887, + 1.8694185018539429 + ], + [ + -128.28567504882812, + -7.842697620391846, + 1.8694185018539429 + ] + ], + "corners_2d": [ + [ + 817.4689050178163, + 293.66229978338407 + ], + [ + 852.2952539005693, + 300.62729803480426 + ], + [ + 856.8496375423172, + 284.7831438175365 + ], + [ + 822.6760094561139, + 278.09337883172014 + ], + [ + 824.4042780975439, + 248.6896111601526 + ], + [ + 860.6682807083245, + 255.513745522641 + ], + [ + 865.2242365143638, + 239.996904213163 + ], + [ + 829.6675838348658, + 233.4526963022278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 662, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -15.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3956835865974426, + "y": 0.3383813500404358, + "z": 0.8792039155960083 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 798.6877073960871, + "ymin": 375.7493769919106, + "xmax": 837.8427107782202, + "ymax": 445.278935672289 + }, + "corners_3d": [ + [ + -129.90855407714844, + -15.583446502685547, + 0.06493395566940308 + ], + [ + -130.58531188964844, + -15.583446502685547, + 0.06493395566940308 + ], + [ + -130.58531188964844, + -14.79207992553711, + 0.06493395566940308 + ], + [ + -129.90855407714844, + -14.79207992553711, + 0.06493395566940308 + ], + [ + -129.90855407714844, + -15.583446502685547, + 1.8233418464660645 + ], + [ + -130.58531188964844, + -15.583446502685547, + 1.8233418464660645 + ], + [ + -130.58531188964844, + -14.79207992553711, + 1.8233418464660645 + ], + [ + -129.90855407714844, + -14.79207992553711, + 1.8233418464660645 + ] + ], + "corners_2d": [ + [ + 798.6877073960871, + 438.011985708058 + ], + [ + 821.542052444513, + 445.278935672289 + ], + [ + 829.5481440383676, + 427.20364077704 + ], + [ + 807.071178091818, + 420.2138635336858 + ], + [ + 805.717302664404, + 393.4277812552455 + ], + [ + 829.6498558214265, + 400.6544914504155 + ], + [ + 837.8427107782202, + 382.6885571086672 + ], + [ + 814.324014620438, + 375.7493769919106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 675, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -23.35797882080078, + "z": 1.0957344770431519 + }, + "extent": { + "x": 0.2977294921875, + "y": 0.46095824241638184, + "z": 0.88950115442276 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 172.89267545451196, + "ymin": 400.09007611971356, + "xmax": 231.98596713001717, + "ymax": 473.03921956366116 + }, + "corners_3d": [ + [ + -114.9090576171875, + -23.553363800048828, + 0.20623332262039185 + ], + [ + -115.81082916259766, + -23.745040893554688, + 0.20623332262039185 + ], + [ + -115.93463134765625, + -23.162593841552734, + 0.20623332262039185 + ], + [ + -115.0328598022461, + -22.970916748046875, + 0.20623332262039185 + ], + [ + -114.9090576171875, + -23.553363800048828, + 1.9852356910705566 + ], + [ + -115.81082916259766, + -23.745040893554688, + 1.9852356910705566 + ], + [ + -115.93463134765625, + -23.162593841552734, + 1.9852356910705566 + ], + [ + -115.0328598022461, + -22.970916748046875, + 1.9852356910705566 + ] + ], + "corners_2d": [ + [ + 193.51936602020322, + 458.08684247868973 + ], + [ + 213.39118620881942, + 473.03921956366116 + ], + [ + 231.98596713001717, + 460.1585376488001 + ], + [ + 212.09095177132997, + 445.60051263729514 + ], + [ + 172.89267545451196, + 412.5176990425643 + ], + [ + 193.35705585416133, + 427.41969075849323 + ], + [ + 213.09326766342053, + 414.58111687736334 + ], + [ + 192.59450749195508, + 400.09007611971356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2684, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 513.4638984485848, + "ymin": 23.984038600051633, + "xmax": 609.0454090141014, + "ymax": 87.42766475479732 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 591.3636180792583, + 87.42766475479732 + ], + [ + 609.0454090141014, + 71.49390868980839 + ], + [ + 535.6617830337773, + 56.49362948258545 + ], + [ + 516.4397913174474, + 71.57573989741945 + ], + [ + 590.1583366603561, + 53.798246504690496 + ], + [ + 608.2999926961833, + 38.43141764617633 + ], + [ + 533.2179357814614, + 23.984038600051633 + ], + [ + 513.4638984485848, + 38.51028360732039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 2847, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 197.6909077516528, + "ymin": 0.0, + "xmax": 311.4119441370384, + "ymax": 59.329945040404255 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 233.55782121246767, + 27.657165320030288 + ], + [ + 207.03543398935307, + 41.40424143363998 + ], + [ + 286.1326143464561, + 59.329945040404255 + ], + [ + 311.4119441370384, + 44.652264589382014 + ], + [ + 225.0174943044068, + -2.113395499935109 + ], + [ + 197.6909077516528, + 11.122436576099801 + ], + [ + 278.2317435179338, + 28.40372123794822 + ], + [ + 304.27583781074713, + 14.251827625709609 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 1537, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 168.80296895115515, + "ymin": 22.110959261672008, + "xmax": 273.94854248602866, + "ymax": 91.55366571171066 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 211.03002050646796, + 60.18762683652142 + ], + [ + 181.77841151267592, + 75.94678188542605 + ], + [ + 245.7425293443547, + 91.55366571171066 + ], + [ + 273.94854248602866, + 74.92584959265247 + ], + [ + 199.23055425820093, + 22.110959261672008 + ], + [ + 168.80296895115515, + 37.1944741423506 + ], + [ + 234.26141957225258, + 52.155715114316195 + ], + [ + 263.6023111694178, + 36.2165913701607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 3928, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1172.6504621853585, + "ymin": 248.93206079648508, + "xmax": 1280.0, + "ymax": 362.06275095035653 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1174.8538804871837, + 286.83102903092146 + ], + [ + 1172.6504621853585, + 316.8161685023045 + ], + [ + 1358.2979772771132, + 362.06275095035653 + ], + [ + 1353.3471175772709, + 328.6889469864726 + ], + [ + 1192.3640704065008, + 248.93206079648508 + ], + [ + 1190.7846906944703, + 278.4250221983189 + ], + [ + 1384.1737748118649, + 323.0705064976581 + ], + [ + 1378.0030321487945, + 290.1235615277955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 9135, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 476.4186262159455, + "ymin": 584.4907538535989, + "xmax": 683.5456467818996, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 484.2842375704976, + 826.1803001937242 + ], + [ + 572.7695402457158, + 871.7612182372579 + ], + [ + 681.7296619549104, + 651.545844403765 + ], + [ + 604.0777354264328, + 619.3424364350184 + ], + [ + 476.4186262159455, + 794.9490628691233 + ], + [ + 569.2497721587223, + 841.7779572409008 + ], + [ + 683.5456467818996, + 617.0396654792976 + ], + [ + 602.5604460868731, + 584.4907538535989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1228.8527812191976, + "ymin": 140.9785153444255, + "xmax": 1252.1493851143857, + "ymax": 175.96361892498757 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1239.3748976312409, + 169.82816728920386 + ], + [ + 1228.9159149769648, + 167.77402827039572 + ], + [ + 1228.8527812191976, + 173.87115126078336 + ], + [ + 1239.4088449749406, + 175.96361892498757 + ], + [ + 1251.99484180337, + 142.99044049501083 + ], + [ + 1241.2762203052207, + 140.9785153444255 + ], + [ + 1241.3287802701975, + 146.95110931240953 + ], + [ + 1252.1493851143857, + 149.0013758517481 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.2799159383989, + "ymin": 101.74172684789659, + "xmax": 716.6536378600925, + "ymax": 134.87541306063298 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 710.6268041500603, + 134.87541306063298 + ], + [ + 715.169669168282, + 129.47089566511792 + ], + [ + 706.8814989828544, + 127.66006110459335 + ], + [ + 702.2799159383989, + 133.03288145223476 + ], + [ + 712.033499689169, + 108.7918967274804 + ], + [ + 716.6536378600925, + 103.51080088011958 + ], + [ + 708.197909277325, + 101.74172684789659 + ], + [ + 703.5166326223339, + 106.99123806927028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1232.2844756165614, + "ymin": 24.99057803509163, + "xmax": 1247.9540654823281, + "ymax": 49.18521722352392 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1232.3058611737956, + 44.69306355590993 + ], + [ + 1232.2844756165614, + 48.036176858514864 + ], + [ + 1239.4446736391776, + 49.18521722352392 + ], + [ + 1239.4215049176385, + 45.82784920795871 + ], + [ + 1240.6428538276664, + 24.99057803509163 + ], + [ + 1240.6740477852643, + 28.25607078850743 + ], + [ + 1247.9540654823281, + 29.37856546832785 + ], + [ + 1247.876818705677, + 26.098951724298274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1229.321606334509, + "ymin": 97.48068264137953, + "xmax": 1251.0034169429618, + "ymax": 130.41083259695898 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1239.1273226893368, + 125.08286716419315 + ], + [ + 1229.3764544417293, + 123.2975729174245 + ], + [ + 1229.321606334509, + 128.59451178720252 + ], + [ + 1239.1568022263787, + 130.41083259695898 + ], + [ + 1250.8695990696438, + 99.22431895523357 + ], + [ + 1240.8934310890618, + 97.48068264137953 + ], + [ + 1240.9389625671388, + 102.65460220991935 + ], + [ + 1251.0034169429618, + 104.42914199678452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 431.2723245203308, + "ymin": 119.11090563731739, + "xmax": 447.0041211964645, + "ymax": 147.07767463280186 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 441.16265850584244, + 147.07767463280186 + ], + [ + 447.0041211964645, + 142.39533811573216 + ], + [ + 440.5898829356996, + 140.81518555574846 + ], + [ + 434.7157423936791, + 145.4740590801226 + ], + [ + 437.8188200320784, + 125.25955258186906 + ], + [ + 443.7827776215318, + 120.66214173965213 + ], + [ + 437.2699351652417, + 119.11090563731739 + ], + [ + 431.2723245203308, + 123.6848945449841 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1229.6655483966942, + "ymin": 65.56592702231023, + "xmax": 1250.1633632149421, + "ymax": 96.95489970661066 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1238.944784866989, + 92.18401525714381 + ], + [ + 1229.7146812403216, + 90.5843974655885 + ], + [ + 1229.6655483966942, + 95.32898575017919 + ], + [ + 1238.9711779119657, + 96.95489970661066 + ], + [ + 1250.043794436057, + 67.12495747208641 + ], + [ + 1240.6120581106534, + 65.56592702231023 + ], + [ + 1240.6527517492545, + 70.19059325177454 + ], + [ + 1250.1633632149421, + 71.77573285426234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.9484728243351, + "ymin": 86.24886714426418, + "xmax": 642.1638599765515, + "ymax": 118.63977300628437 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 637.0773443399761, + 118.63977300628437 + ], + [ + 642.1230484987875, + 113.5113758027166 + ], + [ + 634.2559647470594, + 111.7925419472756 + ], + [ + 629.158077940903, + 116.89163661526447 + ], + [ + 637.0206751518399, + 92.93250153957092 + ], + [ + 642.1638599765515, + 87.92635981868216 + ], + [ + 634.1458674423355, + 86.24886714426418 + ], + [ + 628.9484728243351, + 91.22585503650697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 544.5071701168642, + "ymin": 68.69598671535402, + "xmax": 559.2877257660051, + "ymax": 100.23728505474702 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 553.7118091320779, + 100.23728505474702 + ], + [ + 559.2877257660051, + 95.41317788303479 + ], + [ + 551.8849108109221, + 93.79577940362373 + ], + [ + 546.2636790864706, + 98.59314949220834 + ], + [ + 552.0902664636816, + 74.97630341609505 + ], + [ + 557.7835983077612, + 70.27267000107673 + ], + [ + 550.2474494617303, + 68.69598671535402 + ], + [ + 544.5071701168642, + 73.37306495894734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1181.171749009865, + "ymin": 316.47947142374403, + "xmax": 1204.8243148797785, + "ymax": 351.70871810553314 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1192.6010294433722, + 343.5531835076169 + ], + [ + 1181.6980988294074, + 340.809715602988 + ], + [ + 1181.171749009865, + 348.91138141503654 + ], + [ + 1192.1796222286296, + 351.70871810553314 + ], + [ + 1204.8243148797785, + 319.2014861797351 + ], + [ + 1193.6399015621782, + 316.47947142374403 + ], + [ + 1193.2209021445713, + 324.51892784323013 + ], + [ + 1204.5157847909454, + 327.29558810851415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 786.0990890954556, + "ymin": 103.5369577717268, + "xmax": 1280.0, + "ymax": 595.8016818317653 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1094.733866841405, + 595.8016818317653 + ], + [ + 1097.6722819187307, + 573.1761272044796 + ], + [ + 794.5869465078579, + 473.0270294021724 + ], + [ + 786.0990890954556, + 491.55297369951984 + ], + [ + 1299.6880700857537, + 213.29807792247084 + ], + [ + 1297.7721793757112, + 192.23752929989706 + ], + [ + 853.3846032399204, + 103.5369577717268 + ], + [ + 843.155112818564, + 119.41215353047286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 525.4633786552828, + "ymin": 0.0, + "xmax": 662.449003043427, + "ymax": 102.73779809024325 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 659.9996866152001, + 8.608904397844867 + ], + [ + 652.6525411030074, + 7.260749293715264 + ], + [ + 540.2722433509629, + 100.83332805268088 + ], + [ + 548.6445516633693, + 102.73779809024325 + ], + [ + 662.449003043427, + -167.23728380245063 + ], + [ + 654.1973663091885, + -168.21633934541728 + ], + [ + 525.4633786552828, + -98.68661326618422 + ], + [ + 535.0286558294986, + -97.23749997865104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.629563909439, + "ymin": 116.03508995980536, + "xmax": 886.5377719279784, + "ymax": 135.11032410878127 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 880.1383135683366, + 135.11032410878127 + ], + [ + 886.2345538337623, + 124.39642764087185 + ], + [ + 853.2270247303313, + 117.65099101959268 + ], + [ + 846.629563909439, + 128.1288482125761 + ], + [ + 880.439189247868, + 133.4697974151413 + ], + [ + 886.5377719279784, + 122.77086774748994 + ], + [ + 853.4867095717243, + 116.03508995980536 + ], + [ + 846.8855597618615, + 126.49802213659336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.622962860261, + "ymin": 116.07685965824413, + "xmax": 886.5299338891737, + "ymax": 135.1526257390415 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 880.1305553698268, + 135.1526257390415 + ], + [ + 886.2267350628854, + 124.43834426984463 + ], + [ + 853.2203284134539, + 117.69265916425974 + ], + [ + 846.622962860261, + 128.17090031235148 + ], + [ + 880.4314115965876, + 133.51220511176615 + ], + [ + 886.5299338891737, + 122.81288767231189 + ], + [ + 853.479996934556, + 116.07685965824413 + ], + [ + 846.8789423465751, + 126.54017849695066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.02090324664096, + "ymin": 0.0, + "xmax": 757.5204285124125, + "ymax": 293.9379651976343 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 443.2860467299811, + 205.15916320003146 + ], + [ + 436.82174920706416, + 210.7306496729875 + ], + [ + 732.944387961436, + 293.9379651976343 + ], + [ + 737.537348207681, + 286.9709620202779 + ], + [ + 407.9902621431267, + -17.205902973145157 + ], + [ + 400.02090324664096, + -12.730811717594122 + ], + [ + 752.1926371249497, + 55.67019026018994 + ], + [ + 757.5204285124125, + 49.82776471771126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.895308316529, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 104.40038139989994 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1218.428664667384, + 104.40038139989994 + ], + [ + 1218.6394144081394, + 100.3869906450571 + ], + [ + 949.7659410342626, + 51.93145694616271 + ], + [ + 947.895308316529, + 55.31101892170852 + ], + [ + 1304.9175009298172, + -95.97130306763478 + ], + [ + 1304.4887011177077, + -99.0260311831882 + ], + [ + 991.4432832982221, + -135.42659603356947 + ], + [ + 989.6144052593445, + -132.9162602540714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1154.876782112533, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 425.5920931735672 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1154.876782112533, + 421.05493623993164 + ], + [ + 1170.872168991461, + 425.5920931735672 + ], + [ + 1188.6617124650506, + 218.84187395976963 + ], + [ + 1176.1967520720714, + 216.119709717804 + ], + [ + 1283.1057415099967, + 166.17657475565747 + ], + [ + 1303.9083453818002, + 170.2630099940715 + ], + [ + 1289.4004510229265, + -6.192673310798568 + ], + [ + 1274.1995283152633, + -8.389964239606627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1196.2179710442506, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 108.10753394568624 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1196.2179710442506, + 31.83725082923388 + ], + [ + 1216.8027017100471, + 88.82347514676184 + ], + [ + 1384.976182048034, + 108.10753394568624 + ], + [ + 1346.716887921011, + 47.45878281812156 + ], + [ + 1301.841276845664, + -236.41465464036855 + ], + [ + 1340.8741446565123, + -202.77803442896834 + ], + [ + 1551.7580882442835, + -191.0703955167004 + ], + [ + 1485.7285986409033, + -227.33354571642155 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00090/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00090/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c870c4af5808a60adfeddec55c069aeff375144c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00090/meta.json @@ -0,0 +1,3108 @@ +{ + "frame_id": 90, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 45.0, + "sim_timestamp": 3206.5334264149424 + }, + "drone_pose": { + "x": -133.78977423154785, + "y": -34.32522958417232, + "z": 20.17254338810096, + "pitch": -42.62932578473979, + "yaw": 70.06407965251643, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.250868022441864, + -0.6916604042053223, + 0.6772526502609253, + 43.64308547973633 + ], + [ + 0.9400745630264282, + 0.34096890687942505, + 2.9802322387695312e-08, + -114.06852722167969 + ], + [ + -0.23092211782932281, + 0.6366679668426514, + 0.7357505559921265, + -67.59075164794922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.82136448262028, + "y": -33.793770277310855, + "z": 20.0 + }, + "t1_image_uv": [ + 1064.8973239435209, + -51.2201799481179 + ], + "t1_depth": 0.47651981424608 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -14.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.391776487591912, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 569, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -14.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3725244104862213, + "y": 0.48677733540534973, + "z": 0.8881790637969971 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.7053756901718, + "ymin": 325.816938989086, + "xmax": 660.0976167427867, + "ymax": 393.6532490633169 + }, + "corners_3d": [ + [ + -126.18040466308594, + -15.060287475585938, + 0.05595880746841431 + ], + [ + -127.15396118164062, + -15.060287475585938, + 0.05595880746841431 + ], + [ + -127.15396118164062, + -14.315238952636719, + 0.05595880746841431 + ], + [ + -126.18040466308594, + -14.315238952636719, + 0.05595880746841431 + ], + [ + -126.18040466308594, + -15.060287475585938, + 1.8323168754577637 + ], + [ + -127.15396118164062, + -15.060287475585938, + 1.8323168754577637 + ], + [ + -127.15396118164062, + -14.315238952636719, + 1.8323168754577637 + ], + [ + -126.18040466308594, + -14.315238952636719, + 1.8323168754577637 + ] + ], + "corners_2d": [ + [ + 620.5514328272482, + 385.8895681702046 + ], + [ + 651.0914380072435, + 393.6532490633169 + ], + [ + 659.2675699599101, + 377.4247696934619 + ], + [ + 629.1953741495552, + 369.93223286879095 + ], + [ + 619.7053756901718, + 341.6464062759481 + ], + [ + 651.5782401417206, + 349.35661661046373 + ], + [ + 660.0976167427867, + 333.2464293857449 + ], + [ + 628.7339465091064, + 325.816938989086 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 90, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 72, + "semantic_pixel_counts": { + "1": 558125, + "2": 162948, + "3": 44166, + "4": 44395, + "6": 17858, + "7": 2277, + "9": 8001, + "10": 8, + "12": 3065, + "14": 23581, + "24": 26236, + "25": 30940 + }, + "instance_pixel_counts": { + "3662": 6142, + "11605": 23836, + "12117": 1, + "15701": 1753, + "16482": 830, + "16994": 1424, + "17496": 10020, + "17503": 4810, + "17506": 659, + "18059": 490, + "19083": 2565, + "19554": 560, + "19595": 2521, + "20066": 1255, + "20565": 18471, + "21395": 2731, + "21397": 83, + "21643": 153, + "21907": 134181, + "21909": 12205, + "22155": 3614, + "22421": 5770, + "22931": 257940, + "22933": 578, + "23443": 33365, + "23445": 155, + "23955": 4800, + "23957": 560, + "24467": 16414, + "25600": 5729, + "25856": 4065, + "26112": 321, + "36096": 569, + "36352": 578, + "36608": 564, + "36864": 626, + "37376": 728, + "37888": 2951, + "40448": 3257, + "40704": 1949, + "41216": 7063, + "41728": 8361, + "45409": 304, + "45971": 4521, + "46483": 76403, + "46995": 6781, + "47201": 17052, + "47713": 3403, + "48225": 1720, + "48468": 105, + "48531": 8701, + "48737": 46017, + "49043": 12288, + "49249": 8334, + "49761": 9129, + "51526": 38253, + "52321": 3672, + "52833": 3369, + "53345": 517, + "53857": 1340, + "54366": 26130, + "56458": 729, + "56970": 5189, + "57482": 39071, + "57994": 5490, + "58506": 3541, + "60307": 157, + "60819": 5256, + "61254": 8001, + "61331": 318, + "62355": 470, + "62867": 684 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 569, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -14.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.377143532037735, + "y": 0.5174322128295898, + "z": 0.8772483468055725 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.6594993828137, + "ymin": 325.771759077772, + "xmax": 661.140231440485, + "ymax": 393.74116998402656 + }, + "corners_3d": [ + [ + -126.14974975585938, + -15.06490707397461, + 0.06688952445983887 + ], + [ + -127.18461608886719, + -15.06490707397461, + 0.06688952445983887 + ], + [ + -127.18461608886719, + -14.310619354248047, + 0.06688952445983887 + ], + [ + -126.14974975585938, + -14.310619354248047, + 0.06688952445983887 + ], + [ + -126.14974975585938, + -15.06490707397461, + 1.8213862180709839 + ], + [ + -127.18461608886719, + -15.06490707397461, + 1.8213862180709839 + ], + [ + -127.18461608886719, + -14.310619354248047, + 1.8213862180709839 + ], + [ + -126.14974975585938, + -14.310619354248047, + 1.8213862180709839 + ] + ], + "corners_2d": [ + [ + 619.5382974304748, + 385.4869478820035 + ], + [ + 652.0131263596836, + 393.74116998402656 + ], + [ + 660.2775167007245, + 377.30315551205666 + ], + [ + 628.306385764299, + 369.3407944312227 + ], + [ + 618.6594993828137, + 341.7897805985222 + ], + [ + 652.5339586338783, + 349.9879417555988 + ], + [ + 661.140231440485, + 333.66788016545036 + ], + [ + 627.8134585233886, + 325.771759077772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 578, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -11.690058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.47353029251098633, + "y": 0.5407947301864624, + "z": 0.9317080974578857 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 531.4520562197923, + "ymin": 239.80452369997448, + "xmax": 573.2111059808477, + "ymax": 305.3119721368439 + }, + "corners_3d": [ + [ + -122.11067199707031, + -12.265679359436035, + 0.012429773807525635 + ], + [ + -123.16862487792969, + -12.040802955627441, + 0.012429773807525635 + ], + [ + -122.97172546386719, + -11.1144380569458, + 0.012429773807525635 + ], + [ + -121.91377258300781, + -11.339314460754395, + 0.012429773807525635 + ], + [ + -122.11067199707031, + -12.265679359436035, + 1.8758459091186523 + ], + [ + -123.16862487792969, + -12.040802955627441, + 1.8758459091186523 + ], + [ + -122.97172546386719, + -11.1144380569458, + 1.8758459091186523 + ], + [ + -121.91377258300781, + -11.339314460754395, + 1.8758459091186523 + ] + ], + "corners_2d": [ + [ + 535.7542880648891, + 302.4515414470574 + ], + [ + 567.8024372999433, + 305.3119721368439 + ], + [ + 573.2111059808477, + 287.6661006898817 + ], + [ + 541.8245670427873, + 284.9259476797019 + ], + [ + 531.4520562197923, + 257.0350765091556 + ], + [ + 564.812091958532, + 259.8502167026566 + ], + [ + 570.506051116933, + 242.4965582046861 + ], + [ + 537.8622792719171, + 239.80452369997448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 564, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -7.745050430297852, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4559326171875, + "y": 0.6094601154327393, + "z": 0.9328337907791138 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 750.0146250688035, + "ymin": 212.4397011446893, + "xmax": 794.6436429524068, + "ymax": 277.7086487738918 + }, + "corners_3d": [ + [ + -128.3645477294922, + -8.262191772460938, + 0.011308848857879639 + ], + [ + -129.5767822265625, + -8.134779930114746, + 0.011308848857879639 + ], + [ + -129.48146057128906, + -7.227909564971924, + 0.011308848857879639 + ], + [ + -128.26922607421875, + -7.355321407318115, + 0.011308848857879639 + ], + [ + -128.3645477294922, + -8.262191772460938, + 1.876976490020752 + ], + [ + -129.5767822265625, + -8.134779930114746, + 1.876976490020752 + ], + [ + -129.48146057128906, + -7.227909564971924, + 1.876976490020752 + ], + [ + -128.26922607421875, + -7.355321407318115, + 1.876976490020752 + ] + ], + "corners_2d": [ + [ + 750.0146250688035, + 272.47027553204543 + ], + [ + 785.3364024839901, + 277.7086487738918 + ], + [ + 788.806937183628, + 262.12112173267343 + ], + [ + 754.1455460752449, + 257.08390757388094 + ], + [ + 754.3888580682565, + 227.52305345736593 + ], + [ + 791.154589681384, + 232.6635541572302 + ], + [ + 794.6436429524068, + 217.3751626505538 + ], + [ + 758.5928976978247, + 212.4397011446893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 626, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -14.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4102490246295929, + "y": 0.4069616496562958, + "z": 0.8836894035339355 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 737.778764248586, + "ymin": 353.7116421237375, + "xmax": 777.8364818378109, + "ymax": 423.4767119388009 + }, + "corners_3d": [ + [ + -129.8399658203125, + -15.09801197052002, + 0.06044846773147583 + ], + [ + -130.65390014648438, + -15.09801197052002, + 0.06044846773147583 + ], + [ + -130.65390014648438, + -14.277514457702637, + 0.06044846773147583 + ], + [ + -129.8399658203125, + -14.277514457702637, + 0.06044846773147583 + ], + [ + -129.8399658203125, + -15.09801197052002, + 1.8278272151947021 + ], + [ + -130.65390014648438, + -15.09801197052002, + 1.8278272151947021 + ], + [ + -130.65390014648438, + -14.277514457702637, + 1.8278272151947021 + ], + [ + -129.8399658203125, + -14.277514457702637, + 1.8278272151947021 + ] + ], + "corners_2d": [ + [ + 737.778764248586, + 416.54748532244264 + ], + [ + 765.0114259177726, + 423.4767119388009 + ], + [ + 772.0012346727028, + 404.46578437525926 + ], + [ + 745.2611429976174, + 397.8109521295194 + ], + [ + 742.159959201601, + 372.3508582346505 + ], + [ + 770.6559860453243, + 379.2525287327369 + ], + [ + 777.8364818378109, + 360.32809980144884 + ], + [ + 749.8794900503226, + 353.7116421237375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 728, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -22.85797882080078, + "z": 1.0957295894622803 + }, + "extent": { + "x": 0.30922362208366394, + "y": 0.3390490710735321, + "z": 0.8864741325378418 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 105.42601906769198, + "ymin": 418.77942376358374, + "xmax": 165.6744943680771, + "ymax": 488.5045161838627 + }, + "corners_3d": [ + [ + -115.02590942382812, + -23.08995246887207, + 0.20925545692443848 + ], + [ + -115.68919372558594, + -23.230937957763672, + 0.20925545692443848 + ], + [ + -115.81777954101562, + -22.626005172729492, + 0.20925545692443848 + ], + [ + -115.15449523925781, + -22.48501968383789, + 0.20925545692443848 + ], + [ + -115.02590942382812, + -23.08995246887207, + 1.982203722000122 + ], + [ + -115.68919372558594, + -23.230937957763672, + 1.982203722000122 + ], + [ + -115.81777954101562, + -22.626005172729492, + 1.982203722000122 + ], + [ + -115.15449523925781, + -22.48501968383789, + 1.982203722000122 + ] + ], + "corners_2d": [ + [ + 130.11523435732647, + 478.2298766555416 + ], + [ + 146.3534265500931, + 488.5045161838627 + ], + [ + 165.6744943680771, + 473.5411953896057 + ], + [ + 149.48069686247754, + 463.56659977418207 + ], + [ + 105.42601906769198, + 433.45528760805996 + ], + [ + 122.19335862517289, + 443.7511469843853 + ], + [ + 142.81976114780406, + 428.7603199017178 + ], + [ + 126.09336741360403, + 418.77942376358374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2951, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 425.5119494133143, + "ymin": 17.02720248635768, + "xmax": 525.748971445641, + "ymax": 80.0298554880278 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 508.5953305200661, + 80.0298554880278 + ], + [ + 525.748971445641, + 62.801087164495016 + ], + [ + 449.7326012324364, + 50.10211667867861 + ], + [ + 430.77782217981746, + 66.58239262756109 + ], + [ + 505.2107424840201, + 45.95618690232891 + ], + [ + 522.8922913744918, + 29.293363989304908 + ], + [ + 445.0807729355392, + 17.02720248635768 + ], + [ + 425.5119494133143, + 32.948360870823706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3257, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 90.28286305352049, + "ymin": 0.7188815754637972, + "xmax": 214.53284874071528, + "ymax": 63.01081734422604 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 130.3352755137238, + 31.45501550194456 + ], + [ + 102.67297678836519, + 47.13534402757483 + ], + [ + 188.54561784631227, + 63.01081734422604 + ], + [ + 214.53284874071528, + 46.458794044566446 + ], + [ + 118.9130955647114, + 0.7188815754637972 + ], + [ + 90.28286305352049, + 15.872576604462665 + ], + [ + 177.83923178214224, + 31.23443253492252 + ], + [ + 204.7339848839773, + 15.218352692699114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 1949, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 60.57207206969724, + "ymin": 27.735586060170988, + "xmax": 176.5193259594189, + "ymax": 98.87670585696725 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 108.16447184091373, + 66.98862121345678 + ], + [ + 77.61565741036713, + 85.00565161678156 + ], + [ + 147.40689477945358, + 98.87670585696725 + ], + [ + 176.5193259594189, + 80.04185025657637 + ], + [ + 92.53780539216154, + 27.735586060170988 + ], + [ + 60.57207206969724, + 45.065011355655145 + ], + [ + 132.12764323800224, + 58.427885469557395 + ], + [ + 162.59109904631367, + 40.287547208159026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7063, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1090.2183365659275, + "ymin": 218.10706180240996, + "xmax": 1280.0, + "ymax": 320.0539338650458 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1090.9355546771244, + 255.5203769421357 + ], + [ + 1090.2183365659275, + 285.37784765373647 + ], + [ + 1264.8791218466743, + 320.0539338650458 + ], + [ + 1258.9145080299568, + 287.63350320483755 + ], + [ + 1105.6392283765726, + 218.10706180240996 + ], + [ + 1105.4802188738026, + 247.4944476724372 + ], + [ + 1287.001840329108, + 281.7170030100252 + ], + [ + 1279.9554787715829, + 249.71757705595903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 8361, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 430.2385807119682, + "ymin": 592.5390703789607, + "xmax": 630.5885352599996, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 440.67420408788047, + 847.7011442523485 + ], + [ + 533.0915006464951, + 885.8477302032516 + ], + [ + 630.5885352599996, + 653.0539954799192 + ], + [ + 550.8758774656177, + 626.3480415435668 + ], + [ + 430.2385807119682, + 818.6328646861771 + ], + [ + 527.3302659450264, + 857.9830007557471 + ], + [ + 630.1688569405609, + 619.6157754404403 + ], + [ + 546.9957557242697, + 592.5390703789607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.1838397177708, + "ymin": 112.5088333347272, + "xmax": 1157.1058212945609, + "ymax": 146.66825660788442 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1146.089639321156, + 140.53781529431288 + ], + [ + 1136.1838397177708, + 138.93442091355675 + ], + [ + 1136.3949698032975, + 145.03516442689337 + ], + [ + 1146.3927122694115, + 146.66825660788442 + ], + [ + 1156.6963689407633, + 114.08054644179896 + ], + [ + 1146.5573334161745, + 112.5088333347272 + ], + [ + 1146.8704452317343, + 118.48988175731074 + ], + [ + 1157.1058212945609, + 120.0913238507095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.9621241776913, + "ymin": 94.59414332947546, + "xmax": 635.1126350878678, + "ymax": 127.95754312609967 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 630.8228083779292, + 127.95754312609967 + ], + [ + 635.1126350878678, + 122.16316892404762 + ], + [ + 626.6796788858472, + 120.64715134108363 + ], + [ + 622.32453167087, + 126.41423289282938 + ], + [ + 630.6341887104477, + 101.7531158426205 + ], + [ + 635.0130960348065, + 96.07848854148028 + ], + [ + 626.409038863393, + 94.59414332947546 + ], + [ + 621.9621241776913, + 100.24149711015491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1134.0053876860513, + "ymin": 0.0, + "xmax": 1147.9893188896488, + "ymax": 17.88887997219888 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1134.0053876860513, + 13.655653884377216 + ], + [ + 1134.134310894667, + 16.993750573295188 + ], + [ + 1140.9083272693745, + 17.88887997219888 + ], + [ + 1140.737300053276, + 14.539755232918765 + ], + [ + 1140.9334444608141, + -5.827745602190475 + ], + [ + 1141.1078343658514, + -2.5652864776540696 + ], + [ + 1147.9893188896488, + -1.6903430470167677 + ], + [ + 1147.7714837136018, + -4.9637323527103945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1134.6428976658483, + "ymin": 68.92552595005486, + "xmax": 1154.0682276875984, + "ymax": 101.13196059670747 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1143.8780572210076, + 95.80279571191772 + ], + [ + 1134.6428976658483, + 94.40788077481267 + ], + [ + 1134.8264923215243, + 99.71296982408097 + ], + [ + 1144.1415171630833, + 101.13196059670747 + ], + [ + 1153.7133043855165, + 70.28903597252673 + ], + [ + 1144.2757186324186, + 68.92552595005486 + ], + [ + 1144.5472243232075, + 74.11181596824179 + ], + [ + 1154.0682276875984, + 75.49932465755677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 344.4988610100406, + "ymin": 121.76938728277614, + "xmax": 362.2444634650375, + "ymax": 150.32318654821677 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 356.42834801282527, + 150.32318654821677 + ], + [ + 362.2444634650375, + 145.14360139411755 + ], + [ + 355.4711725487925, + 143.77896923706243 + ], + [ + 349.61466856046354, + 148.9373579067541 + ], + [ + 351.42210426974884, + 128.20952885850008 + ], + [ + 357.37924229678754, + 123.11213488724022 + ], + [ + 350.4976557462858, + 121.76938728277614 + ], + [ + 344.4988610100406, + 126.84555543251446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1133.508111292881, + "ymin": 36.92131828625759, + "xmax": 1151.8403161574442, + "ymax": 67.65764675236477 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1142.2500620061896, + 62.88203080417816 + ], + [ + 1133.508111292881, + 61.63128621726531 + ], + [ + 1133.672671505536, + 66.38647462608247 + ], + [ + 1142.486152040828, + 67.65764675236477 + ], + [ + 1151.5229277590527, + 38.141376938174574 + ], + [ + 1142.5997906501348, + 36.92131828625759 + ], + [ + 1142.842643190368, + 41.560353986589234 + ], + [ + 1151.8403161574442, + 42.800711072550484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 545.5937069843467, + "ymin": 81.51982399312158, + "xmax": 560.452575979019, + "ymax": 114.29632642545141 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 555.596884455071, + 114.29632642545141 + ], + [ + 560.452575979019, + 108.74132434701289 + ], + [ + 552.3660929997541, + 107.28759324758789 + ], + [ + 547.4507956700547, + 112.81697444179483 + ], + [ + 553.8992392955664, + 88.37754095758561 + ], + [ + 558.8668052193871, + 82.94198267784088 + ], + [ + 550.6232145671652, + 81.51982399312158 + ], + [ + 545.5937069843467, + 86.92981204543395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 458.1457862966233, + "ymin": 66.5424793891188, + "xmax": 474.85705170859865, + "ymax": 98.64041280520655 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 469.3871160624633, + 98.64041280520655 + ], + [ + 474.85705170859865, + 93.35357794033587 + ], + [ + 467.1588677186202, + 91.96965247025571 + ], + [ + 461.6354946800989, + 97.23269714384094 + ], + [ + 466.04135201946633, + 73.06313730879589 + ], + [ + 471.64660193859015, + 67.89503906360324 + ], + [ + 463.8064444925909, + 66.5424793891188 + ], + [ + 458.1457862966233, + 71.68686922091211 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1099.5508601557076, + "ymin": 286.9065783827656, + "xmax": 1120.4758089554473, + "ymax": 321.1357226944496 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1110.05852305011, + 313.0136697377585 + ], + [ + 1099.6816871901783, + 310.87914646222123 + ], + [ + 1099.5508601557076, + 318.95961079606644 + ], + [ + 1110.0280903171795, + 321.1357226944496 + ], + [ + 1120.4042555620126, + 289.025417494889 + ], + [ + 1109.7726535829477, + 286.9065783827656 + ], + [ + 1109.7387970394936, + 294.9289234349874 + ], + [ + 1120.4758089554473, + 297.08996652893813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.8317092508219, + "ymin": 97.99023566603978, + "xmax": 1204.1458299488004, + "ymax": 566.5944367224232 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1029.39541925698, + 566.5944367224232 + ], + [ + 1031.1327070036982, + 544.0071950862675 + ], + [ + 733.2585531565642, + 464.26994594651336 + ], + [ + 725.8317092508219, + 483.57890674774575 + ], + [ + 1204.1458299488004, + 191.27341295059244 + ], + [ + 1201.4428535616876, + 170.01235010446032 + ], + [ + 769.6498631090585, + 97.99023566603978 + ], + [ + 760.2419681494622, + 115.01144488807753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 428.5055913809612, + "ymin": 0.0, + "xmax": 574.0697824682252, + "ymax": 97.70249008200472 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 574.0697824682252, + -4.210634711213004 + ], + [ + 566.547066229895, + -5.348574392453315 + ], + [ + 456.99283746680953, + 96.07494184281563 + ], + [ + 465.70372491305284, + 97.70249008200472 + ], + [ + 565.6790089472148, + -183.29266109153662 + ], + [ + 557.2219734673922, + -184.1329629572208 + ], + [ + 428.5055913809612, + -107.35111366807257 + ], + [ + 438.4900567984783, + -106.08708702694946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.2302573514313, + "ymin": 110.55464130923417, + "xmax": 803.4479775932763, + "ymax": 129.2075521375346 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 797.7239341933283, + 129.2075521375346 + ], + [ + 803.2422664694639, + 117.78923424985263 + ], + [ + 770.2808640216806, + 112.16692079912346 + ], + [ + 764.2302573514313, + 123.38420617239302 + ], + [ + 797.9262338517365, + 127.57386442652157 + ], + [ + 803.4479775932763, + 116.16976546454484 + ], + [ + 770.4435977932887, + 110.55464130923417 + ], + [ + 764.3881743597092, + 121.75770619065659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.2261854749346, + "ymin": 110.59631865905402, + "xmax": 803.4426599130788, + "ymax": 129.24967614052682 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 797.7187179752234, + 129.24967614052682 + ], + [ + 803.2369621659977, + 117.83099258421973 + ], + [ + 770.276667850503, + 112.20849422705288 + ], + [ + 764.2261854749346, + 123.4261453347396 + ], + [ + 797.9210042444349, + 127.61609655508411 + ], + [ + 803.4426599130788, + 116.21162910774706 + ], + [ + 770.439391132862, + 110.59631865905402 + ], + [ + 764.3840921247589, + 121.79975204211055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 302.029496742894, + "ymin": 0.0, + "xmax": 672.6755666654991, + "ymax": 285.7978926117114 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 362.7147056672308, + 209.24117175232416 + ], + [ + 356.31602340399706, + 215.38193011669614 + ], + [ + 662.763108150847, + 285.7978926117114 + ], + [ + 666.9792562454679, + 278.4370519627587 + ], + [ + 310.1770733439439, + -16.926880544226208 + ], + [ + 302.029496742894, + -11.868596833905997 + ], + [ + 667.622756109542, + 47.305786349087725 + ], + [ + 672.6755666654991, + 41.017400258889666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.5590683185402, + "ymin": 0.0, + "xmax": 1195.6910830699858, + "ymax": 72.3367968359035 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1123.709184601968, + 72.3367968359035 + ], + [ + 1123.7273259839233, + 68.33666569544829 + ], + [ + 864.2145665340306, + 29.77152323024262 + ], + [ + 862.5590683185402, + 33.26593158735682 + ], + [ + 1195.6910830699858, + -125.67045504176832 + ], + [ + 1195.1574563197992, + -128.7361014337751 + ], + [ + 894.8717488116965, + -157.9810963991372 + ], + [ + 893.2084901470388, + -155.35417136309866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.2051345299546, + "ymin": 0.0, + "xmax": 1206.3133310599446, + "ymax": 393.1809401778828 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1078.2051345299546, + 389.6419287297923 + ], + [ + 1093.4654171997774, + 393.1809401778828 + ], + [ + 1100.8629633088535, + 187.3515138383106 + ], + [ + 1088.9961174983375, + 185.2212836909835 + ], + [ + 1186.7302490218065, + 138.69518673275996 + ], + [ + 1206.3133310599446, + 141.90052155658555 + ], + [ + 1185.0986700718554, + -34.827970410359626 + ], + [ + 1170.772170444891, + -36.55929532791066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1099.523496185826, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 69.7031895698841 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1099.523496185826, + 0.9273318577374994 + ], + [ + 1121.477352992666, + 56.9927250634957 + ], + [ + 1278.6752450268339, + 69.7031895698841 + ], + [ + 1240.8105749789172, + 11.27992544663175 + ], + [ + 1186.6144729545126, + -264.7847322624365 + ], + [ + 1224.5695784815848, + -231.19251934730755 + ], + [ + 1419.0775847551504, + -223.38285468747085 + ], + [ + 1357.3619449792516, + -258.6846832143102 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00091/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00091/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a23c628ca79303fa2083556820602a108e1c3e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00091/meta.json @@ -0,0 +1,3107 @@ +{ + "frame_id": 91, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 45.5, + "sim_timestamp": 3219.067199904239 + }, + "drone_pose": { + "x": -133.82136448262028, + "y": -33.793770277310855, + "z": 20.0, + "pitch": -42.39771777742796, + "yaw": 69.95310403400485, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25314366817474365, + -0.6937393546104431, + 0.6742730140686035, + 43.83464813232422 + ], + [ + 0.9394124150276184, + 0.3427891135215759, + -2.9802322387695312e-08, + -114.12931060791016 + ], + [ + -0.23113347589969635, + 0.6334203481674194, + 0.7384821772575378, + -67.10590362548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.74786614496566, + "y": -33.23507497186022, + "z": 20.107827414836887 + }, + "t1_image_uv": [ + 992.5469140591746, + -936.8486696307798 + ], + "t1_depth": 0.33348942464771636 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -14.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.261346557236077, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 596, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -14.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.36949217319488525, + "y": 0.5402172803878784, + "z": 0.9066275358200073 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.8871574367694, + "ymin": 324.79363382518875, + "xmax": 661.9224009599518, + "ymax": 394.6668086115108 + }, + "corners_3d": [ + [ + -126.12696838378906, + -14.557255744934082, + 0.03751033544540405 + ], + [ + -127.2073974609375, + -14.557254791259766, + 0.03751033544540405 + ], + [ + -127.2073974609375, + -13.818270683288574, + 0.03751033544540405 + ], + [ + -126.12696838378906, + -13.81827163696289, + 0.03751033544540405 + ], + [ + -126.12696838378906, + -14.557255744934082, + 1.8507654666900635 + ], + [ + -127.2073974609375, + -14.557254791259766, + 1.8507654666900635 + ], + [ + -127.2073974609375, + -13.818270683288574, + 1.8507654666900635 + ], + [ + -126.12696838378906, + -13.81827163696289, + 1.8507654666900635 + ] + ], + "corners_2d": [ + [ + 618.8274323457501, + 385.9993798899487 + ], + [ + 652.8370388131185, + 394.6668086115108 + ], + [ + 660.9979135438751, + 378.5543440272732 + ], + [ + 627.5078024700999, + 370.18932599919987 + ], + [ + 617.8871574367694, + 340.4604706047104 + ], + [ + 653.4128528857705, + 349.059733748664 + ], + [ + 661.9224009599518, + 333.0798408329957 + ], + [ + 626.9631653217795, + 324.79363382518875 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 91, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 564195, + "2": 162128, + "3": 41448, + "4": 41518, + "6": 18850, + "7": 2412, + "9": 8216, + "10": 11, + "12": 3079, + "14": 22546, + "24": 26800, + "25": 30397 + }, + "instance_pixel_counts": { + "3662": 4461, + "11605": 21349, + "15701": 954, + "16482": 947, + "16994": 1456, + "17496": 10503, + "17503": 5323, + "17506": 741, + "18059": 895, + "19083": 2632, + "19554": 828, + "19595": 2830, + "20066": 1244, + "20565": 18933, + "21395": 2505, + "21397": 68, + "21643": 477, + "21907": 138317, + "21909": 12530, + "22155": 3562, + "22421": 5708, + "22931": 262548, + "22933": 487, + "23443": 25378, + "23445": 147, + "23955": 4446, + "23957": 565, + "24467": 16737, + "25600": 5886, + "25856": 4486, + "26112": 387, + "36096": 596, + "36352": 606, + "36608": 569, + "36864": 634, + "37376": 674, + "37888": 3003, + "40448": 3326, + "40704": 2255, + "41216": 7222, + "41728": 6740, + "45409": 222, + "45971": 5785, + "46483": 78449, + "46995": 8572, + "47201": 17734, + "47713": 3537, + "48225": 1774, + "48468": 212, + "48531": 8475, + "48737": 44158, + "49043": 12983, + "49249": 8078, + "49761": 9546, + "51526": 37057, + "52321": 2983, + "52833": 3433, + "53345": 498, + "53857": 1405, + "54366": 25074, + "56458": 580, + "56970": 5354, + "57482": 40017, + "57994": 3375, + "58506": 3822, + "60307": 188, + "60819": 5501, + "61254": 8216, + "61331": 413, + "62355": 464, + "62867": 729 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 596, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -14.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.38798826932907104, + "y": 0.5783129930496216, + "z": 0.9032084941864014 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.4172118856488, + "ymin": 324.2091531082241, + "xmax": 663.3743168529392, + "ymax": 395.3042000422944 + }, + "corners_3d": [ + [ + -126.0888671875, + -14.575751304626465, + 0.04092937707901001 + ], + [ + -127.24549865722656, + -14.575751304626465, + 0.04092937707901001 + ], + [ + -127.24549865722656, + -13.799775123596191, + 0.04092937707901001 + ], + [ + -126.0888671875, + -13.799775123596191, + 0.04092937707901001 + ], + [ + -126.0888671875, + -14.575751304626465, + 1.847346305847168 + ], + [ + -127.24549865722656, + -14.575751304626465, + 1.847346305847168 + ], + [ + -127.24549865722656, + -13.799775123596191, + 1.847346305847168 + ], + [ + -126.0888671875, + -13.799775123596191, + 1.847346305847168 + ] + ], + "corners_2d": [ + [ + 617.4164004458198, + 386.01717303301496 + ], + [ + 653.841873554299, + 395.3042000422944 + ], + [ + 662.3923480241841, + 378.37385680518986 + ], + [ + 626.5509516641848, + 369.42680697074263 + ], + [ + 616.4172118856488, + 340.64933756445055 + ], + [ + 654.4608767543223, + 349.86397491608415 + ], + [ + 663.3743168529392, + 333.0718904880894 + ], + [ + 625.9673245963753, + 324.2091531082241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 606, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -11.190058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45326173305511475, + "y": 0.43900272250175476, + "z": 0.8802849650382996 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 534.6862631639632, + "ymin": 241.52470107890355, + "xmax": 570.0703612732103, + "ymax": 303.5481157939686 + }, + "corners_3d": [ + [ + -122.2060317993164, + -11.724689483642578, + 0.06385290622711182 + ], + [ + -123.06484985351562, + -11.54214096069336, + 0.06385290622711182 + ], + [ + -122.8763656616211, + -10.655427932739258, + 0.06385290622711182 + ], + [ + -122.01754760742188, + -10.837976455688477, + 0.06385290622711182 + ], + [ + -122.2060317993164, + -11.724689483642578, + 1.824422836303711 + ], + [ + -123.06484985351562, + -11.54214096069336, + 1.824422836303711 + ], + [ + -122.8763656616211, + -10.655427932739258, + 1.824422836303711 + ], + [ + -122.01754760742188, + -10.837976455688477, + 1.824422836303711 + ] + ], + "corners_2d": [ + [ + 538.6309406008203, + 301.19954827082495 + ], + [ + 564.7489171249186, + 303.5481157939686 + ], + [ + 570.0703612732103, + 286.70021347259495 + ], + [ + 544.4725264692781, + 284.44702127863695 + ], + [ + 534.6862631639632, + 257.9964772237222 + ], + [ + 561.8118565398288, + 260.30778502965336 + ], + [ + 567.3992120184927, + 243.73860508722413 + ], + [ + 540.8342252502948, + 241.52470107890355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 569, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -7.245050430297852, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4734179675579071, + "y": 0.5576193332672119, + "z": 0.9417514801025391 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 752.1328278290301, + "ymin": 212.25546013058118, + "xmax": 794.1123054647858, + "ymax": 278.3956525078321 + }, + "corners_3d": [ + [ + -128.4179229736328, + -7.774162292480469, + 0.0023911595344543457 + ], + [ + -129.5270538330078, + -7.657588005065918, + 0.0023911595344543457 + ], + [ + -129.42808532714844, + -6.715938568115234, + 0.0023911595344543457 + ], + [ + -128.31895446777344, + -6.832512855529785, + 0.0023911595344543457 + ], + [ + -128.4179229736328, + -7.774162292480469, + 1.8858940601348877 + ], + [ + -129.5270538330078, + -7.657588005065918, + 1.8858940601348877 + ], + [ + -129.42808532714844, + -6.715938568115234, + 1.8858940601348877 + ], + [ + -128.31895446777344, + -6.832512855529785, + 1.8858940601348877 + ] + ], + "corners_2d": [ + [ + 752.1328278290301, + 273.5661265581636 + ], + [ + 784.5776585958738, + 278.3956525078321 + ], + [ + 788.2490222284928, + 262.24247299201966 + ], + [ + 756.4377028119992, + 257.6066559114315 + ], + [ + 756.6347809938009, + 227.88318890621076 + ], + [ + 790.4191340585257, + 232.61732282197997 + ], + [ + 794.1123054647858, + 216.7923041733771 + ], + [ + 761.014350393837, + 212.25546013058118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 634, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -14.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3835498094558716, + "y": 0.41767454147338867, + "z": 0.8861063718795776 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 738.0650538447113, + "ymin": 354.1096176080951, + "xmax": 778.6149946528153, + "ymax": 423.3922878997633 + }, + "corners_3d": [ + [ + -129.82925415039062, + -14.57131290435791, + 0.05803149938583374 + ], + [ + -130.66461181640625, + -14.57131290435791, + 0.05803149938583374 + ], + [ + -130.66461181640625, + -13.804213523864746, + 0.05803149938583374 + ], + [ + -129.82925415039062, + -13.804213523864746, + 0.05803149938583374 + ], + [ + -129.82925415039062, + -14.57131290435791, + 1.8302443027496338 + ], + [ + -130.66461181640625, + -14.57131290435791, + 1.8302443027496338 + ], + [ + -130.66461181640625, + -13.804213523864746, + 1.8302443027496338 + ], + [ + -129.82925415039062, + -13.804213523864746, + 1.8302443027496338 + ] + ], + "corners_2d": [ + [ + 738.0650538447113, + 416.24061795332216 + ], + [ + 766.1314049845789, + 423.3922878997633 + ], + [ + 772.7231010822948, + 405.5999466072801 + ], + [ + 745.134855242072, + 398.7154786595831 + ], + [ + 742.4708855042637, + 371.529633150637 + ], + [ + 771.8436072383543, + 378.64685636899424 + ], + [ + 778.6149946528153, + 360.9492839476826 + ], + [ + 749.7656618939583, + 354.1096176080951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 674, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -22.35797882080078, + "z": 1.0957247018814087 + }, + "extent": { + "x": 0.32182615995407104, + "y": 0.3889221251010895, + "z": 0.8721354603767395 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 101.12946025265455, + "ymin": 417.2447404640955, + "xmax": 164.5538165321869, + "ymax": 488.81066733334364 + }, + "corners_3d": [ + [ + -114.9745101928711, + -22.59191131591797, + 0.2235892415046692 + ], + [ + -115.73535919189453, + -22.753633499145508, + 0.2235892415046692 + ], + [ + -115.86917877197266, + -22.124046325683594, + 0.2235892415046692 + ], + [ + -115.10832977294922, + -21.962324142456055, + 0.2235892415046692 + ], + [ + -114.9745101928711, + -22.59191131591797, + 1.967860221862793 + ], + [ + -115.73535919189453, + -22.753633499145508, + 1.967860221862793 + ], + [ + -115.86917877197266, + -22.124046325683594, + 1.967860221862793 + ], + [ + -115.10832977294922, + -21.962324142456055, + 1.967860221862793 + ] + ], + "corners_2d": [ + [ + 125.62139264649318, + 476.96899018435823 + ], + [ + 144.24175857659316, + 488.81066733334364 + ], + [ + 164.5538165321869, + 473.2169514516081 + ], + [ + 145.9833359113851, + 461.7376775773832 + ], + [ + 101.12946025265455, + 432.47556093324704 + ], + [ + 120.341507761054, + 444.33222832130696 + ], + [ + 142.0051858040045, + 428.7215796581196 + ], + [ + 122.83844600517, + 417.2447404640955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3003, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 420.60041444905517, + "ymin": 21.96778289684306, + "xmax": 521.8889667501293, + "ymax": 85.55956075016127 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 504.3695678554823, + 85.55956075016127 + ], + [ + 521.8889667501293, + 68.16481191085165 + ], + [ + 445.3596455262447, + 55.27535349643273 + ], + [ + 426.01272648309765, + 71.90075213228613 + ], + [ + 500.85741987258837, + 51.22647002292433 + ], + [ + 518.9210651619629, + 34.411453634869986 + ], + [ + 440.5791778117331, + 21.96778289684306 + ], + [ + 420.60041444905517, + 38.020762114489 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3326, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 82.95432203893188, + "ymin": 5.262542263250168, + "xmax": 208.28696036864625, + "ymax": 68.08057849258955 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 123.75386755543013, + 36.19494660133296 + ], + [ + 95.55818069313989, + 51.98447341390147 + ], + [ + 181.77618153178025, + 68.08057849258955 + ], + [ + 208.28696036864625, + 51.39742970312625 + ], + [ + 112.14212855242693, + 5.262542263250168 + ], + [ + 82.95432203893188, + 20.513505163075422 + ], + [ + 170.86078315694334, + 36.08078869538815 + ], + [ + 198.30333784985413, + 19.94613388216709 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 2255, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 52.10702137999101, + "ymin": 32.49615450847563, + "xmax": 169.3150015175421, + "ymax": 104.28331700469707 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 100.66692224141173, + 72.02619463873623 + ], + [ + 69.48068913974669, + 90.19746933939018 + ], + [ + 139.5734134474631, + 104.28331700469707 + ], + [ + 169.3150015175421, + 85.27173532214783 + ], + [ + 84.74935869342482, + 32.49615450847563 + ], + [ + 52.10702137999101, + 49.96315912650414 + ], + [ + 123.96940965562953, + 63.5250138919323 + ], + [ + 155.10140629909944, + 45.22518642885632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7222, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1092.2285123631996, + "ymin": 226.56356319873277, + "xmax": 1280.0, + "ymax": 330.4915884869205 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1092.9245240140665, + 264.35641858273146 + ], + [ + 1092.2285123631996, + 294.8268468462808 + ], + [ + 1269.8975459510773, + 330.4915884869205 + ], + [ + 1263.6687992640736, + 297.3382478820661 + ], + [ + 1107.8472688215054, + 226.56356319873277 + ], + [ + 1107.729648941489, + 256.55319664861264 + ], + [ + 1292.471775598372, + 291.75340492463243 + ], + [ + 1285.114878187887, + 259.0284146034319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 163, + "instance_id": 41728, + "pixel_count": 6740, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -128.51173400878906, + "y": -25.941974639892578, + "z": 0.6944390535354614 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 413.57240775348225, + "ymin": 610.7952129381983, + "xmax": 622.0806185964174, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.47676086425781, + -28.61366844177246, + -0.010890280827879906 + ], + [ + -129.50991821289062, + -28.627634048461914, + -0.010890280827879906 + ], + [ + -129.5467071533203, + -23.270280838012695, + -0.010890280827879906 + ], + [ + -127.51355743408203, + -23.256315231323242, + -0.010890280827879906 + ], + [ + -127.47676086425781, + -28.61366844177246, + 1.3997684717178345 + ], + [ + -129.50991821289062, + -28.627634048461914, + 1.3997684717178345 + ], + [ + -129.5467071533203, + -23.270280838012695, + 1.3997684717178345 + ], + [ + -127.51355743408203, + -23.256315231323242, + 1.3997684717178345 + ] + ], + "corners_2d": [ + [ + 425.0941663033609, + 875.1173850503478 + ], + [ + 519.5609419512272, + 915.2831011371801 + ], + [ + 622.0806185964174, + 672.6298242160451 + ], + [ + 540.8489676085613, + 644.7922497468339 + ], + [ + 413.57240775348225, + 846.3646564421906 + ], + [ + 512.907175159409, + 887.8736572877704 + ], + [ + 621.2660457769679, + 639.0462445155158 + ], + [ + 536.4519848780446, + 610.7952129381983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.9526900405488, + "ymin": 119.9321998835758, + "xmax": 1160.2750104048755, + "ymax": 154.60754301785698 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1149.0357908082515, + 148.34845496361703 + ], + [ + 1138.9526900405488, + 146.70191806308128 + ], + [ + 1139.1836860299895, + 152.92989871435043 + ], + [ + 1149.362286748967, + 154.60754301785698 + ], + [ + 1159.837653520336, + 121.54580807239313 + ], + [ + 1149.5138115557068, + 119.9321998835758 + ], + [ + 1149.8510357009409, + 126.03652116712317 + ], + [ + 1160.2750104048755, + 127.6812700594931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 616.23360506553, + "ymin": 101.17631692181152, + "xmax": 629.7552256128803, + "ymax": 135.00358197664644 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 625.3266044439623, + 135.00358197664644 + ], + [ + 629.7552256128803, + 129.1032979132027 + ], + [ + 621.2121248062335, + 127.55058209559843 + ], + [ + 616.7163675574285, + 133.4223914713837 + ], + [ + 625.0216109491984, + 108.47269688947395 + ], + [ + 629.5442512294845, + 102.69611735635112 + ], + [ + 620.8261688283898, + 101.17631692181152 + ], + [ + 616.23360506553, + 106.92444411062613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.2567786796315, + "ymin": 0.0, + "xmax": 1150.4078477725116, + "ymax": 23.44642739230676 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1136.2567786796315, + 19.16255942051947 + ], + [ + 1136.394719631639, + 22.536191464480737 + ], + [ + 1143.2484701424632, + 23.44642739230676 + ], + [ + 1143.067333034878, + 20.061428468208703 + ], + [ + 1143.2598905047912, + -0.48477383808017294 + ], + [ + 1143.4445203354219, + 2.8112803224693153 + ], + [ + 1150.4078477725116, + 3.7006854175477315 + ], + [ + 1150.1786350966304, + 0.39336813827225114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.2692912304992, + "ymin": 75.51972091947914, + "xmax": 1157.0343297792958, + "ymax": 108.17014487462535 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1146.6568893021713, + 102.74374096231651 + ], + [ + 1137.2692912304992, + 101.31509016729814 + ], + [ + 1137.4696251065286, + 106.71637659970085 + ], + [ + 1146.9399495235166, + 108.17014487462535 + ], + [ + 1156.6562686370928, + 76.9157434558532 + ], + [ + 1147.0603102472548, + 75.51972091947914 + ], + [ + 1147.3519185047414, + 80.79831830875241 + ], + [ + 1157.0343297792958, + 82.2193749951852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 336.17760162556004, + "ymin": 128.07623101501042, + "xmax": 354.33554664226494, + "ymax": 156.95757235420444 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 348.3556437024215, + 156.95757235420444 + ], + [ + 354.33554664226494, + 151.69986448816488 + ], + [ + 347.5027724935693, + 150.30650713235127 + ], + [ + 341.4817883940547, + 155.54222578587064 + ], + [ + 343.1624868223652, + 134.62005415891886 + ], + [ + 349.2892822870037, + 129.4469312731166 + ], + [ + 342.34677093268965, + 128.07623101501042 + ], + [ + 336.17760162556004, + 133.22733594549834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.0324759683808, + "ymin": 42.98382495625265, + "xmax": 1154.6632468874654, + "ymax": 74.11353451064548 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1144.9097930796715, + 69.26036472542899 + ], + [ + 1136.0324759683808, + 67.98186824911113 + ], + [ + 1136.2116880633605, + 72.81378951148065 + ], + [ + 1145.1629473751136, + 74.11353451064548 + ], + [ + 1154.325854215803, + 44.23046650366649 + ], + [ + 1145.2624190070549, + 42.98382495625265 + ], + [ + 1145.5227257268243, + 47.695887459900234 + ], + [ + 1154.6632468874654, + 48.963638952032284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 538.8899873894111, + "ymin": 87.79750170814935, + "xmax": 554.1542797358185, + "ymax": 121.01349334096221 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 549.1446895498367, + 121.01349334096221 + ], + [ + 554.1542797358185, + 115.36277820180891 + ], + [ + 545.9705231910648, + 113.8753734701632 + ], + [ + 540.8998206298528, + 119.49939924976573 + ], + [ + 547.2975934323043, + 94.77945583539679 + ], + [ + 552.4248092500353, + 89.25210331899666 + ], + [ + 544.0807292764036, + 87.79750170814935 + ], + [ + 538.8899873894111, + 93.29822107764284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 450.4263088161014, + "ymin": 72.4885340132339, + "xmax": 467.5750142607212, + "ymax": 104.99852592997178 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 461.9364760122395, + 104.99852592997178 + ], + [ + 467.5750142607212, + 99.6269387789664 + ], + [ + 459.7933217904378, + 98.21260949922453 + ], + [ + 454.1001560203425, + 103.5594580416514 + ], + [ + 458.4091657253949, + 79.11929115107068 + ], + [ + 464.189498551316, + 73.8702882372952 + ], + [ + 456.26329569309553, + 72.4885340132339 + ], + [ + 450.4263088161014, + 77.71288778547682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.8364977270862, + "ymin": 297.4941265832577, + "xmax": 1123.1716412977444, + "ymax": 332.2885851969336 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1112.5354105126407, + 323.9537105965802 + ], + [ + 1101.958504218107, + 321.75062267413665 + ], + [ + 1101.8364977270862, + 330.0416440578937 + ], + [ + 1112.5179687869822, + 332.2885851969336 + ], + [ + 1123.0825249036488, + 299.6812165748804 + ], + [ + 1112.2419102201684, + 297.4941265832577 + ], + [ + 1112.2211553777022, + 305.72627285552704 + ], + [ + 1123.1716412977444, + 307.95788279260296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.7327907200371, + "ymin": 106.09577961251327, + "xmax": 1209.956731164394, + "ymax": 583.8578020429603 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1030.34455378298, + 583.8578020429603 + ], + [ + 1032.1274114588496, + 560.5050734763387 + ], + [ + 728.4448375071981, + 477.7986377492114 + ], + [ + 720.7327907200371, + 497.66943782186524 + ], + [ + 1209.956731164394, + 203.0661831987264 + ], + [ + 1207.0228791769264, + 180.98338179785483 + ], + [ + 763.6574640906382, + 106.09577961251327 + ], + [ + 753.7802829898569, + 123.63174331727649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 422.625420107576, + "ymin": 0.0, + "xmax": 571.3670562532653, + "ymax": 103.3925950736949 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 571.3670562532653, + 0.6131148812808078 + ], + [ + 563.7984527389458, + -0.5387915549165427 + ], + [ + 452.06609555600255, + 101.73804708141813 + ], + [ + 460.83990782603803, + 103.3925950736949 + ], + [ + 562.5986300073947, + -179.628910698264 + ], + [ + 554.0875232481102, + -180.4749713080597 + ], + [ + 422.625420107576, + -103.42913657720783 + ], + [ + 432.6867783444414, + -102.14991872418085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.9636190325369, + "ymin": 118.95280825182277, + "xmax": 798.2386379904975, + "ymax": 138.19844441354925 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 792.243292061524, + 138.19844441354925 + ], + [ + 798.0353859434038, + 126.42529396561949 + ], + [ + 764.3140372152669, + 120.5978888266284 + ], + [ + 757.9636190325369, + 132.15667704242804 + ], + [ + 792.4426848328455, + 136.5309106737553 + ], + [ + 798.2386379904975, + 124.77264226422585 + ], + [ + 764.4724687162312, + 118.95280825182277 + ], + [ + 758.1166882470766, + 130.496711315241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.9596722628645, + "ymin": 118.99533455684309, + "xmax": 798.2333837453051, + "ymax": 138.24143993045317 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 792.2381509389995, + 138.24143993045317 + ], + [ + 798.0301451871109, + 126.46790679499998 + ], + [ + 764.309952086356, + 120.64030694534839 + ], + [ + 757.9596722628645, + 132.19947795709277 + ], + [ + 792.4375302350923, + 136.57401888480865 + ], + [ + 798.2333837453051, + 124.81536477246584 + ], + [ + 764.468373168306, + 118.99533455684309 + ], + [ + 758.1127312282991, + 130.5396233767688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 292.24954357344046, + "ymin": 0.0, + "xmax": 667.4028046068464, + "ymax": 294.7311227555994 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 355.12972164141627, + 216.40108600398537 + ], + [ + 348.5578853893636, + 222.63748904646928 + ], + [ + 658.2363582616281, + 294.7311227555994 + ], + [ + 662.5779871421523, + 287.22505429111686 + ], + [ + 300.6442778154866, + -12.162739987018881 + ], + [ + 292.24954357344046, + -7.0419919029794755 + ], + [ + 662.1776473667566, + 53.3898002280323 + ], + [ + 667.4028046068464, + 46.98986656152704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.0636021237354, + "ymin": 0.0, + "xmax": 1198.662714754159, + "ymax": 78.33485014646817 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1125.862909685203, + 78.33485014646817 + ], + [ + 1125.8739270627073, + 74.2890810418869 + ], + [ + 863.749040819842, + 35.1059037558303 + ], + [ + 862.0636021237354, + 38.631235299991886 + ], + [ + 1198.662714754159, + -121.40917218239332 + ], + [ + 1198.1066397603963, + -124.49595752577346 + ], + [ + 894.5035346833865, + -154.06938633412835 + ], + [ + 892.8084991561491, + -151.4323100458805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1080.107704357871, + "ymin": 0.0, + "xmax": 1210.9297823184152, + "ymax": 405.19474477878555 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1080.107704357871, + 401.54183240899937 + ], + [ + 1095.651876545896, + 405.19474477878555 + ], + [ + 1102.9136182057664, + 194.9509529768176 + ], + [ + 1090.8819517948937, + 192.77246310432022 + ], + [ + 1190.9006411303983, + 147.3150299109164 + ], + [ + 1210.9297823184152, + 150.6246557319222 + ], + [ + 1188.3827386436374, + -29.649028747866566 + ], + [ + 1173.827841408768, + -31.414064608719286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.3204057885728, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 75.82264354406897 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1101.3204057885728, + 6.206135964560531 + ], + [ + 1123.5849952690737, + 62.82935300558279 + ], + [ + 1282.6041710034997, + 75.82264354406897 + ], + [ + 1244.0346413689388, + 16.760627748648176 + ], + [ + 1189.2125295754408, + -261.5190194863279 + ], + [ + 1227.8508606306425, + -227.94019126993885 + ], + [ + 1424.951819419102, + -220.03428182860864 + ], + [ + 1361.8940983926332, + -255.36547100264147 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00093/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00093/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0753bbadf1e65a2a454849695b9cf4bc9cc0ab8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00093/meta.json @@ -0,0 +1,4064 @@ +{ + "frame_id": 93, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 46.5, + "sim_timestamp": 3247.05842099688 + }, + "drone_pose": { + "x": -133.86937764562964, + "y": -32.78854767146709, + "z": 20.0, + "pitch": -37.381858843963336, + "yaw": 68.80577718077686, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.28727471828460693, + -0.7408599257469177, + 0.6071242690086365, + 50.60652542114258 + ], + [ + 0.9323602318763733, + 0.3615306615829468, + 0.0, + -112.9604263305664 + ], + [ + -0.21949402987957, + 0.5660585165023804, + 0.7946069240570068, + -63.83590316772461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.81417841958935, + "y": -32.30233699050716, + "z": 20.12719568411635 + }, + "t1_image_uv": [ + 1039.3400684248422, + -887.7048329493225 + ], + "t1_depth": 0.29884774126424446 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -13.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 652.6561191459795, + 444.0652456229259 + ], + "depth": 28.15971966341648, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 622, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -13.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4085107445716858, + "y": 0.3104046583175659, + "z": 0.8797652721405029 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 637.6937536886602, + "ymin": 410.281294744282, + "xmax": 667.8746586058713, + "ymax": 477.5094537859722 + }, + "corners_3d": [ + [ + -126.35678100585938, + -13.596274375915527, + 0.06437259912490845 + ], + [ + -126.97758483886719, + -13.596273422241211, + 0.06437259912490845 + ], + [ + -126.97758483886719, + -12.779252052307129, + 0.06437259912490845 + ], + [ + -126.35678100585938, + -12.779253005981445, + 0.06437259912490845 + ], + [ + -126.35678100585938, + -13.596274375915527, + 1.8239030838012695 + ], + [ + -126.97758483886719, + -13.596273422241211, + 1.8239030838012695 + ], + [ + -126.97758483886719, + -12.779252052307129, + 1.8239030838012695 + ], + [ + -126.35678100585938, + -12.779253005981445, + 1.8239030838012695 + ] + ], + "corners_2d": [ + [ + 637.7802573511065, + 472.18057681842436 + ], + [ + 657.3995153448938, + 477.5094537859722 + ], + [ + 666.8445665400044, + 459.69006277979946 + ], + [ + 647.5756897069732, + 454.58134511082676 + ], + [ + 637.6937536886602, + 427.58816287060984 + ], + [ + 658.0820170309164, + 432.83405311732713 + ], + [ + 667.8746586058713, + 415.3022549161339 + ], + [ + 647.8645371677657, + 410.281294744282 + ] + ], + "center_offset_px": [ + 12.65611914597946, + 84.06524562292589 + ] + }, + "trace_timestep_index": 93, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 90, + "semantic_pixel_counts": { + "1": 530534, + "2": 184595, + "3": 51064, + "4": 36382, + "6": 24338, + "7": 3462, + "9": 22681, + "10": 44, + "12": 3220, + "14": 15605, + "20": 1948, + "22": 888, + "24": 26525, + "25": 20314 + }, + "instance_pixel_counts": { + "3662": 60, + "6488": 28, + "6744": 13, + "11605": 21165, + "15701": 1424, + "15967": 8617, + "15970": 2066, + "16479": 8953, + "16482": 1014, + "16994": 1440, + "17496": 11513, + "17503": 7954, + "17506": 1311, + "17547": 8851, + "18018": 1073, + "18059": 1954, + "18530": 204, + "19042": 580, + "19083": 2661, + "19554": 1499, + "19595": 4916, + "20066": 1097, + "20107": 5338, + "20565": 24976, + "20619": 732, + "21131": 2353, + "21395": 2790, + "21397": 93, + "21643": 5691, + "21907": 144571, + "21909": 13013, + "22155": 3237, + "22421": 4299, + "22931": 207613, + "23443": 34, + "23445": 96, + "23955": 2844, + "23957": 544, + "24467": 16243, + "25344": 1670, + "25600": 5704, + "25856": 5479, + "26112": 3101, + "26754": 494, + "29523": 323, + "29779": 1679, + "36096": 622, + "36352": 594, + "36608": 566, + "36864": 680, + "37376": 758, + "37888": 2869, + "40448": 3146, + "40704": 2609, + "41216": 6981, + "42071": 154, + "42150": 179, + "45409": 259, + "45442": 888, + "45971": 13618, + "46483": 79817, + "46995": 31822, + "47201": 19952, + "47507": 11151, + "47713": 3938, + "48225": 1841, + "48468": 1497, + "48531": 6962, + "48737": 22847, + "49043": 13069, + "49249": 4748, + "49761": 10489, + "51526": 36322, + "52321": 386, + "52833": 2303, + "53345": 322, + "53857": 1456, + "54366": 12360, + "56458": 730, + "56970": 5478, + "57482": 41191, + "57994": 728, + "58506": 4340, + "60307": 552, + "60819": 5628, + "61254": 24094, + "61331": 928, + "61843": 247, + "62355": 390, + "62867": 735 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 622, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -13.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39015135169029236, + "y": 0.31698179244995117, + "z": 0.8654467463493347 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 637.7134933066293, + "ymin": 410.9832613498803, + "xmax": 667.8640126502567, + "ymax": 476.80752289511275 + }, + "corners_3d": [ + [ + -126.35020446777344, + -13.577914237976074, + 0.07869112491607666 + ], + [ + -126.98416137695312, + -13.577914237976074, + 0.07869112491607666 + ], + [ + -126.98416137695312, + -12.797612190246582, + 0.07869112491607666 + ], + [ + -126.35020446777344, + -12.797612190246582, + 0.07869112491607666 + ], + [ + -126.35020446777344, + -13.577914237976074, + 1.809584617614746 + ], + [ + -126.98416137695312, + -13.577914237976074, + 1.809584617614746 + ], + [ + -126.98416137695312, + -12.797612190246582, + 1.809584617614746 + ], + [ + -126.35020446777344, + -12.797612190246582, + 1.809584617614746 + ] + ], + "corners_2d": [ + [ + 637.7978406049818, + 471.37150670593337 + ], + [ + 657.8307392373584, + 476.80752289511275 + ], + [ + 666.8502245519315, + 459.7887862666513 + ], + [ + 647.1592558221437, + 454.5675274610693 + ], + [ + 637.7134933066293, + 427.51252901732903 + ], + [ + 658.5182574296032, + 432.8650697814801 + ], + [ + 667.8640126502567, + 416.1164675097707 + ], + [ + 647.4278116677987, + 410.9832613498803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 594, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -10.190058708190918, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.438408225774765, + "y": 0.5278690457344055, + "z": 0.8984982967376709 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 546.8513741274485, + "ymin": 324.4321698248001, + "xmax": 586.6247899507433, + "ymax": 386.99141655943026 + }, + "corners_3d": [ + [ + -122.11601257324219, + -10.728636741638184, + 0.04563957452774048 + ], + [ + -123.148681640625, + -10.509136199951172, + 0.04563957452774048 + ], + [ + -122.96638488769531, + -9.651480674743652, + 0.04563957452774048 + ], + [ + -121.9337158203125, + -9.870981216430664, + 0.04563957452774048 + ], + [ + -122.11601257324219, + -10.728636741638184, + 1.8426361083984375 + ], + [ + -123.148681640625, + -10.509136199951172, + 1.8426361083984375 + ], + [ + -122.96638488769531, + -9.651480674743652, + 1.8426361083984375 + ], + [ + -121.9337158203125, + -9.870981216430664, + 1.8426361083984375 + ] + ], + "corners_2d": [ + [ + 550.0436685093256, + 383.78936299337863 + ], + [ + 581.2239794617353, + 386.99141655943026 + ], + [ + 586.6247899507433, + 370.84234139348115 + ], + [ + 556.0816114983002, + 367.7745622566016 + ], + [ + 546.8513741274485, + 340.04566572703794 + ], + [ + 579.1290518433001, + 343.1702927341359 + ], + [ + 584.7641677893505, + 327.4212618922704 + ], + [ + 553.168750945766, + 324.4321698248001 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 566, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -6.245050430297852, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4597753882408142, + "y": 0.5035580396652222, + "z": 0.9383670091629028 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 767.4484400050014, + "ymin": 299.11019290604827, + "xmax": 805.9996506964605, + "ymax": 363.6969038034035 + }, + "corners_3d": [ + [ + -128.4702606201172, + -6.754943370819092, + 0.005775630474090576 + ], + [ + -129.47186279296875, + -6.6496710777282715, + 0.005775630474090576 + ], + [ + -129.37574768066406, + -5.735157489776611, + 0.005775630474090576 + ], + [ + -128.3741455078125, + -5.840429782867432, + 0.005775630474090576 + ], + [ + -128.4702606201172, + -6.754943370819092, + 1.882509708404541 + ], + [ + -129.47186279296875, + -6.6496710777282715, + 1.882509708404541 + ], + [ + -129.37574768066406, + -5.735157489776611, + 1.882509708404541 + ], + [ + -128.3741455078125, + -5.840429782867432, + 1.882509708404541 + ] + ], + "corners_2d": [ + [ + 767.4484400050014, + 359.00820184354995 + ], + [ + 796.7386678327061, + 363.6969038034035 + ], + [ + 800.3490147004652, + 348.1671787758396 + ], + [ + 771.6494931285031, + 343.67333915510585 + ], + [ + 772.0095560307044, + 314.00688363642564 + ], + [ + 802.3852191432879, + 318.5660694680091 + ], + [ + 805.9996506964605, + 303.473316455082 + ], + [ + 776.2588686971144, + 299.11019290604827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 680, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -13.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.39513182640075684, + "y": 0.5829901099205017, + "z": 0.902107834815979 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 745.3049607283147, + "ymin": 437.49791188043474, + "xmax": 797.9794515480738, + "ymax": 512.3678007396999 + }, + "corners_3d": [ + [ + -129.6639404296875, + -13.582895278930664, + 0.04203003644943237 + ], + [ + -130.82992553710938, + -13.582895278930664, + 0.04203003644943237 + ], + [ + -130.82992553710938, + -12.792631149291992, + 0.04203003644943237 + ], + [ + -129.6639404296875, + -12.792631149291992, + 0.04203003644943237 + ], + [ + -129.6639404296875, + -13.582895278930664, + 1.8462457656860352 + ], + [ + -130.82992553710938, + -13.582895278930664, + 1.8462457656860352 + ], + [ + -130.82992553710938, + -12.792631149291992, + 1.8462457656860352 + ], + [ + -129.6639404296875, + -12.792631149291992, + 1.8462457656860352 + ] + ], + "corners_2d": [ + [ + 745.3049607283147, + 501.5988084271874 + ], + [ + 784.943198607582, + 512.3678007396999 + ], + [ + 791.755664419377, + 493.7142144922626 + ], + [ + 752.8610605238338, + 483.39133004502673 + ], + [ + 749.6646079807766, + 455.4436479151501 + ], + [ + 791.0208185890675, + 466.0723881426916 + ], + [ + 797.9794515480738, + 447.66860544736403 + ], + [ + 757.4323771676161, + 437.49791188043474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 758, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -21.35797882080078, + "z": 1.0957199335098267 + }, + "extent": { + "x": 0.29500487446784973, + "y": 0.5410754084587097, + "z": 0.8823010325431824 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 109.2957375185805, + "ymin": 492.54489732645294, + "xmax": 175.58377367685682, + "ymax": 569.5311692286527 + }, + "corners_3d": [ + [ + -114.83126068115234, + -21.534040451049805, + 0.2134189009666443 + ], + [ + -115.88976287841797, + -21.759033203125, + 0.2134189009666443 + ], + [ + -116.0124282836914, + -21.181917190551758, + 0.2134189009666443 + ], + [ + -114.95392608642578, + -20.956924438476562, + 0.2134189009666443 + ], + [ + -114.83126068115234, + -21.534040451049805, + 1.9780209064483643 + ], + [ + -115.88976287841797, + -21.759033203125, + 1.9780209064483643 + ], + [ + -116.0124282836914, + -21.181917190551758, + 1.9780209064483643 + ], + [ + -114.95392608642578, + -20.956924438476562, + 1.9780209064483643 + ] + ], + "corners_2d": [ + [ + 131.31582801963555, + 552.3373153692246 + ], + [ + 156.16336592543553, + 569.5311692286527 + ], + [ + 175.58377367685682, + 555.1587091035776 + ], + [ + 150.75934489287806, + 538.4803231313424 + ], + [ + 109.2957375185805, + 506.2735560782458 + ], + [ + 134.81275433372463, + 523.332923920682 + ], + [ + 155.4160436530675, + 509.0710001789072 + ], + [ + 129.91141827958273, + 492.54489732645294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 2869, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 432.5907196066302, + "ymin": 120.23355914959501, + "xmax": 532.1155276308184, + "ymax": 182.5417212626924 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 514.025365448732, + 182.5417212626924 + ], + [ + 532.1155276308184, + 165.52369911291112 + ], + [ + 457.09201200745343, + 152.17957250001479 + ], + [ + 437.1553978982703, + 168.35280064547612 + ], + [ + 511.11456788045274, + 149.4094717233083 + ], + [ + 529.7007277305822, + 133.04727471709356 + ], + [ + 453.1015111517164, + 120.23355914959501 + ], + [ + 432.5907196066302, + 135.76574801503062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3146, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 103.70470906921128, + "ymin": 101.38491095867101, + "xmax": 224.53867118131245, + "ymax": 162.44660623337043 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 143.29606482142282, + 130.84827079005203 + ], + [ + 114.44681997345776, + 145.97622141407473 + ], + [ + 197.28889873448162, + 162.44660623337043 + ], + [ + 224.53867118131245, + 146.35900477364544 + ], + [ + 133.44514369340084, + 101.38491095867101 + ], + [ + 103.70470906921128, + 115.9202418305643 + ], + [ + 187.94709098208796, + 131.7651068413927 + ], + [ + 216.0404112116944, + 116.28825456550007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 2609, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 70.532577980979, + "ymin": 127.72705650760037, + "xmax": 183.68346444856138, + "ymax": 197.67181376518874 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 117.63339408106322, + 165.6003145205624 + ], + [ + 85.49143010375303, + 183.1480106080951 + ], + [ + 152.90890591170705, + 197.67181376518874 + ], + [ + 183.68346444856138, + 179.21165260985535 + ], + [ + 103.99745650340469, + 127.72705650760037 + ], + [ + 70.532577980979, + 144.48208905178652 + ], + [ + 139.4164123735032, + 158.3713935162681 + ], + [ + 171.46289913801934, + 140.72106513713277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 6981, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1108.1168741621755, + "ymin": 332.8228341043348, + "xmax": 1280.0, + "ymax": 442.6888164390456 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1108.1168741621755, + 370.62279770702156 + ], + [ + 1108.2471292639032, + 402.536292134808 + ], + [ + 1294.856507349462, + 442.6888164390456 + ], + [ + 1286.6657443718486, + 407.46237698494326 + ], + [ + 1122.3201039903786, + 332.8228341043348 + ], + [ + 1123.0829306469152, + 364.0749463334002 + ], + [ + 1316.7141515606002, + 403.5112235860736 + ], + [ + 1307.2887138692204, + 368.90619908128764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 466.02352454034803, + "ymin": 42.71747513519949, + "xmax": 478.73866822764467, + "ymax": 67.5282734521993 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 468.34209918849297, + 66.64319371427257 + ], + [ + 474.26232034246476, + 67.5282734521993 + ], + [ + 478.73866822764467, + 64.41545382801263 + ], + [ + 472.85123034670073, + 63.54281128036803 + ], + [ + 466.02352454034803, + 45.71000177157288 + ], + [ + 472.0191472337158, + 46.56439593074566 + ], + [ + 476.5716922911546, + 43.559702701303195 + ], + [ + 470.6096768974095, + 42.71747513519949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2663665510550050633, + "instance_id": 18839, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 972.5700562044688, + "ymin": 15.11056147556127, + "xmax": 984.1632089666502, + "ymax": 38.39126007744767 + }, + "corners_3d": [ + [ + -132.25570678710938, + 12.455914497375488, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.076000213623047, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.076001167297363, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.455915451049805, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.455914497375488, + 6.416468620300293 + ], + [ + -132.25570678710938, + 12.076000213623047, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.076001167297363, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 973.4646122314484, + 34.91304633225002 + ], + [ + 972.5700562044688, + 37.61921696960451 + ], + [ + 979.0457649593666, + 38.39126007744767 + ], + [ + 979.8992836574762, + 35.674949457200455 + ], + [ + 977.6399297202381, + 15.11056147556127 + ], + [ + 976.7621128501746, + 17.71797504682769 + ], + [ + 983.3275751792114, + 18.46192309419007 + ], + [ + 984.1632089666502, + 15.844616490892236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 526.589169481821, + "ymin": 3.7336705186447716, + "xmax": 537.1187838470688, + "ymax": 26.379201742966814 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 527.959824555213, + 25.651440466342308 + ], + [ + 533.436362622397, + 26.379201742966814 + ], + [ + 537.1187838470688, + 23.818472118638 + ], + [ + 531.6705942240836, + 23.099993579480383 + ], + [ + 526.589169481821, + 6.190215305416473 + ], + [ + 532.1302992544878, + 6.890977632035913 + ], + [ + 535.8660260497328, + 4.4253860973379915 + ], + [ + 530.3539096208829, + 3.7336705186447716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4021541042808224586, + "instance_id": 19195, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -135.394287109375, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1043.9808812965698, + "ymin": 23.206280071207573, + "xmax": 1056.3814457845517, + "ymax": 46.93734022200425 + }, + "corners_3d": [ + [ + -135.25570678710938, + 12.45591926574707, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.076004981994629, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.076005935668945, + 5.545533180236816 + ], + [ + -135.53286743164062, + 12.455920219421387, + 5.545533180236816 + ], + [ + -135.25570678710938, + 12.45591926574707, + 6.416468620300293 + ], + [ + -135.25570678710938, + 12.076004981994629, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.076005935668945, + 6.416468620300293 + ], + [ + -135.53286743164062, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1044.4141040773616, + 43.313927150987865 + ], + [ + 1043.9808812965698, + 46.132958250884656 + ], + [ + 1050.7278398475282, + 46.93734022200425 + ], + [ + 1051.1164754713695, + 44.10752761358191 + ], + [ + 1049.5832722358973, + 23.206280071207573 + ], + [ + 1049.1798851191434, + 25.923844584160634 + ], + [ + 1056.0239362392172, + 26.699360264574693 + ], + [ + 1056.3814457845517, + 23.971268615258168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1151.6198616578065, + "ymin": 228.18234289656664, + "xmax": 1172.8535115289433, + "ymax": 262.8480662843581 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1162.0371429257439, + 256.38768168037785 + ], + [ + 1151.6198616578065, + 254.5839232837876 + ], + [ + 1152.061166015154, + 261.0071716889691 + ], + [ + 1162.5865725647832, + 262.8480662843581 + ], + [ + 1172.1871388241516, + 229.94387572463796 + ], + [ + 1161.538275575639, + 228.18234289656664 + ], + [ + 1162.0916453147565, + 234.45611913576766 + ], + [ + 1172.8535115289433, + 236.25463397190993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 619.8877456827313, + "ymin": 203.8479305177319, + "xmax": 633.5549850754776, + "ymax": 237.26245767833564 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 628.8799581845216, + 237.26245767833564 + ], + [ + 633.5549850754776, + 231.30880447676213 + ], + [ + 625.0046316614335, + 229.64562377370171 + ], + [ + 620.258651494867, + 235.56641715361917 + ], + [ + 628.6704390658772, + 211.2763493215606 + ], + [ + 633.4347566567851, + 205.46967180840366 + ], + [ + 624.7256843810056, + 203.8479305177319 + ], + [ + 619.8877456827313, + 209.62196108067602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1144.9047289648381, + "ymin": 104.7147390942587, + "xmax": 1158.626904736181, + "ymax": 127.92648096244412 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1144.9047289648381, + 123.62844568242397 + ], + [ + 1145.1495220386628, + 126.96828892916531 + ], + [ + 1152.08214024784, + 127.92648096244412 + ], + [ + 1151.790528686437, + 124.57387928675936 + ], + [ + 1151.3017467683585, + 104.7147390942587 + ], + [ + 1151.5931880520602, + 107.96849540357735 + ], + [ + 1158.626904736181, + 108.90209159295688 + ], + [ + 1158.28727625511, + 105.63574723732731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1148.4257634246585, + "ymin": 182.84769902462537, + "xmax": 1167.9421398302557, + "ymax": 215.1724687187777 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1158.061411212425, + 209.6396467632991 + ], + [ + 1148.4257634246585, + 208.0933640122292 + ], + [ + 1148.8038689192538, + 213.59674387855836 + ], + [ + 1158.531955391481, + 215.1724687187777 + ], + [ + 1167.3731028388925, + 184.353447007829 + ], + [ + 1157.539596136669, + 182.84769902462537 + ], + [ + 1158.012346885134, + 188.20746520467733 + ], + [ + 1167.9421398302557, + 189.74240555973967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 341.48166623277444, + "ymin": 225.5250025226973, + "xmax": 359.25599365379605, + "ymax": 253.97081153543087 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 352.9451590401853, + 253.97081153543087 + ], + [ + 359.25599365379605, + 248.729640155463 + ], + [ + 352.53669786902225, + 247.25487908070522 + ], + [ + 346.18448322562773, + 252.47113107380815 + ], + [ + 348.3393692324997, + 232.10982252797487 + ], + [ + 354.78968572518886, + 226.97077866306944 + ], + [ + 347.97450501148893, + 225.5250025226973 + ], + [ + 341.48166623277444, + 230.6392236022842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.2377493533513, + "ymin": 8.612306059835248, + "xmax": 926.1994573139818, + "ymax": 31.530490411085736 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 916.4886869919105, + 28.16671164809003 + ], + [ + 915.2377493533513, + 30.783929624965197 + ], + [ + 921.4997193863502, + 31.530490411085736 + ], + [ + 922.7123389086928, + 28.903628727220507 + ], + [ + 919.8927173698544, + 8.612306059835248 + ], + [ + 918.6487325565186, + 11.132963421010174 + ], + [ + 924.9948285099315, + 11.852054457831855 + ], + [ + 926.1994573139818, + 9.321994139582785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.1037416654112, + "ymin": 149.97909885710186, + "xmax": 1164.3869797712898, + "ymax": 180.57914772236555 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1155.1723431088315, + 175.67478964635504 + ], + [ + 1146.1037416654112, + 174.30317663367117 + ], + [ + 1146.4389989126635, + 179.18295799635317 + ], + [ + 1155.5894345588301, + 180.57914772236555 + ], + [ + 1163.8836475917378, + 151.31197094851967 + ], + [ + 1154.639965654588, + 149.97909885710186 + ], + [ + 1155.058263689365, + 154.7215641032343 + ], + [ + 1164.3869797712898, + 156.07872756923078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 542.8573382117978, + "ymin": 189.62022794725016, + "xmax": 558.094702915592, + "ymax": 222.29741002940207 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 552.8095989804522, + 222.29741002940207 + ], + [ + 558.094702915592, + 216.6305874802209 + ], + [ + 549.9537946137577, + 215.0470503655238 + ], + [ + 544.6050451308327, + 220.68335583622004 + ], + [ + 551.2077866631328, + 196.68479407856498 + ], + [ + 556.6045579010142, + 191.1629166867146 + ], + [ + 548.3200137371285, + 189.62022794725016 + ], + [ + 542.8573382117978, + 195.11182739022846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 455.3345027928091, + "ymin": 173.44603191698323, + "xmax": 472.24038349368135, + "ymax": 205.27973735415458 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 466.30534905152547, + 205.27973735415458 + ], + [ + 472.24038349368135, + 199.93056279697225 + ], + [ + 464.5531337323797, + 198.4352694956593 + ], + [ + 458.56219824092307, + 203.75645338041232 + ], + [ + 463.2071013206863, + 180.10819786003003 + ], + [ + 469.276145937803, + 174.9012582829468 + ], + [ + 461.46129227196207, + 173.44603191698323 + ], + [ + 455.3345027928091, + 178.62524330170703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 575.9461410558849, + "ymin": 34.067239660340704, + "xmax": 584.6247269178449, + "ymax": 54.10086139966313 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 576.6343276310973, + 53.40388276713918 + ], + [ + 581.6177215238545, + 54.10086139966313 + ], + [ + 584.6247269178449, + 51.660359443778475 + ], + [ + 579.6648562212748, + 50.97130772316871 + ], + [ + 575.9461410558849, + 36.428305884508006 + ], + [ + 580.9826109160293, + 37.104849753043084 + ], + [ + 584.0258033516936, + 34.736006113500366 + ], + [ + 579.0133571157868, + 34.067239660340704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1118.9152530568326, + "ymin": 409.54213762527417, + "xmax": 1140.5888865218672, + "ymax": 445.47569099740383 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1130.0334020228602, + 436.5694636220512 + ], + [ + 1118.9152530568326, + 434.0716943417864 + ], + [ + 1119.0303661094092, + 442.92278297491544 + ], + [ + 1130.271113322704, + 445.47569099740383 + ], + [ + 1140.231688031635, + 412.01444109164004 + ], + [ + 1128.8507849532502, + 409.54213762527417 + ], + [ + 1129.0794927879085, + 418.3044158788511 + ], + [ + 1140.5888865218672, + 420.8324490570677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 495.0456730784829, + "ymin": 24.04351401675717, + "xmax": 506.6883601692825, + "ymax": 47.82118159287671 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 496.8913142405978, + 47.013362213764196 + ], + [ + 502.60183551452474, + 47.82118159287671 + ], + [ + 506.6883601692825, + 44.9794421958635 + ], + [ + 501.00849993359634, + 44.18247312408664 + ], + [ + 495.0456730784829, + 26.772656087575342 + ], + [ + 500.8263935934072, + 27.55152796265986 + ], + [ + 504.9774919798208, + 24.811790725787034 + ], + [ + 499.22817932210546, + 24.04351401675717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.4390036591851, + "ymin": 218.34594601634475, + "xmax": 1228.0006322143747, + "ymax": 716.716222773819 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1050.1357795565355, + 716.716222773819 + ], + [ + 1051.540999433416, + 690.4532381341205 + ], + [ + 729.912325518146, + 593.4384585259875 + ], + [ + 721.4390036591851, + 615.0815723801866 + ], + [ + 1228.0006322143747, + 326.52495330737065 + ], + [ + 1223.9150310554537, + 302.59839933356 + ], + [ + 762.8790784847723, + 218.34594601634475 + ], + [ + 752.2199566199671, + 236.60025915091407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 436.754534288386, + "ymin": 0.0, + "xmax": 583.5008534570924, + "ymax": 199.81304095941084 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 583.5008534570924, + 99.86031779244883 + ], + [ + 576.097053336496, + 98.68382731956677 + ], + [ + 461.4101334024945, + 198.08814294814405 + ], + [ + 470.0312068233246, + 199.81304095941084 + ], + [ + 577.1909196364168, + -69.51558898110397 + ], + [ + 568.9799624186652, + -70.35525151514213 + ], + [ + 436.754534288386, + 2.272919229087165 + ], + [ + 446.4851853192248, + 3.5639848066655304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 756.7091903023053, + "ymin": 231.26301155894143, + "xmax": 798.2345655239574, + "ymax": 251.65593533993484 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 791.8104159637275, + 251.65593533993484 + ], + [ + 798.0468749801065, + 239.34384056387637 + ], + [ + 763.5639840587951, + 232.88875264433406 + ], + [ + 756.7091903023053, + 244.94029381618734 + ], + [ + 791.9943266775294, + 250.0025530810783 + ], + [ + 798.2345655239574, + 237.7084383450487 + ], + [ + 763.7091765696864, + 231.26301155894143 + ], + [ + 756.8490569728931, + 243.29664605932595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 204.8262839987663, + "ymin": 0.0, + "xmax": 289.7759740919116, + "ymax": 58.3118979180141 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 289.7759740919116, + 37.27894860483718 + ], + [ + 283.80449426042696, + 36.39197970054653 + ], + [ + 241.674916021471, + 57.33188035286304 + ], + [ + 247.85632174505957, + 58.3118979180141 + ], + [ + 259.01757702172165, + -101.41181269247579 + ], + [ + 252.59511897919862, + -102.05078681347408 + ], + [ + 204.8262839987663, + -86.90068719911295 + ], + [ + 211.48935181987173, + -86.18830267095166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9687458267791988257, + "instance_id": 8598, + "pixel_count": null, + "type_id": "BP_StreetLight_simple19_56_SM_2", + "bbox_3d": { + "center_world": { + "x": -72.57238006591797, + "y": 11.89626693725586, + "z": 4.052502155303955 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 39.529607870408995, + "ymax": 17.427011474742244 + }, + "corners_3d": [ + [ + -72.79197692871094, + 13.812986373901367, + 0.17578339576721191 + ], + [ + -72.35277557373047, + 13.81298542022705, + 0.17578339576721191 + ], + [ + -72.352783203125, + 9.979547500610352, + 0.17578339576721191 + ], + [ + -72.79198455810547, + 9.979548454284668, + 0.17578339576721191 + ], + [ + -72.79197692871094, + 13.812986373901367, + 7.929221153259277 + ], + [ + -72.35277557373047, + 13.81298542022705, + 7.929221153259277 + ], + [ + -72.352783203125, + 9.979547500610352, + 7.929221153259277 + ], + [ + -72.79198455810547, + 9.979548454284668, + 7.929221153259277 + ] + ], + "corners_2d": [ + [ + 39.529607870408995, + 0.108579561649492 + ], + [ + 34.58896936715462, + -0.6252737150076655 + ], + [ + -15.088528302115265, + 16.62361855382136 + ], + [ + -10.021169241448206, + 17.427011474742244 + ], + [ + -8.056429463780205, + -127.98330827341039 + ], + [ + -13.28691027940863, + -128.50369157112289 + ], + [ + -69.48837886225874, + -116.22931657140379 + ], + [ + -64.12063035081519, + -115.65542199553914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 756.7055835834271, + "ymin": 231.30503386219485, + "xmax": 798.2297140226138, + "ymax": 251.69857026771712 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 791.805673551645, + 251.69857026771712 + ], + [ + 798.0420349810154, + 239.38601288162022 + ], + [ + 763.5602399136544, + 232.93067636717302 + ], + [ + 756.7055835834271, + 244.98267829112064 + ], + [ + 791.9895727682775, + 250.04529136997297 + ], + [ + 798.2297140226138, + 237.75071088525814 + ], + [ + 763.705423620476, + 231.30503386219485 + ], + [ + 756.8454416042382, + 243.3391321823947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 301.6980297030131, + "ymin": 90.15664052715516, + "xmax": 671.2206126990083, + "ymax": 396.73365447963425 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 358.3679411293136, + 312.31137213666005 + ], + [ + 351.389099801193, + 318.58833948495544 + ], + [ + 661.5369342080157, + 396.73365447963425 + ], + [ + 666.1684750169305, + 388.9671064074164 + ], + [ + 310.39314049526456, + 90.15664052715516 + ], + [ + 301.6980297030131, + 95.13093645969252 + ], + [ + 665.7455275562808, + 158.38500406037858 + ], + [ + 671.2206126990083, + 151.98640708473692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 870.8017951519056, + "ymin": 0.0, + "xmax": 1202.5491885783267, + "ymax": 181.0753032392998 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1136.3378498229056, + 181.0753032392998 + ], + [ + 1136.2251467174892, + 177.03764733094036 + ], + [ + 872.486422217188, + 135.92437397208496 + ], + [ + 870.8017951519056, + 139.3795973082555 + ], + [ + 1202.5491885783267, + -10.40359274237096 + ], + [ + 1201.875732247589, + -13.39688911663012 + ], + [ + 900.6689497923289, + -43.548538245207624 + ], + [ + 898.9930557070204, + -41.03727309381247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1098.5393040513013, + "ymin": 77.71865022107579, + "xmax": 1226.1592805918103, + "ymax": 520.2383614392618 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1098.5393040513013, + 516.0535988015731 + ], + [ + 1114.976073221525, + 520.2383614392618 + ], + [ + 1116.4339856165209, + 298.9014056181349 + ], + [ + 1104.0483605575264, + 296.5299849182657 + ], + [ + 1205.2554156268443, + 259.95721853333293 + ], + [ + 1226.1592805918103, + 263.63476955910016 + ], + [ + 1195.7413468332152, + 79.58146411689489 + ], + [ + 1180.9764119280446, + 77.71865022107579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17573842364388610194, + "instance_id": 37392, + "pixel_count": null, + "type_id": "BP_StreetLight_doble16_SM_2", + "bbox_3d": { + "center_world": { + "x": -141.83102416992188, + "y": 32.528778076171875, + "z": 4.309665679931641 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.938466334562, + "ymin": 0.0, + "xmax": 1209.5229247029629, + "ymax": 53.893562859041594 + }, + "corners_3d": [ + [ + -142.07260131835938, + 35.362831115722656, + 0.20679092407226562 + ], + [ + -141.5894317626953, + 35.36282730102539, + 0.20679092407226562 + ], + [ + -141.58944702148438, + 29.694726943969727, + 0.20679092407226562 + ], + [ + -142.07261657714844, + 29.694726943969727, + 0.20679092407226562 + ], + [ + -142.07260131835938, + 35.362831115722656, + 8.412540435791016 + ], + [ + -141.5894317626953, + 35.36282730102539, + 8.412540435791016 + ], + [ + -141.58944702148438, + 29.694726943969727, + 8.412540435791016 + ], + [ + -142.07261657714844, + 29.694726943969727, + 8.412540435791016 + ] + ], + "corners_2d": [ + [ + 1155.2979761286333, + 24.05668235450196 + ], + [ + 1146.938466334562, + 23.141438658895197 + ], + [ + 1149.8188575444296, + 52.83594371791247 + ], + [ + 1158.8129109429901, + 53.893562859041594 + ], + [ + 1201.830714627759, + -119.74074346713496 + ], + [ + 1192.6014363000459, + -120.37755741861235 + ], + [ + 1199.5144386347463, + -99.58057732795254 + ], + [ + 1209.5229247029629, + -98.83464889873386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1109.5443268345434, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 180.1035826665063 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1109.5443268345434, + 109.54607610644956 + ], + [ + 1133.5578668024896, + 165.69050106481504 + ], + [ + 1295.1381735375758, + 180.1035826665063 + ], + [ + 1253.3242498202603, + 121.08170252259194 + ], + [ + 1188.067530406, + -142.45801952249462 + ], + [ + 1227.5169013174082, + -110.49224113448167 + ], + [ + 1423.8462688858926, + -102.08069162376546 + ], + [ + 1358.762719404642, + -135.9920604731518 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00097/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00097/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..220d76e7aced9f8ef1e851c1d6a5073625f53590 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00097/meta.json @@ -0,0 +1,3105 @@ +{ + "frame_id": 97, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 48.5, + "sim_timestamp": 3306.401844933396 + }, + "drone_pose": { + "x": -134.21931957749723, + "y": -30.478949310513173, + "z": 20.034781385228232, + "pitch": -43.52439449390791, + "yaw": 67.3795572089913, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2788841128349304, + -0.6693029999732971, + 0.6886633634567261, + 44.03407287597656 + ], + [ + 0.9230731129646301, + 0.3846246600151062, + 0.0, + -112.17127990722656 + ], + [ + -0.26487696170806885, + 0.6356865763664246, + 0.725081205368042, + -69.45350646972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.37510147847289, + "y": -29.953124734193022, + "z": 19.933955915665372 + }, + "t1_image_uv": [ + 1519.0127753765516, + -198.56051987361775 + ], + "t1_depth": 0.3779256366227285 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -11.187763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 655.2937132761572, + 345.64107674038524 + ], + "depth": 28.164845255754333, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 601, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -11.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3769287168979645, + "y": 0.4770110845565796, + "z": 0.8887984752655029 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 635.2198250826812, + "ymin": 310.80514364583115, + "xmax": 675.8711599013525, + "ymax": 379.9205197938981 + }, + "corners_3d": [ + [ + -126.19017028808594, + -11.564692497253418, + 0.05533939599990845 + ], + [ + -127.14419555664062, + -11.564691543579102, + 0.05533939599990845 + ], + [ + -127.14419555664062, + -10.810833930969238, + 0.05533939599990845 + ], + [ + -126.19017028808594, + -10.810834884643555, + 0.05533939599990845 + ], + [ + -126.19017028808594, + -11.564692497253418, + 1.8329362869262695 + ], + [ + -127.14419555664062, + -11.564691543579102, + 1.8329362869262695 + ], + [ + -127.14419555664062, + -10.810833930969238, + 1.8329362869262695 + ], + [ + -126.19017028808594, + -10.810834884643555, + 1.8329362869262695 + ] + ], + "corners_2d": [ + [ + 635.4240191032511, + 371.27045368065046 + ], + [ + 665.1578819673445, + 379.9205197938981 + ], + [ + 674.3515039046434, + 363.65194691183723 + ], + [ + 645.0482122073993, + 355.2999689165125 + ], + [ + 635.2198250826812, + 326.66992748287765 + ], + [ + 666.2914965482335, + 335.2729746621319 + ], + [ + 675.8711599013525, + 319.09878938157095 + ], + [ + 645.2694103171331, + 310.80514364583115 + ] + ], + "center_offset_px": [ + 15.293713276157177, + -14.358923259614755 + ] + }, + "trace_timestep_index": 97, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 597741, + "2": 151532, + "3": 30103, + "4": 32665, + "6": 25285, + "7": 2891, + "9": 8387, + "10": 9, + "12": 3339, + "14": 17225, + "24": 30915, + "25": 21508 + }, + "instance_pixel_counts": { + "3662": 29, + "11605": 13435, + "16482": 1128, + "16994": 1664, + "17496": 13231, + "17503": 4667, + "17506": 1059, + "18059": 1177, + "19083": 3208, + "19554": 845, + "19595": 4092, + "20066": 899, + "20565": 16668, + "21395": 4500, + "21397": 122, + "21643": 544, + "21907": 165608, + "21909": 15669, + "22155": 2706, + "22421": 5311, + "22931": 263429, + "22933": 17, + "23443": 3157, + "23445": 80, + "23955": 2055, + "23957": 621, + "24467": 18617, + "25344": 5, + "25600": 6592, + "25856": 7717, + "26112": 631, + "36096": 601, + "36352": 583, + "36608": 526, + "36864": 652, + "37120": 284, + "37376": 693, + "37888": 3315, + "40448": 3680, + "40704": 3815, + "41216": 6415, + "45409": 184, + "45971": 6247, + "46483": 101018, + "46995": 13068, + "47201": 22886, + "47713": 4556, + "48225": 2171, + "48531": 4731, + "48737": 30510, + "49043": 15311, + "49249": 6196, + "49761": 11383, + "51526": 32636, + "52321": 37, + "52833": 1962, + "53345": 263, + "53857": 1782, + "54366": 16841, + "56458": 74, + "56970": 6396, + "57482": 39197, + "58506": 6613, + "60307": 372, + "60819": 6986, + "61254": 8387, + "61331": 571, + "62355": 282, + "62867": 884 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 601, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -11.187763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3699120879173279, + "y": 0.4337853789329529, + "z": 0.8723505735397339 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 636.7110917701544, + "ymin": 311.7522754376899, + "xmax": 674.3700086317821, + "ymax": 378.97567122855986 + }, + "corners_3d": [ + [ + -126.2333984375, + -11.5576753616333, + 0.07178729772567749 + ], + [ + -127.10096740722656, + -11.5576753616333, + 0.07178729772567749 + ], + [ + -127.10096740722656, + -10.817851066589355, + 0.07178729772567749 + ], + [ + -126.2333984375, + -10.817851066589355, + 0.07178729772567749 + ], + [ + -126.2333984375, + -11.5576753616333, + 1.81648850440979 + ], + [ + -127.10096740722656, + -11.5576753616333, + 1.81648850440979 + ], + [ + -127.10096740722656, + -10.817851066589355, + 1.81648850440979 + ], + [ + -126.2333984375, + -10.817851066589355, + 1.81648850440979 + ] + ], + "corners_2d": [ + [ + 636.8490736441669, + 371.11232807761104 + ], + [ + 663.895340384839, + 378.97567122855986 + ], + [ + 672.9406969929954, + 363.02394389634566 + ], + [ + 646.2789916076424, + 355.4267215034601 + ], + [ + 636.7110917701544, + 327.3365722506083 + ], + [ + 664.9510481622098, + 335.1578607492724 + ], + [ + 674.3700086317821, + 319.2975333104948 + ], + [ + 646.5490799403485, + 311.7522754376899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 583, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -8.190058708190918, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.46538087725639343, + "y": 0.5550241470336914, + "z": 0.9269542694091797 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 550.449742816599, + "ymin": 221.74625148071416, + "xmax": 593.0510158853322, + "ymax": 288.13368995968165 + }, + "corners_3d": [ + [ + -122.09506225585938, + -8.760665893554688, + 0.01718837022781372 + ], + [ + -123.18085479736328, + -8.52987289428711, + 0.01718837022781372 + ], + [ + -122.98733520507812, + -7.61945104598999, + 0.01718837022781372 + ], + [ + -121.90154266357422, + -7.850244045257568, + 0.01718837022781372 + ], + [ + -122.09506225585938, + -8.760665893554688, + 1.8710968494415283 + ], + [ + -123.18085479736328, + -8.52987289428711, + 1.8710968494415283 + ], + [ + -122.98733520507812, + -7.61945104598999, + 1.8710968494415283 + ], + [ + -121.90154266357422, + -7.850244045257568, + 1.8710968494415283 + ] + ], + "corners_2d": [ + [ + 554.0560695577394, + 284.20364786644035 + ], + [ + 586.8452738393033, + 288.13368995968165 + ], + [ + 593.0510158853322, + 270.8409915262633 + ], + [ + 560.9053587878562, + 267.0707483303556 + ], + [ + 550.449742816599, + 238.60995266041047 + ], + [ + 584.6039000187071, + 242.4823349823424 + ], + [ + 591.1137604059179, + 225.45476785502024 + ], + [ + 557.6572497136669, + 221.74625148071416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 526, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -4.245050430297852, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.447333961725235, + "y": 0.6029219031333923, + "z": 0.938012421131134 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 772.2136723338813, + "ymin": 199.92465135461427, + "xmax": 818.7613555514095, + "ymax": 266.85113482284925 + }, + "corners_3d": [ + [ + -128.37014770507812, + -4.752956390380859, + 0.006135106086730957 + ], + [ + -129.5693817138672, + -4.626911163330078, + 0.006135106086730957 + ], + [ + -129.47586059570312, + -3.7371444702148438, + 0.006135106086730957 + ], + [ + -128.27662658691406, + -3.863189458847046, + 0.006135106086730957 + ], + [ + -128.37014770507812, + -4.752956390380859, + 1.882159948348999 + ], + [ + -129.5693817138672, + -4.626911163330078, + 1.882159948348999 + ], + [ + -129.47586059570312, + -3.7371444702148438, + 1.882159948348999 + ], + [ + -128.27662658691406, + -3.863189458847046, + 1.882159948348999 + ] + ], + "corners_2d": [ + [ + 772.2136723338813, + 260.57935105425395 + ], + [ + 807.4780760245123, + 266.85113482284925 + ], + [ + 811.7658692699899, + 251.43756859773424 + ], + [ + 777.1282116479114, + 245.39886172818018 + ], + [ + 777.6621318294535, + 214.8290843530681 + ], + [ + 814.4352614377266, + 220.99351925672096 + ], + [ + 818.7613555514095, + 205.85079647132184 + ], + [ + 782.6693307074045, + 199.92465135461427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 652, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -11.187763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.41801756620407104, + "y": 0.4515624940395355, + "z": 0.8897035121917725 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 750.3491134371905, + "ymin": 342.0700670696266, + "xmax": 795.665060788519, + "ymax": 414.6175351873818 + }, + "corners_3d": [ + [ + -129.7953643798828, + -11.605780601501465, + 0.05443912744522095 + ], + [ + -130.69850158691406, + -11.605780601501465, + 0.05443912744522095 + ], + [ + -130.69850158691406, + -10.769745826721191, + 0.05443912744522095 + ], + [ + -129.7953643798828, + -10.769745826721191, + 0.05443912744522095 + ], + [ + -129.7953643798828, + -11.605780601501465, + 1.833846092224121 + ], + [ + -130.69850158691406, + -11.605780601501465, + 1.833846092224121 + ], + [ + -130.69850158691406, + -10.769745826721191, + 1.833846092224121 + ], + [ + -129.7953643798828, + -10.769745826721191, + 1.833846092224121 + ] + ], + "corners_2d": [ + [ + 750.3491134371905, + 405.806504687087 + ], + [ + 780.6013259452576, + 414.6175351873818 + ], + [ + 788.8360951515397, + 395.25840644871175 + ], + [ + 759.110896489184, + 386.79530307928604 + ], + [ + 755.4712118048334, + 361.0157414735879 + ], + [ + 787.1905123229501, + 369.80824928431963 + ], + [ + 795.665060788519, + 350.49969003757246 + ], + [ + 764.5249390169209, + 342.0700670696266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 284, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -130.33897399902344, + "y": -22.19993782043457, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3708740472793579, + "y": 0.38797733187675476, + "z": 0.8665293455123901 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 593.9057378343828, + "ymin": 682.765409055411, + "xmax": 646.0112411461424, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -129.9143524169922, + -22.52822494506836, + 0.07760852575302124 + ], + [ + -130.68606567382812, + -22.60933494567871, + 0.07760852575302124 + ], + [ + -130.7635955810547, + -21.87165069580078, + 0.07760852575302124 + ], + [ + -129.99188232421875, + -21.79054069519043, + 0.07760852575302124 + ], + [ + -129.9143524169922, + -22.52822494506836, + 1.8106672763824463 + ], + [ + -130.68606567382812, + -22.60933494567871, + 1.8106672763824463 + ], + [ + -130.7635955810547, + -21.87165069580078, + 1.8106672763824463 + ], + [ + -129.99188232421875, + -21.79054069519043, + 1.8106672763824463 + ] + ], + "corners_2d": [ + [ + 596.6203218725593, + 752.0432468755595 + ], + [ + 628.7369511354094, + 769.6159348016834 + ], + [ + 645.6607312443527, + 739.1373179630967 + ], + [ + 614.055320265958, + 722.3607778206488 + ], + [ + 593.9057378343828, + 713.3251911810119 + ], + [ + 628.0220374567391, + 731.4583359225707 + ], + [ + 646.0112411461424, + 700.0271145240779 + ], + [ + 612.4709899323659, + 682.765409055411 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 693, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -19.35797882080078, + "z": 1.0957003831863403 + }, + "extent": { + "x": 0.2952050566673279, + "y": 0.4993084669113159, + "z": 0.8999038338661194 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 118.6175805350332, + "ymin": 385.18572351227493, + "xmax": 184.2129997624382, + "ymax": 459.7875640703179 + }, + "corners_3d": [ + [ + -114.8720703125, + -19.54292106628418, + 0.19579654932022095 + ], + [ + -115.84886169433594, + -19.750545501708984, + 0.19579654932022095 + ], + [ + -115.97161865234375, + -19.173036575317383, + 0.19579654932022095 + ], + [ + -114.99482727050781, + -18.965412139892578, + 0.19579654932022095 + ], + [ + -114.8720703125, + -19.54292106628418, + 1.9956042766571045 + ], + [ + -115.84886169433594, + -19.750545501708984, + 1.9956042766571045 + ], + [ + -115.97161865234375, + -19.173036575317383, + 1.9956042766571045 + ], + [ + -114.99482727050781, + -18.965412139892578, + 1.9956042766571045 + ] + ], + "corners_2d": [ + [ + 143.11696642427376, + 444.01144604333194 + ], + [ + 165.6276166556974, + 459.7875640703179 + ], + [ + 184.2129997624382, + 446.2468870617382 + ], + [ + 161.71300382840275, + 430.8870875033366 + ], + [ + 118.6175805350332, + 398.3167192935719 + ], + [ + 141.84901615868756, + 414.12342013296416 + ], + [ + 161.68695799072134, + 400.5549919875482 + ], + [ + 138.45644208162344, + 385.18572351227493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3315, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 414.9412434936573, + "ymin": 25.41144840376768, + "xmax": 521.3362293058053, + "ymax": 94.92092145947845 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 501.1920414436551, + 94.92092145947845 + ], + [ + 521.3362293058053, + 75.95030222372617 + ], + [ + 442.81542418820595, + 59.95082386587626 + ], + [ + 420.8892217649899, + 77.95289765635931 + ], + [ + 497.3196003765414, + 59.32759081421932 + ], + [ + 518.1255050713855, + 40.916034021685164 + ], + [ + 437.6197042902352, + 25.41144840376768 + ], + [ + 414.9412434936573, + 42.85819153655996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3680, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 70.07688075461408, + "ymin": 0.29181745378195956, + "xmax": 198.65340744968034, + "ymax": 68.33906052598684 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 114.35685549897187, + 32.176967361574725 + ], + [ + 83.71504867668716, + 48.8448309405523 + ], + [ + 169.50123030169277, + 68.33906052598684 + ], + [ + 198.65340744968034, + 50.587669004031454 + ], + [ + 101.83605832995318, + 0.29181745378195956 + ], + [ + 70.07688075461408, + 16.43591477972143 + ], + [ + 157.58237205705723, + 35.34545599893863 + ], + [ + 187.80095826479135, + 18.125255050643602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3815, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 33.30235585526816, + "ymin": 30.198005375415164, + "xmax": 154.62264213867462, + "ymax": 107.23357619370086 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 86.32270141694812, + 70.90029719780762 + ], + [ + 52.29194655918354, + 90.1367266852248 + ], + [ + 121.85168733135038, + 107.23357619370086 + ], + [ + 154.62264213867462, + 86.97498669361084 + ], + [ + 68.9855850510611, + 30.198005375415164 + ], + [ + 33.30235585526816, + 48.75795234126235 + ], + [ + 104.64894955898569, + 65.28375533785459 + ], + [ + 139.0192154124873, + 45.70493255323788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 6415, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1115.5962870552225, + "ymin": 276.0516452003544, + "xmax": 1280.0, + "ymax": 398.48904998133133 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1118.445883422049, + 314.8446536319082 + ], + [ + 1115.5962870552225, + 350.4063111258884 + ], + [ + 1311.4577136036348, + 398.48904998133133 + ], + [ + 1306.3381970250066, + 359.1185345105362 + ], + [ + 1136.0232750088899, + 276.0516452003544 + ], + [ + 1133.813435907713, + 311.32262295406593 + ], + [ + 1338.6032470280434, + 359.1820396511228 + ], + [ + 1332.1174950830368, + 319.9798815695738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1171.7948275428294, + "ymin": 168.83624624141743, + "xmax": 1196.3266224545982, + "ymax": 206.79089482165725 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1183.2172752298006, + 199.23932963764528 + ], + [ + 1171.9921663552466, + 196.97355460625522 + ], + [ + 1171.7948275428294, + 204.47939588705844 + ], + [ + 1183.1322022420009, + 206.79089482165725 + ], + [ + 1196.2792329174222, + 171.06931082262722 + ], + [ + 1184.7446924430105, + 168.83624624141743 + ], + [ + 1184.6735069737547, + 176.23496878944425 + ], + [ + 1196.3266224545982, + 178.51419579895457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 596.6724064892554, + "ymin": 132.6128586258874, + "xmax": 612.2875235300858, + "ymax": 169.04381482605456 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 606.7517110118055, + 169.04381482605456 + ], + [ + 612.2875235300858, + 162.22182240957997 + ], + [ + 603.2519088567093, + 160.17358753149517 + ], + [ + 597.6460467978609, + 166.9563102762437 + ], + [ + 605.9851222885168, + 141.33630758983475 + ], + [ + 611.6547563901164, + 134.62676129030876 + ], + [ + 602.4152906962854, + 132.6128586258874 + ], + [ + 596.6724064892554, + 139.2829002413481 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.5080488792637, + "ymin": 17.949398215233373, + "xmax": 1196.601205526292, + "ymax": 43.78855926073737 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1180.5808963405166, + 38.71719596533052 + ], + [ + 1180.5080488792637, + 42.593562741367464 + ], + [ + 1187.9831488699526, + 43.78855926073737 + ], + [ + 1188.0072938448939, + 39.89664094691943 + ], + [ + 1189.0090176219664, + 17.949398215233373 + ], + [ + 1188.9912219720059, + 21.748132976913155 + ], + [ + 1196.601205526292, + 22.919354120150444 + ], + [ + 1196.5685309575747, + 19.105140142514813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1173.2532637484705, + "ymin": 115.30295197167698, + "xmax": 1195.976997151768, + "ymax": 150.9917270590689 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1183.8338852046345, + 144.50550003463198 + ], + [ + 1173.4228382441706, + 142.55751758021088 + ], + [ + 1173.2532637484705, + 149.00733469629762 + ], + [ + 1183.7608139009944, + 150.9917270590689 + ], + [ + 1195.9364367858764, + 117.2161203979037 + ], + [ + 1185.259753340167, + 115.30295197167698 + ], + [ + 1185.1987978725233, + 121.6384105645098 + ], + [ + 1195.976997151768, + 123.58814419588586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 308.0027135099212, + "ymin": 146.7664598420456, + "xmax": 328.2513985436472, + "ymax": 177.31115931032897 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 321.29870352889566, + 177.31115931032897 + ], + [ + 328.2513985436472, + 171.48706617395854 + ], + [ + 321.2718332110909, + 169.72552527397528 + ], + [ + 314.2801430813497, + 175.5211698723081 + ], + [ + 315.1411303027171, + 154.25260909817416 + ], + [ + 322.27719357013746, + 148.50463005708315 + ], + [ + 315.1790355397564, + 146.7664598420456 + ], + [ + 308.0027135099212, + 152.48582388640173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1174.314061206128, + "ymin": 76.41337636783493, + "xmax": 1195.722887129527, + "ymax": 110.40087504774112 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1184.2824603550766, + 104.6392022284436 + ], + [ + 1174.4647465615963, + 102.907621230335 + ], + [ + 1174.314061206128, + 108.63880387257902 + ], + [ + 1184.2175468302796, + 110.40087504774112 + ], + [ + 1195.6869550731797, + 78.10969715579614 + ], + [ + 1185.6333694545701, + 76.41337636783493 + ], + [ + 1185.579338927004, + 82.02857173675329 + ], + [ + 1195.722887129527, + 83.75539525085043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 515.0999932319704, + "ymin": 114.96766083337633, + "xmax": 532.6188223917438, + "ymax": 150.64186018400645 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 526.4825677387382, + 150.64186018400645 + ], + [ + 532.6188223917438, + 144.16217274653258 + ], + [ + 524.033888215311, + 142.2161001508706 + ], + [ + 517.8352461473288, + 148.65943218588333 + ], + [ + 523.9335722196863, + 123.24437001655187 + ], + [ + 530.2303519038387, + 116.87891170653609 + ], + [ + 521.4618365834625, + 114.96766083337633 + ], + [ + 515.0999932319704, + 121.29660988665978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 422.64826692967154, + "ymin": 94.95839592143744, + "xmax": 442.17952668951364, + "ymax": 129.76287287873043 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 435.40864951834436, + 129.76287287873043 + ], + [ + 442.17952668951364, + 123.66099379505064 + ], + [ + 434.09226731179956, + 121.82773637359489 + ], + [ + 427.26707366001244, + 127.89638876351563 + ], + [ + 430.95414676731195, + 102.74288927511168 + ], + [ + 437.9118373062084, + 96.75649969604427 + ], + [ + 429.66242313301206, + 94.95839592143744 + ], + [ + 422.64826692967154, + 100.9114841238308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1120.7200371313986, + "ymin": 368.4951258587809, + "xmax": 1145.6283288267064, + "ymax": 406.1687960432613 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1133.1678308634616, + 396.1393833320843 + ], + [ + 1121.4599207130664, + 393.11591583948467 + ], + [ + 1120.7200371313986, + 403.0811152106265 + ], + [ + 1132.5494293095894, + 406.1687960432613 + ], + [ + 1145.6283288267064, + 371.5142134403638 + ], + [ + 1133.58482651397, + 368.4951258587809 + ], + [ + 1132.9572366364657, + 378.4477307627522 + ], + [ + 1145.1293374575844, + 381.5325824276985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.5026481067666, + "ymin": 173.73720584610027, + "xmax": 1239.5900514676864, + "ymax": 693.0856918636532 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1025.6050324351822, + 693.0856918636532 + ], + [ + 1029.3698017879367, + 664.8653020427405 + ], + [ + 700.8174550965159, + 552.79661962534 + ], + [ + 690.5026481067666, + 576.0079508495918 + ], + [ + 1239.5900514676864, + 317.01803207360024 + ], + [ + 1237.922164678228, + 286.77382552093087 + ], + [ + 729.0011620525426, + 173.73720584610027 + ], + [ + 714.6331034731728, + 196.2676580365324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 411.54300902486887, + "ymin": 0.0, + "xmax": 579.9434716934725, + "ymax": 113.79312145315433 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 579.9434716934725, + 2.086093528612423 + ], + [ + 572.1393782466773, + 0.6640115437960503 + ], + [ + 444.78493114443165, + 111.74062751189459 + ], + [ + 453.7690394103927, + 113.79312145315433 + ], + [ + 571.6405489808682, + -187.1364533755601 + ], + [ + 562.7849344365759, + -188.20175812418438 + ], + [ + 411.54300902486887, + -102.65084695660153 + ], + [ + 421.94210314887977, + -101.0241014771305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.2236566720313, + "ymin": 188.31214516505446, + "xmax": 767.2231429286642, + "ymax": 213.7567015208493 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 758.4530691692761, + 213.7567015208493 + ], + [ + 767.0326174644357, + 198.59601869161042 + ], + [ + 729.4541219491051, + 190.06281534534088 + ], + [ + 720.2236566720313, + 204.87724481502255 + ], + [ + 758.634321790141, + 211.98628649501836 + ], + [ + 767.2231429286642, + 196.83797916967035 + ], + [ + 729.5867586471157, + 188.31214516505446 + ], + [ + 720.3449860362061, + 203.11396660704614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.2205289777455, + "ymin": 188.35741019463987, + "xmax": 767.2182166529101, + "ymax": 213.80233941063727 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 758.4483968257781, + 213.80233941063727 + ], + [ + 767.0277059322266, + 198.6413389734523 + ], + [ + 729.4507026643687, + 190.1079464434136 + ], + [ + 720.2205289777455, + 204.92269955891652 + ], + [ + 758.6296351370825, + 212.03206415581099 + ], + [ + 767.2182166529101, + 196.88343549492674 + ], + [ + 729.5833292152746, + 188.35741019463987 + ], + [ + 720.3418488743713, + 203.15955894271738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 256.22152872817895, + "ymin": 0.46030485714709357, + "xmax": 650.4302234058829, + "ymax": 336.0508119820728 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 330.81883069652923, + 237.69873458014607 + ], + [ + 323.24001676116734, + 244.53905878783183 + ], + [ + 643.037193401326, + 336.0508119820728 + ], + [ + 648.4189301298088, + 327.55638578675325 + ], + [ + 266.0833887556168, + 0.46030485714709357 + ], + [ + 256.22152872817895, + 6.257466130213743 + ], + [ + 643.7714866182579, + 85.89063011035682 + ], + [ + 650.4302234058829, + 78.332096453916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 884.2722062971495, + "ymin": 0.0, + "xmax": 1255.0674092801833, + "ymax": 101.3732179892404 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1166.9696088531086, + 101.3732179892404 + ], + [ + 1167.2417379544688, + 96.76424077168559 + ], + [ + 886.3636164000372, + 46.537907263876036 + ], + [ + 884.2722062971495, + 50.45849108668369 + ], + [ + 1255.0674092801833, + -110.84162559721392 + ], + [ + 1254.6599258870356, + -114.46900931102567 + ], + [ + 923.570226154829, + -153.45129737611114 + ], + [ + 921.4414794048253, + -150.44400587038535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1094.7504006203337, + "ymin": 0.0, + "xmax": 1249.8780597258042, + "ymax": 480.6039582897028 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1094.7504006203337, + 475.6741416031117 + ], + [ + 1111.8044188947981, + 480.6039582897028 + ], + [ + 1134.1406416764787, + 234.5953372241112 + ], + [ + 1121.0543095086064, + 231.73180049182457 + ], + [ + 1227.012857739357, + 215.33981276186432 + ], + [ + 1249.8780597258042, + 220.09768718131878 + ], + [ + 1237.1109028091187, + -2.1628879383410435 + ], + [ + 1220.8568487325695, + -4.579510715614163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1144.756229700971, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 102.60448418003921 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1144.756229700971, + 19.31429663692677 + ], + [ + 1165.3582425321188, + 84.0015316221494 + ], + [ + 1339.5900223395677, + 102.60448418003921 + ], + [ + 1300.256576364683, + 34.279795926817314 + ], + [ + 1251.842003827714, + -267.40098820133153 + ], + [ + 1292.4944159876848, + -227.39436101432273 + ], + [ + 1515.0864702001995, + -215.52178411532623 + ], + [ + 1444.806559555211, + -258.3173027980289 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00098/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00098/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c195eba07c87af42eb56b024a5defff5da60d755 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00098/meta.json @@ -0,0 +1,3003 @@ +{ + "frame_id": 98, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 49.0, + "sim_timestamp": 3317.8545198587235 + }, + "drone_pose": { + "x": -134.37510147847289, + "y": -29.953124734193022, + "z": 19.933955915665372, + "pitch": -42.46375422196779, + "yaw": 68.1940425750375, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2740309238433838, + -0.6849197149276733, + 0.6751236915588379, + 43.88053894042969 + ], + [ + 0.9284472465515137, + 0.3714643120765686, + 0.0, + -113.63367462158203 + ], + [ + -0.25078439712524414, + 0.6268166899681091, + 0.7377045750617981, + -67.1796646118164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.35653744865706, + "y": -29.358934003565945, + "z": 19.95124901604856 + }, + "t1_image_uv": [ + 1127.8941927280443, + -574.7674728931364 + ], + "t1_depth": 0.4003851052878879 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -126.66718292236328, + "y": -10.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.127910575130258, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 618, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -10.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4129638671875, + "y": 0.5356756448745728, + "z": 0.9065096974372864 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.183311826368, + "ymin": 323.5200922954152, + "xmax": 662.5921589013766, + "ymax": 396.0099181350362 + }, + "corners_3d": [ + [ + -126.13150787353516, + -11.100727081298828, + 0.037628173828125 + ], + [ + -127.2028579711914, + -11.100727081298828, + 0.037628173828125 + ], + [ + -127.2028579711914, + -10.274799346923828, + 0.037628173828125 + ], + [ + -126.13150787353516, + -10.274799346923828, + 0.037628173828125 + ], + [ + -126.13150787353516, + -11.100727081298828, + 1.8506475687026978 + ], + [ + -127.2028579711914, + -11.100727081298828, + 1.8506475687026978 + ], + [ + -127.2028579711914, + -10.274799346923828, + 1.8506475687026978 + ], + [ + -126.13150787353516, + -10.274799346923828, + 1.8506475687026978 + ] + ], + "corners_2d": [ + [ + 618.1596802538121, + 386.6229802169874 + ], + [ + 651.6631441398146, + 396.0099181350362 + ], + [ + 661.6345087108992, + 378.0930262506532 + ], + [ + 628.6804289844055, + 369.0684604398109 + ], + [ + 617.183311826368, + 340.918310975012 + ], + [ + 652.1901947121004, + 350.2340544644705 + ], + [ + 662.5921589013766, + 332.46053923114874 + ], + [ + 628.1846327818002, + 323.5200922954152 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 98, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 600486, + "2": 154566, + "3": 19140, + "4": 31113, + "6": 26024, + "7": 2919, + "9": 11864, + "10": 12, + "12": 2994, + "14": 18477, + "24": 31596, + "25": 22409 + }, + "instance_pixel_counts": { + "3662": 1042, + "11605": 7674, + "15970": 223, + "16479": 97, + "16482": 1217, + "16994": 1637, + "17496": 13566, + "17503": 6384, + "17506": 1312, + "17547": 2, + "18018": 280, + "18059": 2369, + "19083": 3157, + "19554": 1776, + "19595": 5044, + "20066": 1144, + "20107": 677, + "20565": 11459, + "21395": 5092, + "21397": 150, + "21643": 4188, + "21907": 169564, + "21909": 15864, + "22155": 3472, + "22421": 5109, + "22931": 243622, + "23445": 125, + "23955": 3431, + "23957": 644, + "24467": 18954, + "25344": 152, + "25600": 6724, + "25856": 7710, + "26112": 791, + "36096": 618, + "36352": 586, + "36608": 485, + "36864": 647, + "37376": 658, + "37888": 3342, + "40448": 3758, + "40704": 3884, + "41216": 7493, + "45409": 252, + "45971": 12982, + "46483": 102050, + "46995": 21329, + "47201": 23604, + "47713": 4708, + "48225": 2255, + "48468": 7, + "48531": 7134, + "48737": 25719, + "49043": 16328, + "49249": 5407, + "49761": 10622, + "51526": 30071, + "52833": 3409, + "53345": 447, + "53857": 1845, + "54366": 16025, + "56458": 163, + "56970": 6627, + "57482": 35774, + "58506": 7139, + "60307": 497, + "60819": 7041, + "61254": 11864, + "61331": 759, + "62355": 421, + "62867": 986 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 618, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -10.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3911425769329071, + "y": 0.3498126268386841, + "z": 0.8641650080680847 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.5134418989388, + "ymin": 326.61971301847626, + "xmax": 656.2818883861277, + "ymax": 392.86297860103826 + }, + "corners_3d": [ + [ + -126.31736755371094, + -11.078906059265137, + 0.07997286319732666 + ], + [ + -127.01699829101562, + -11.078906059265137, + 0.07997286319732666 + ], + [ + -127.01699829101562, + -10.29662036895752, + 0.07997286319732666 + ], + [ + -126.31736755371094, + -10.29662036895752, + 0.07997286319732666 + ], + [ + -126.31736755371094, + -11.078906059265137, + 1.808302879333496 + ], + [ + -127.01699829101562, + -11.078906059265137, + 1.808302879333496 + ], + [ + -127.01699829101562, + -10.29662036895752, + 1.808302879333496 + ], + [ + -126.31736755371094, + -10.29662036895752, + 1.808302879333496 + ] + ], + "corners_2d": [ + [ + 624.1874992874089, + 386.7402358874438 + ], + [ + 646.0784719455967, + 392.86297860103826 + ], + [ + 655.6241292134912, + 375.9555397749557 + ], + [ + 634.0736249370439, + 370.05711573884855 + ], + [ + 623.5134418989388, + 343.163736606245 + ], + [ + 646.3394135295302, + 349.24195262622305 + ], + [ + 656.2818883861277, + 332.46598971006284 + ], + [ + 633.8258448107837, + 326.61971301847626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 586, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -7.690057754516602, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4274267852306366, + "y": 0.5130179524421692, + "z": 0.8672756552696228 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 536.2034467724287, + "ymin": 239.71587060971086, + "xmax": 576.1195456958645, + "ymax": 301.2033930216915 + }, + "corners_3d": [ + [ + -122.12825775146484, + -8.214807510375977, + 0.0768669843673706 + ], + [ + -123.13187408447266, + -8.001481056213379, + 0.0768669843673706 + ], + [ + -122.95413970947266, + -7.165308475494385, + 0.0768669843673706 + ], + [ + -121.95052337646484, + -7.378634452819824, + 0.0768669843673706 + ], + [ + -122.12825775146484, + -8.214807510375977, + 1.8114182949066162 + ], + [ + -123.13187408447266, + -8.001481056213379, + 1.8114182949066162 + ], + [ + -122.95413970947266, + -7.165308475494385, + 1.8114182949066162 + ], + [ + -121.95052337646484, + -7.378634452819824, + 1.8114182949066162 + ] + ], + "corners_2d": [ + [ + 540.0437531218514, + 297.8645975126701 + ], + [ + 570.4262693205309, + 301.2033930216915 + ], + [ + 576.1195456958645, + 285.35525643558674 + ], + [ + 546.2993192940924, + 282.14404692393566 + ], + [ + 536.2034467724287, + 255.17539031162377 + ], + [ + 567.7419022700827, + 258.4616923284877 + ], + [ + 573.704293172974, + 242.8719019282766 + ], + [ + 542.7712795803207, + 239.71587060971086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 485, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -3.7450506687164307, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.46531248092651367, + "y": 0.4165975749492645, + "z": 0.9330719709396362 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 761.9040902986183, + "ymin": 214.6237264950776, + "xmax": 796.608639873569, + "ymax": 279.64104376890134 + }, + "corners_3d": [ + [ + -128.5573272705078, + -4.2513604164123535, + 0.01107555627822876 + ], + [ + -129.38595581054688, + -4.1642680168151855, + 0.01107555627822876 + ], + [ + -129.28868103027344, + -3.238740921020508, + 0.01107555627822876 + ], + [ + -128.46005249023438, + -3.325833559036255, + 0.01107555627822876 + ], + [ + -128.5573272705078, + -4.2513604164123535, + 1.8772194385528564 + ], + [ + -129.38595581054688, + -4.1642680168151855, + 1.8772194385528564 + ], + [ + -129.28868103027344, + -3.238740921020508, + 1.8772194385528564 + ], + [ + -128.46005249023438, + -3.325833559036255, + 1.8772194385528564 + ] + ], + "corners_2d": [ + [ + 761.9040902986183, + 275.54790909520545 + ], + [ + 786.2270416666443, + 279.64104376890134 + ], + [ + 790.6551363013459, + 263.7314512990078 + ], + [ + 766.7922892483477, + 259.79945935359643 + ], + [ + 766.7971125482715, + 230.05357101759853 + ], + [ + 792.1278190720486, + 234.06792068194977 + ], + [ + 796.608639873569, + 218.47387117696366 + ], + [ + 771.7766204549646, + 214.6237264950776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 647, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -130.24693298339844, + "y": -10.687763214111328, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3760742247104645, + "y": 0.5840288996696472, + "z": 0.8876615166664124 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 731.7223402922727, + "ymin": 355.041392662257, + "xmax": 784.3158900623882, + "ymax": 427.9647337540729 + }, + "corners_3d": [ + [ + -129.66290283203125, + -11.063838005065918, + 0.05647635459899902 + ], + [ + -130.83096313476562, + -11.063837051391602, + 0.05647635459899902 + ], + [ + -130.83096313476562, + -10.311688423156738, + 0.05647635459899902 + ], + [ + -129.66290283203125, + -10.311689376831055, + 0.05647635459899902 + ], + [ + -129.66290283203125, + -11.063838005065918, + 1.8317993879318237 + ], + [ + -130.83096313476562, + -11.063837051391602, + 1.8317993879318237 + ], + [ + -130.83096313476562, + -10.311688423156738, + 1.8317993879318237 + ], + [ + -129.66290283203125, + -10.311689376831055, + 1.8317993879318237 + ] + ], + "corners_2d": [ + [ + 731.7223402922727, + 417.0069674733994 + ], + [ + 770.8923661200199, + 427.9647337540729 + ], + [ + 778.1036695691366, + 410.4522425300478 + ], + [ + 739.56816859478, + 399.8939417652379 + ], + [ + 735.8786515663735, + 372.0562989275151 + ], + [ + 776.8962860837623, + 382.96605828903006 + ], + [ + 784.3158900623882, + 365.5358244932284 + ], + [ + 743.9938092571383, + 355.041392662257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 658, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -18.85797882080078, + "z": 1.0957247018814087 + }, + "extent": { + "x": 0.2940429747104645, + "y": 0.49490904808044434, + "z": 0.9007416367530823 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 98.85940510614864, + "ymin": 404.5675526776269, + "xmax": 165.42213674166044, + "ymax": 479.536977556301 + }, + "corners_3d": [ + [ + -114.87661743164062, + -19.04269790649414, + 0.19498306512832642 + ], + [ + -115.84480285644531, + -19.248493194580078, + 0.19498306512832642 + ], + [ + -115.96707153320312, + -18.673259735107422, + 0.19498306512832642 + ], + [ + -114.99888610839844, + -18.467464447021484, + 0.19498306512832642 + ], + [ + -114.87661743164062, + -19.04269790649414, + 1.9964663982391357 + ], + [ + -115.84480285644531, + -19.248493194580078, + 1.9964663982391357 + ], + [ + -115.96707153320312, + -18.673259735107422, + 1.9964663982391357 + ], + [ + -114.99888610839844, + -18.467464447021484, + 1.9964663982391357 + ] + ], + "corners_2d": [ + [ + 124.03510264457645, + 464.0259107255495 + ], + [ + 146.56957970533097, + 479.536977556301 + ], + [ + 165.42213674166044, + 465.74972913422806 + ], + [ + 142.90517300232034, + 450.6609882582552 + ], + [ + 98.85940510614864, + 417.91798518623153 + ], + [ + 122.09449972582502, + 433.43447000815695 + ], + [ + 142.22324411606348, + 419.6412249984904 + ], + [ + 118.99598924235511, + 404.5675526776269 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3342, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 392.52863295033933, + "ymin": 48.55809729574287, + "xmax": 500.22837196324673, + "ymax": 117.72219924534662 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 479.79492169868337, + 117.72219924534662 + ], + [ + 500.22837196324673, + 98.52307046394924 + ], + [ + 421.2772258448115, + 82.98706802526641 + ], + [ + 398.9812964855612, + 101.21738501734313 + ], + [ + 475.38847704670195, + 82.20591084992395 + ], + [ + 496.50304268427976, + 63.59529466485344 + ], + [ + 415.59819367753613, + 48.55809729574287 + ], + [ + 392.52863295033933, + 66.20515811211112 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3758, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 44.06926486930479, + "ymin": 25.393860176427097, + "xmax": 174.7105934975798, + "ymax": 93.24722442086238 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 89.63621635603499, + 57.21065946871232 + ], + [ + 58.177061027002765, + 74.18113519356513 + ], + [ + 144.8276902318026, + 93.24722442086238 + ], + [ + 174.7105934975798, + 75.18408414733403 + ], + [ + 76.6822941519755, + 25.393860176427097 + ], + [ + 44.06926486930479, + 41.81531213124748 + ], + [ + 132.4250813690005, + 60.291799394198904 + ], + [ + 163.4088994560272, + 42.786527567167184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3884, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 5.607032662328265, + "ymin": 55.71446759627736, + "xmax": 129.36161204313862, + "ymax": 132.8258110357408 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 60.331064603634104, + 96.39190481583933 + ], + [ + 25.285355829815217, + 116.04399648315024 + ], + [ + 95.65348691468535, + 132.8258110357408 + ], + [ + 129.36161204313862, + 112.13753934714481 + ], + [ + 42.36708238135577, + 55.71446759627736 + ], + [ + 5.607032662328265, + 74.65412006175643 + ], + [ + 77.75182926097455, + 90.8573003563248 + ], + [ + 113.1188172967095, + 70.88629238258818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7493, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1098.1050527076573, + "ymin": 295.75429947168345, + "xmax": 1280.0, + "ymax": 417.71782997074035 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1100.4955732317467, + 334.6898415529635 + ], + [ + 1098.1050527076573, + 370.80552953721167 + ], + [ + 1295.055182371149, + 417.71782997074035 + ], + [ + 1289.1647352455211, + 377.77715505395287 + ], + [ + 1117.185214166936, + 295.75429947168345 + ], + [ + 1115.437400972886, + 331.5260366325887 + ], + [ + 1321.1985914946777, + 378.15601396767954 + ], + [ + 1313.9256775949007, + 338.4439282754505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.8419924172636, + "ymin": 188.73211288275624, + "xmax": 1174.7351772256106, + "ymax": 226.75661106131025 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1162.203635016152, + 219.11580020485604 + ], + [ + 1150.9422764424316, + 216.91509191748588 + ], + [ + 1150.8419924172636, + 224.51014650374105 + ], + [ + 1162.2196922155335, + 226.75661106131025 + ], + [ + 1174.5873909643342, + 190.89868014721984 + ], + [ + 1163.0219735234673, + 188.73211288275624 + ], + [ + 1163.047017459303, + 196.21063731725135 + ], + [ + 1174.7351772256106, + 198.42333459958454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 571.3416085564545, + "ymin": 156.49955129916742, + "xmax": 587.7336282956825, + "ymax": 193.11620026097302 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 582.0673026613756, + 193.11620026097302 + ], + [ + 587.7336282956825, + 186.14645680182468 + ], + [ + 578.611586721206, + 184.13779068676803 + ], + [ + 572.8716117228687, + 191.0676629525193 + ], + [ + 580.742990589092, + 165.3219956011446 + ], + [ + 586.5508113390989, + 158.47288280591619 + ], + [ + 577.2263821253069, + 156.49955129916742 + ], + [ + 571.3416085564545, + 163.30859569886434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1158.0784142371544, + "ymin": 36.72363460125712, + "xmax": 1173.5979535436177, + "ymax": 62.34003054786217 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1158.095565693661, + 57.33519739555567 + ], + [ + 1158.0784142371544, + 61.1968441203548 + ], + [ + 1165.513599323067, + 62.34003054786217 + ], + [ + 1165.4811631756038, + 58.463190680434025 + ], + [ + 1165.996087179685, + 36.72363460125712 + ], + [ + 1166.0324623149404, + 40.50423733197783 + ], + [ + 1173.5979535436177, + 41.62358015871041 + ], + [ + 1173.5102437590326, + 37.8278748658164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1151.5817289024822, + "ymin": 134.75617169720826, + "xmax": 1173.6469633590425, + "ymax": 170.40592981615487 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1162.087539399175, + 163.87175486947928 + ], + [ + 1151.6675272821394, + 161.98790179838238 + ], + [ + 1151.5817289024822, + 168.4858796748864 + ], + [ + 1162.10127099807, + 170.40592981615487 + ], + [ + 1173.521033548417, + 136.60424839018754 + ], + [ + 1162.8412199510806, + 134.75617169720826 + ], + [ + 1162.8625701618498, + 141.13169006489414 + ], + [ + 1173.6469633590425, + 143.01606436025907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.19718290336436, + "ymin": 172.1231134907341, + "xmax": 302.19689334196585, + "ymax": 202.8493039716672 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 295.03408848126, + 202.8493039716672 + ], + [ + 302.19689334196585, + 196.87979338070951 + ], + [ + 295.13575899449063, + 195.14661943574276 + ], + [ + 287.93167773136526, + 201.0871224076628 + ], + [ + 288.418983497996, + 179.72025976085826 + ], + [ + 295.7737642410296, + 173.8322691624095 + ], + [ + 288.5945532945194, + 172.1231134907341 + ], + [ + 281.19718290336436, + 177.98194827710395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1152.117461019603, + "ymin": 95.69292153019177, + "xmax": 1172.8602649173567, + "ymax": 129.57019040960822 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1162.0027543468611, + 123.78438254503297 + ], + [ + 1152.1934625288218, + 122.11507988172426 + ], + [ + 1152.117461019603, + 127.87072017961606 + ], + [ + 1162.0149083736273, + 129.57019040960822 + ], + [ + 1172.7490521166856, + 97.32632854176398 + ], + [ + 1162.7098547742494, + 95.69292153019177 + ], + [ + 1162.728712103603, + 101.32553376859204 + ], + [ + 1172.8602649173567, + 102.98907490309216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 488.9776388913923, + "ymin": 139.2065595151351, + "xmax": 507.29134197600195, + "ymax": 175.0552731733591 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 500.9934115942831, + 175.0552731733591 + ], + [ + 507.29134197600195, + 168.43315087265486 + ], + [ + 498.6214935103865, + 166.5240572560408 + ], + [ + 492.25789621371496, + 173.10924977935073 + ], + [ + 497.89822862962956, + 147.5799820187093 + ], + [ + 504.365225205705, + 141.07994427647574 + ], + [ + 495.51306680271216, + 139.2065595151351 + ], + [ + 488.9776388913923, + 145.66954853309767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 395.5964254902043, + "ymin": 119.58959039361713, + "xmax": 415.9423107683384, + "ymax": 154.55643928789678 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 408.9759920386076, + 154.55643928789678 + ], + [ + 415.9423107683384, + 148.31818744829087 + ], + [ + 407.7720655052659, + 146.5191060004595 + ], + [ + 400.7484959982154, + 152.72358804321553 + ], + [ + 403.9872168177375, + 127.46801924782307 + ], + [ + 411.14976694922177, + 121.35274972070388 + ], + [ + 402.81844841158056, + 119.58959039361713 + ], + [ + 395.5964254902043, + 125.6710473351718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1103.1241238437103, + "ymin": 390.6485109998447, + "xmax": 1127.4772664118618, + "ymax": 428.6920251491153 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1115.564381996196, + 418.42612997421054 + ], + [ + 1103.7449680412885, + 415.4556096258932 + ], + [ + 1103.1241238437103, + 425.65616197551526 + ], + [ + 1115.0710384351933, + 428.6920251491153 + ], + [ + 1127.4772664118618, + 393.6125707481612 + ], + [ + 1115.324028031343, + 390.6485109998447 + ], + [ + 1114.8171582733114, + 400.82884589367666 + ], + [ + 1127.1052529173319, + 403.85976446521113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.3306743580135, + "ymin": 200.3965497749772, + "xmax": 1217.4560478289934, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1011.1619003117855, + 724.4705682948636 + ], + [ + 1014.6993772374882, + 695.0562095434457 + ], + [ + 679.8838714468194, + 583.0336034153745 + ], + [ + 669.3306743580135, + 607.2143132635858 + ], + [ + 1217.4560478289934, + 344.0116127357789 + ], + [ + 1215.391968004054, + 312.66765969874126 + ], + [ + 698.3607431594199, + 200.3965497749772 + ], + [ + 683.3595236945692, + 223.72645747931446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 386.29184970829687, + "ymin": 0.0, + "xmax": 559.5716987201041, + "ymax": 137.0533493534955 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 559.5716987201041, + 24.20284550343331 + ], + [ + 551.7526601974923, + 22.829475711892485 + ], + [ + 422.7456549360068, + 135.05056125853338 + ], + [ + 431.7951076983034, + 137.0533493534955 + ], + [ + 548.6751590089067, + -163.40975394081102 + ], + [ + 539.8311252099985, + -164.42980342097985 + ], + [ + 386.29184970829687, + -78.70744062102915 + ], + [ + 396.73466449255875, + -77.13268635391819 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.4396489893818, + "ymin": 215.1911898895939, + "xmax": 737.3932905913235, + "ymax": 241.1418559548544 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 728.3104138754313, + 241.1418559548544 + ], + [ + 737.2474463514274, + 225.43790723222253 + ], + [ + 699.0691718516882, + 216.9584986314272 + ], + [ + 689.4396489893818, + 232.3028380200203 + ], + [ + 728.4456548217199, + 239.3533854438586 + ], + [ + 737.3932905913235, + 223.6629103570296 + ], + [ + 699.1567481187599, + 215.1911898895939 + ], + [ + 689.5144799557133, + 230.52182897669806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.4377199584226, + "ymin": 215.23688511725328, + "xmax": 737.3895196052177, + "ymax": 241.18795922064197 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 728.3069276288012, + 241.18795922064197 + ], + [ + 737.2436866505793, + 225.4836646598839 + ], + [ + 699.0669141942124, + 217.00405866643112 + ], + [ + 689.4377199584226, + 232.34874978291344 + ], + [ + 728.4421578892611, + 239.39963002254078 + ], + [ + 737.3895196052177, + 223.70880513188695 + ], + [ + 699.1544837620198, + 215.23688511725328 + ], + [ + 689.5125450809556, + 230.56787982449467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 226.21648443247858, + "ymin": 25.644530421939805, + "xmax": 627.2298086615082, + "ymax": 360.79988609145556 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 305.79173005868495, + 263.45757429320787 + ], + [ + 297.98990268954515, + 270.4839772723143 + ], + [ + 621.7536515841441, + 360.79988609145556 + ], + [ + 627.2298086615082, + 352.0817961999439 + ], + [ + 236.4098017482084, + 25.644530421939805 + ], + [ + 226.21648443247858, + 31.560327599970492 + ], + [ + 617.3811954837628, + 109.61784672641949 + ], + [ + 624.2071492865975, + 101.91589665367178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.9931016097265, + "ymin": 0.0, + "xmax": 1228.4930603247885, + "ymax": 119.54258061680133 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1145.942265855584, + 119.54258061680133 + ], + [ + 1146.1454839035148, + 114.93945920543976 + ], + [ + 866.0598101157839, + 66.68062933356435 + ], + [ + 863.9931016097265, + 70.60697649628412 + ], + [ + 1228.4930603247885, + -90.84647467195077 + ], + [ + 1228.037308292006, + -94.4311091378915 + ], + [ + 899.4375385324859, + -131.51098793539228 + ], + [ + 897.3205754504262, + -128.52793767292468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.7479255173284, + "ymin": 14.930032558434334, + "xmax": 1228.1729981728506, + "ymax": 503.7250024528588 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1078.7479255173284, + 498.8638623965846 + ], + [ + 1095.9928786620853, + 503.7250024528588 + ], + [ + 1115.1202509598659, + 253.4399578492671 + ], + [ + 1102.0134124355636, + 250.66450154104598 + ], + [ + 1205.1501949602402, + 236.65928839606772 + ], + [ + 1228.1729981728506, + 241.3136112919565 + ], + [ + 1212.2338564543816, + 17.24837687810242 + ], + [ + 1196.039406895547, + 14.930032558434334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1122.7101140489613, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 119.59853800295181 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1122.7101140489613, + 37.98745966495295 + ], + [ + 1144.0578246657883, + 102.24463591820921 + ], + [ + 1317.10419631632, + 119.59853800295181 + ], + [ + 1276.8641281418227, + 51.894576298386596 + ], + [ + 1222.2730742175938, + -244.79268912801092 + ], + [ + 1262.856545315465, + -205.73470956634264 + ], + [ + 1482.2361960040082, + -194.8573529547067 + ], + [ + 1412.20257054274, + -236.49796364324152 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00103/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00103/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28908d33a89cd754d3a606d96f38887ef7843066 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00103/meta.json @@ -0,0 +1,3092 @@ +{ + "frame_id": 103, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 51.5, + "sim_timestamp": 3375.751184751978 + }, + "drone_pose": { + "x": -134.6180463030564, + "y": -27.00959679084014, + "z": 19.966652452277987, + "pitch": -47.817941939695125, + "yaw": 64.95496169142129, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2842615842819214, + -0.6083520650863647, + 0.7410149574279785, + 39.90250015258789 + ], + [ + 0.905975341796875, + 0.42333054542541504, + 0.0, + -110.52662658691406 + ], + [ + -0.3136942386627197, + 0.6713412404060364, + 0.6714885234832764, + -73.76893615722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.94196813805885, + "y": -25.92099601404409, + "z": 20.022698562632304 + }, + "t1_image_uv": [ + 2009.7921841132338, + -850.9698004675886 + ], + "t1_depth": 0.528642979218989 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -125.66718292236328, + "y": -8.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 627.8017456153633, + 279.3401610214636 + ], + "depth": 27.786475555419884, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 600, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -125.66718292236328, + "y": -8.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.37578123807907104, + "y": 0.29947295784950256, + "z": 0.879174530506134 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 613.1793796670129, + "ymin": 245.86448730905494, + "xmax": 642.0175116847997, + "ymax": 311.99318357981474 + }, + "corners_3d": [ + [ + -125.72113800048828, + -9.165240287780762, + 0.06496810913085938 + ], + [ + -126.14466094970703, + -8.741721153259277, + 0.06496810913085938 + ], + [ + -125.61322784423828, + -8.210286140441895, + 0.06496810913085938 + ], + [ + -125.18970489501953, + -8.633805274963379, + 0.06496810913085938 + ], + [ + -125.72113800048828, + -9.165240287780762, + 1.8233171701431274 + ], + [ + -126.14466094970703, + -8.741721153259277, + 1.8233171701431274 + ], + [ + -125.61322784423828, + -8.210286140441895, + 1.8233171701431274 + ], + [ + -125.18970489501953, + -8.633805274963379, + 1.8233171701431274 + ] + ], + "corners_2d": [ + [ + 622.7220709478383, + 311.99318357981474 + ], + [ + 641.924522709759, + 307.08253599137646 + ], + [ + 633.3262828957693, + 290.47231897973916 + ], + [ + 614.4009991828921, + 295.2218382893274 + ], + [ + 621.882965999294, + 267.4135939022363 + ], + [ + 642.0175116847997, + 262.4925811295407 + ], + [ + 633.0093969540569, + 245.86448730905494 + ], + [ + 613.1793796670129, + 250.61641258920199 + ] + ], + "center_offset_px": [ + -12.198254384636698, + -80.65983897853641 + ] + }, + "trace_timestep_index": 103, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 631719, + "2": 144116, + "3": 11737, + "4": 29933, + "6": 29689, + "7": 3221, + "9": 5089, + "10": 8, + "12": 4079, + "14": 13610, + "24": 34541, + "25": 13858 + }, + "instance_pixel_counts": { + "11605": 5590, + "16994": 2179, + "17496": 15028, + "17503": 1009, + "17506": 582, + "19083": 4149, + "19595": 2510, + "20066": 429, + "20565": 6147, + "21395": 3748, + "21397": 167, + "21907": 209455, + "21909": 20093, + "22155": 1334, + "22421": 5882, + "22931": 271126, + "23445": 14, + "23955": 192, + "23957": 746, + "24467": 22253, + "25600": 6969, + "25856": 10568, + "26112": 345, + "36096": 600, + "36352": 606, + "36608": 584, + "36864": 649, + "37120": 988, + "37376": 652, + "37888": 3113, + "40448": 78, + "40704": 3214, + "41216": 7205, + "45409": 432, + "46483": 117440, + "46995": 2106, + "47201": 29050, + "47713": 5714, + "48225": 2740, + "48737": 23935, + "49043": 5399, + "49249": 5508, + "49761": 10118, + "51526": 29933, + "52833": 395, + "53345": 46, + "53857": 2181, + "54366": 12849, + "56458": 706, + "56970": 7870, + "57482": 33767, + "58506": 10471, + "60819": 6972, + "61254": 5089, + "61331": 56, + "62867": 611 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 600, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -125.66718292236328, + "y": -8.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.2919287085533142, + "y": 0.3890063464641571, + "z": 0.86602783203125 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 611.1593914889971, + "ymin": 247.33135449738393, + "xmax": 643.9823368914599, + "ymax": 310.51146628515903 + }, + "corners_3d": [ + [ + -125.59854125976562, + -9.169257164001465, + 0.07811480760574341 + ], + [ + -126.14867401123047, + -8.619118690490723, + 0.07811480760574341 + ], + [ + -125.73582458496094, + -8.206269264221191, + 0.07811480760574341 + ], + [ + -125.1856918334961, + -8.756407737731934, + 0.07811480760574341 + ], + [ + -125.59854125976562, + -9.169257164001465, + 1.8101704120635986 + ], + [ + -126.14867401123047, + -8.619118690490723, + 1.8101704120635986 + ], + [ + -125.73582458496094, + -8.206269264221191, + 1.8101704120635986 + ], + [ + -125.1856918334961, + -8.756407737731934, + 1.8101704120635986 + ] + ], + "corners_2d": [ + [ + 618.8908358085844, + 310.51146628515903 + ], + [ + 643.8019385298035, + 304.1562420791863 + ], + [ + 637.0883700786063, + 291.2710741989443 + ], + [ + 612.4571475036198, + 297.4636465088783 + ], + [ + 617.882580209768, + 266.5966022393462 + ], + [ + 643.9823368914599, + 260.22929130116876 + ], + [ + 636.9520728797136, + 247.33135449738393 + ], + [ + 611.1593914889971, + 253.52810266168726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 606, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -121.54119873046875, + "y": -5.690057754516602, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.42344236373901367, + "y": 0.44843748211860657, + "z": 0.8786213994026184 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 531.1222110319717, + "ymin": 150.1727847977585, + "xmax": 572.100505616752, + "ymax": 217.4132507654473 + }, + "corners_3d": [ + [ + -121.65209197998047, + -6.296772480010986, + 0.06551647186279297 + ], + [ + -122.14056396484375, + -5.544589996337891, + 0.06551647186279297 + ], + [ + -121.43030548095703, + -5.083343029022217, + 0.06551647186279297 + ], + [ + -120.94183349609375, + -5.8355255126953125, + 0.06551647186279297 + ], + [ + -121.65209197998047, + -6.296772480010986, + 1.8227592706680298 + ], + [ + -122.14056396484375, + -5.544589996337891, + 1.8227592706680298 + ], + [ + -121.43030548095703, + -5.083343029022217, + 1.8227592706680298 + ], + [ + -120.94183349609375, + -5.8355255126953125, + 1.8227592706680298 + ] + ], + "corners_2d": [ + [ + 547.8631462929706, + 217.4132507654473 + ], + [ + 572.100505616752, + 208.09259929135106 + ], + [ + 559.6132922522738, + 194.3382797277929 + ], + [ + 535.6207096775406, + 203.37712991420702 + ], + [ + 543.8278253808319, + 173.06814230408557 + ], + [ + 569.1582519252812, + 163.81396812594318 + ], + [ + 556.18498337902, + 150.1727847977585 + ], + [ + 531.1222110319717, + 159.13526785516774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 584, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -127.92300415039062, + "y": -1.7450506687164307, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.42069822549819946, + "y": 0.4478105902671814, + "z": 0.9373160600662231 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 760.5881875015572, + "ymin": 133.04668063067248, + "xmax": 803.9121353840344, + "ymax": 201.41327795587316 + }, + "corners_3d": [ + [ + -127.96813201904297, + -2.357818841934204, + 0.006826579570770264 + ], + [ + -128.53176879882812, + -1.6617900133132935, + 0.006826579570770264 + ], + [ + -127.87787628173828, + -1.1322824954986572, + 0.006826579570770264 + ], + [ + -127.31424713134766, + -1.8283113241195679, + 0.006826579570770264 + ], + [ + -127.96813201904297, + -2.357818841934204, + 1.8814587593078613 + ], + [ + -128.53176879882812, + -1.6617900133132935, + 1.8814587593078613 + ], + [ + -127.87787628173828, + -1.1322824954986572, + 1.8814587593078613 + ], + [ + -127.31424713134766, + -1.8283113241195679, + 1.8814587593078613 + ] + ], + "corners_2d": [ + [ + 773.6817700171116, + 201.41327795587316 + ], + [ + 796.7835161534272, + 193.9901250273302 + ], + [ + 783.4342617808599, + 180.00372852674454 + ], + [ + 760.5881875015572, + 187.1953996650836 + ], + [ + 779.8128212379911, + 154.242510959198 + ], + [ + 803.9121353840344, + 146.88822785378707 + ], + [ + 789.8492525793102, + 133.04668063067248 + ], + [ + 766.0274992458176, + 140.16141131989002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 649, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -129.24693298339844, + "y": -8.687763214111328, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5071923732757568, + "y": 0.45196714997291565, + "z": 0.8993270397186279 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 719.5782830068163, + "ymin": 277.37126432557994, + "xmax": 769.355889212138, + "ymax": 355.0161249534481 + }, + "corners_3d": [ + [ + -129.28598022460938, + -9.365991592407227, + 0.04481559991836548 + ], + [ + -129.92515563964844, + -8.726813316345215, + 0.04481559991836548 + ], + [ + -129.2078857421875, + -8.00953483581543, + 0.04481559991836548 + ], + [ + -128.56871032714844, + -8.648713111877441, + 0.04481559991836548 + ], + [ + -129.28598022460938, + -9.365991592407227, + 1.8434696197509766 + ], + [ + -129.92515563964844, + -8.726813316345215, + 1.8434696197509766 + ], + [ + -129.2078857421875, + -8.00953483581543, + 1.8434696197509766 + ], + [ + -128.56871032714844, + -8.648713111877441, + 1.8434696197509766 + ] + ], + "corners_2d": [ + [ + 733.7679481568227, + 355.0161249534481 + ], + [ + 763.0216784169023, + 346.99134238786297 + ], + [ + 748.2652205263815, + 322.94340754886343 + ], + [ + 719.5782830068163, + 330.60223073499833 + ], + [ + 738.6348737156737, + 309.6047959629296 + ], + [ + 769.355889212138, + 301.5302333914298 + ], + [ + 753.7050950854912, + 277.37126432557994 + ], + [ + 723.608230222304, + 285.05924995631733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 988, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -129.28268432617188, + "y": -19.81512451171875, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.32023924589157104, + "y": 0.43357419967651367, + "z": 0.8732270002365112 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 527.3439210767144, + "ymin": 623.012384478179, + "xmax": 579.5814370613451, + "ymax": 697.8288561541765 + }, + "corners_3d": [ + [ + -129.1472625732422, + -20.336854934692383, + 0.07090598344802856 + ], + [ + -129.8211669921875, + -19.791139602661133, + 0.07090598344802856 + ], + [ + -129.41810607910156, + -19.293394088745117, + 0.07090598344802856 + ], + [ + -128.74420166015625, + -19.839109420776367, + 0.07090598344802856 + ], + [ + -129.1472625732422, + -20.336854934692383, + 1.8173599243164062 + ], + [ + -129.8211669921875, + -19.791139602661133, + 1.8173599243164062 + ], + [ + -129.41810607910156, + -19.293394088745117, + 1.8173599243164062 + ], + [ + -128.74420166015625, + -19.839109420776367, + 1.8173599243164062 + ] + ], + "corners_2d": [ + [ + 539.4793484887847, + 697.8288561541765 + ], + [ + 579.5814370613451, + 688.2571133509286 + ], + [ + 573.697874733653, + 660.5655514919448 + ], + [ + 534.3616898770664, + 669.7578202556897 + ], + [ + 532.6553508572415, + 661.7065481386578 + ], + [ + 575.5098225221283, + 651.7538972653942 + ], + [ + 569.3248110974962, + 623.012384478179 + ], + [ + 527.3439210767144, + 632.5446227713953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 652, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -114.42184448242188, + "y": -16.85797882080078, + "z": 1.094923973083496 + }, + "extent": { + "x": 0.33588865399360657, + "y": 0.34105101227760315, + "z": 0.893020749092102 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 90.87623716442693, + "ymin": 308.80311276114446, + "xmax": 149.2756947733829, + "ymax": 374.69325221511303 + }, + "corners_3d": [ + [ + -114.31875610351562, + -17.325428009033203, + 0.20190322399139404 + ], + [ + -114.89081573486328, + -16.953927993774414, + 0.20190322399139404 + ], + [ + -114.52493286132812, + -16.39052963256836, + 0.20190322399139404 + ], + [ + -113.95287322998047, + -16.76202964782715, + 0.20190322399139404 + ], + [ + -114.31875610351562, + -17.325428009033203, + 1.9879447221755981 + ], + [ + -114.89081573486328, + -16.953927993774414, + 1.9879447221755981 + ], + [ + -114.52493286132812, + -16.39052963256836, + 1.9879447221755981 + ], + [ + -113.95287322998047, + -16.76202964782715, + 1.9879447221755981 + ] + ], + "corners_2d": [ + [ + 118.50149811459175, + 374.69325221511303 + ], + [ + 144.34705021130748, + 372.11145291657897 + ], + [ + 149.2756947733829, + 354.26143312063317 + ], + [ + 123.8733944988727, + 356.75782962469657 + ], + [ + 90.87623716442693, + 329.38907340938425 + ], + [ + 118.15734852633034, + 326.7855068061738 + ], + [ + 123.80078967333418, + 308.80311276114446 + ], + [ + 97.01299843266588, + 311.3161196729643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 3113, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 393.4094627853662, + "ymin": 0.0, + "xmax": 508.3322929192385, + "ymax": 48.78954399035513 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 484.8386778375694, + 48.78954399035513 + ], + [ + 508.3322929192385, + 27.32615462950531 + ], + [ + 426.1073312796669, + 7.052961052556441 + ], + [ + 400.9292907776222, + 27.318883403834377 + ], + [ + 479.8093030807155, + 10.50433282632514 + ], + [ + 504.1907201982879, + -10.501341978354787 + ], + [ + 419.5728150447476, + -30.30639169659662 + ], + [ + 393.4094627853662, + -10.508451529373076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 78, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 32.33628160224646, + "ymin": 0.0, + "xmax": 168.91015074428736, + "ymax": 10.580177075841902 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 82.56002059027935, + -31.94911310652651 + ], + [ + 48.93835315488968, + -13.573560594803098 + ], + [ + 136.56540809995244, + 10.580177075841902 + ], + [ + 168.91015074428736, + -9.09392105717609 + ], + [ + 67.333314445219, + -66.41779267510935 + ], + [ + 32.33628160224646, + -48.50170886993516 + ], + [ + 121.9121429060583, + -24.91085947084838 + ], + [ + 155.58904079640627, + -44.129990711536095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3214, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 119.10335387121654, + "ymax": 53.9491726166238 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 49.426533651638465, + 11.654321936748829 + ], + [ + 12.087820332755314, + 32.82022476187859 + ], + [ + 82.82111034958052, + 53.9491726166238 + ], + [ + 119.10335387121654, + 31.562790299318067 + ], + [ + 28.217891489416843, + -32.09622782983098 + ], + [ + -11.157808749172204, + -11.49728643082284 + ], + [ + 61.57615356201313, + 9.109708769392398 + ], + [ + 99.85383422532811, + -12.722270267647843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 161, + "instance_id": 41216, + "pixel_count": 7205, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -142.06777954101562, + "y": -4.104891300201416, + "z": 0.787982165813446 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 1127.947617925048, + "ymin": 283.46289942824296, + "xmax": 1280.0, + "ymax": 428.64635606594703 + }, + "corners_3d": [ + [ + -139.38275146484375, + -3.211064338684082, + 0.0004991628229618073 + ], + [ + -139.38714599609375, + -5.011783123016357, + 0.0004991628229618073 + ], + [ + -144.7528076171875, + -4.99871826171875, + 0.0004991628229618073 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 0.0004991628229618073 + ], + [ + -139.38275146484375, + -3.211064338684082, + 1.5754650831222534 + ], + [ + -139.38714599609375, + -5.011783123016357, + 1.5754650831222534 + ], + [ + -144.7528076171875, + -4.99871826171875, + 1.5754650831222534 + ], + [ + -144.7484130859375, + -3.1979997158050537, + 1.5754650831222534 + ] + ], + "corners_2d": [ + [ + 1134.854936256694, + 323.027561176952 + ], + [ + 1127.947617925048, + 364.83344713935776 + ], + [ + 1341.8365037112246, + 428.64635606594703 + ], + [ + 1340.2557892280201, + 381.7870604778897 + ], + [ + 1156.4436182018462, + 283.46289942824296 + ], + [ + 1150.144971303665, + 325.4792391257986 + ], + [ + 1375.7709108696533, + 389.90372762164014 + ], + [ + 1372.6422498095271, + 342.5610261026738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4937503859901986474, + "instance_id": 43766, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -5.294299602508545, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1198.5439717607333, + "ymin": 176.62996871312146, + "xmax": 1228.9884482962773, + "ymax": 219.00433613719272 + }, + "corners_3d": [ + [ + -139.30453491210938, + -5.104338645935059, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.104339122772217, + 5.545533180236816 + ], + [ + -139.02737426757812, + -5.484260559082031, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -5.104338645935059, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.104339122772217, + 6.416468620300293 + ], + [ + -139.02737426757812, + -5.484260559082031, + 6.416468620300293 + ], + [ + -139.30453491210938, + -5.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1212.2284835124387, + 209.6452026130685 + ], + [ + 1199.6558422622252, + 206.4983197113075 + ], + [ + 1198.5439717607333, + 215.7924361988902 + ], + [ + 1211.2421534429213, + 219.00433613719272 + ], + [ + 1228.9884482962773, + 179.76222565834632 + ], + [ + 1215.9891676384013, + 176.62996871312146 + ], + [ + 1215.0170200090142, + 185.88272098446635 + ], + [ + 1228.150584412815, + 189.08161492612166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 557.15992228874, + "ymin": 115.5318392197205, + "xmax": 576.1234181196467, + "ymax": 155.84205335355824 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 569.1063740160204, + 155.84205335355824 + ], + [ + 576.1234181196467, + 147.720421862597 + ], + [ + 566.4569958381986, + 144.98701754608575 + ], + [ + 559.3704365391137, + 153.05607175941427 + ], + [ + 567.1562503385067, + 126.29639427664495 + ], + [ + 574.3834579743556, + 118.24175170848443 + ], + [ + 564.4603675367473, + 115.5318392197205 + ], + [ + 557.15992228874, + 123.53291791546746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6533279129370681903, + "instance_id": 12258, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -140.2950439453125, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1230.6547623042766, + "ymin": 0.0, + "xmax": 1250.58949094267, + "ymax": 10.175199932507041 + }, + "corners_3d": [ + [ + -140.15570068359375, + 12.355925559997559, + 2.645533323287964 + ], + [ + -140.15570068359375, + 11.976011276245117, + 2.645533323287964 + ], + [ + -140.43438720703125, + 11.976012229919434, + 2.645533323287964 + ], + [ + -140.43438720703125, + 12.355926513671875, + 2.645533323287964 + ], + [ + -140.15570068359375, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -140.15570068359375, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -140.43438720703125, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1231.1626713822102, + 3.920864152045567 + ], + [ + 1230.6547623042766, + 8.568135246975828 + ], + [ + 1238.9408712345282, + 10.175199932507041 + ], + [ + 1239.3954109429435, + 5.506876112749296 + ], + [ + 1242.1776967050996, + -18.923086670232124 + ], + [ + 1241.734408543101, + -14.342416551186318 + ], + [ + 1250.2019331329602, + -12.75812052421719 + ], + [ + 1250.58949094267, + -17.359930954590197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8203369583008988027, + "instance_id": 31675, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -2.294299364089966, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1206.7490661096954, + "ymin": 109.84248231875722, + "xmax": 1235.034374794831, + "ymax": 149.95392275862662 + }, + "corners_3d": [ + [ + -139.30453491210938, + -2.1043381690979004, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 5.545533180236816 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.484260082244873, + 5.545533180236816 + ], + [ + -139.30453491210938, + -2.1043381690979004, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.1043386459350586, + 6.416468620300293 + ], + [ + -139.02737426757812, + -2.4842605590820312, + 6.416468620300293 + ], + [ + -139.30453491210938, + -2.484260082244873, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1219.3634009625455, + 141.94307412394585 + ], + [ + 1207.7012553809923, + 139.24677682368707 + ], + [ + 1206.7490661096954, + 147.206119205544 + ], + [ + 1218.5191624579475, + 149.95392275862662 + ], + [ + 1235.034374794831, + 112.51461702347444 + ], + [ + 1223.006246953502, + 109.84248231875722 + ], + [ + 1222.177346199579, + 117.73183276485705 + ], + [ + 1234.3203642537255, + 120.45641079832637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 258.36706512061704, + "ymin": 113.35955119690135, + "xmax": 282.11040843010295, + "ymax": 146.54190590967005 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 274.0103824505432, + 146.54190590967005 + ], + [ + 282.11040843010295, + 139.91519968432738 + ], + [ + 274.8759490799668, + 137.66776788824652 + ], + [ + 266.7408186560737, + 144.2588936154078 + ], + [ + 265.7769967955725, + 122.16982367214501 + ], + [ + 274.1237193307948, + 115.59041550397592 + ], + [ + 266.750119106094, + 113.35955119690135 + ], + [ + 258.36706512061704, + 119.90284453974033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10969904427264244813, + "instance_id": 19964, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -139.1659393310547, + "y": 0.2056998759508133, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1212.7018146520647, + "ymin": 61.50057728166894, + "xmax": 1239.4078255138847, + "ymax": 99.87571629639058 + }, + "corners_3d": [ + [ + -139.3045196533203, + 0.39566102623939514, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 5.545533180236816 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 5.545533180236816 + ], + [ + -139.3045196533203, + 0.39566102623939514, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.3956605792045593, + 6.416468620300293 + ], + [ + -139.02735900878906, + 0.015738727524876595, + 6.416468620300293 + ], + [ + -139.3045196533203, + 0.01573917083442211, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1224.5441640563854, + 92.77771923968527 + ], + [ + 1213.545824674471, + 90.38689224956568 + ], + [ + 1212.7018146520647, + 97.44191892062832 + ], + [ + 1223.79612258336, + 99.87571629639058 + ], + [ + 1239.4078255138847, + 63.86253000229402 + ], + [ + 1228.0846918117927, + 61.50057728166894 + ], + [ + 1227.3522865229727, + 68.47144329115935 + ], + [ + 1238.7771859673067, + 70.8769400730011 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 469.9278257111911, + "ymin": 91.87653345379039, + "xmax": 491.13133723736405, + "ymax": 131.3522203860703 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 483.5237104871089, + 131.3522203860703 + ], + [ + 491.13133723736405, + 123.68697101695227 + ], + [ + 482.00478739273507, + 121.10622803327337 + ], + [ + 474.3365104703033, + 128.72326236558843 + ], + [ + 479.34594555277624, + 102.02133516607512 + ], + [ + 487.19433206837846, + 94.43115938296228 + ], + [ + 477.8398663940491, + 91.87653345379039 + ], + [ + 469.9278257111911, + 99.41770389040767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 371.7685689728345, + "ymin": 65.2419049006686, + "xmax": 395.29706915692657, + "ymax": 103.75425832795798 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 387.07933328798885, + 103.75425832795798 + ], + [ + 395.29706915692657, + 96.58763954194643 + ], + [ + 386.76071137753934, + 94.17378693895574 + ], + [ + 378.4914982815106, + 101.29681118897741 + ], + [ + 380.5567116407478, + 74.71115877929532 + ], + [ + 389.0441262284579, + 67.62718673826078 + ], + [ + 380.3097608020795, + 65.2419049006686 + ], + [ + 371.7685689728345, + 72.28168408623179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15966528485506937336, + "instance_id": 63729, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -10.195050239562988, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933563232421875, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.4976745508548, + "ymin": 404.28402172341066, + "xmax": 1153.391378965196, + "ymax": 444.6758856801984 + }, + "corners_3d": [ + [ + -139.20529174804688, + -10.005088806152344, + 2.645533323287964 + ], + [ + -138.92662048339844, + -10.00508975982666, + 2.645533323287964 + ], + [ + -138.9266357421875, + -10.385011672973633, + 2.645533323287964 + ], + [ + -139.20530700683594, + -10.385010719299316, + 2.645533323287964 + ], + [ + -139.20529174804688, + -10.005088806152344, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -10.00508975982666, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -10.385011672973633, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -10.385010719299316, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1138.2767313900624, + 432.58815266051937 + ], + [ + 1125.4395797440243, + 428.50390669076074 + ], + [ + 1123.4976745508548, + 440.5041088673114 + ], + [ + 1136.4647986330506, + 444.6758856801984 + ], + [ + 1153.391378965196, + 408.40179565141125 + ], + [ + 1140.1100924034508, + 404.28402172341066 + ], + [ + 1138.269711396615, + 416.3853016541471 + ], + [ + 1151.6902273630176, + 420.59404106181773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 637.12466086262, + "ymin": 211.20909907630372, + "xmax": 1249.0468931832343, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 991.9708568931096, + 765.2708529508085 + ], + [ + 999.0921685370377, + 732.2695109725975 + ], + [ + 651.7656104725282, + 586.8186637991414 + ], + [ + 638.2067252078384, + 613.3928344508989 + ], + [ + 1246.703284064505, + 428.984366692657 + ], + [ + 1249.0468931832343, + 385.86291928129424 + ], + [ + 658.637352147816, + 211.20909907630372 + ], + [ + 637.12466086262, + 241.37518664605824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 379.0564231321593, + "ymin": 0.0, + "xmax": 578.7641232079535, + "ymax": 69.45877722092547 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 578.7641232079535, + -56.91360645760699 + ], + [ + 570.5227919658657, + -58.72149545055032 + ], + [ + 422.89990314497754, + 66.87117341438449 + ], + [ + 432.2637369223149, + 69.45877722092547 + ], + [ + 568.7228154305811, + -267.9265847759011 + ], + [ + 559.167388531732, + -269.3391411254704 + ], + [ + 379.0564231321593, + -168.00861255310372 + ], + [ + 390.1408934301521, + -165.85030954574427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 645.2163693413935, + "ymin": 228.16848717715757, + "xmax": 701.4077455962483, + "ymax": 263.097838672213 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 688.2211162140144, + 263.097838672213 + ], + [ + 701.2918176840647, + 242.80043365169774 + ], + [ + 659.0045764100386, + 230.0340215463714 + ], + [ + 645.2163693413935, + 249.77934659348313 + ], + [ + 688.3142906862951, + 261.2296982405246 + ], + [ + 701.4077455962483, + 240.9333729074364 + ], + [ + 659.0400338876191, + 228.16848717715757 + ], + [ + 645.2263088500191, + 247.91172803583783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 645.2161132184486, + "ymin": 228.21674008508745, + "xmax": 701.4047469924081, + "ymax": 263.14597591163584 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 688.2187153442488, + 263.14597591163584 + ], + [ + 701.2888303910224, + 242.848545081168 + ], + [ + 659.00366269859, + 230.08209490711516 + ], + [ + 645.2161132184486, + 249.82747170538556 + ], + [ + 688.311880529714, + 261.27802167982566 + ], + [ + 701.4047469924081, + 240.9816665013774 + ], + [ + 659.0391167635878, + 228.21674008508745 + ], + [ + 645.2260517501117, + 247.96003671752646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.08227316491042, + "ymin": 0.0, + "xmax": 619.0169451464582, + "ymax": 332.10672323489655 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 289.1453355410843, + 208.89700627740413 + ], + [ + 280.4421585329259, + 216.5390024342192 + ], + [ + 612.3412269531292, + 332.10672323489655 + ], + [ + 619.0169451464582, + 322.42481423370384 + ], + [ + 201.89123783487844, + -45.02314516229285 + ], + [ + 190.08227316491042, + -38.13390995406331 + ], + [ + 604.2569847169005, + 69.68733383510937 + ], + [ + 612.9581025361987, + 60.384122405093535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 904.0875392262203, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 72.61335060290759 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1211.3842409305844, + 72.61335060290759 + ], + [ + 1212.174195356059, + 67.17718225692511 + ], + [ + 906.7881139317853, + 1.4592886833472107 + ], + [ + 904.0875392262203, + 6.00057340849213 + ], + [ + 1327.8165000704857, + -163.21511303476177 + ], + [ + 1327.780546956602, + -167.7535261185394 + ], + [ + 955.231739281069, + -221.60702062728228 + ], + [ + 952.4083628828323, + -217.94465156105127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1091.643443091776, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 518.0521558229805 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1091.643443091776, + 511.57694230179663 + ], + [ + 1110.0465178456611, + 518.0521558229805 + ], + [ + 1160.7569673427442, + 228.92198675216463 + ], + [ + 1146.500737475772, + 225.1523826134118 + ], + [ + 1254.9234762807732, + 251.875936898032 + ], + [ + 1281.2192534716678, + 258.81483236877136 + ], + [ + 1293.8490242523305, + -26.909145748728122 + ], + [ + 1275.2899641282077, + -30.334261254161106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11055279377643322472, + "instance_id": 26812, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1852_38", + "bbox_3d": { + "center_world": { + "x": -143.28111267089844, + "y": 17.217634201049805, + "z": 6.043924808502197 + }, + "extent": { + "x": 3.4175500869750977, + "y": 3.320610284805298, + "z": 5.843022346496582 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1195.1146273992426, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 78.8442138636052 + }, + "corners_3d": [ + [ + -139.39022827148438, + 19.96846580505371, + 0.20090246200561523 + ], + [ + -140.41949462890625, + 13.407488822937012, + 0.20090246200561523 + ], + [ + -147.1719970703125, + 14.466801643371582, + 0.20090246200561523 + ], + [ + -146.14273071289062, + 21.02777862548828, + 0.20090246200561523 + ], + [ + -139.39022827148438, + 19.96846580505371, + 11.886947631835938 + ], + [ + -140.41949462890625, + 13.407488822937012, + 11.886947631835938 + ], + [ + -147.1719970703125, + 14.466801643371582, + 11.886947631835938 + ], + [ + -146.14273071289062, + 21.02777862548828, + 11.886947631835938 + ] + ], + "corners_2d": [ + [ + 1195.1146273992426, + -24.483338141088552 + ], + [ + 1211.2623408330314, + 52.44319626175309 + ], + [ + 1404.9200628914805, + 78.8442138636052 + ], + [ + 1367.8282431788584, + -3.284663502884314 + ], + [ + 1339.8619235537617, + -351.5735043393496 + ], + [ + 1382.281067784405, + -300.0600292767741 + ], + [ + 1644.4735066541498, + -281.6456074798664 + ], + [ + 1565.1883211763334, + -337.6860757505083 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00110/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00110/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1bbde6481ca68f36bad2bcb52340e901997a29b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00110/meta.json @@ -0,0 +1,2986 @@ +{ + "frame_id": 110, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 55.0, + "sim_timestamp": 3458.296581817558 + }, + "drone_pose": { + "x": -135.27280785033278, + "y": -20.49553290714085, + "z": 19.977496133480532, + "pitch": -43.36541140481371, + "yaw": 49.43177855674783, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.47279977798461914, + -0.5522444248199463, + 0.6866487264633179, + 61.55796813964844 + ], + [ + 0.7596321105957031, + 0.6503530740737915, + -2.9802322387695312e-08, + -89.42823791503906 + ], + [ + -0.44656407833099365, + 0.5216004848480225, + 0.7269893288612366, + -85.62188720703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.19954134201882, + "y": -19.79700483136215, + "z": 19.987431082477375 + }, + "t1_image_uv": [ + 1565.315074429191, + -578.4511258647558 + ], + "t1_depth": 0.41357681614320474 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -122.16718292236328, + "y": -5.187763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.71919143334511, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 631, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -122.16718292236328, + "y": -5.18776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.38246092200279236, + "y": 0.45836058259010315, + "z": 0.9017481803894043 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.9229618994689, + "ymin": 327.0093175548013, + "xmax": 657.3969492103703, + "ymax": 392.24643591371705 + }, + "corners_3d": [ + [ + -122.11351013183594, + -5.782313346862793, + 0.04239934682846069 + ], + [ + -122.76173400878906, + -5.134093284606934, + 0.04239934682846069 + ], + [ + -122.22085571289062, + -4.593212127685547, + 0.04239934682846069 + ], + [ + -121.5726318359375, + -5.241432189941406, + 0.04239934682846069 + ], + [ + -122.11351013183594, + -5.782313346862793, + 1.845895767211914 + ], + [ + -122.76173400878906, + -5.134093284606934, + 1.845895767211914 + ], + [ + -122.22085571289062, + -4.593212127685547, + 1.845895767211914 + ], + [ + -121.5726318359375, + -5.241432189941406, + 1.845895767211914 + ] + ], + "corners_2d": [ + [ + 625.3634600730707, + 392.24643591371705 + ], + [ + 656.6299073907568, + 390.524872035804 + ], + [ + 654.3269175006317, + 372.38193296695783 + ], + [ + 623.6626535819566, + 374.0374326069022 + ], + [ + 624.6870634719814, + 346.7658731189053 + ], + [ + 657.3969492103703, + 345.0521357892982 + ], + [ + 654.9743657780579, + 327.0093175548013 + ], + [ + 622.9229618994689, + 328.65434666350876 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 110, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 674432, + "2": 115405, + "3": 31002, + "4": 32587, + "6": 13737, + "7": 2817, + "9": 494, + "10": 41, + "12": 3529, + "14": 12336, + "20": 444, + "24": 34776 + }, + "instance_pixel_counts": { + "11605": 17309, + "15701": 434, + "15970": 484, + "16479": 5532, + "16482": 1750, + "17496": 5613, + "17547": 478, + "18018": 1868, + "18059": 3501, + "19554": 2124, + "20107": 7497, + "20565": 13259, + "21395": 17308, + "21397": 719, + "21643": 8164, + "21907": 272477, + "21909": 19586, + "22421": 2097, + "22931": 95247, + "23957": 795, + "24467": 22475, + "25344": 1526, + "25600": 8076, + "26112": 1339, + "36096": 631, + "36352": 588, + "36608": 626, + "36864": 673, + "37120": 508, + "37376": 503, + "37632": 1134, + "37888": 4009, + "40448": 3597, + "40704": 3596, + "45409": 2246, + "45971": 12183, + "46483": 162658, + "46995": 59115, + "47507": 10320, + "48225": 3403, + "49043": 22649, + "49761": 9379, + "51526": 32587, + "53857": 2431, + "56458": 9074, + "56970": 9225, + "57482": 33581, + "58506": 14668, + "60307": 577, + "60819": 7668, + "61254": 938, + "61331": 1839, + "61843": 184, + "62867": 1311 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 631, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -122.16718292236328, + "y": -5.18776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4964990019798279, + "y": 0.402353972196579, + "z": 0.9093313217163086 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 624.6189700143004, + "ymin": 324.28203566328, + "xmax": 655.7687934045878, + "ymax": 395.0998931078719 + }, + "corners_3d": [ + [ + -122.23375701904297, + -5.823347568511963, + 0.034816205501556396 + ], + [ + -122.80276489257812, + -5.254333019256592, + 0.034816205501556396 + ], + [ + -122.1006088256836, + -4.552177906036377, + 0.034816205501556396 + ], + [ + -121.53160095214844, + -5.121192455291748, + 0.034816205501556396 + ], + [ + -122.23375701904297, + -5.823347568511963, + 1.8534789085388184 + ], + [ + -122.80276489257812, + -5.254333019256592, + 1.8534789085388184 + ], + [ + -122.1006088256836, + -4.552177906036377, + 1.8534789085388184 + ], + [ + -121.53160095214844, + -5.121192455291748, + 1.8534789085388184 + ] + ], + "corners_2d": [ + [ + 627.54444697959, + 395.0998931078719 + ], + [ + 655.0656737041332, + 393.5795719671265 + ], + [ + 652.1238936836647, + 370.0198263792434 + ], + [ + 625.2886698902486, + 371.46485913985515 + ], + [ + 626.9621586177102, + 349.2248054530893 + ], + [ + 655.7687934045878, + 347.71103903554837 + ], + [ + 652.6748983330306, + 324.28203566328 + ], + [ + 624.6189700143004, + 325.7174738105856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 588, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -118.04119873046875, + "y": -2.190058469772339, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3947070240974426, + "y": 0.4182102084159851, + "z": 0.874947190284729 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 587.2875638349726, + "ymin": 224.63157466035685, + "xmax": 619.6764070650788, + "ymax": 286.1301943424593 + }, + "corners_3d": [ + [ + -118.14445495605469, + -2.755772113800049, + 0.0691954493522644 + ], + [ + -118.5999984741211, + -2.054291009902954, + 0.0691954493522644 + ], + [ + -117.93794250488281, + -1.6243449449539185, + 0.0691954493522644 + ], + [ + -117.4823989868164, + -2.3258259296417236, + 0.0691954493522644 + ], + [ + -118.14445495605469, + -2.755772113800049, + 1.8190898895263672 + ], + [ + -118.5999984741211, + -2.054291009902954, + 1.8190898895263672 + ], + [ + -117.93794250488281, + -1.6243449449539185, + 1.8190898895263672 + ], + [ + -117.4823989868164, + -2.3258259296417236, + 1.8190898895263672 + ] + ], + "corners_2d": [ + [ + 595.1662834272901, + 286.1301943424593 + ], + [ + 619.6764070650788, + 281.61625714955653 + ], + [ + 613.3834654357552, + 267.49412923141506 + ], + [ + 589.2597406360748, + 271.85505909661515 + ], + [ + 593.3920912084445, + 242.98525308112113 + ], + [ + 618.8766776181673, + 238.53673189313315 + ], + [ + 612.3546560704999, + 224.63157466035685 + ], + [ + 587.2875638349726, + 228.92351356262992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 626, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -124.42300415039062, + "y": 1.7549493312835693, + "z": 0.9441621899604797 + }, + "extent": { + "x": 0.5369775295257568, + "y": 0.4815647006034851, + "z": 0.9448608160018921 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 812.6746047290305, + "ymin": 241.97463736774256, + "xmax": 861.1461280847409, + "ymax": 312.9334833302318 + }, + "corners_3d": [ + [ + -124.5372543334961, + 1.0427724123001099, + -0.0006986260414123535 + ], + [ + -125.14337158203125, + 1.7912650108337402, + -0.0006986260414123535 + ], + [ + -124.30875396728516, + 2.4671263694763184, + -0.0006986260414123535 + ], + [ + -123.70263671875, + 1.7186336517333984, + -0.0006986260414123535 + ], + [ + -124.5372543334961, + 1.0427724123001099, + 1.8890230655670166 + ], + [ + -125.14337158203125, + 1.7912650108337402, + 1.8890230655670166 + ], + [ + -124.30875396728516, + 2.4671263694763184, + 1.8890230655670166 + ], + [ + -123.70263671875, + 1.7186336517333984, + 1.8890230655670166 + ] + ], + "corners_2d": [ + [ + 823.0780763575574, + 312.9334833302318 + ], + [ + 851.8339717698909, + 309.396658611891 + ], + [ + 840.7731442509543, + 288.5823390802257 + ], + [ + 812.6746047290305, + 291.94894196111255 + ], + [ + 831.1608483119018, + 265.98216682337556 + ], + [ + 861.1461280847409, + 262.49152296094303 + ], + [ + 849.3752986582313, + 241.97463736774256 + ], + [ + 820.1039736951172, + 245.29016157847477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 673, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -125.74694061279297, + "y": -5.18776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3740869164466858, + "y": 0.41070449352264404, + "z": 0.8889414668083191 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 721.4456910782383, + "ymin": 385.18320780615704, + "xmax": 760.4445626621831, + "ymax": 451.93465557033386 + }, + "corners_3d": [ + [ + -125.7210464477539, + -5.742693901062012, + 0.0552060604095459 + ], + [ + -126.30187225341797, + -5.161870002746582, + 0.0552060604095459 + ], + [ + -125.77283477783203, + -4.632831573486328, + 0.0552060604095459 + ], + [ + -125.19200897216797, + -5.213655471801758, + 0.0552060604095459 + ], + [ + -125.7210464477539, + -5.742693901062012, + 1.833088994026184 + ], + [ + -126.30187225341797, + -5.161870002746582, + 1.833088994026184 + ], + [ + -125.77283477783203, + -4.632831573486328, + 1.833088994026184 + ], + [ + -125.19200897216797, + -5.213655471801758, + 1.833088994026184 + ] + ], + "corners_2d": [ + [ + 725.2291307542677, + 451.93465557033386 + ], + [ + 754.8726789680688, + 450.1884398726361 + ], + [ + 750.4988203931681, + 430.1145385319129 + ], + [ + 721.4456910782383, + 431.7910796622121 + ], + [ + 729.3707512672249, + 407.0112323351738 + ], + [ + 760.4445626621831, + 405.2626776857285 + ], + [ + 755.7455029777783, + 385.18320780615704 + ], + [ + 725.3198317684435, + 386.8587142327263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 508, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -125.78268432617188, + "y": -16.31512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.4979296624660492, + "y": 0.48633483052253723, + "z": 0.8922651410102844 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 386.53641599279507, + "ymin": 674.0223782631095, + "xmax": 456.0858575911802, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -125.71808624267578, + -17.008148193359375, + 0.05187273025512695 + ], + [ + -126.47399139404297, + -16.396028518676758, + 0.05187273025512695 + ], + [ + -125.84728240966797, + -15.622099876403809, + 0.05187273025512695 + ], + [ + -125.09137725830078, + -16.234220504760742, + 0.05187273025512695 + ], + [ + -125.71808624267578, + -17.008148193359375, + 1.8364030122756958 + ], + [ + -126.47399139404297, + -16.396028518676758, + 1.8364030122756958 + ], + [ + -125.84728240966797, + -15.622099876403809, + 1.8364030122756958 + ], + [ + -125.09137725830078, + -16.234220504760742, + 1.8364030122756958 + ] + ], + "corners_2d": [ + [ + 401.9687840978709, + 760.6855769699368 + ], + [ + 448.1644119056168, + 761.9439695326279 + ], + [ + 456.0858575911802, + 716.4753226172032 + ], + [ + 411.4863770073987, + 715.3028470463 + ], + [ + 386.53641599279507, + 720.7667352706977 + ], + [ + 435.71431454439863, + 722.065881665646 + ], + [ + 444.5904865364364, + 675.2273900552483 + ], + [ + 397.2174446048873, + 674.0223782631095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 503, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -113.0928955078125, + "y": -11.780614852905273, + "z": 1.0946602821350098 + }, + "extent": { + "x": 0.32322263717651367, + "y": 0.2780822813510895, + "z": 0.8843016028404236 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 237.8741770496875, + "ymin": 304.60727838817087, + "xmax": 281.38604142870093, + "ymax": 365.5424795757946 + }, + "corners_3d": [ + [ + -113.03571319580078, + -12.203146934509277, + 0.21035867929458618 + ], + [ + -113.50215148925781, + -11.900237083435059, + 0.21035867929458618 + ], + [ + -113.15007781982422, + -11.35808277130127, + 0.21035867929458618 + ], + [ + -112.68363952636719, + -11.660992622375488, + 0.21035867929458618 + ], + [ + -113.03571319580078, + -12.203146934509277, + 1.9789619445800781 + ], + [ + -113.50215148925781, + -11.900237083435059, + 1.9789619445800781 + ], + [ + -113.15007781982422, + -11.35808277130127, + 1.9789619445800781 + ], + [ + -112.68363952636719, + -11.660992622375488, + 1.9789619445800781 + ] + ], + "corners_2d": [ + [ + 254.9097585411153, + 363.84780244946234 + ], + [ + 272.6905355634057, + 365.5424795757946 + ], + [ + 281.38604142870093, + 350.927265806784 + ], + [ + 263.87370885887094, + 349.2864046222244 + ], + [ + 237.8741770496875, + 319.05462854483517 + ], + [ + 256.40995677832234, + 320.7373606429133 + ], + [ + 265.7566307314893, + 306.2342667574961 + ], + [ + 247.5123293715012, + 304.60727838817087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1134, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 100.70557526210484, + "ymax": 33.81357497864565 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 40.592986198367385, + -16.151042991459633 + ], + [ + -6.512693052244572, + -1.6570816548602352 + ], + [ + 52.283461632970784, + 33.81357497864565 + ], + [ + 100.70557526210484, + 17.400244727358313 + ], + [ + 22.70973494373584, + -57.697668617313525 + ], + [ + -26.34441392822646, + -43.92886092595245 + ], + [ + 33.043717889489926, + -10.137914544992327 + ], + [ + 83.56599874423762, + -25.79078024098021 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4009, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 525.1437206566836, + "ymin": 94.87923500738822, + "xmax": 635.7336917585058, + "ymax": 186.14326290846088 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 603.6133606319771, + 186.14326290846088 + ], + [ + 635.7336917585058, + 165.8741788519211 + ], + [ + 561.0548672842968, + 131.44674464031246 + ], + [ + 528.5096785485448, + 149.77952544011686 + ], + [ + 602.4556490924319, + 148.27293759926468 + ], + [ + 635.6018211126293, + 128.45709536362762 + ], + [ + 558.7360436108432, + 94.87923500738822 + ], + [ + 525.1437206566836, + 112.74713956219114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3597, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 215.32212845816025, + "ymin": 14.582919424921897, + "xmax": 327.43254562095063, + "ymax": 96.07899510853406 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 261.6977181207989, + 46.87238798606347 + ], + [ + 225.63305591955105, + 61.11323684508005 + ], + [ + 290.9610202070836, + 96.07899510853406 + ], + [ + 327.43254562095063, + 80.17406720319173 + ], + [ + 252.51010874778825, + 14.582919424921897 + ], + [ + 215.32212845816025, + 28.38421296906813 + ], + [ + 281.7629011477663, + 62.339083506571 + ], + [ + 319.4045911048312, + 46.88191837970521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3596, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 160.11805502683086, + "ymin": 45.0309846382263, + "xmax": 267.0515535469617, + "ymax": 133.1642484793505 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 215.568561874737, + 86.2262320353579 + ], + [ + 175.351979620105, + 102.65517699268764 + ], + [ + 226.34460469802178, + 133.1642484793505 + ], + [ + 267.0515535469617, + 115.17670773934606 + ], + [ + 202.0164655744108, + 45.0309846382263 + ], + [ + 160.11805502683086, + 60.89425140527027 + ], + [ + 212.1234492906592, + 90.42275899713741 + ], + [ + 254.58043038778436, + 73.00232628930439 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 553.2315749478109, + "ymin": 16.797054027784725, + "xmax": 568.677671633888, + "ymax": 48.17425980258554 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 554.8447725712745, + 45.750521390922074 + ], + [ + 560.8061000792068, + 48.17425980258554 + ], + [ + 568.677671633888, + 44.303327484644 + ], + [ + 562.7231153506542, + 41.91096408891934 + ], + [ + 553.2315749478109, + 20.542433569731315 + ], + [ + 559.2995809465373, + 22.90719535333932 + ], + [ + 567.3298898863821, + 19.1306288677755 + ], + [ + 561.2688322569469, + 16.797054027784725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2663665510550050633, + "instance_id": 18839, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1258.4591601582742, + "ymin": 72.15006985105708, + "xmax": 1280.0, + "ymax": 106.09428588326813 + }, + "corners_3d": [ + [ + -132.25570678710938, + 12.455914497375488, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.076000213623047, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.076001167297363, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.455915451049805, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.455914497375488, + 6.416468620300293 + ], + [ + -132.25570678710938, + 12.076000213623047, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.076001167297363, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1262.0970408966957, + 98.56001766372424 + ], + [ + 1258.4591601582742, + 103.17695640600937 + ], + [ + 1268.1589734981621, + 106.09428588326813 + ], + [ + 1271.7438529812837, + 101.43595322574873 + ], + [ + 1274.9543247574643, + 72.15006985105708 + ], + [ + 1271.3346152562954, + 76.67023424036944 + ], + [ + 1281.296295219599, + 79.52710379043174 + ], + [ + 1284.8599130161201, + 74.96556671747356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.6246397149655, + "ymin": 317.90621516550215, + "xmax": 601.3298739332171, + "ymax": 362.1500903882111 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 589.6308005488747, + 362.1500903882111 + ], + [ + 601.3298739332171, + 353.14602881293234 + ], + [ + 592.0825958911032, + 347.61219325424486 + ], + [ + 580.3642293712629, + 356.505306178341 + ], + [ + 588.1520671086543, + 332.3738549158167 + ], + [ + 600.2061743166308, + 323.4117060965193 + ], + [ + 590.6989933109708, + 317.90621516550215 + ], + [ + 578.6246397149655, + 326.7547369095937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.30142566312776, + "ymin": 238.74869238249755, + "xmax": 343.6178329585056, + "ymax": 272.66094376296786 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 332.8996576886248, + 272.66094376296786 + ], + [ + 343.6178329585056, + 266.5520976992657 + ], + [ + 337.81131706405847, + 262.7621609798707 + ], + [ + 327.10005245538326, + 268.8139927705622 + ], + [ + 326.19488139028385, + 248.56353348924569 + ], + [ + 337.1963486050896, + 242.50587888498472 + ], + [ + 331.2951960243382, + 238.74869238249755 + ], + [ + 320.30142566312776, + 244.74858964296266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1174.7324286188687, + "ymin": 47.86129443563209, + "xmax": 1198.6426569304563, + "ymax": 80.69025528374607 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1178.8022214868388, + 73.72782890745646 + ], + [ + 1174.7324286188687, + 77.99508965490946 + ], + [ + 1183.6935719524613, + 80.69025528374607 + ], + [ + 1187.7193296642065, + 76.38622261599954 + ], + [ + 1189.500958570896, + 47.86129443563209 + ], + [ + 1185.4248398681975, + 52.03242553099591 + ], + [ + 1194.6130124012177, + 54.667463624232425 + ], + [ + 1198.6426569304563, + 50.459668038061636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 497.8908403255469, + "ymin": 271.2248405081086, + "xmax": 521.8394696516906, + "ymax": 313.64974173923713 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 510.01176199323703, + 313.64974173923713 + ], + [ + 521.8394696516906, + 305.5767359479096 + ], + [ + 513.5413143448807, + 300.61088234979127 + ], + [ + 501.70503073203315, + 308.58964921201925 + ], + [ + 506.40487413952974, + 284.1607604504592 + ], + [ + 518.5923843394471, + 276.15020721905444 + ], + [ + 510.08699375843173, + 271.2248405081086 + ], + [ + 497.8908403255469, + 279.13932486759234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 411.9154741656396, + "ymin": 221.45596348482735, + "xmax": 436.88261742345543, + "ymax": 261.87074085078063 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 425.0104413105897, + 261.87074085078063 + ], + [ + 436.88261742345543, + 254.7361598518944 + ], + [ + 429.5423645377508, + 250.3435422800178 + ], + [ + 417.6708516255816, + 257.39978790656437 + ], + [ + 419.4133128645566, + 232.85462014096797 + ], + [ + 431.6424362870903, + 225.79860061610128 + ], + [ + 424.14333511568066, + 221.45596348482735 + ], + [ + 411.9154741656396, + 228.43251933593035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 736.0229659130997, + "ymin": 4.095694648415417, + "xmax": 748.4858647823831, + "ymax": 29.4499372411546 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 736.0229659130997, + 27.545100223359782 + ], + [ + 741.457491059042, + 29.4499372411546 + ], + [ + 746.8645159841095, + 26.42258680412459 + ], + [ + 741.4406690052691, + 24.53768116529301 + ], + [ + 737.4827233007883, + 7.039580809896393 + ], + [ + 743.0050590210707, + 8.904419883976573 + ], + [ + 748.4858647823831, + 5.940726097650781 + ], + [ + 742.9745891967918, + 4.095694648415417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 604.2398159476903, + "ymin": 0.0, + "xmax": 618.0250548246408, + "ymax": 23.594836703519036 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 604.8773067348573, + 21.366867713363888 + ], + [ + 610.7885518002897, + 23.594836703519036 + ], + [ + 618.0250548246408, + 20.03620635489665 + ], + [ + 612.1224570732307, + 17.835900520793928 + ], + [ + 604.2398159476903, + -3.227518661917486 + ], + [ + 610.256235216457, + -1.0571619551794242 + ], + [ + 617.6271520284347, + -4.523623533247985 + ], + [ + 611.619670291764, + -6.666546979627526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 445.63868324911755, + "ymin": 578.455115764075, + "xmax": 1276.4085355653997, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 915.015424516062, + 1349.7511099497972 + ], + [ + 939.3830512285804, + 1295.734773802973 + ], + [ + 557.1079471265302, + 913.318506991967 + ], + [ + 529.0873286084753, + 947.0337721029352 + ], + [ + 1244.5621977569133, + 1317.8182458689175 + ], + [ + 1276.4085355653997, + 1204.9273260152625 + ], + [ + 497.16705335647595, + 578.455115764075 + ], + [ + 445.63868324911755, + 623.986611121517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 513.899782390344, + "ymin": 0.0, + "xmax": 755.6035596858009, + "ymax": 200.8433919307489 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 739.5992414834784, + 82.96228260631261 + ], + [ + 731.6702452665908, + 79.8698460826509 + ], + [ + 534.5046638559321, + 196.4887430606135 + ], + [ + 542.7627685824838, + 200.8433919307489 + ], + [ + 755.6035596858009, + -124.87652474449732 + ], + [ + 746.3165770597931, + -127.27926345846475 + ], + [ + 513.899782390344, + -33.96627874344688 + ], + [ + 523.6376597940191, + -30.370991752156954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.58441243476113, + "ymin": 599.7949878471967, + "xmax": 538.4015881161192, + "ymax": 668.8541964676123 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 505.49419410203654, + 668.8541964676123 + ], + [ + 538.4015881161192, + 637.2336461225977 + ], + [ + 495.0201435401815, + 601.5854388069946 + ], + [ + 462.0063932115821, + 631.3066153904001 + ], + [ + 505.1651240407438, + 667.1231773947692 + ], + [ + 538.159507541125, + 635.4724198015107 + ], + [ + 494.685122282024, + 599.7949878471967 + ], + [ + 461.58441243476113, + 629.5401752457703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.59533252203505, + "ymin": 599.8413187292833, + "xmax": 538.407823042808, + "ymax": 668.8987769653113 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 505.50266894055244, + 668.8987769653113 + ], + [ + 538.407823042808, + 637.2790075358146 + ], + [ + 495.0287728434639, + 601.6315563113858 + ], + [ + 462.01726170608634, + 631.3521116453446 + ], + [ + 505.17364039625977, + 667.1679762858362 + ], + [ + 538.1657722144654, + 635.5179976326951 + ], + [ + 494.6937915115962, + 599.8413187292833 + ], + [ + 461.59533252203505, + 629.585887471547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.3855380667741, + "ymin": 82.09454134981951, + "xmax": 636.6370158849456, + "ymax": 551.6033733946902 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 346.637283357516, + 332.20445319750513 + ], + [ + 335.1313218822396, + 339.2059770459372 + ], + [ + 625.2365257072698, + 551.6033733946902 + ], + [ + 636.6370158849456, + 540.8626325301235 + ], + [ + 276.36986182661684, + 82.09454134981951 + ], + [ + 261.3855380667741, + 88.31539377921888 + ], + [ + 620.5366059610947, + 289.0311962340324 + ], + [ + 635.5801768840835, + 278.28976139681976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1084.4476758077544, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 354.090291235392 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1469.7218971274342, + 354.090291235392 + ], + [ + 1472.3035419596752, + 346.8524915172768 + ], + [ + 1089.1982697605, + 201.00623202792622 + ], + [ + 1084.4476758077544, + 206.0675112094887 + ], + [ + 1674.6310331732916, + 101.61945247670445 + ], + [ + 1675.794963638002, + 95.1365491422738 + ], + [ + 1177.5718807368366, + -30.236387844745707 + ], + [ + 1172.5959143709965, + -26.046967501912206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1160.530350318023, + "ymin": 288.3432797016692, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1160.530350318023, + 966.994003481843 + ], + [ + 1184.9688825185629, + 985.1683125679521 + ], + [ + 1353.0056757225398, + 560.4423699700192 + ], + [ + 1333.838947225223, + 550.9174997962643 + ], + [ + 1420.1723734164752, + 762.7811636248093 + ], + [ + 1461.7220488778912, + 786.4880020239302 + ], + [ + 1582.4038651657606, + 297.92105832338257 + ], + [ + 1554.5392497858975, + 288.3432797016692 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00111/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00111/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4fbb434b31bd0514f9fdf013c36347174a84842b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00111/meta.json @@ -0,0 +1,3091 @@ +{ + "frame_id": 111, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 55.5, + "sim_timestamp": 3468.262661503395 + }, + "drone_pose": { + "x": -135.19954134201882, + "y": -19.79700483136215, + "z": 19.987431082477375, + "pitch": -43.19393328083233, + "yaw": 48.15127755764671, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.486391544342041, + -0.5430692434310913, + 0.6844699382781982, + 62.83026123046875 + ], + [ + 0.7449089288711548, + 0.6671661138534546, + 0.0, + -87.50345611572266 + ], + [ + -0.4566551446914673, + 0.509867787361145, + 0.7290410995483398, + -86.40507507324219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.24922859675058, + "y": -18.802205509683898, + "z": 20.023708723906477 + }, + "t1_image_uv": [ + 2009.3340902578536, + -638.5518392841888 + ], + "t1_depth": 0.49124648885016603 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -121.66718292236328, + "y": -4.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 27.821943714167574, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 606, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -121.66718292236328, + "y": -4.68776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.39830076694488525, + "y": 0.46362119913101196, + "z": 0.908677875995636 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.0577855084923, + "ymin": 326.7725894534898, + "xmax": 657.2836901082288, + "ymax": 392.4870554629346 + }, + "corners_3d": [ + [ + -121.6209945678711, + -5.297233581542969, + 0.035469651222229004 + ], + [ + -122.27665710449219, + -4.641573905944824, + 0.035469651222229004 + ], + [ + -121.71337127685547, + -4.078291893005371, + 0.035469651222229004 + ], + [ + -121.05770874023438, + -4.733951568603516, + 0.035469651222229004 + ], + [ + -121.6209945678711, + -5.297233581542969, + 1.852825403213501 + ], + [ + -122.27665710449219, + -4.641573905944824, + 1.852825403213501 + ], + [ + -121.71337127685547, + -4.078291893005371, + 1.852825403213501 + ], + [ + -121.05770874023438, + -4.733951568603516, + 1.852825403213501 + ] + ], + "corners_2d": [ + [ + 624.951934403229, + 392.4870554629346 + ], + [ + 656.5205493169029, + 391.2553692930465 + ], + [ + 654.7251493782709, + 372.4474269932053 + ], + [ + 623.7917104476885, + 373.62990138590544 + ], + [ + 624.255852129727, + 346.69116349666746 + ], + [ + 657.2836901082288, + 345.46577709517294 + ], + [ + 655.3910157841804, + 326.7725894534898 + ], + [ + 623.0577855084923, + 327.9468239319813 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 111, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 668471, + "2": 122518, + "3": 31651, + "4": 33126, + "6": 12786, + "7": 2659, + "9": 688, + "10": 51, + "12": 3684, + "14": 12607, + "20": 519, + "24": 32840 + }, + "instance_pixel_counts": { + "11605": 18204, + "15701": 486, + "15970": 654, + "16479": 7624, + "16482": 1799, + "17496": 4436, + "17547": 1060, + "18018": 2159, + "18059": 3620, + "18530": 8, + "19554": 2093, + "20107": 8891, + "20565": 12961, + "21395": 17863, + "21397": 760, + "21643": 8640, + "21907": 266413, + "21909": 18185, + "22421": 2057, + "22931": 85156, + "23957": 675, + "24467": 23148, + "25344": 1872, + "25600": 8184, + "26112": 953, + "36096": 606, + "36352": 593, + "36608": 622, + "36864": 666, + "37120": 704, + "37376": 493, + "37632": 1375, + "37888": 4076, + "40448": 3583, + "40704": 3573, + "45409": 2425, + "45971": 13576, + "46483": 167350, + "46995": 58998, + "47507": 12824, + "48225": 3512, + "49043": 23143, + "49761": 9298, + "51526": 33126, + "53857": 2503, + "56458": 10437, + "56970": 9187, + "57482": 33453, + "58506": 15155, + "60307": 648, + "60819": 7208, + "61254": 1207, + "61331": 1789, + "61843": 181, + "62867": 1337 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 606, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -121.66718292236328, + "y": -4.68776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.47203123569488525, + "y": 0.3704145848751068, + "z": 0.9052058458328247 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 626.1985911607354, + "ymin": 325.2908020439095, + "xmax": 654.139115395044, + "ymax": 394.0636982841259 + }, + "corners_3d": [ + [ + -121.7390365600586, + -5.283462047576904, + 0.03894168138504028 + ], + [ + -122.26287841796875, + -4.759616374969482, + 0.03894168138504028 + ], + [ + -121.59532928466797, + -4.0920634269714355, + 0.03894168138504028 + ], + [ + -121.07148742675781, + -4.615909099578857, + 0.03894168138504028 + ], + [ + -121.7390365600586, + -5.283462047576904, + 1.849353313446045 + ], + [ + -122.26287841796875, + -4.759616374969482, + 1.849353313446045 + ], + [ + -121.59532928466797, + -4.0920634269714355, + 1.849353313446045 + ], + [ + -121.07148742675781, + -4.615909099578857, + 1.849353313446045 + ] + ], + "corners_2d": [ + [ + 628.243828177654, + 394.0636982841259 + ], + [ + 653.5158825474351, + 393.07577430721216 + ], + [ + 651.4635499487849, + 370.77973502858623 + ], + [ + 626.7930350033578, + 371.72105059574403 + ], + [ + 627.7011380002125, + 348.4347474356285 + ], + [ + 654.139115395044, + 347.4516838606701 + ], + [ + 651.9789670227444, + 325.2908020439095 + ], + [ + 626.1985911607354, + 326.22542646010703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 593, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -117.54119873046875, + "y": -1.6900583505630493, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3910839855670929, + "y": 0.415649950504303, + "z": 0.8869902491569519 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 591.2377760928534, + "ymin": 224.87989704201226, + "xmax": 622.8261187370896, + "ymax": 286.33545429099416 + }, + "corners_3d": [ + [ + -117.64280700683594, + -2.2516512870788574, + 0.057152390480041504 + ], + [ + -118.09556579589844, + -1.5544649362564087, + 0.057152390480041504 + ], + [ + -117.43959045410156, + -1.1284652948379517, + 0.057152390480041504 + ], + [ + -116.98683166503906, + -1.82565176486969, + 0.057152390480041504 + ], + [ + -117.64280700683594, + -2.2516512870788574, + 1.8311328887939453 + ], + [ + -118.09556579589844, + -1.5544649362564087, + 1.8311328887939453 + ], + [ + -117.43959045410156, + -1.1284652948379517, + 1.8311328887939453 + ], + [ + -116.98683166503906, + -1.82565176486969, + 1.8311328887939453 + ] + ], + "corners_2d": [ + [ + 598.4476734528847, + 286.33545429099416 + ], + [ + 622.8261187370896, + 282.22156650429605 + ], + [ + 617.0639513914671, + 268.2393977240331 + ], + [ + 593.0731478882698, + 272.21444200429 + ], + [ + 596.7931739003013, + 242.68866985200668 + ], + [ + 622.1458355577336, + 238.63736922920316 + ], + [ + 616.1714457126865, + 224.87989704201226 + ], + [ + 591.2377760928534, + 228.78917977778568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 622, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -123.92300415039062, + "y": 2.2549493312835693, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5005664229393005, + "y": 0.4393625557422638, + "z": 0.9462577104568481 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 816.9986945262249, + "ymin": 246.23871753647586, + "xmax": 861.8383681051926, + "ymax": 315.21090577961616 + }, + "corners_3d": [ + [ + -124.03551483154297, + 1.598483920097351, + -0.0021004080772399902 + ], + [ + -124.58851623535156, + 2.2813820838928223, + -0.0021004080772399902 + ], + [ + -123.81049346923828, + 2.911414623260498, + -0.0021004080772399902 + ], + [ + -123.25749206542969, + 2.2285165786743164, + -0.0021004080772399902 + ], + [ + -124.03551483154297, + 1.598483920097351, + 1.8904149532318115 + ], + [ + -124.58851623535156, + 2.2813820838928223, + 1.8904149532318115 + ], + [ + -123.81049346923828, + 2.911414623260498, + 1.8904149532318115 + ], + [ + -123.25749206542969, + 2.2285165786743164, + 1.8904149532318115 + ] + ], + "corners_2d": [ + [ + 826.122597274434, + 315.21090577961616 + ], + [ + 852.5185276122613, + 312.3806290615948 + ], + [ + 842.8212995014466, + 292.88557479331473 + ], + [ + 816.9986945262249, + 295.58785542036964 + ], + [ + 834.3131156428974, + 268.2431628481809 + ], + [ + 861.8383681051926, + 265.4507724789793 + ], + [ + 851.5040611856027, + 246.23871753647586 + ], + [ + 824.6015929800317, + 248.89947529341515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 666, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -125.24694061279297, + "y": -4.68776273727417, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.3809814453125, + "y": 0.416695237159729, + "z": 0.8881229162216187 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 719.42331856778, + "ymin": 386.49628447183113, + "xmax": 758.1749947209771, + "ymax": 453.04584118877057 + }, + "corners_3d": [ + [ + -125.22168731689453, + -5.251805305480957, + 0.0560343861579895 + ], + [ + -125.81098175048828, + -4.662508964538574, + 0.0560343861579895 + ], + [ + -125.2721939086914, + -4.123720169067383, + 0.0560343861579895 + ], + [ + -124.68289947509766, + -4.713016510009766, + 0.0560343861579895 + ], + [ + -125.22168731689453, + -5.251805305480957, + 1.832280158996582 + ], + [ + -125.81098175048828, + -4.662508964538574, + 1.832280158996582 + ], + [ + -125.2721939086914, + -4.123720169067383, + 1.832280158996582 + ], + [ + -124.68289947509766, + -4.713016510009766, + 1.832280158996582 + ] + ], + "corners_2d": [ + [ + 722.6157790680954, + 453.04584118877057 + ], + [ + 752.7385107153539, + 451.7891335804026 + ], + [ + 748.9307934417599, + 431.37482484377557 + ], + [ + 719.42331856778, + 432.5803658820957 + ], + [ + 726.6049675206115, + 408.16555155515135 + ], + [ + 758.1749947209771, + 406.9076997609841 + ], + [ + 754.0705876138484, + 386.49628447183113 + ], + [ + 723.1756951599374, + 387.70053141095104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 704, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -125.28268432617188, + "y": -15.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5005908012390137, + "y": 0.4884136915206909, + "z": 0.8907495737075806 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 375.96598922835494, + "ymin": 666.3535645572997, + "xmax": 446.9704469990728, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -125.21814727783203, + -16.511526107788086, + 0.05338829755783081 + ], + [ + -125.97728729248047, + -15.896788597106934, + 0.05338829755783081 + ], + [ + -125.34722137451172, + -15.11872386932373, + 0.05338829755783081 + ], + [ + -124.58808135986328, + -15.733460426330566, + 0.05338829755783081 + ], + [ + -125.21814727783203, + -16.511526107788086, + 1.8348875045776367 + ], + [ + -125.97728729248047, + -15.896788597106934, + 1.8348875045776367 + ], + [ + -125.34722137451172, + -15.11872386932373, + 1.8348875045776367 + ], + [ + -124.58808135986328, + -15.733460426330566, + 1.8348875045776367 + ] + ], + "corners_2d": [ + [ + 391.8390235647147, + 752.8116757516401 + ], + [ + 437.66159428163917, + 755.0738504787284 + ], + [ + 446.9704469990728, + 710.0213352245892 + ], + [ + 402.7219966681321, + 707.9135021582724 + ], + [ + 375.96598922835494, + 712.5343016869665 + ], + [ + 424.6954200652966, + 714.8665220134351 + ], + [ + 435.0572059337726, + 668.5170344878982 + ], + [ + 388.10405306370393, + 666.3535645572997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 493, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -113.23526763916016, + "y": -10.81390380859375, + "z": 1.0965206623077393 + }, + "extent": { + "x": 0.3466259837150574, + "y": 0.41987791657447815, + "z": 0.8948173522949219 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 264.1296969492598, + "ymin": 299.72659037092717, + "xmax": 315.7104304077757, + "ymax": 363.0977018970198 + }, + "corners_3d": [ + [ + -113.07191467285156, + -11.333291053771973, + 0.20170331001281738 + ], + [ + -113.77619171142578, + -10.875926971435547, + 0.20170331001281738 + ], + [ + -113.39862060546875, + -10.294516563415527, + 0.20170331001281738 + ], + [ + -112.69434356689453, + -10.751880645751953, + 0.20170331001281738 + ], + [ + -113.07191467285156, + -11.333291053771973, + 1.9913380146026611 + ], + [ + -113.77619171142578, + -10.875926971435547, + 1.9913380146026611 + ], + [ + -113.39862060546875, + -10.294516563415527, + 1.9913380146026611 + ], + [ + -112.69434356689453, + -10.751880645751953, + 1.9913380146026611 + ] + ], + "corners_2d": [ + [ + 280.06028289376457, + 360.15077180442006 + ], + [ + 306.53495610795375, + 363.0977018970198 + ], + [ + 315.7104304077757, + 347.6865624263037 + ], + [ + 289.656052532688, + 344.839050276142 + ], + [ + 264.1296969492598, + 314.90199733016345 + ], + [ + 291.72572345038947, + 317.8253106246992 + ], + [ + 301.5647933242716, + 302.5470261943698 + ], + [ + 274.4249911546655, + 299.72659037092717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1375, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 113.93864397280788, + "ymax": 36.830113761218 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 55.89191180754244, + -13.517928326318838 + ], + [ + 8.833221135239796, + 0.6124750600728248 + ], + [ + 65.39286158597986, + 36.830113761218 + ], + [ + 113.93864397280788, + 20.77584913797682 + ], + [ + 38.57467349938918, + -54.90650460629246 + ], + [ + -10.395425872007763, + -41.487458561919254 + ], + [ + 46.67928654556931, + -6.995550825643022 + ], + [ + 97.29689051411299, + -22.30219774620258 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4076, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 532.9075778311136, + "ymin": 104.49994244286694, + "xmax": 643.7972940995465, + "ymax": 197.5008618560377 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 610.6134748319504, + 197.5008618560377 + ], + [ + 643.6825959957725, + 177.19177250658836 + ], + [ + 569.4200444792574, + 141.16712556513454 + ], + [ + 536.0625199722336, + 159.46486635963632 + ], + [ + 609.6715020493898, + 159.5157895245461 + ], + [ + 643.7972940995465, + 139.65084433377234 + ], + [ + 567.3352363856394, + 104.49994244286694 + ], + [ + 532.9075778311136, + 122.34017908418036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3583, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 226.1330604912926, + "ymin": 19.812002716116012, + "xmax": 336.89454597370565, + "ymax": 102.17836443159149 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 272.58379074363745, + 52.08333306154083 + ], + [ + 236.16583461211405, + 66.10663272910051 + ], + [ + 299.92396251633465, + 102.17836443159149 + ], + [ + 336.89454597370565, + 86.4615932044826 + ], + [ + 263.6716256109326, + 19.812002716116012 + ], + [ + 226.1330604912926, + 33.40209714877989 + ], + [ + 290.960221663609, + 68.43123851666223 + ], + [ + 329.1054249414331, + 53.15601592529595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3573, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 169.68570877776443, + "ymin": 50.21686906571614, + "xmax": 275.37570575065195, + "ymax": 139.0228460646458 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 225.2009152221617, + 91.38866712948095 + ], + [ + 184.59135934022243, + 107.56437910049058 + ], + [ + 234.14230350244407, + 139.0228460646458 + ], + [ + 275.37570575065195, + 121.26212725146493 + ], + [ + 211.97366647843188, + 50.21686906571614 + ], + [ + 169.68570877776443, + 65.83495510525023 + ], + [ + 220.19231012892038, + 96.28205025944123 + ], + [ + 263.1810934214607, + 79.08044320492866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 560.706646456533, + "ymin": 27.080311256020366, + "xmax": 576.2069828022198, + "ymax": 58.69128816656922 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 562.1916979931857, + 56.14997541511099 + ], + [ + 568.1144356652532, + 58.69128816656922 + ], + [ + 576.2069828022198, + 54.81076288831986 + ], + [ + 570.2883353425769, + 52.302146609866384 + ], + [ + 560.706646456533, + 30.834969698353973 + ], + [ + 566.7364779114992, + 33.31525391155469 + ], + [ + 574.9922085413492, + 29.528079808753603 + ], + [ + 568.9665479136902, + 27.080311256020366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2663665510550050633, + "instance_id": 18839, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1279.5842274694546, + "ymin": 91.57139741029113, + "xmax": 1280.0, + "ymax": 126.15948347813983 + }, + "corners_3d": [ + [ + -132.25570678710938, + 12.455914497375488, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.076000213623047, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.076001167297363, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.455915451049805, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.455914497375488, + 6.416468620300293 + ], + [ + -132.25570678710938, + 12.076000213623047, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.076001167297363, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1283.4468328957103, + 118.26241471755998 + ], + [ + 1279.5842274694546, + 123.01619978047299 + ], + [ + 1289.5670075655216, + 126.15948347813983 + ], + [ + 1293.3759872149449, + 121.36076896384512 + ], + [ + 1297.0313621563373, + 91.57139741029113 + ], + [ + 1293.1865999306178, + 96.2298199090427 + ], + [ + 1303.4484506949245, + 99.31082705941685 + ], + [ + 1307.2363150415158, + 94.60743670470401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.0432469894998, + "ymin": 0.0, + "xmax": 683.3787927739145, + "ymax": 7.018182219304947 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 670.0432469894998, + 4.89496764189829 + ], + [ + 675.8751422034561, + 7.018182219304947 + ], + [ + 682.637588530469, + 3.7754639531474368 + ], + [ + 676.8140183817429, + 1.67723977858617 + ], + [ + 670.5666047689241, + -19.10334291878098 + ], + [ + 676.5025642611976, + -17.037913577011807 + ], + [ + 683.3787927739145, + -20.192265661489387 + ], + [ + 677.4514805952045, + -22.232964227821014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 574.2359509567611, + "ymin": 338.1318856961443, + "xmax": 597.5952049102177, + "ymax": 382.972195819462 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 585.3435840936972, + 382.972195819462 + ], + [ + 597.5952049102177, + 373.7957793191964 + ], + [ + 588.3925132614042, + 367.8977446319934 + ], + [ + 576.1289619494603, + 376.9556691657981 + ], + [ + 583.7127458086629, + 353.14789135110624 + ], + [ + 596.3428633665061, + 344.0053130404644 + ], + [ + 586.8784999477784, + 338.1318856961443 + ], + [ + 574.2359509567611, + 347.15293938346986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.41592625658194, + "ymin": 249.7761735530963, + "xmax": 343.9227966947498, + "ymax": 283.90033335612304 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 332.92226408982464, + 283.90033335612304 + ], + [ + 343.9227966947498, + 277.7933309827507 + ], + [ + 338.241825899121, + 273.83025802521604 + ], + [ + 327.252762891103, + 279.87809000533474 + ], + [ + 326.17576332079784, + 259.76380025416444 + ], + [ + 337.46716660233096, + 253.70615991761093 + ], + [ + 331.69485297379447, + 249.7761735530963 + ], + [ + 320.41592625658194, + 255.7738467064695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1193.615057064144, + "ymin": 65.4421049650258, + "xmax": 1218.5818807198423, + "ymax": 98.83872223657215 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1197.9116381926174, + 91.57138761587669 + ], + [ + 1193.615057064144, + 95.94693611603532 + ], + [ + 1202.7991054375475, + 98.83872223657215 + ], + [ + 1207.051705397292, + 94.42350982568246 + ], + [ + 1209.2040386502304, + 65.4421049650258 + ], + [ + 1204.8995428751912, + 69.72250897871032 + ], + [ + 1214.323915275878, + 72.55207205866685 + ], + [ + 1218.5818807198423, + 68.23207301037422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 494.16829435547265, + "ymin": 288.4763004636245, + "xmax": 518.6664201857541, + "ymax": 331.39550854322397 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 506.3511535861353, + 331.39550854322397 + ], + [ + 518.6664201857541, + 323.2101072191359 + ], + [ + 510.4501040682493, + 317.9442435400605 + ], + [ + 498.13324168399697, + 326.02976618805474 + ], + [ + 502.59212567101457, + 301.8316139845712 + ], + [ + 515.2866733588447, + 293.7032224354637 + ], + [ + 506.86408057863525, + 288.4763004636245 + ], + [ + 494.16829435547265, + 296.50275888508816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 409.3659712589904, + "ymin": 235.82164818549873, + "xmax": 434.7538503358153, + "ymax": 276.6247546559192 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 422.4668525590354, + 276.6247546559192 + ], + [ + 434.7538503358153, + 269.4303062225883 + ], + [ + 427.52523759200255, + 264.7974646286474 + ], + [ + 415.2452949333354, + 271.9095642389832 + ], + [ + 416.74257418700995, + 247.52384353156205 + ], + [ + 429.40164326856893, + 240.40442849123377 + ], + [ + 422.0170121826448, + 235.82164818549873 + ], + [ + 409.3659712589904, + 242.85745735086724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 747.9748382932078, + "ymin": 14.502797660224076, + "xmax": 760.8108958701544, + "ymax": 40.05928973818004 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 747.9748382932078, + 38.06002523889151 + ], + [ + 753.4208511267775, + 40.05928973818004 + ], + [ + 758.9907336803295, + 37.0214788681609 + ], + [ + 753.5540259332317, + 35.043017665072284 + ], + [ + 749.6295053890364, + 17.456870696383703 + ], + [ + 755.1650660776838, + 19.414690445423275 + ], + [ + 760.8108958701544, + 16.439935107024326 + ], + [ + 755.2849917554859, + 14.502797660224076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 613.1391801498147, + "ymin": 3.551698758264024, + "xmax": 626.9542590041498, + "ymax": 34.04573975659605 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 613.6216651280938, + 31.708506635561378 + ], + [ + 619.5108956605026, + 34.04573975659605 + ], + [ + 626.9542590041498, + 30.476510054086646 + ], + [ + 621.0713650290201, + 28.168127014709626 + ], + [ + 613.1391801498147, + 7.000998275627637 + ], + [ + 619.1345736670334, + 9.27853079416542 + ], + [ + 626.7161623201437, + 5.800607701406705 + ], + [ + 620.7273202022918, + 3.551698758264024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 142237470188153642, + "instance_id": 10923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -17.357685089111328, + "z": 5.632971286773682 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 408.84691711812246, + "ymin": 625.8467785492578, + "xmax": 1266.4746545348075, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -138.1054229736328, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -16.991302490234375, + 0.1542191505432129 + ], + [ + -130.23475646972656, + -17.72406768798828, + 0.1542191505432129 + ], + [ + -138.1054229736328, + -17.72406768798828, + 11.111722946166992 + ], + [ + -138.1054229736328, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -16.991302490234375, + 11.111722946166992 + ], + [ + -130.23475646972656, + -17.72406768798828, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 896.3073154364597, + 1424.159739753987 + ], + [ + 923.1477488598803, + 1367.0086579097876 + ], + [ + 539.8852593740766, + 949.8811544208792 + ], + [ + 510.1372755527867, + 984.5512794678061 + ], + [ + 1228.4582234841362, + 1478.1299750696078 + ], + [ + 1266.4746545348075, + 1348.2089487951712 + ], + [ + 464.90092886058335, + 625.8467785492578 + ], + [ + 408.84691711812246, + 674.1489176111654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 521.0137920164022, + "ymin": 0.0, + "xmax": 769.2129747667468, + "ymax": 211.74414618942583 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 751.1876726492804, + 93.74553327351492 + ], + [ + 743.2493454949279, + 90.50436143914959 + ], + [ + 540.5776189000543, + 207.19091087093005 + ], + [ + 548.7580674523633, + 211.74414618942583 + ], + [ + 769.2129747667468, + -115.18432705450249 + ], + [ + 759.8885215383148, + -117.70965582130958 + ], + [ + 521.0137920164022, + -24.08297100464017 + ], + [ + 530.6730818071633, + -20.312971631753612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4250073478880925460, + "instance_id": 5271, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_1", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.897200584411621 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 426.1308339805893, + "ymin": 647.8263366217637, + "xmax": 505.5351050333524, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.879636764526367 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.879636764526367 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.914764404296875 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.914764404296875 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.914764404296875 + ] + ], + "corners_2d": [ + [ + 469.58834933444564, + 722.8420681326631 + ], + [ + 505.5351050333524, + 689.1757908952559 + ], + [ + 462.5515797096492, + 649.580396672676 + ], + [ + 426.654954242938, + 681.0871211319766 + ], + [ + 469.1553660481769, + 721.1659706701998 + ], + [ + 505.2025767028201, + 687.4611850047206 + ], + [ + 462.12690882271454, + 647.8263366217637 + ], + [ + 426.1308339805893, + 679.3639427397867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9856713097205215241, + "instance_id": 2416, + "pixel_count": null, + "type_id": "BP_StreetLight_simple33_81_SM_0", + "bbox_3d": { + "center_world": { + "x": -130.6349334716797, + "y": -17.357685089111328, + "z": 10.896293640136719 + }, + "extent": { + "x": 0.3331347703933716, + "y": 0.2389833778142929, + "z": 0.0175634752959013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 426.1443983825538, + "ymin": 647.8717294635132, + "xmax": 505.54366870390925, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -130.9680633544922, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.878729820251465 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.878729820251465 + ], + [ + -130.9680633544922, + -17.596668243408203, + 10.913857460021973 + ], + [ + -130.9680633544922, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.118701934814453, + 10.913857460021973 + ], + [ + -130.3018035888672, + -17.596668243408203, + 10.913857460021973 + ] + ], + "corners_2d": [ + [ + 469.59949926826215, + 722.8852300198977 + ], + [ + 505.54366870390925, + 689.2199474937568 + ], + [ + 462.5625172391525, + 649.6255730295859 + ], + [ + 426.66845224503413, + 681.1314992398663 + ], + [ + 469.16657271179326, + 721.2093521610001 + ], + [ + 505.2111827798809, + 687.5055602626096 + ], + [ + 462.1378987647956, + 647.8717294635132 + ], + [ + 426.1443983825538, + 679.4085391540972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.0102609326576, + "ymin": 92.62070989138567, + "xmax": 633.0529995611461, + "ymax": 573.942517182321 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 347.03146618328117, + 343.26121179141944 + ], + [ + 335.2338841584394, + 350.24825866828894 + ], + [ + 621.1214455467575, + 573.942517182321 + ], + [ + 633.0529995611461, + 563.0309342569349 + ], + [ + 276.3750829389534, + 92.62070989138567 + ], + [ + 261.0102609326576, + 98.84748489833157 + ], + [ + 614.995811065728, + 311.5809093801321 + ], + [ + 630.8279839240638, + 300.56360468100155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1099.696637684673, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 383.443948512408 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1495.79437242603, + 383.443948512408 + ], + [ + 1498.5965540760888, + 375.92910521504916 + ], + [ + 1104.6877079573997, + 219.02962881440592 + ], + [ + 1099.696637684673, + 224.18620686262435 + ], + [ + 1713.9555660244882, + 128.75879560143176 + ], + [ + 1715.2446278530253, + 121.93963304530422 + ], + [ + 1197.8628163947037, + -14.261886329024264 + ], + [ + 1192.6224682614939, + -9.964928175608577 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1161.8682571400348, + "ymin": 324.8996431209579, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1161.8682571400348, + 1022.392984838142 + ], + [ + 1187.0204292404255, + 1042.3975953101576 + ], + [ + 1370.666313756928, + 597.4208341234728 + ], + [ + 1350.842885577672, + 587.0415876693744 + ], + [ + 1434.9180576402764, + 833.972388660554 + ], + [ + 1478.8451077174573, + 860.9526341983078 + ], + [ + 1614.4059155256434, + 335.5255272004328 + ], + [ + 1585.096069041923, + 324.8996431209579 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00112/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00112/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9ef048e2da4c26f5139d56df424e7897c12c5d5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00112/meta.json @@ -0,0 +1,3209 @@ +{ + "frame_id": 112, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 56.0, + "sim_timestamp": 3486.649015420815 + }, + "drone_pose": { + "x": -135.24922859675058, + "y": -18.802205509683898, + "z": 20.023708723906477, + "pitch": -39.494920615944366, + "yaw": 47.41600742838297, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5221735835075378, + -0.5681780576705933, + 0.6360098719596863, + 68.57129669189453 + ], + [ + 0.7362861633300781, + 0.6766703128814697, + -1.4901161193847656e-08, + -86.85923767089844 + ], + [ + -0.43036898970603943, + 0.4682852625846863, + 0.7716809511184692, + -82.46377563476562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.1499268552904, + "y": -18.083460029596196, + "z": 20.0 + }, + "t1_image_uv": [ + 1474.6385633897874, + -369.166356250636 + ], + "t1_depth": 0.4753071129839463 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -121.16718292236328, + "y": -4.187763214111328, + "z": 0.9442355012902408 + }, + "image_uv": [ + 623.4451387996206, + 422.8355590152384 + ], + "depth": 27.791609386646044, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 622, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -121.16718292236328, + "y": -4.18776273727417, + "z": 0.9442355036735535 + }, + "extent": { + "x": 0.33881834149360657, + "y": 0.37060895562171936, + "z": 0.8821637034416199 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 609.822631744259, + "ymin": 391.8702421063755, + "xmax": 636.765301942787, + "ymax": 453.16614481465973 + }, + "corners_3d": [ + [ + -121.14470672607422, + -4.689403533935547, + 0.062071800231933594 + ], + [ + -121.6688232421875, + -4.165283203125, + 0.062071800231933594 + ], + [ + -121.18965911865234, + -3.686121940612793, + 0.062071800231933594 + ], + [ + -120.66554260253906, + -4.21024227142334, + 0.062071800231933594 + ], + [ + -121.14470672607422, + -4.689403533935547, + 1.8263992071151733 + ], + [ + -121.6688232421875, + -4.165283203125, + 1.8263992071151733 + ], + [ + -121.18965911865234, + -3.686121940612793, + 1.8263992071151733 + ], + [ + -120.66554260253906, + -4.21024227142334, + 1.8263992071151733 + ] + ], + "corners_2d": [ + [ + 611.4438063117555, + 453.16614481465973 + ], + [ + 636.765301942787, + 452.4073085765083 + ], + [ + 635.866291760846, + 436.2801226282652 + ], + [ + 611.0065734086086, + 437.0115009551488 + ], + [ + 610.255119166249, + 408.558737309074 + ], + [ + 636.6307739436756, + 407.8082084266616 + ], + [ + 635.6976404789755, + 391.8702421063755 + ], + [ + 609.822631744259, + 392.59251582424304 + ] + ], + "center_offset_px": [ + -16.554861200379378, + 62.8355590152384 + ] + }, + "trace_timestep_index": 112, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 629411, + "2": 160049, + "3": 28530, + "4": 31441, + "6": 10085, + "7": 2867, + "9": 6654, + "10": 88, + "12": 2913, + "14": 16997, + "20": 2186, + "22": 2836, + "24": 27543 + }, + "instance_pixel_counts": { + "6488": 43, + "6546": 3, + "6744": 40, + "7512": 40, + "7768": 35, + "11605": 15710, + "15701": 174, + "15967": 7180, + "15970": 2314, + "16213": 34, + "16479": 19881, + "16482": 1789, + "17547": 9045, + "18018": 2167, + "18059": 3602, + "18530": 1454, + "19554": 1947, + "20107": 10275, + "20565": 10335, + "20619": 6030, + "21395": 21438, + "21397": 802, + "21643": 8505, + "21907": 221645, + "21909": 12604, + "22421": 1135, + "22931": 43727, + "23957": 704, + "24467": 23450, + "25344": 3517, + "25600": 8262, + "26112": 1017, + "26754": 549, + "29523": 6, + "29779": 2271, + "36096": 622, + "36352": 579, + "36608": 611, + "36864": 688, + "37376": 413, + "37632": 4127, + "37888": 4021, + "38912": 1948, + "40448": 3445, + "40704": 3456, + "42071": 156, + "45409": 2490, + "45442": 2836, + "45971": 28286, + "46483": 176490, + "46995": 59774, + "47507": 31649, + "48225": 3735, + "49043": 22949, + "49761": 8702, + "51526": 31441, + "53857": 2554, + "56458": 11520, + "56970": 9938, + "57482": 31015, + "58506": 15906, + "59992": 152, + "60307": 1394, + "60819": 7172, + "61254": 7981, + "61331": 1800, + "61843": 603, + "62867": 1329 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 622, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -121.16718292236328, + "y": -4.18776273727417, + "z": 0.9442355036735535 + }, + "extent": { + "x": 0.44712400436401367, + "y": 0.4316790699958801, + "z": 0.8800347447395325 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 607.6291865124331, + "ymin": 389.375599769064, + "xmax": 639.002573614405, + "ymax": 455.81512842251357 + }, + "corners_3d": [ + [ + -121.1781005859375, + -4.809170246124268, + 0.064200758934021 + ], + [ + -121.78858947753906, + -4.198683738708496, + 0.064200758934021 + ], + [ + -121.15626525878906, + -3.5663552284240723, + 0.064200758934021 + ], + [ + -120.5457763671875, + -4.176841735839844, + 0.064200758934021 + ], + [ + -121.1781005859375, + -4.809170246124268, + 1.824270248413086 + ], + [ + -121.78858947753906, + -4.198683738708496, + 1.824270248413086 + ], + [ + -121.15626525878906, + -3.5663552284240723, + 1.824270248413086 + ], + [ + -120.5457763671875, + -4.176841735839844, + 1.824270248413086 + ] + ], + "corners_2d": [ + [ + 609.4190975431104, + 455.81512842251357 + ], + [ + 639.002573614405, + 454.9260923047916 + ], + [ + 637.766136329511, + 433.6457468489574 + ], + [ + 608.8925772768944, + 434.492575771734 + ], + [ + 608.145225788324, + 411.28640300551046 + ], + [ + 638.9610684020992, + 410.40685834131784 + ], + [ + 637.6755029759793, + 389.375599769064 + ], + [ + 607.6291865124331, + 390.21171426297445 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 579, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -117.04119873046875, + "y": -1.1900584697723389, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5004589557647705, + "y": 0.4559507668018341, + "z": 0.9326895475387573 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 577.0603168608765, + "ymin": 285.0541422197201, + "xmax": 612.2864823899566, + "ymax": 352.142306298221 + }, + "corners_3d": [ + [ + -117.21259307861328, + -1.8450205326080322, + 0.011453092098236084 + ], + [ + -117.70924377441406, + -1.0802358388900757, + 0.011453092098236084 + ], + [ + -116.86980438232422, + -0.5350964069366455, + 0.011453092098236084 + ], + [ + -116.37315368652344, + -1.299881100654602, + 0.011453092098236084 + ], + [ + -117.21259307861328, + -1.8450205326080322, + 1.8768322467803955 + ], + [ + -117.70924377441406, + -1.0802358388900757, + 1.8768322467803955 + ], + [ + -116.86980438232422, + -0.5350964069366455, + 1.8768322467803955 + ], + [ + -116.37315368652344, + -1.299881100654602, + 1.8768322467803955 + ] + ], + "corners_2d": [ + [ + 585.4555609521753, + 352.142306298221 + ], + [ + 612.2864823899566, + 347.8476098372585 + ], + [ + 605.605727892279, + 330.02737910168474 + ], + [ + 579.3558553438173, + 334.12733362203943 + ], + [ + 583.3404293115669, + 306.669467565666 + ], + [ + 611.2179228302567, + 302.46809112820756 + ], + [ + 604.311052161606, + 285.0541422197201 + ], + [ + 577.0603168608765, + 289.05790353767776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 611, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -123.42300415039062, + "y": 2.7549493312835693, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5136474370956421, + "y": 0.5129237174987793, + "z": 0.9327267408370972 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 801.5058474429477, + "ymin": 311.0174857544513, + "xmax": 849.3646157744342, + "ymax": 379.68272469333266 + }, + "corners_3d": [ + [ + -123.4993896484375, + 2.033083915710449, + 0.011430561542510986 + ], + [ + -124.14497375488281, + 2.830317735671997, + 0.011430561542510986 + ], + [ + -123.34661865234375, + 3.4768147468566895, + 0.011430561542510986 + ], + [ + -122.70103454589844, + 2.6795809268951416, + 0.011430561542510986 + ], + [ + -123.4993896484375, + 2.033083915710449, + 1.8768839836120605 + ], + [ + -124.14497375488281, + 2.830317735671997, + 1.8768839836120605 + ], + [ + -123.34661865234375, + 3.4768147468566895, + 1.8768839836120605 + ], + [ + -122.70103454589844, + 2.6795809268951416, + 1.8768839836120605 + ] + ], + "corners_2d": [ + [ + 810.3324889930705, + 379.68272469333266 + ], + [ + 841.3042562505761, + 376.6339922690815 + ], + [ + 831.7414027396818, + 356.58685085473195 + ], + [ + 801.5058474429477, + 359.4858787574379 + ], + [ + 817.1794911269214, + 333.65212030441637 + ], + [ + 849.3646157744342, + 330.66130421587775 + ], + [ + 839.2209088935783, + 311.0174857544513 + ], + [ + 807.8300072330463, + 313.855776549673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 688, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -124.74694061279297, + "y": -4.18776273727417, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4255419969558716, + "y": 0.3213992118835449, + "z": 0.8843387365341187 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 705.0954529085059, + "ymin": 449.5913524608014, + "xmax": 735.6660968641016, + "ymax": 518.659164500488 + }, + "corners_3d": [ + [ + -124.8205795288086, + -4.715929985046387, + 0.05980879068374634 + ], + [ + -125.27510833740234, + -4.261402606964111, + 0.05980879068374634 + ], + [ + -124.67330169677734, + -3.659595489501953, + 0.05980879068374634 + ], + [ + -124.2187728881836, + -4.1141228675842285, + 0.05980879068374634 + ], + [ + -124.8205795288086, + -4.715929985046387, + 1.8284862041473389 + ], + [ + -125.27510833740234, + -4.261402606964111, + 1.8284862041473389 + ], + [ + -124.67330169677734, + -3.659595489501953, + 1.8284862041473389 + ], + [ + -124.2187728881836, + -4.1141228675842285, + 1.8284862041473389 + ] + ], + "corners_2d": [ + [ + 708.0463942323129, + 518.659164500488 + ], + [ + 731.5535310153275, + 517.9001414378249 + ], + [ + 728.0298347857024, + 494.68180917621197 + ], + [ + 705.0954529085059, + 495.4041363642538 + ], + [ + 711.1055786342378, + 473.4264979949643 + ], + [ + 735.6660968641016, + 472.67114757785737 + ], + [ + 731.8831489885761, + 449.5913524608014 + ], + [ + 707.9471848229318, + 450.30860607856346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 413, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -112.15760803222656, + "y": -10.733604431152344, + "z": 1.0965255498886108 + }, + "extent": { + "x": 0.3466503918170929, + "y": 0.41981443762779236, + "z": 0.8972765803337097 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 226.61166357650762, + "ymin": 357.8103964655278, + "xmax": 279.2551783928226, + "ymax": 421.17352097841126 + }, + "corners_3d": [ + [ + -111.99432373046875, + -11.25297737121582, + 0.19924896955490112 + ], + [ + -112.69849395751953, + -10.795681953430176, + 0.19924896955490112 + ], + [ + -112.32089233398438, + -10.214231491088867, + 0.19924896955490112 + ], + [ + -111.6167221069336, + -10.671526908874512, + 0.19924896955490112 + ], + [ + -111.99432373046875, + -11.25297737121582, + 1.9938020706176758 + ], + [ + -112.69849395751953, + -10.795681953430176, + 1.9938020706176758 + ], + [ + -112.32089233398438, + -10.214231491088867, + 1.9938020706176758 + ], + [ + -111.6167221069336, + -10.671526908874512, + 1.9938020706176758 + ] + ], + "corners_2d": [ + [ + 242.85845020326354, + 418.00726810737626 + ], + [ + 268.8477837385787, + 421.17352097841126 + ], + [ + 279.2551783928226, + 405.91001004148416 + ], + [ + 253.69155987203328, + 402.85593272799474 + ], + [ + 226.61166357650762, + 372.72981676658844 + ], + [ + 253.60526757043567, + 375.8503567075024 + ], + [ + 264.71605495909625, + 360.8159747977281 + ], + [ + 238.18122619384712, + 357.8103964655278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 4127, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.8732989828959035, + "ymin": 19.642015019180178, + "xmax": 119.2355759217578, + "ymax": 108.32225319315594 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 65.24963282971953, + 59.175662924033645 + ], + [ + 18.122410865912457, + 72.67126825290086 + ], + [ + 70.36483775108013, + 108.32225319315594 + ], + [ + 119.2355759217578, + 92.8786920248885 + ], + [ + 49.746182208812456, + 19.642015019180178 + ], + [ + 0.8732989828959035, + 32.39381381877871 + ], + [ + 53.413640977915406, + 66.17121544676786 + ], + [ + 104.19505999007856, + 51.522973391142614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4021, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 525.3894596533353, + "ymin": 178.88624074760793, + "xmax": 635.6586756060958, + "ymax": 271.8276902844602 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 601.6988436413392, + 271.8276902844602 + ], + [ + 635.6586756060958, + 251.52622630289736 + ], + [ + 562.661547025229, + 214.77023381187342 + ], + [ + 528.5310118374468, + 232.9156807730011 + ], + [ + 600.5542592844905, + 234.3846010973134 + ], + [ + 635.5327952176082, + 214.60705025372422 + ], + [ + 560.54308563778, + 178.88624074760793 + ], + [ + 525.3894596533353, + 196.50671879001283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 1948, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 80.29226905965686, + "ymin": 14.953190449939882, + "xmax": 159.54179286005945, + "ymax": 71.48069389793062 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 126.42799418233074, + 41.85013508910714 + ], + [ + 90.48026959399533, + 52.14853256487618 + ], + [ + 122.90604550281591, + 71.48069389793062 + ], + [ + 159.54179286005945, + 60.35154473318602 + ], + [ + 117.11299852215905, + 14.953190449939882 + ], + [ + 80.29226905965686, + 24.8461356707723 + ], + [ + 112.9283927426203, + 43.43830319641978 + ], + [ + 150.48016318449334, + 32.73178547404888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3445, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 226.80563729718358, + "ymin": 93.28741069653017, + "xmax": 334.210749459735, + "ymax": 174.13745509745152 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 272.86865860177636, + 124.4542458807289 + ], + [ + 236.02206347945457, + 138.05995235594335 + ], + [ + 296.62619003845634, + 174.13745509745152 + ], + [ + 334.210749459735, + 158.77587778940944 + ], + [ + 264.69749312886563, + 93.28741069653017 + ], + [ + 226.80563729718358, + 106.42298902839241 + ], + [ + 288.2838777634901, + 141.323330350376 + ], + [ + 326.9745437283077, + 126.45063375649977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3456, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 168.34215472823104, + "ymin": 123.04006572037466, + "xmax": 271.05219274697083, + "ymax": 210.40660315748173 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 223.43507331344142, + 162.98043545427316 + ], + [ + 182.13833648889937, + 178.76795391516626 + ], + [ + 228.9442672411015, + 210.40660315748173 + ], + [ + 271.05219274697083, + 192.9623065289992 + ], + [ + 211.21762595378476, + 123.04006572037466 + ], + [ + 168.34215472823104, + 138.21012491860068 + ], + [ + 215.8956133136533, + 168.68270096955325 + ], + [ + 259.6684683653419, + 151.8695420966813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.1503829723016, + "ymin": 104.76290323012512, + "xmax": 566.7245698248051, + "ymax": 135.59902642094397 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 552.6921858474382, + 133.02899034262603 + ], + [ + 558.4600370690367, + 135.59902642094397 + ], + [ + 566.7245698248051, + 131.77448015867242 + ], + [ + 560.9582416960593, + 129.2389309578582 + ], + [ + 551.1503829723016, + 108.4514526151624 + ], + [ + 557.013415924991, + 110.9531527598003 + ], + [ + 565.43349798792, + 107.23044537311259 + ], + [ + 559.5719525597474, + 104.76290323012512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2663665510550050633, + "instance_id": 18839, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1273.6644892178451, + "ymin": 173.83131407282562, + "xmax": 1280.0, + "ymax": 208.13951962714552 + }, + "corners_3d": [ + [ + -132.25570678710938, + 12.455914497375488, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.076000213623047, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.076001167297363, + 5.545533180236816 + ], + [ + -132.53286743164062, + 12.455915451049805, + 5.545533180236816 + ], + [ + -132.25570678710938, + 12.455914497375488, + 6.416468620300293 + ], + [ + -132.25570678710938, + 12.076000213623047, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.076001167297363, + 6.416468620300293 + ], + [ + -132.53286743164062, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1277.5202695440255, + 200.05924225955127 + ], + [ + 1273.6644892178451, + 204.87166745600118 + ], + [ + 1283.8740958671988, + 208.13951962714552 + ], + [ + 1287.6718984529493, + 203.27770975581075 + ], + [ + 1290.142395104809, + 173.83131407282562 + ], + [ + 1286.3078234745228, + 178.53582774175405 + ], + [ + 1296.788463698144, + 181.7312129332112 + ], + [ + 1300.5616914422374, + 176.97745488568603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.4240014861758, + "ymin": 56.50495017648831, + "xmax": 675.5461077615113, + "ymax": 84.84739577095559 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 662.4240014861758, + 82.71611688667394 + ], + [ + 668.1304594460751, + 84.84739577095559 + ], + [ + 674.985417325673, + 81.6751522803907 + ], + [ + 669.2857561185717, + 79.56994117695626 + ], + [ + 662.784118693725, + 59.557302992519226 + ], + [ + 668.5841228980203, + 61.6253654854695 + ], + [ + 675.5461077615113, + 58.54731481836143 + ], + [ + 669.7531442770138, + 56.50495017648831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 547.0196635561314, + "ymin": 423.66126002881145, + "xmax": 571.7995844887565, + "ymax": 469.5829147876157 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 558.7203985677007, + 469.5829147876157 + ], + [ + 571.7995844887565, + 459.96191921314016 + ], + [ + 562.6601744899426, + 453.62565796394415 + ], + [ + 549.577019734311, + 463.10960228485527 + ], + [ + 556.4045238688268, + 439.51740902608276 + ], + [ + 569.8777102963516, + 429.9554582550663 + ], + [ + 560.4966825857332, + 423.66126002881145 + ], + [ + 547.0196635561314, + 433.0831833381043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 301.6468015717662, + "ymin": 325.64981265239425, + "xmax": 325.4138846966183, + "ymax": 359.91568424549405 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 313.897636734262, + 359.91568424549405 + ], + [ + 325.4138846966183, + 353.71530343119696 + ], + [ + 319.9531298718431, + 349.590067997243 + ], + [ + 308.4549739744578, + 355.72519304401516 + ], + [ + 307.164833031367, + 335.8654865444291 + ], + [ + 318.9707949982491, + 329.73046420298823 + ], + [ + 313.4333488559113, + 325.64981265239425 + ], + [ + 301.6468015717662, + 331.71895002600183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1186.0819863113431, + "ymin": 146.8582728288163, + "xmax": 1210.3230183060239, + "ymax": 179.82397786850245 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1190.4026927360915, + 172.43942711801247 + ], + [ + 1186.0819863113431, + 176.83848949438183 + ], + [ + 1195.4094177569598, + 179.82397786850245 + ], + [ + 1199.6833748832062, + 175.38176958421064 + ], + [ + 1200.8141971320756, + 146.8582728288163 + ], + [ + 1196.4884704695155, + 151.1511958389553 + ], + [ + 1206.0466138462539, + 154.06532550350462 + ], + [ + 1210.3230183060239, + 149.729492183776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 468.2439523621133, + "ymin": 370.788040089921, + "xmax": 493.80890232384843, + "ymax": 414.37520341674855 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 480.7409358804237, + 414.37520341674855 + ], + [ + 493.80890232384843, + 405.89180540672305 + ], + [ + 485.74138840831716, + 400.2986786655956 + ], + [ + 472.68040843302407, + 408.66852573994566 + ], + [ + 476.48874589851306, + 384.72749050353247 + ], + [ + 489.9458190782656, + 376.3252188835004 + ], + [ + 481.6930721757393, + 370.788040089921 + ], + [ + 468.2439523621133, + 379.0748900914459 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 385.8020425914896, + "ymin": 315.37686018881544, + "xmax": 411.8644610310552, + "ymax": 356.44652430844667 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 398.91818855815563, + 356.44652430844667 + ], + [ + 411.8644610310552, + 349.08058415082616 + ], + [ + 404.85162630787886, + 344.2186556961978 + ], + [ + 391.92099275053414, + 351.49266198371 + ], + [ + 392.93325714165076, + 327.4421933840738 + ], + [ + 406.255190217291, + 320.1730493959683 + ], + [ + 399.10683272763936, + 315.37686018881544 + ], + [ + 385.8020425914896, + 322.55305840018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 741.9500638573493, + "ymin": 91.55600183197504, + "xmax": 754.5445601491922, + "ymax": 116.41016209350505 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 741.9500638573493, + 114.39899602547962 + ], + [ + 747.3153707173051, + 116.41016209350505 + ], + [ + 752.949381427451, + 113.43200483414469 + ], + [ + 747.59256721175, + 111.44261405734892 + ], + [ + 743.3924922370115, + 94.44433832257556 + ], + [ + 748.8393856206706, + 96.40946756127357 + ], + [ + 754.5445601491922, + 93.49955512073012 + ], + [ + 749.1064636056361, + 91.55600183197504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 604.530894061514, + "ymin": 81.69453390919733, + "xmax": 618.4443954009689, + "ymax": 111.34556067653787 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 605.1201657858281, + 108.99029994071395 + ], + [ + 610.8697997807327, + 111.34556067653787 + ], + [ + 618.4443954009689, + 107.84029398770139 + ], + [ + 612.6990773593354, + 105.51530225602153 + ], + [ + 604.530894061514, + 85.0714105331482 + ], + [ + 610.3754822494446, + 87.36058477883455 + ], + [ + 618.081016034632, + 83.95379523377989 + ], + [ + 612.2408630786522, + 81.69453390919733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 511.1323672231196, + "ymin": 0.0, + "xmax": 761.55337757827, + "ymax": 285.8169391227547 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 745.8309167522065, + 168.54375452287738 + ], + [ + 737.9868950074332, + 165.26656246545647 + ], + [ + 530.930094608378, + 281.1378515236358 + ], + [ + 538.9478268823442, + 285.8169391227547 + ], + [ + 761.55337757827, + -32.942038470345665 + ], + [ + 752.4527466093568, + -35.4395645110269 + ], + [ + 511.1323672231196, + 55.39861283790401 + ], + [ + 520.462911004202, + 59.17963041067924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 392.1257437392636, + "ymin": 0.0, + "xmax": 476.78745523358907, + "ymax": 52.49341235408622 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 476.78745523358907, + 32.69843855428451 + ], + [ + 471.67995720420913, + 30.70801734283384 + ], + [ + 415.96443180414053, + 50.32990446423764 + ], + [ + 421.03954331689, + 52.49341235408622 + ], + [ + 460.12148705084473, + -119.66143124956534 + ], + [ + 454.5736885046017, + -121.1340101894865 + ], + [ + 392.1257437392636, + -106.56053702149899 + ], + [ + 397.62500681846024, + -104.94592802079052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8079868943648573662, + "instance_id": 56904, + "pixel_count": null, + "type_id": "BP_HighwayLight_multiple_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -111.36263275146484, + "y": 38.80789566040039, + "z": 6.3431396484375 + }, + "extent": { + "x": 1.183907151222229, + "y": 1.183907389640808, + "z": 6.265520095825195 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.3663891583249, + "ymin": 0.0, + "xmax": 1083.1253294061844, + "ymax": 7.178242714709597 + }, + "corners_3d": [ + [ + -112.54653930664062, + 37.62398910522461, + 0.07761955261230469 + ], + [ + -112.54653930664062, + 39.99180221557617, + 0.07761955261230469 + ], + [ + -110.17872619628906, + 39.99180221557617, + 0.07761955261230469 + ], + [ + -110.17872619628906, + 37.62398910522461, + 0.07761955261230469 + ], + [ + -112.54653930664062, + 37.62398910522461, + 12.608659744262695 + ], + [ + -112.54653930664062, + 39.99180221557617, + 12.608659744262695 + ], + [ + -110.17872619628906, + 39.99180221557617, + 12.608659744262695 + ], + [ + -110.17872619628906, + 37.62398910522461, + 12.608659744262695 + ] + ], + "corners_2d": [ + [ + 1004.0869349618024, + 7.178242714709597 + ], + [ + 1022.1782103792389, + -3.0000825814133236 + ], + [ + 985.9144442005663, + -11.9462226202711 + ], + [ + 967.3663891583249, + -2.1935779930964827 + ], + [ + 1063.7552283958553, + -241.53410259228508 + ], + [ + 1083.1253294061844, + -246.6403660946945 + ], + [ + 1039.746664486826, + -251.09660806348677 + ], + [ + 1019.6865394614217, + -246.23717133775926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 242.6510437301207, + "ymin": 170.74083062538546, + "xmax": 610.5632646688159, + "ymax": 666.215526456863 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 328.50850825088787, + 419.02554802046814 + ], + [ + 316.1228008883986, + 426.1634120053171 + ], + [ + 597.7406072512589, + 666.215526456863 + ], + [ + 610.5632646688159, + 654.5483699155045 + ], + [ + 258.56682052880643, + 170.74083062538546 + ], + [ + 242.6510437301207, + 176.94071851765793 + ], + [ + 584.637749583727, + 400.00976358368905 + ], + [ + 601.5628738552974, + 388.4707585836539 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1095.8344897703391, + "ymin": 68.59559097273905, + "xmax": 1280.0, + "ymax": 471.7124618812136 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1507.1543712676903, + 471.7124618812136 + ], + [ + 1509.7546156190933, + 463.7995448771146 + ], + [ + 1100.8859193688493, + 297.4210385338314 + ], + [ + 1095.8344897703391, + 302.6568699298209 + ], + [ + 1716.8466272740452, + 217.062484997634 + ], + [ + 1717.7916220135714, + 210.02230612363002 + ], + [ + 1186.8119848501547, + 68.59559097273905 + ], + [ + 1181.544283330008, + 72.86245318447163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1168.1700461103835, + "ymin": 422.96355244033435, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1168.1700461103835, + 1182.1298021709895 + ], + [ + 1196.0399288646852, + 1206.3313671848473 + ], + [ + 1383.678938404752, + 700.816554333922 + ], + [ + 1362.3983763586325, + 689.1977840299953 + ], + [ + 1449.999683454795, + 999.2910240172789 + ], + [ + 1499.6215748494014, + 1032.4657578878844 + ], + [ + 1623.8806831146449, + 434.68249240451235 + ], + [ + 1592.5688713602933, + 422.96355244033435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.1616294751486, + "ymin": 0.0, + "xmax": 952.6112776275634, + "ymax": 21.950896614441092 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 878.6008406250179, + 6.468562436376033 + ], + [ + 875.1616294751486, + 8.132416256958948 + ], + [ + 925.1323126494974, + 21.950896614441092 + ], + [ + 928.484100403517, + 20.18094487080492 + ], + [ + 897.9008433050323, + -116.34526413780407 + ], + [ + 894.2616241030041, + -115.05106190840189 + ], + [ + 949.0805226640019, + -104.27173434643908 + ], + [ + 952.6112776275634, + -105.65549574994299 + ] + ], + "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": 30.69113635578651, + "ymax": 7.840113481138474 + }, + "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": [ + [ + -183.6471525842976, + 6.081280030015421 + ], + [ + -181.61171484077602, + 7.840113481138474 + ], + [ + 30.69113635578651, + -39.107442549404766 + ], + [ + 28.112707317793706, + -40.51085090447401 + ], + [ + -269.41317404849815, + -152.06052417435637 + ], + [ + -267.5458772052074, + -150.82030537733147 + ], + [ + -25.59395774840698, + -183.57234995765702 + ], + [ + -28.189653058396857, + -184.54026186401518 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00115/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00115/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1af61f4b61e10f3c268e6a601d0f34c7aaa56d4c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00115/meta.json @@ -0,0 +1,2672 @@ +{ + "frame_id": 115, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 57.5, + "sim_timestamp": 3523.3920413979795 + }, + "drone_pose": { + "x": -134.79073429129934, + "y": -16.7710631604519, + "z": 19.920874872485577, + "pitch": -44.7343386898673, + "yaw": 45.86289987943132, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4946911931037903, + -0.5098207592964172, + 0.703820526599884, + 61.20930480957031 + ], + [ + 0.717675507068634, + 0.6963776350021362, + 0.0, + -85.05702209472656 + ], + [ + -0.4901248812675476, + 0.5051147937774658, + 0.7103778123855591, + -88.68696594238281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.77846801155835, + "y": -16.18449669339429, + "z": 19.948710438205886 + }, + "t1_image_uv": [ + 1983.797658903808, + -722.8867893875645 + ], + "t1_depth": 0.2855205353966717 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -119.66718292236328, + "y": -3.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 579.174800849635, + 341.1421631813311 + ], + "depth": 27.50783691997333, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 673, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -119.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5319823622703552, + "y": 0.377271831035614, + "z": 0.8793386816978455 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 554.9880097914432, + "ymin": 303.2548132414893, + "xmax": 602.4166286972942, + "ymax": 378.5820869071041 + }, + "corners_3d": [ + [ + -120.19916534423828, + -4.065034866333008, + 0.06480884552001953 + ], + [ + -120.19916534423828, + -3.3104910850524902, + 0.06480884552001953 + ], + [ + -119.13520050048828, + -3.3104910850524902, + 0.06480884552001953 + ], + [ + -119.13520050048828, + -4.065034866333008, + 0.06480884552001953 + ], + [ + -120.19916534423828, + -4.065034866333008, + 1.8234862089157104 + ], + [ + -120.19916534423828, + -3.3104910850524902, + 1.8234862089157104 + ], + [ + -119.13520050048828, + -3.3104910850524902, + 1.8234862089157104 + ], + [ + -119.13520050048828, + -4.065034866333008, + 1.8234862089157104 + ] + ], + "corners_2d": [ + [ + 583.6647604412568, + 378.5820869071041 + ], + [ + 602.4166286972942, + 365.2859859899546 + ], + [ + 577.4620828624164, + 347.6736918579136 + ], + [ + 558.7197962996333, + 360.4813347371614 + ], + [ + 581.0267608867101, + 334.07967352431683 + ], + [ + 600.6819636532723, + 320.8082371343166 + ], + [ + 574.6311968922228, + 303.2548132414893 + ], + [ + 554.9880097914432, + 316.016686737662 + ] + ], + "center_offset_px": [ + -60.82519915036505, + -18.857836818668886 + ] + }, + "trace_timestep_index": 115, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 688723, + "2": 125710, + "3": 19098, + "4": 27185, + "6": 9235, + "7": 2951, + "9": 658, + "10": 54, + "12": 3848, + "14": 12421, + "20": 516, + "24": 31201 + }, + "instance_pixel_counts": { + "11605": 14243, + "15970": 395, + "16479": 7158, + "16482": 2093, + "17547": 280, + "18018": 2503, + "18059": 4270, + "19554": 2222, + "20107": 10010, + "20565": 4855, + "21395": 17678, + "21397": 789, + "21643": 9562, + "21907": 264620, + "21909": 15530, + "22421": 1541, + "22931": 61420, + "23957": 900, + "24467": 27999, + "25344": 2110, + "25600": 9167, + "26112": 909, + "36096": 673, + "36352": 565, + "36608": 694, + "36864": 664, + "37120": 1084, + "37376": 168, + "37632": 190, + "37888": 4511, + "40448": 3878, + "40704": 3842, + "45409": 2547, + "45971": 11668, + "46483": 201905, + "46995": 64817, + "47507": 11969, + "48225": 3987, + "49043": 26647, + "49761": 7972, + "51526": 27185, + "53857": 2226, + "56458": 11486, + "56970": 11226, + "57482": 28259, + "58506": 19514, + "60307": 592, + "60819": 8181, + "61254": 1174, + "61331": 1908, + "61843": 209, + "62867": 1551 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 673, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -119.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5025341510772705, + "y": 0.3726125657558441, + "z": 0.8874488472938538 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 555.8002291479884, + "ymin": 303.5951911787776, + "xmax": 601.6069097414646, + "ymax": 378.184673106207 + }, + "corners_3d": [ + [ + -120.16971588134766, + -4.060375690460205, + 0.05669867992401123 + ], + [ + -120.16971588134766, + -3.315150499343872, + 0.05669867992401123 + ], + [ + -119.1646499633789, + -3.315150499343872, + 0.05669867992401123 + ], + [ + -119.1646499633789, + -4.060375690460205, + 0.05669867992401123 + ], + [ + -120.16971588134766, + -4.060375690460205, + 1.8315963745117188 + ], + [ + -120.16971588134766, + -3.315150499343872, + 1.8315963745117188 + ], + [ + -119.1646499633789, + -3.315150499343872, + 1.8315963745117188 + ], + [ + -119.1646499633789, + -4.060375690460205, + 1.8315963745117188 + ] + ], + "corners_2d": [ + [ + 583.0906663376641, + 378.184673106207 + ], + [ + 601.6069097414646, + 365.06653034657126 + ], + [ + 578.0386172787793, + 348.4264931888888 + ], + [ + 559.5313091347758, + 361.08901744502 + ], + [ + 580.402348180462, + 333.27212170071124 + ], + [ + 599.8189608066311, + 320.17919362791275 + ], + [ + 575.2056136448614, + 303.5951911787776 + ], + [ + 555.8002291479884, + 316.21263067029474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 565, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -115.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4804784953594208, + "y": 0.4512067437171936, + "z": 0.9093868136405945 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 536.7681334222927, + "ymin": 199.2780954298108, + "xmax": 580.5539260016105, + "ymax": 268.4355829998881 + }, + "corners_3d": [ + [ + -116.10498809814453, + -1.0315076112747192, + 0.034755825996398926 + ], + [ + -115.91736602783203, + -0.14881420135498047, + 0.034755825996398926 + ], + [ + -114.97740936279297, + -0.34860917925834656, + 0.034755825996398926 + ], + [ + -115.16503143310547, + -1.2313026189804077, + 0.034755825996398926 + ], + [ + -116.10498809814453, + -1.0315076112747192, + 1.853529453277588 + ], + [ + -115.91736602783203, + -0.14881420135498047, + 1.853529453277588 + ], + [ + -114.97740936279297, + -0.34860917925834656, + 1.853529453277588 + ], + [ + -115.16503143310547, + -1.2313026189804077, + 1.853529453277588 + ] + ], + "corners_2d": [ + [ + 564.781812120609, + 268.4355829998881 + ], + [ + 580.5539260016105, + 253.76581505950645 + ], + [ + 556.9426228764866, + 244.22877145936354 + ], + [ + 540.9463475226544, + 258.56642253807803 + ], + [ + 561.5705846872938, + 223.16018361432592 + ], + [ + 578.0611728020389, + 208.68035346422337 + ], + [ + 553.5007190537316, + 199.2780954298108 + ], + [ + 536.7681334222927, + 213.41648326040206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 694, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -121.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5447802543640137, + "y": 0.4254951477050781, + "z": 0.9321271181106567 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 766.1502539168135, + "ymin": 228.47856238163496, + "xmax": 817.1524121377888, + "ymax": 302.3855109078468 + }, + "corners_3d": [ + [ + -122.50927734375, + 2.888730049133301, + 0.012030184268951416 + ], + [ + -122.42032623291016, + 3.7350587844848633, + 0.012030184268951416 + ], + [ + -121.33673095703125, + 3.621168613433838, + 0.012030184268951416 + ], + [ + -121.4256820678711, + 2.7748398780822754, + 0.012030184268951416 + ], + [ + -122.50927734375, + 2.888730049133301, + 1.8762843608856201 + ], + [ + -122.42032623291016, + 3.7350587844848633, + 1.8762843608856201 + ], + [ + -121.33673095703125, + 3.621168613433838, + 1.8762843608856201 + ], + [ + -121.4256820678711, + 2.7748398780822754, + 1.8762843608856201 + ] + ], + "corners_2d": [ + [ + 795.4752803246387, + 302.3855109078468 + ], + [ + 809.5528572257441, + 288.4952022553563 + ], + [ + 780.4600794529608, + 274.96037796348827 + ], + [ + 766.1502539168135, + 288.4232469448257 + ], + [ + 802.5589165329169, + 255.6143047550491 + ], + [ + 817.1524121377888, + 241.86108844922282 + ], + [ + 786.6545210045753, + 228.47856238163496 + ], + [ + 771.8039707633582, + 241.78989399800867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 664, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -123.24694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3177782893180847, + "y": 0.3937334716320038, + "z": 0.865913987159729 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.8242246229036, + "ymin": 369.2068598899803, + "xmax": 690.6665746703648, + "ymax": 440.6733333056882 + }, + "corners_3d": [ + [ + -123.5647201538086, + -4.081496238708496, + 0.07823354005813599 + ], + [ + -123.5647201538086, + -3.294029474258423, + 0.07823354005813599 + ], + [ + -122.92916107177734, + -3.294029474258423, + 0.07823354005813599 + ], + [ + -122.92916107177734, + -4.081496238708496, + 0.07823354005813599 + ], + [ + -123.5647201538086, + -4.081496238708496, + 1.8100614547729492 + ], + [ + -123.5647201538086, + -3.294029474258423, + 1.8100614547729492 + ], + [ + -122.92916107177734, + -3.294029474258423, + 1.8100614547729492 + ], + [ + -122.92916107177734, + -4.081496238708496, + 1.8100614547729492 + ] + ], + "corners_2d": [ + [ + 668.8162876474014, + 440.6733333056882 + ], + [ + 688.3263916970151, + 424.9765060671483 + ], + [ + 671.3600797972005, + 413.01320349411213 + ], + [ + 651.8242246229036, + 428.33980364112966 + ], + [ + 670.2343199134452, + 396.96206894818863 + ], + [ + 690.6665746703648, + 381.20230526764334 + ], + [ + 672.8599426047505, + 369.2068598899803 + ], + [ + 652.398794501804, + 384.57710288492524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1084, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -123.28268432617188, + "y": -14.81512451171875, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.4282177984714508, + "y": 0.3926416337490082, + "z": 0.8868491649627686 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 271.6701663836182, + "ymin": 641.393871285674, + "xmax": 345.6490394649904, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -123.66751098632812, + -15.250375747680664, + 0.05728381872177124 + ], + [ + -123.74959564208984, + -14.46939468383789, + 0.05728381872177124 + ], + [ + -122.89785766601562, + -14.379873275756836, + 0.05728381872177124 + ], + [ + -122.8157730102539, + -15.16085433959961, + 0.05728381872177124 + ], + [ + -123.66751098632812, + -15.250375747680664, + 1.8309822082519531 + ], + [ + -123.74959564208984, + -14.46939468383789, + 1.8309822082519531 + ], + [ + -122.89785766601562, + -14.379873275756836, + 1.8309822082519531 + ], + [ + -122.8157730102539, + -15.16085433959961, + 1.8309822082519531 + ] + ], + "corners_2d": [ + [ + 311.889769339185, + 733.9284142768644 + ], + [ + 345.6490394649904, + 710.9468745199938 + ], + [ + 327.17351718262785, + 682.1054643596232 + ], + [ + 293.856179555057, + 704.071602129703 + ], + [ + 290.3429989247016, + 694.8541596108764 + ], + [ + 326.6760762971108, + 671.1126733641283 + ], + [ + 307.4844214550264, + 641.393871285674 + ], + [ + 271.6701663836182, + 664.0205456647267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 168, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -109.9610595703125, + "y": -10.739669799804688, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.3038964867591858, + "y": 0.31130796670913696, + "z": 0.8663886785507202 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 159.28892796664553, + "ymin": 266.40842706355147, + "xmax": 205.71529227350157, + "ymax": 329.1672698219861 + }, + "corners_3d": [ + [ + -110.19358825683594, + -11.107358932495117, + 0.23016130924224854 + ], + [ + -110.32303619384766, + -10.498348236083984, + 0.23016130924224854 + ], + [ + -109.72853088378906, + -10.371980667114258, + 0.23016130924224854 + ], + [ + -109.59908294677734, + -10.98099136352539, + 0.23016130924224854 + ], + [ + -110.19358825683594, + -11.107358932495117, + 1.962938666343689 + ], + [ + -110.32303619384766, + -10.498348236083984, + 1.962938666343689 + ], + [ + -109.72853088378906, + -10.371980667114258, + 1.962938666343689 + ], + [ + -109.59908294677734, + -10.98099136352539, + 1.962938666343689 + ] + ], + "corners_2d": [ + [ + 184.84830322120047, + 329.1672698219861 + ], + [ + 205.71529227350157, + 321.38935675306107 + ], + [ + 199.9761219408167, + 310.306361590294 + ], + [ + 179.31638544907418, + 317.89570497304805 + ], + [ + 164.8051841611308, + 285.14097534436826 + ], + [ + 186.75975654551604, + 277.41190055398545 + ], + [ + 181.01340155096455, + 266.40842706355147 + ], + [ + 159.28892796664553, + 273.94205717488614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 190, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 96.3886938509487, + "ymax": 19.969275029800656 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 41.61975736519878, + -34.559833780483075 + ], + [ + -7.665666856701819, + -20.147327206972193 + ], + [ + 45.15845682045597, + 19.969275029800656 + ], + [ + 96.3886938509487, + 3.4896683086529947 + ], + [ + 22.77912006255133, + -77.49119756006706 + ], + [ + -28.60323756881553, + -63.76040574630622 + ], + [ + 24.53066970729219, + -25.423066560695645 + ], + [ + 78.0629521177641, + -41.19286902089209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4511, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 512.88171035775, + "ymin": 106.71195776299535, + "xmax": 628.4704517320616, + "ymax": 208.37023274253156 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 591.505867345835, + 208.37023274253156 + ], + [ + 628.4704517320616, + 186.534018308679 + ], + [ + 553.8438907468499, + 144.7218851356075 + ], + [ + 516.9398107924461, + 164.24375113888019 + ], + [ + 589.8100141461107, + 169.18346135200173 + ], + [ + 628.0786464449039, + 147.71183437584546 + ], + [ + 551.0785415714224, + 106.71195776299535 + ], + [ + 512.88171035775, + 125.83595790571289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3878, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 204.65343337929642, + "ymin": 6.986042907891999, + "xmax": 317.37424434192076, + "ymax": 95.80669324962633 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 254.94309495226327, + 40.486028802590454 + ], + [ + 215.9402461215965, + 55.063326806795715 + ], + [ + 277.4439439392371, + 95.80669324962633 + ], + [ + 317.37424434192076, + 79.35663007550409 + ], + [ + 244.93159137477272, + 6.986042907891999 + ], + [ + 204.65343337929642, + 21.157605517940738 + ], + [ + 267.1684488440599, + 60.85735116424911 + ], + [ + 308.45546302144567, + 44.81259360650927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3842, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 141.33310733264813, + "ymin": 39.80350472196619, + "xmax": 249.95740991123546, + "ymax": 134.7800920923083 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 201.76589824288408, + 82.44038516882665 + ], + [ + 158.2378000770542, + 99.26028482948493 + ], + [ + 205.4551672055219, + 134.7800920923083 + ], + [ + 249.95740991123546, + 116.20824127503721 + ], + [ + 186.77602109321248, + 39.80350472196619 + ], + [ + 141.33310733264813, + 56.111560835469334 + ], + [ + 189.39382703880608, + 90.64224906966638 + ], + [ + 235.92303157444348, + 72.57200279430145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 535.1305033959259, + "ymin": 29.756661268081416, + "xmax": 552.3783397777404, + "ymax": 63.51510434595667 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 537.28679066687, + 60.50409781944211 + ], + [ + 543.2474430803911, + 63.51510434595667 + ], + [ + 552.3783397777404, + 59.269793604326935 + ], + [ + 546.4144404596638, + 56.297622814777185 + ], + [ + 535.1305033959259, + 33.875383928122744 + ], + [ + 541.2067062745166, + 36.82426265617431 + ], + [ + 550.5424308534, + 32.66671313099795 + ], + [ + 544.4627192917551, + 29.756661268081416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.8495605591693, + "ymin": 0.0, + "xmax": 673.055595605572, + "ymax": 6.9966219411119255 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 658.8495605591693, + 4.482071508188369 + ], + [ + 664.8088056507623, + 6.9966219411119255 + ], + [ + 672.4354267021388, + 3.450706873512445 + ], + [ + 666.4794891543156, + 0.9658200719878778 + ], + [ + 659.2106033448539, + -20.88655167212073 + ], + [ + 665.2860359764102, + -18.432790228810347 + ], + [ + 673.055595605572, + -21.892868417558304 + ], + [ + 666.983623725116, + -24.31713272981915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 504.009300840529, + "ymin": 393.6450388316573, + "xmax": 532.2080373021793, + "ymax": 441.4333176479244 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 517.5986568085661, + 441.4333176479244 + ], + [ + 532.2080373021793, + 430.91135772166 + ], + [ + 523.0057314929638, + 423.5917380557271 + ], + [ + 508.4079964882941, + 433.96276267460473 + ], + [ + 513.4763538649171, + 411.5432240049901 + ], + [ + 528.6159829678613, + 400.9853621924452 + ], + [ + 519.1358649361558, + 393.6450388316573 + ], + [ + 504.009300840529, + 404.0464329532259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 264.9249099762118, + "ymin": 269.1916672845886, + "xmax": 291.4584715753993, + "ymax": 305.0258320123284 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 279.11755870093356, + 305.0258320123284 + ], + [ + 291.4584715753993, + 298.41198568707574 + ], + [ + 286.0022773892369, + 293.7637950717786 + ], + [ + 273.6859732258948, + 300.30844873198043 + ], + [ + 270.4396287571418, + 280.4042696804478 + ], + [ + 283.1406270183628, + 273.81863360363366 + ], + [ + 277.5994139817265, + 269.1916672845886 + ], + [ + 264.9249099762118, + 275.70676860514425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10692023898608466455, + "instance_id": 6010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -129.894287109375, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1219.0143107577642, + "ymin": 87.39278081481149, + "xmax": 1247.6815079104827, + "ymax": 123.65367926077681 + }, + "corners_3d": [ + [ + -129.75570678710938, + 12.455912590026855, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.075998306274414, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.07599925994873, + 5.545533180236816 + ], + [ + -130.03286743164062, + 12.455913543701172, + 5.545533180236816 + ], + [ + -129.75570678710938, + 12.455912590026855, + 6.416468620300293 + ], + [ + -129.75570678710938, + 12.075998306274414, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.07599925994873, + 6.416468620300293 + ], + [ + -130.03286743164062, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1224.1701949424867, + 115.05826682857841 + ], + [ + 1219.0143107577642, + 120.065794379317 + ], + [ + 1228.961388681387, + 123.65367926077681 + ], + [ + 1234.0727119046082, + 118.59567996708176 + ], + [ + 1237.4839302040023, + 87.39278081481149 + ], + [ + 1232.3062594107173, + 92.31458718385971 + ], + [ + 1242.5514651656479, + 95.8420314877489 + ], + [ + 1247.6815079104827, + 90.86947389611294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 424.60930395014196, + "ymin": 332.0364065466517, + "xmax": 453.71145612713224, + "ymax": 377.74415251009094 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 439.2449100267154, + 377.74415251009094 + ], + [ + 453.71145612713224, + 368.4743277161322 + ], + [ + 445.5955947634005, + 362.018878084998 + ], + [ + 431.1494343828673, + 371.16380930820486 + ], + [ + 432.9139440653132, + 347.747336913129 + ], + [ + 447.89466577710493, + 338.48402236409703 + ], + [ + 439.5674909976456, + 332.0364065466517 + ], + [ + 424.60930395014196, + 341.17103961187047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 341.63946878630514, + "ymin": 267.5707774962334, + "xmax": 371.3106325708134, + "ymax": 310.97329811315467 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 357.09991991959345, + 310.97329811315467 + ], + [ + 371.3106325708134, + 302.93181145092177 + ], + [ + 364.2623151496283, + 297.3254982690245 + ], + [ + 350.07851466762787, + 305.2660042008867 + ], + [ + 348.81128819586246, + 281.14798427345556 + ], + [ + 363.51056876232434, + 273.1466358412374 + ], + [ + 356.3092798348971, + 267.5707774962334 + ], + [ + 341.63946878630514, + 275.4687472848989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 746.7050266087052, + "ymin": 13.172903338831645, + "xmax": 760.5296272135075, + "ymax": 40.364636698353024 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 746.7050266087052, + 38.018495577338285 + ], + [ + 752.2963971276964, + 40.364636698353024 + ], + [ + 758.5456213422414, + 37.07320337350063 + ], + [ + 752.9601893172661, + 34.75141001944212 + ], + [ + 748.4935979111477, + 16.380225487657242 + ], + [ + 754.1858272330261, + 18.6837941047217 + ], + [ + 760.5296272135075, + 15.452167711307595 + ], + [ + 754.8436125036197, + 13.172903338831645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 594.3611910936073, + "ymin": 3.951802003423495, + "xmax": 609.6297279012877, + "ymax": 36.55528086714878 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 595.2611242893224, + 33.786641428040355 + ], + [ + 601.233154408854, + 36.55528086714878 + ], + [ + 609.6297279012877, + 32.651385683375565 + ], + [ + 603.6578711897349, + 29.91700282895988 + ], + [ + 594.3611910936073, + 7.734242497897185 + ], + [ + 600.4498254117843, + 10.441071961342288 + ], + [ + 609.0199546761146, + 6.624470844573068 + ], + [ + 602.9314577080631, + 3.951802003423495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 489.90829172811425, + "ymin": 0.0, + "xmax": 770.1074352128003, + "ymax": 222.71181102483138 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 750.3610282680684, + 96.13053731287835 + ], + [ + 742.2499762495246, + 92.36026554346273 + ], + [ + 516.708167414588, + 217.43015697606805 + ], + [ + 524.8398440567073, + 222.71181102483138 + ], + [ + 770.1074352128003, + -124.45126880000589 + ], + [ + 760.4269022237536, + -127.46657994911072 + ], + [ + 489.90829172811425, + -24.178961141880507 + ], + [ + 499.6082068956392, + -19.664097677775032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.46769172137033, + "ymin": 106.15585423498362, + "xmax": 578.0588519607109, + "ymax": 635.547091961154 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 299.1446096985594, + 364.09715484694163 + ], + [ + 286.0361983740971, + 371.5698175655248 + ], + [ + 564.1362656524268, + 635.547091961154 + ], + [ + 578.0588519607109, + 623.4403003207575 + ], + [ + 208.02062508793495, + 106.15585423498362 + ], + [ + 190.46769172137033, + 113.08345874134434 + ], + [ + 535.9502705035156, + 377.9262394861253 + ], + [ + 555.3559563302326, + 364.8565352532891 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1113.6545001937734, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 446.4165571393054 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1540.8235243644979, + 446.4165571393054 + ], + [ + 1544.4518256714869, + 437.74202179525753 + ], + [ + 1119.5079533269736, + 245.35861485929166 + ], + [ + 1113.6545001937734, + 251.08342567441008 + ], + [ + 1808.5710258213549, + 184.10713395894962 + ], + [ + 1810.3694198659741, + 175.72003161582182 + ], + [ + 1228.1542296285234, + -0.15870916707103788 + ], + [ + 1221.876799997082, + 4.8099444710322246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1117.4122334330873, + "ymin": 426.9042027267605, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1117.4122334330873, + 1193.6144854790741 + ], + [ + 1144.2339674159896, + 1219.5520635354394 + ], + [ + 1385.6547227575775, + 693.2454729693861 + ], + [ + 1364.086279811569, + 680.1403068273089 + ], + [ + 1427.9753635883555, + 1105.5808471179585 + ], + [ + 1480.1879905873532, + 1146.6679660099371 + ], + [ + 1680.8810945001667, + 441.55398188440057 + ], + [ + 1646.706138840968, + 426.9042027267605 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00116/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00116/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..69252ba223a6c3bfcab4265bd945b30e2ec88fd0 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00116/meta.json @@ -0,0 +1,2465 @@ +{ + "frame_id": 116, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 58.0, + "sim_timestamp": 3534.0914535613265 + }, + "drone_pose": { + "x": -134.77846801155835, + "y": -16.18449669339429, + "z": 19.948710438205886, + "pitch": -45.036314970986965, + "yaw": 40.48893695726937, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5374359488487244, + -0.458834171295166, + 0.7075547575950623, + 65.7459945678711 + ], + [ + 0.6493011713027954, + 0.7605313658714294, + 1.4901161193847656e-08, + -75.20301055908203 + ], + [ + -0.5381175875663757, + 0.45941615104675293, + 0.7066584825515747, + -94.05901336669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.71576483323662, + "y": -15.660343319776468, + "z": 20.0 + }, + "t1_image_uv": [ + 2084.275018231014, + -894.0919171926105 + ], + "t1_depth": 0.2379082560059506 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -119.16718292236328, + "y": -3.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 617.9847237397369, + 335.20245654363515 + ], + "depth": 27.570763903738012, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 583, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -119.16718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.3247997462749481, + "y": 0.38831859827041626, + "z": 0.8602712750434875 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 599.4580061036953, + "ymin": 301.1915672718689, + "xmax": 635.7064258600311, + "ymax": 368.5876658542262 + }, + "corners_3d": [ + [ + -119.49198150634766, + -4.0760817527771, + 0.08387625217437744 + ], + [ + -119.49198150634766, + -3.2994444370269775, + 0.08387625217437744 + ], + [ + -118.8423843383789, + -3.2994444370269775, + 0.08387625217437744 + ], + [ + -118.8423843383789, + -4.0760817527771, + 0.08387625217437744 + ], + [ + -119.49198150634766, + -4.0760817527771, + 1.8044188022613525 + ], + [ + -119.49198150634766, + -3.2994444370269775, + 1.8044188022613525 + ], + [ + -118.8423843383789, + -3.2994444370269775, + 1.8044188022613525 + ], + [ + -118.8423843383789, + -4.0760817527771, + 1.8044188022613525 + ] + ], + "corners_2d": [ + [ + 615.2742392698165, + 368.5876658542262 + ], + [ + 635.7064258600311, + 356.32541103045315 + ], + [ + 621.5675194076432, + 344.60901326803213 + ], + [ + 601.209682087824, + 356.5711502404163 + ], + [ + 614.1430350291171, + 325.11616427815864 + ], + [ + 635.5125905332784, + 312.8747941745333 + ], + [ + 620.7460126254899, + 301.1915672718689 + ], + [ + 599.4580061036953, + 313.1199758617947 + ] + ], + "center_offset_px": [ + -22.015276260263136, + -24.79754345636485 + ] + }, + "trace_timestep_index": 116, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 653030, + "2": 137000, + "3": 40981, + "4": 33490, + "6": 8521, + "7": 2574, + "9": 788, + "10": 73, + "12": 3653, + "14": 11821, + "20": 532, + "24": 29137 + }, + "instance_pixel_counts": { + "11605": 28457, + "15701": 900, + "15970": 221, + "16479": 8592, + "16482": 2215, + "17547": 65, + "18018": 2849, + "18059": 4520, + "18530": 279, + "19554": 2266, + "20107": 12362, + "20565": 11624, + "20619": 99, + "21395": 12940, + "21397": 617, + "21643": 9641, + "21907": 249216, + "21909": 14385, + "22421": 1852, + "22931": 72235, + "23957": 879, + "24467": 27678, + "25344": 2270, + "25600": 8825, + "36096": 583, + "36352": 607, + "36608": 602, + "36864": 673, + "37120": 1008, + "37376": 180, + "37888": 4554, + "40448": 3671, + "40704": 3596, + "45409": 2235, + "45971": 8438, + "46483": 194155, + "46995": 53223, + "47507": 8462, + "48225": 3666, + "49043": 26683, + "49761": 8818, + "51526": 33490, + "53857": 2042, + "56458": 15157, + "56970": 10844, + "57482": 32573, + "58506": 18556, + "60307": 445, + "60819": 7368, + "61254": 1320, + "61331": 1850, + "61843": 229, + "62867": 1512 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 583, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -119.16718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4268847107887268, + "y": 0.38714274764060974, + "z": 0.8908672332763672 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 597.1829839852005, + "ymin": 298.593370769552, + "xmax": 637.9314019409449, + "ymax": 371.2233564275738 + }, + "corners_3d": [ + [ + -119.59407043457031, + -4.074905872344971, + 0.0532802939414978 + ], + [ + -119.59407043457031, + -3.3006203174591064, + 0.0532802939414978 + ], + [ + -118.74029541015625, + -3.3006203174591064, + 0.0532802939414978 + ], + [ + -118.74029541015625, + -4.074905872344971, + 0.0532802939414978 + ], + [ + -119.59407043457031, + -4.074905872344971, + 1.835014820098877 + ], + [ + -119.59407043457031, + -3.3006203174591064, + 1.835014820098877 + ], + [ + -118.74029541015625, + -3.3006203174591064, + 1.835014820098877 + ], + [ + -118.74029541015625, + -4.074905872344971, + 1.835014820098877 + ] + ], + "corners_2d": [ + [ + 617.5655767118606, + 371.2233564275738 + ], + [ + 637.9314019409449, + 358.9503079170612 + ], + [ + 619.3620955360307, + 343.5500699894926 + ], + [ + 599.0935259354975, + 355.4301426960204 + ], + [ + 616.4996542280696, + 326.20209531466844 + ], + [ + 637.8344156338429, + 313.94847214784676 + ], + [ + 618.4107215291424, + 298.593370769552 + ], + [ + 597.1829839852005, + 310.4365884487906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 607, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -115.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5000927448272705, + "y": 0.45292580127716064, + "z": 0.9254366159439087 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 586.3161562542579, + "ymin": 191.62395856068022, + "xmax": 629.1834723469816, + "ymax": 262.43638476935917 + }, + "corners_3d": [ + [ + -115.6245346069336, + -1.0291111469268799, + 0.01871579885482788 + ], + [ + -115.43619537353516, + -0.14305466413497925, + 0.01871579885482788 + ], + [ + -114.4578628540039, + -0.3510057330131531, + 0.01871579885482788 + ], + [ + -114.64620208740234, + -1.2370622158050537, + 0.01871579885482788 + ], + [ + -115.6245346069336, + -1.0291111469268799, + 1.86958909034729 + ], + [ + -115.43619537353516, + -0.14305466413497925, + 1.86958909034729 + ], + [ + -114.4578628540039, + -0.3510057330131531, + 1.86958909034729 + ], + [ + -114.64620208740234, + -1.2370622158050537, + 1.86958909034729 + ] + ], + "corners_2d": [ + [ + 612.1173066484746, + 262.43638476935917 + ], + [ + 629.1834723469816, + 248.67054691829077 + ], + [ + 605.7380399162998, + 237.3419802381773 + ], + [ + 588.5283836291234, + 250.74038834312717 + ], + [ + 610.9017516726699, + 216.3845778502761 + ], + [ + 628.719760632836, + 202.79408014668593 + ], + [ + 604.2896134350648, + 191.62395856068022 + ], + [ + 586.3161562542579, + 204.8363515671273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 602, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -121.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5156005620956421, + "y": 0.43095657229423523, + "z": 0.9426152110099792 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 812.754993219095, + "ymin": 234.8412954358738, + "xmax": 865.7393316389267, + "ymax": 309.9827646189746 + }, + "corners_3d": [ + [ + -121.98082733154297, + 2.880248546600342, + 0.0015372037887573242 + ], + [ + -121.89073181152344, + 3.7374401092529297, + 0.0015372037887573242 + ], + [ + -120.86518096923828, + 3.629650115966797, + 0.0015372037887573242 + ], + [ + -120.95527648925781, + 2.772458553314209, + 0.0015372037887573242 + ], + [ + -121.98082733154297, + 2.880248546600342, + 1.8867676258087158 + ], + [ + -121.89073181152344, + 3.7374401092529297, + 1.8867676258087158 + ], + [ + -120.86518096923828, + 3.629650115966797, + 1.8867676258087158 + ], + [ + -120.95527648925781, + 2.772458553314209, + 1.8867676258087158 + ] + ], + "corners_2d": [ + [ + 839.8111206227964, + 309.9827646189746 + ], + [ + 855.7623461905526, + 296.64639012218254 + ], + [ + 828.8349103374017, + 281.9648733053167 + ], + [ + 812.754993219095, + 294.8655381378145 + ], + [ + 849.1941928320867, + 262.6097588226369 + ], + [ + 865.7393316389267, + 249.38211678348836 + ], + [ + 837.4174853584159, + 234.8412954358738 + ], + [ + 820.726716473231, + 247.61715926636123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 673, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -122.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4479638338088989, + "y": 0.39282846450805664, + "z": 0.8819037675857544 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.1935062222415, + "ymin": 366.3922621318854, + "xmax": 727.7492403201137, + "ymax": 443.889637478538 + }, + "corners_3d": [ + [ + -123.19490814208984, + -4.080591201782227, + 0.062243759632110596 + ], + [ + -123.19490814208984, + -3.2949345111846924, + 0.062243759632110596 + ], + [ + -122.2989730834961, + -3.2949345111846924, + 0.062243759632110596 + ], + [ + -122.2989730834961, + -4.080591201782227, + 0.062243759632110596 + ], + [ + -123.19490814208984, + -4.080591201782227, + 1.8260512351989746 + ], + [ + -123.19490814208984, + -3.2949345111846924, + 1.8260512351989746 + ], + [ + -122.2989730834961, + -3.2949345111846924, + 1.8260512351989746 + ], + [ + -122.2989730834961, + -4.080591201782227, + 1.8260512351989746 + ] + ], + "corners_2d": [ + [ + 702.5462641047571, + 443.889637478538 + ], + [ + 723.5711129299791, + 429.51567421433424 + ], + [ + 701.1409619426865, + 410.92176868131014 + ], + [ + 680.1935062222415, + 424.77832574259895 + ], + [ + 705.7190759555599, + 399.5084942187961 + ], + [ + 727.7492403201137, + 385.0568227244223 + ], + [ + 704.1398501421041, + 366.3922621318854 + ], + [ + 682.1932803411338, + 380.29827744155597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1008, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -122.78268432617188, + "y": -14.81512451171875, + "z": 0.9441329836845398 + }, + "extent": { + "x": 0.314018577337265, + "y": 0.40120792388916016, + "z": 0.8756430745124817 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 290.40198374001346, + "ymin": 615.2373109144376, + "xmax": 356.40258275774056, + "ymax": 697.3287261276772 + }, + "corners_3d": [ + [ + -123.05304718017578, + -15.24695873260498, + 0.0684899091720581 + ], + [ + -123.13691711425781, + -14.448938369750977, + 0.0684899091720581 + ], + [ + -122.51232147216797, + -14.38329029083252, + 0.0684899091720581 + ], + [ + -122.42845153808594, + -15.181310653686523, + 0.0684899091720581 + ], + [ + -123.05304718017578, + -15.24695873260498, + 1.8197760581970215 + ], + [ + -123.13691711425781, + -14.448938369750977, + 1.8197760581970215 + ], + [ + -122.51232147216797, + -14.38329029083252, + 1.8197760581970215 + ], + [ + -122.42845153808594, + -15.181310653686523, + 1.8197760581970215 + ] + ], + "corners_2d": [ + [ + 321.496648881873, + 697.3287261276772 + ], + [ + 356.40258275774056, + 677.5864265585661 + ], + [ + 345.341043351328, + 655.8136898018562 + ], + [ + 310.87061176721375, + 674.8844404223722 + ], + [ + 301.3184026340111, + 657.9574781881851 + ], + [ + 338.7259261162899, + 637.6205245310482 + ], + [ + 327.3067572127034, + 615.2373109144376 + ], + [ + 290.40198374001346, + 634.8401968632389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 180, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -109.45915985107422, + "y": -10.741055488586426, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.40610837936401367, + "y": 0.30925413966178894, + "z": 0.8763567805290222 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 217.01063894999658, + "ymin": 235.6514445411596, + "xmax": 260.23681202138636, + "ymax": 300.9502420046676 + }, + "corners_3d": [ + [ + -109.79209899902344, + -11.127986907958984, + 0.22019320726394653 + ], + [ + -109.92069244384766, + -10.522994041442871, + 0.22019320726394653 + ], + [ + -109.126220703125, + -10.354124069213867, + 0.22019320726394653 + ], + [ + -108.99762725830078, + -10.95911693572998, + 0.22019320726394653 + ], + [ + -109.79209899902344, + -11.127986907958984, + 1.9729068279266357 + ], + [ + -109.92069244384766, + -10.522994041442871, + 1.9729068279266357 + ], + [ + -109.126220703125, + -10.354124069213867, + 1.9729068279266357 + ], + [ + -108.99762725830078, + -10.95911693572998, + 1.9729068279266357 + ] + ], + "corners_2d": [ + [ + 240.00498135454944, + 300.9502420046676 + ], + [ + 260.23681202138636, + 294.66318552987315 + ], + [ + 254.30833242822348, + 279.80691615559914 + ], + [ + 234.37340874542969, + 285.88647922813084 + ], + [ + 222.57986349977506, + 256.6100136274033 + ], + [ + 243.81333677775183, + 250.37342596866733 + ], + [ + 237.91682553514596, + 235.6514445411596 + ], + [ + 217.01063894999658, + 241.6735021731851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4554, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 580.3983971746061, + "ymin": 105.1000586101571, + "xmax": 694.0132395917518, + "ymax": 209.83104054710776 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 653.1980359123249, + 209.83104054710776 + ], + [ + 692.2103015812315, + 189.68040557385842 + ], + [ + 620.6945909337189, + 143.23311291628804 + ], + [ + 582.3158783842141, + 161.05987588091773 + ], + [ + 653.6658169209912, + 170.52617241765293 + ], + [ + 694.0132395917518, + 150.68994878982303 + ], + [ + 620.0683532115396, + 105.1000586101571 + ], + [ + 580.3983971746061, + 122.57590675440196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3671, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 289.02462182777265, + "ymin": 0.0, + "xmax": 393.5123989561642, + "ymax": 80.63284429941723 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 336.50556912660323, + 24.70561567891957 + ], + [ + 298.00613784109066, + 37.476711829735336 + ], + [ + 353.65332626838125, + 80.63284429941723 + ], + [ + 393.5123989561642, + 66.09721127700476 + ], + [ + 328.6986069560364, + -8.582704464247115 + ], + [ + 289.02462182777265, + 3.826749647392603 + ], + [ + 345.6108293497163, + 45.85742514556296 + ], + [ + 386.7410449138341, + 31.68418335853488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3596, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 225.78679131681037, + "ymin": 21.621808322131415, + "xmax": 325.6042748834958, + "ymax": 115.85727563058029 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 282.28283905307075, + 63.9296203279568 + ], + [ + 239.5937416063482, + 78.55751663249436 + ], + [ + 281.57779581587204, + 115.85727563058029 + ], + [ + 325.6042748834958, + 99.59924778650816 + ], + [ + 270.22229041920497, + 21.621808322131415 + ], + [ + 225.78679131681037, + 35.79159353591774 + ], + [ + 268.5156795473292, + 72.01856664708629 + ], + [ + 314.4156528308726, + 56.211267057158636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 606.3415800591396, + "ymin": 28.58389477721056, + "xmax": 622.2485732086304, + "ymax": 62.45724578232927 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 607.0415613269993, + 59.1207933519363 + ], + [ + 612.7351659884765, + 62.45724578232927 + ], + [ + 622.2485732086304, + 58.556204312719046 + ], + [ + 616.540722978568, + 55.25876150024209 + ], + [ + 606.3415800591396, + 32.36768929184046 + ], + [ + 612.1531189803565, + 35.63730851154048 + ], + [ + 621.8718922323291, + 31.814479077296596 + ], + [ + 616.0454632512505, + 28.58389477721056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.5108357050169, + "ymin": 0.0, + "xmax": 750.5416730239208, + "ymax": 10.128503435491723 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 734.5108357050169, + 7.296320730284322 + ], + [ + 740.3487825101536, + 10.128503435491723 + ], + [ + 748.4248703974241, + 6.81684437590684 + ], + [ + 742.581189660196, + 4.01519209200751 + ], + [ + 736.3574750273866, + -18.328724416665807 + ], + [ + 742.318793777166, + -15.562548330620473 + ], + [ + 750.5416730239208, + -18.796976338216723 + ], + [ + 744.5744975589147, + -21.532754350326456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 542.0033471137257, + "ymin": 398.22810380968497, + "xmax": 569.2030517304676, + "ymax": 445.87530668258313 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 553.6989906396403, + 445.87530668258313 + ], + [ + 569.2030517304676, + 436.19786562576496 + ], + [ + 560.6698520979794, + 428.06904734640904 + ], + [ + 545.2094278796139, + 437.5947283490484 + ], + [ + 550.755989592936, + 416.1077436040139 + ], + [ + 566.8118306902554, + 406.38784960696677 + ], + [ + 558.012114208807, + 398.22810380968497 + ], + [ + 542.0033471137257, + 407.79046182172516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 323.6583940595306, + "ymin": 254.73122237662471, + "xmax": 348.2697833175034, + "ymax": 290.0598893548523 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 335.82438569175247, + 290.0598893548523 + ], + [ + 348.2697833175034, + 284.20767910398774 + ], + [ + 343.4000512989951, + 279.24070197593244 + ], + [ + 330.9929228440294, + 285.02722346816546 + ], + [ + 328.56255779082153, + 265.5003389932958 + ], + [ + 341.35188970421353, + 259.67443764876475 + ], + [ + 336.4070655383405, + 254.73122237662471 + ], + [ + 323.6583940595306, + 260.4901877425591 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 469.07746880228206, + "ymin": 330.19262712906436, + "xmax": 496.7841723742757, + "ymax": 375.6388444939451 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 481.68984738574693, + 375.6388444939451 + ], + [ + 496.7841723742757, + 367.21091450331215 + ], + [ + 489.34425795416405, + 360.1235711287107 + ], + [ + 474.29708415996095, + 368.4280657534767 + ], + [ + 476.66484181946737, + 345.70198450385203 + ], + [ + 492.2787376410922, + 337.2753284711772 + ], + [ + 484.64053891562236, + 330.19262712906436 + ], + [ + 469.07746880228206, + 338.49201066475734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 393.782178466468, + "ymin": 259.8535686330381, + "xmax": 421.6556088709617, + "ymax": 302.8663214638965 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 407.0806473891471, + 302.8663214638965 + ], + [ + 421.6556088709617, + 295.64268056100326 + ], + [ + 415.2712496705535, + 289.5608702098475 + ], + [ + 400.744844408523, + 296.6864838601898 + ], + [ + 400.25434345686426, + 273.0922314054265 + ], + [ + 415.30907728062357, + 265.90343384413484 + ], + [ + 408.78472058298394, + 259.8535686330381 + ], + [ + 393.782178466468, + 266.94199428632817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.4765161222505, + "ymin": 19.60376749734553, + "xmax": 839.097453247519, + "ymax": 47.1922345217788 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 823.4765161222505, + 44.52450709267305 + ], + [ + 829.0259887705978, + 47.1922345217788 + ], + [ + 835.7362544956777, + 44.089257168320614 + ], + [ + 830.1857540008205, + 41.44694953589692 + ], + [ + 826.6293512572419, + 22.627810478081756 + ], + [ + 832.2878359761565, + 25.2495505240056 + ], + [ + 839.097453247519, + 22.200098891139703 + ], + [ + 833.4380377662193, + 19.60376749734553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.5733388292923, + "ymin": 4.769920773342562, + "xmax": 683.0249615768593, + "ymax": 37.60246974349212 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 667.5733388292923, + 34.510658128591444 + ], + [ + 673.3481093947943, + 37.60246974349212 + ], + [ + 682.1642443166536, + 33.98734982525775 + ], + [ + 676.3795675209791, + 30.93034894467712 + ], + [ + 668.1366787065894, + 8.272185392604968 + ], + [ + 674.0328128899091, + 11.297249419059312 + ], + [ + 683.0249615768593, + 7.760234017388711 + ], + [ + 677.1185530239658, + 4.769920773342562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 564.0622785165406, + "ymin": 0.0, + "xmax": 857.6105410430498, + "ymax": 220.59694460764578 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 823.7856887444538, + 103.61325185790645 + ], + [ + 815.7706841089871, + 99.34285970617191 + ], + [ + 577.727814180515, + 214.79719294544768 + ], + [ + 585.3812264224233, + 220.59694460764578 + ], + [ + 857.6105410430498, + -120.03292041848232 + ], + [ + 847.888601269125, + -123.481012905635 + ], + [ + 564.0622785165406, + -27.470984380787286 + ], + [ + 573.2911739111933, + -22.49048513006062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 259.2832476408297, + "ymin": 91.69442968254845, + "xmax": 605.6027550341472, + "ymax": 641.7472740200508 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 352.8287227397269, + 348.77356847664925 + ], + [ + 339.59791025705715, + 355.36349534537493 + ], + [ + 590.6892700387061, + 641.7472740200508 + ], + [ + 605.6027550341472, + 630.6437737814929 + ], + [ + 276.72051390454067, + 91.69442968254845 + ], + [ + 259.2832476408297, + 97.78612512822872 + ], + [ + 572.0682949471123, + 386.08119239570766 + ], + [ + 592.7728020354649, + 373.9719161952581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13280682162171603646, + "instance_id": 48874, + "pixel_count": null, + "type_id": "AmericanLights_Town04_25_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1193.6753837517035, + "ymin": 29.19027805308258, + "xmax": 1280.0, + "ymax": 526.1390362251695 + }, + "corners_3d": [ + [ + -140.57330322265625, + 12.232034683227539, + 0.0 + ], + [ + -140.5771484375, + 12.664850234985352, + 0.0 + ], + [ + -128.5230712890625, + 12.771993637084961, + 0.0 + ], + [ + -128.51922607421875, + 12.339178085327148, + 0.0 + ], + [ + -140.57330322265625, + 12.232034683227539, + 8.446706771850586 + ], + [ + -140.5771484375, + 12.664850234985352, + 8.446706771850586 + ], + [ + -128.5230712890625, + 12.771993637084961, + 8.446706771850586 + ], + [ + -128.51922607421875, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1653.326565146859, + 526.1390362251695 + ], + [ + 1658.2473242009557, + 516.9973598320252 + ], + [ + 1200.4884366807264, + 279.72790856667814 + ], + [ + 1193.6753837517035, + 285.39187478203974 + ], + [ + 1988.6168388145818, + 263.8681121608665 + ], + [ + 1991.5394739633878, + 254.55705215160657 + ], + [ + 1335.6336584415267, + 29.19027805308258 + ], + [ + 1328.2448001322523, + 34.22854278090995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13609453519753563405, + "instance_id": 3533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_24_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -4.448189735412598, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1118.1694457848123, + "ymin": 523.547615043306, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -139.1320343017578, + -10.47330379486084, + 0.0 + ], + [ + -139.56484985351562, + -10.477150917053223, + 0.0 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 0.0 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 0.0 + ], + [ + -139.1320343017578, + -10.47330379486084, + 8.446706771850586 + ], + [ + -139.56484985351562, + -10.477150917053223, + 8.446706771850586 + ], + [ + -139.67198181152344, + 1.5769248008728027, + 8.446706771850586 + ], + [ + -139.23916625976562, + 1.5807716846466064, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1118.1694457848123, + 1281.341838927085 + ], + [ + 1144.9362600198806, + 1312.4993489933627 + ], + [ + 1455.8161231247616, + 779.0355576645754 + ], + [ + 1432.7555526479573, + 762.7538413097154 + ], + [ + 1457.6129407758299, + 1254.7624636145347 + ], + [ + 1513.6454446401126, + 1307.9103516823784 + ], + [ + 1812.8060852812023, + 542.8490997637766 + ], + [ + 1773.802012518078, + 523.547615043306 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00120/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00120/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c42ae0773fd384d9d8a4f921b55f5ee1da4e1ad6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00120/meta.json @@ -0,0 +1,2577 @@ +{ + "frame_id": 120, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 60.0, + "sim_timestamp": 3577.1834188641515 + }, + "drone_pose": { + "x": -134.29022035787614, + "y": -14.20379640545724, + "z": 20.08263830857403, + "pitch": -43.60425582251176, + "yaw": 31.5559709859263, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6170444488525391, + -0.3789549469947815, + 0.6896733045578003, + 74.39517974853516 + ], + [ + 0.5233312249183655, + 0.852129340171814, + 0.0, + -58.1748046875 + ], + [ + -0.5876908302307129, + 0.36092761158943176, + 0.7241206169128418, + -98.58992767333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.77268398719747, + "y": -14.017599945587083, + "z": 20.10170805169911 + }, + "t1_image_uv": [ + 354.1553129687541, + -621.4359655725501 + ], + "t1_depth": 0.376751116840596 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -117.16718292236328, + "y": -3.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 27.75008789522615, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 592, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -117.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5704638361930847, + "y": 0.4028310775756836, + "z": 0.9080214500427246 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.45014536298, + "ymin": 320.45242872045657, + "xmax": 662.8837774787074, + "ymax": 399.20254770709437 + }, + "corners_3d": [ + [ + -117.7376480102539, + -4.090594291687012, + 0.0361211895942688 + ], + [ + -117.7376480102539, + -3.2849318981170654, + 0.0361211895942688 + ], + [ + -116.59671783447266, + -3.2849318981170654, + 0.0361211895942688 + ], + [ + -116.59671783447266, + -4.090594291687012, + 0.0361211895942688 + ], + [ + -117.7376480102539, + -4.090594291687012, + 1.8521640300750732 + ], + [ + -117.7376480102539, + -3.2849318981170654, + 1.8521640300750732 + ], + [ + -116.59671783447266, + -3.2849318981170654, + 1.8521640300750732 + ], + [ + -116.59671783447266, + -4.090594291687012, + 1.8521640300750732 + ] + ], + "corners_2d": [ + [ + 638.4596150650721, + 399.20254770709437 + ], + [ + 661.8665857638479, + 388.8705924788222 + ], + [ + 641.4865592878193, + 365.8790373708109 + ], + [ + 618.4385090761353, + 375.710801757706 + ], + [ + 638.3871374481458, + 353.62143318499 + ], + [ + 662.8837774787074, + 343.3257211361166 + ], + [ + 641.5539491144964, + 320.45242872045657 + ], + [ + 617.45014536298, + 330.2272768325823 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 120, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 60, + "semantic_pixel_counts": { + "1": 558414, + "2": 181036, + "3": 82855, + "4": 35022, + "6": 10353, + "7": 2852, + "9": 4049, + "10": 142, + "12": 3840, + "14": 11557, + "20": 1692, + "22": 4028, + "24": 25760 + }, + "instance_pixel_counts": { + "6488": 66, + "6744": 53, + "7512": 62, + "7768": 15, + "11605": 59555, + "15701": 7555, + "15967": 1830, + "15970": 1064, + "16479": 26839, + "16482": 2556, + "17547": 3848, + "18018": 3499, + "18059": 5271, + "18530": 531, + "19554": 2574, + "20107": 16297, + "20565": 15745, + "20619": 5485, + "21395": 15105, + "21397": 674, + "21643": 11526, + "21907": 196501, + "21909": 12013, + "22421": 1479, + "22931": 58066, + "23957": 953, + "24467": 29468, + "25344": 4418, + "25600": 8787, + "26754": 458, + "36096": 592, + "36352": 600, + "36608": 628, + "36864": 670, + "37120": 1030, + "37376": 320, + "37632": 28, + "37888": 4802, + "40448": 3438, + "40704": 3289, + "45409": 2297, + "45442": 4028, + "45971": 15059, + "46483": 184472, + "46995": 31334, + "47507": 395, + "48225": 4084, + "49043": 28014, + "49761": 9608, + "51526": 35022, + "53857": 2219, + "56458": 15778, + "56970": 10423, + "57482": 37055, + "58506": 18252, + "60307": 835, + "60819": 6760, + "61254": 5087, + "61331": 1434, + "62867": 1612 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 592, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -117.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5403026938438416, + "y": 0.3697735071182251, + "z": 0.906861424446106 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.9903565540252, + "ymin": 321.4697375895583, + "xmax": 661.3111972377823, + "ymax": 398.11068880456617 + }, + "corners_3d": [ + [ + -117.70748901367188, + -4.057536602020264, + 0.03728121519088745 + ], + [ + -117.70748901367188, + -3.3179893493652344, + 0.03728121519088745 + ], + [ + -116.62687683105469, + -3.3179893493652344, + 0.03728121519088745 + ], + [ + -116.62687683105469, + -4.057536602020264, + 0.03728121519088745 + ], + [ + -117.70748901367188, + -4.057536602020264, + 1.8510041236877441 + ], + [ + -117.70748901367188, + -3.3179893493652344, + 1.8510041236877441 + ], + [ + -116.62687683105469, + -3.3179893493652344, + 1.8510041236877441 + ], + [ + -116.62687683105469, + -4.057536602020264, + 1.8510041236877441 + ] + ], + "corners_2d": [ + [ + 638.8874538847126, + 398.11068880456617 + ], + [ + 660.3652947022299, + 388.6392411217987 + ], + [ + 641.0760375769412, + 366.8444298348523 + ], + [ + 619.910257751169, + 375.88101372251964 + ], + [ + 638.8352363006555, + 352.5911072679072 + ], + [ + 661.3111972377823, + 343.153430032576 + ], + [ + 641.1248085611186, + 321.4697375895583 + ], + [ + 618.9903565540252, + 330.4546030441409 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 600, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -113.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4378710985183716, + "y": 0.4471283555030823, + "z": 0.8662102818489075 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 632.8226629414676, + "ymin": 219.92063142879434, + "xmax": 671.7924819486483, + "ymax": 285.5693925066498 + }, + "corners_3d": [ + [ + -113.56246185302734, + -1.036376953125, + 0.0779421329498291 + ], + [ + -113.37654113769531, + -0.1616620421409607, + 0.0779421329498291 + ], + [ + -112.51993560791016, + -0.3437398374080658, + 0.0779421329498291 + ], + [ + -112.70585632324219, + -1.2184548377990723, + 0.0779421329498291 + ], + [ + -113.56246185302734, + -1.036376953125, + 1.810362696647644 + ], + [ + -113.37654113769531, + -0.1616620421409607, + 1.810362696647644 + ], + [ + -112.51993560791016, + -0.3437398374080658, + 1.810362696647644 + ], + [ + -112.70585632324219, + -1.2184548377990723, + 1.810362696647644 + ] + ], + "corners_2d": [ + [ + 651.3358447051885, + 285.5693925066498 + ], + [ + 670.6062678077257, + 273.8663577824539 + ], + [ + 652.3387630138833, + 262.148881113362 + ], + [ + 633.0903459345386, + 273.5208330024261 + ], + [ + 651.7816430624445, + 243.00324636988086 + ], + [ + 671.7924819486483, + 231.4627309943436 + ], + [ + 652.809955027098, + 219.92063142879434 + ], + [ + 632.8226629414676, + 231.1221966075779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 628, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -119.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5414696931838989, + "y": 0.4433650076389313, + "z": 0.939009964466095 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 846.9954704204266, + "ymin": 282.0472823556873, + "xmax": 904.5409703348628, + "ymax": 359.41620393828083 + }, + "corners_3d": [ + [ + -120.00785064697266, + 2.870612144470215, + 0.0051424503326416016 + ], + [ + -119.9151611328125, + 3.7524845600128174, + 0.0051424503326416016 + ], + [ + -118.8381576538086, + 3.639286518096924, + 0.0051424503326416016 + ], + [ + -118.93084716796875, + 2.7574141025543213, + 0.0051424503326416016 + ], + [ + -120.00785064697266, + 2.870612144470215, + 1.8831623792648315 + ], + [ + -119.9151611328125, + 3.7524845600128174, + 1.8831623792648315 + ], + [ + -118.8381576538086, + 3.639286518096924, + 1.8831623792648315 + ], + [ + -118.93084716796875, + 2.7574141025543213, + 1.8831623792648315 + ] + ], + "corners_2d": [ + [ + 873.1664737077641, + 359.41620393828083 + ], + [ + 892.9345874038866, + 347.3021596180566 + ], + [ + 866.6957019787656, + 328.7072318960171 + ], + [ + 846.9954704204266, + 340.32353970752183 + ], + [ + 884.0162003112641, + 312.4870331000799 + ], + [ + 904.5409703348628, + 300.46782727294135 + ], + [ + 876.8738976861242, + 282.0472823556873 + ], + [ + 856.4169865360246, + 293.55056715531674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 670, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -120.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4820067882537842, + "y": 0.3665494918823242, + "z": 0.8759264349937439 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.7667477943389, + "ymin": 399.8756635031046, + "xmax": 734.4556228875774, + "ymax": 477.75993718677415 + }, + "corners_3d": [ + [ + -121.22895050048828, + -4.054312705993652, + 0.0682210922241211 + ], + [ + -121.22895050048828, + -3.321213483810425, + 0.0682210922241211 + ], + [ + -120.26493072509766, + -3.321213483810425, + 0.0682210922241211 + ], + [ + -120.26493072509766, + -4.054312705993652, + 0.0682210922241211 + ], + [ + -121.22895050048828, + -4.054312705993652, + 1.8200739622116089 + ], + [ + -121.22895050048828, + -3.321213483810425, + 1.8200739622116089 + ], + [ + -120.26493072509766, + -3.321213483810425, + 1.8200739622116089 + ], + [ + -120.26493072509766, + -4.054312705993652, + 1.8200739622116089 + ] + ], + "corners_2d": [ + [ + 707.7105611929774, + 477.75993718677415 + ], + [ + 730.0640910670539, + 466.72637549888384 + ], + [ + 709.8284891326713, + 443.8771787164386 + ], + [ + 687.7667477943389, + 454.4198990727219 + ], + [ + 711.0495693695841, + 433.86206083566015 + ], + [ + 734.4556228875774, + 422.78267414124264 + ], + [ + 713.1535099568637, + 399.8756635031046 + ], + [ + 690.0664344910539, + 410.43885155682744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1030, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -120.78268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5369629263877869, + "y": 0.3989972174167633, + "z": 0.9036929607391357 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 264.29649618561194, + "ymin": 588.4343353034951, + "xmax": 330.3932209010243, + "ymax": 684.3899353268439 + }, + "corners_3d": [ + [ + -121.2750015258789, + -15.26806354522705, + 0.040444910526275635 + ], + [ + -121.35841369628906, + -14.474441528320312, + 0.040444910526275635 + ], + [ + -120.29036712646484, + -14.36218547821045, + 0.040444910526275635 + ], + [ + -120.20695495605469, + -15.155807495117188, + 0.040444910526275635 + ], + [ + -121.2750015258789, + -15.26806354522705, + 1.8478307723999023 + ], + [ + -121.35841369628906, + -14.474441528320312, + 1.8478307723999023 + ], + [ + -120.29036712646484, + -14.36218547821045, + 1.8478307723999023 + ], + [ + -120.20695495605469, + -15.155807495117188, + 1.8478307723999023 + ] + ], + "corners_2d": [ + [ + 294.57531666124487, + 684.3899353268439 + ], + [ + 330.3932209010243, + 670.1598398860177 + ], + [ + 320.23555952263666, + 631.8103798969673 + ], + [ + 285.4377424294956, + 645.1582392653738 + ], + [ + 273.2637022472543, + 642.2164714432095 + ], + [ + 311.5242676378031, + 627.6331279678348 + ], + [ + 301.3938508982498, + 588.4343353034951 + ], + [ + 264.29649618561194, + 602.0608557860554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 320, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -107.45155334472656, + "y": -10.746582984924316, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.5519091486930847, + "y": 0.2901104688644409, + "z": 0.8805896043777466 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 278.1635541068383, + "ymin": 224.88039344630118, + "xmax": 313.2635246151149, + "ymax": 291.8641311858558 + }, + "corners_3d": [ + [ + -107.93108367919922, + -11.145102500915527, + 0.21596038341522217 + ], + [ + -108.05171966552734, + -10.577560424804688, + 0.21596038341522217 + ], + [ + -106.9720230102539, + -10.348063468933105, + 0.21596038341522217 + ], + [ + -106.85138702392578, + -10.915605545043945, + 0.21596038341522217 + ], + [ + -107.93108367919922, + -11.145102500915527, + 1.9771395921707153 + ], + [ + -108.05171966552734, + -10.577560424804688, + 1.9771395921707153 + ], + [ + -106.9720230102539, + -10.348063468933105, + 1.9771395921707153 + ], + [ + -106.85138702392578, + -10.915605545043945, + 1.9771395921707153 + ] + ], + "corners_2d": [ + [ + 294.9237545467596, + 291.8641311858558 + ], + [ + 313.2635246151149, + 288.05792747202634 + ], + [ + 309.8716795397514, + 268.24234600356067 + ], + [ + 291.9502567856376, + 271.8712029973215 + ], + [ + 280.9106355853209, + 248.16564175236485 + ], + [ + 300.0572545839737, + 244.41009731325394 + ], + [ + 296.8545685547083, + 224.88039344630118 + ], + [ + 278.1635541068383, + 228.45412169189947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 28, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 228.68347206272387, + "ymin": 0.0, + "xmax": 322.2691727875447, + "ymax": 10.739736228327672 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 284.96357167297924, + -41.24146247194756 + ], + [ + 240.35598472350057, + -32.09360394464426 + ], + [ + 274.72259671645566, + 10.739736228327672 + ], + [ + 322.2691727875447, + 0.04511128120623198 + ], + [ + 274.78077615527513, + -81.65844815015134 + ], + [ + 228.68347206272387, + -72.98504453225758 + ], + [ + 263.15108026421876, + -32.25491285636764 + ], + [ + 312.4002848328311, + -42.44272070677607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 4802, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 672.2890246341834, + "ymin": 158.81487246170815, + "xmax": 785.6902097475914, + "ymax": 270.37201916203185 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 737.0241746332014, + 270.37201916203185 + ], + [ + 780.766406038633, + 252.77419465296055 + ], + [ + 714.2857515539287, + 196.8476550933742 + ], + [ + 672.2890246341834, + 212.0682818817303 + ], + [ + 740.4945819082697, + 231.11334484081672 + ], + [ + 785.6902097475914, + 213.76699194140423 + ], + [ + 716.6982608781159, + 158.81487246170815 + ], + [ + 673.3595972385934, + 173.74397025225898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3438, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 408.74334942193605, + "ymin": 19.935707275452728, + "xmax": 500.89996025751765, + "ymax": 109.99946467968971 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 453.1189050131773, + 52.450892489740625 + ], + [ + 414.4139571763005, + 62.514018902174996 + ], + [ + 460.06888531807454, + 109.99946467968971 + ], + [ + 500.89996025751765, + 98.34200267934955 + ], + [ + 448.4997637112326, + 19.935707275452728 + ], + [ + 408.74334942193605, + 29.698992699083306 + ], + [ + 455.18828841055114, + 75.87781485402428 + ], + [ + 497.19487038899285, + 64.52454687085844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3289, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 343.0478397520868, + "ymin": 46.53852157903242, + "xmax": 430.0282592875364, + "ymax": 139.8439840880505 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 395.05446518464527, + 87.82072898129695 + ], + [ + 352.4900132439145, + 99.24803354757313 + ], + [ + 385.481018456525, + 139.8439840880505 + ], + [ + 430.0282592875364, + 126.96700291503291 + ], + [ + 387.15534322698466, + 46.53852157903242 + ], + [ + 343.0478397520868, + 57.58235647299739 + ], + [ + 376.58497590707765, + 96.91878522874737 + ], + [ + 422.8300545280056, + 84.42391947695256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 701.219616763128, + "ymin": 85.62941624359905, + "xmax": 718.5783940048165, + "ymax": 119.61356228330183 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 701.219616763128, + 115.60679926736205 + ], + [ + 706.4553030624144, + 119.61356228330183 + ], + [ + 716.9361493660699, + 116.23749045766499 + ], + [ + 711.6645364683662, + 112.27065131889523 + ], + [ + 702.525128060917, + 88.90053287736526 + ], + [ + 707.8811232305343, + 92.83011070437789 + ], + [ + 718.5783940048165, + 89.51900813186478 + ], + [ + 713.1850143679628, + 85.62941624359905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 842.9178281736238, + "ymin": 41.746187213833366, + "xmax": 862.0224395505745, + "ymax": 73.8302632711003 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 842.9178281736238, + 70.3479847187171 + ], + [ + 848.5877235308045, + 73.8302632711003 + ], + [ + 857.6960422458492, + 70.89630693829105 + ], + [ + 852.002224804267, + 67.4463924549932 + ], + [ + 846.9469227369673, + 44.58307883623917 + ], + [ + 852.7529471802368, + 47.988399343583524 + ], + [ + 862.0224395505745, + 45.11923317780037 + ], + [ + 856.1917581793336, + 41.746187213833366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 564.1217303354166, + "ymin": 482.319793231413, + "xmax": 591.6840596966658, + "ymax": 530.6506259367179 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 573.7960877400842, + 530.6506259367179 + ], + [ + 591.6840596966658, + 521.9274323298919 + ], + [ + 584.4386668385458, + 511.7458482348667 + ], + [ + 566.6631117988976, + 520.3041206762242 + ], + [ + 571.479027589812, + 501.34614043366656 + ], + [ + 590.007125245693, + 492.5639686620323 + ], + [ + 582.5291315742659, + 482.319793231413 + ], + [ + 564.1217303354166, + 490.9302269423904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 389.55639831660415, + "ymin": 292.60058040370996, + "xmax": 412.0851018682092, + "ymax": 327.39147722324304 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 398.97966966775164, + 327.39147722324304 + ], + [ + 412.0851018682092, + 322.5761506224251 + ], + [ + 408.28571398188546, + 316.89340512069447 + ], + [ + 395.2449465591085, + 321.6463539688053 + ], + [ + 393.34032430686716, + 303.0447119591752 + ], + [ + 406.78219574145, + 298.2534048454108 + ], + [ + 402.93015286456466, + 292.60058040370996 + ], + [ + 389.55639831660415, + 297.32838716440926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 503.78327553214257, + "ymin": 398.2421373711787, + "xmax": 530.9390594258858, + "ymax": 443.9552184249276 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 514.0274203272577, + 443.9552184249276 + ], + [ + 530.9390594258858, + 436.5656336964088 + ], + [ + 524.7927913121456, + 427.928593331803 + ], + [ + 507.9842170583232, + 435.18944660908824 + ], + [ + 509.9821313905992, + 414.2834963184707 + ], + [ + 527.4635952170764, + 406.88506361206515 + ], + [ + 521.1544742029703, + 398.2421373711787 + ], + [ + 503.78327553214257, + 405.50761713966034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 443.23254480814205, + "ymin": 313.75471967534196, + "xmax": 469.65894443295844, + "ymax": 356.60887427327367 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 453.81000094333825, + 356.60887427327367 + ], + [ + 469.65894443295844, + 350.4518519189878 + ], + [ + 464.53065372257686, + 343.2453232552134 + ], + [ + 448.77417993419044, + 349.3043274167996 + ], + [ + 448.3694109009989, + 327.05686215345315 + ], + [ + 464.71608941993514, + 320.92671622969925 + ], + [ + 459.48071088757285, + 313.75471967534196 + ], + [ + 443.23254480814205, + 319.7844685049063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 937.833744654276, + "ymin": 88.0610084381683, + "xmax": 956.577133905473, + "ymax": 116.20078287798003 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 937.833744654276, + 112.87300996516268 + ], + [ + 943.380134743546, + 116.20078287798003 + ], + [ + 951.095780957894, + 113.41224261002861 + ], + [ + 945.5342092374715, + 110.11202242059895 + ], + [ + 943.0771147769858, + 90.77736069286453 + ], + [ + 948.7482595845884, + 94.05186146572646 + ], + [ + 956.577133905473, + 91.30792207335861 + ], + [ + 950.8904971994546, + 88.0610084381683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.0920300778834, + "ymin": 64.90738510380834, + "xmax": 786.3285682134426, + "ymax": 98.00211876952073 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 768.0920300778834, + 94.24749055222185 + ], + [ + 773.5469496761059, + 98.00211876952073 + ], + [ + 783.3679741481384, + 94.83858759481438 + ], + [ + 777.8831028057339, + 91.12018386953616 + ], + [ + 770.7347128573192, + 67.96958661930677 + ], + [ + 776.3184546057823, + 71.64685482968258 + ], + [ + 786.3285682134426, + 68.54844649574022 + ], + [ + 780.7137884022023, + 64.90738510380834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.8502410653255, + "ymin": 0.0, + "xmax": 988.9093215915699, + "ymax": 275.0201807462603 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 933.3818246179571, + 173.02223581673357 + ], + [ + 925.4335355284196, + 167.72535322146268 + ], + [ + 658.8502410653255, + 268.14057754886005 + ], + [ + 665.6832751956853, + 275.0201807462603 + ], + [ + 988.9093215915699, + -53.1380374450726 + ], + [ + 978.9894483683963, + -57.47275982534228 + ], + [ + 662.9869197057834, + 26.787929375948465 + ], + [ + 671.377056315281, + 32.72632930782362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8079868943648573662, + "instance_id": 56904, + "pixel_count": null, + "type_id": "BP_HighwayLight_multiple_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -111.36263275146484, + "y": 38.80789566040039, + "z": 6.3431396484375 + }, + "extent": { + "x": 1.183907151222229, + "y": 1.183907389640808, + "z": 6.265520095825195 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1266.7977648925169, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 11.713803745830091 + }, + "corners_3d": [ + [ + -112.54653930664062, + 37.62398910522461, + 0.07761955261230469 + ], + [ + -112.54653930664062, + 39.99180221557617, + 0.07761955261230469 + ], + [ + -110.17872619628906, + 39.99180221557617, + 0.07761955261230469 + ], + [ + -110.17872619628906, + 37.62398910522461, + 0.07761955261230469 + ], + [ + -112.54653930664062, + 37.62398910522461, + 12.608659744262695 + ], + [ + -112.54653930664062, + 39.99180221557617, + 12.608659744262695 + ], + [ + -110.17872619628906, + 39.99180221557617, + 12.608659744262695 + ], + [ + -110.17872619628906, + 37.62398910522461, + 12.608659744262695 + ] + ], + "corners_2d": [ + [ + 1311.732210450698, + 11.713803745830091 + ], + [ + 1339.6734453251734, + 1.0772764310904677 + ], + [ + 1294.7287585408371, + -15.411993754178297 + ], + [ + 1266.7977648925169, + -5.403347400963128 + ], + [ + 1463.6571385955344, + -295.024491559931 + ], + [ + 1494.2871537742803, + -300.9738689967829 + ], + [ + 1434.2001968876689, + -310.09799714908104 + ], + [ + 1403.3391966789018, + -304.5740829212823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 336.6240241184574, + "ymin": 130.61484918935025, + "xmax": 617.9921392409195, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 413.2569291144695, + 384.89086194041494 + ], + [ + 399.32625694239323, + 390.2772982960584 + ], + [ + 600.6285448730199, + 731.4273726187876 + ], + [ + 617.9921392409195, + 721.4682032519847 + ], + [ + 354.6080057111003, + 130.61484918935025 + ], + [ + 336.6240241184574, + 135.5664104841316 + ], + [ + 585.2165563799156, + 482.26030756460784 + ], + [ + 609.4697143347574, + 471.12186656162135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1151.437233308928, + "ymin": 0.0, + "xmax": 1277.0636158903476, + "ymax": 15.316490505586728 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1156.279071283962, + -10.15393021883989 + ], + [ + 1151.437233308928, + -8.54968547007195 + ], + [ + 1209.4051105578965, + 15.316490505586728 + ], + [ + 1214.2802090552962, + 13.569100618397556 + ], + [ + 1210.1178264466002, + -153.86567657937564 + ], + [ + 1204.9447492190666, + -152.56158191311135 + ], + [ + 1271.8680971877043, + -133.065546814833 + ], + [ + 1277.0636158903476, + -134.49904977944027 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00122/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00122/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08bef5fc7b0fdf3783306af361c7d6136ba90584 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00122/meta.json @@ -0,0 +1,2255 @@ +{ + "frame_id": 122, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 61.0, + "sim_timestamp": 3600.366344531765 + }, + "drone_pose": { + "x": -133.59977301991938, + "y": -13.639717929274818, + "z": 20.144882883497573, + "pitch": -48.14239867760266, + "yaw": 26.756823543865586, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5958326458930969, + -0.3004133403301239, + 0.7448055148124695, + 68.69664764404297 + ], + [ + 0.4502047598361969, + 0.8929253220558167, + 0.0, + -47.96800994873047 + ], + [ + -0.6650556921958923, + 0.3353150188922882, + 0.6672816276550293, + -106.86720275878906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.28687862733543, + "y": -13.220204705139635, + "z": 20.0 + }, + "t1_image_uv": [ + 1173.7643662649157, + -215.68445603400085 + ], + "t1_depth": 0.42036964144394545 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -116.16718292236328, + "y": -3.687763214111328, + "z": 0.944142727852086 + }, + "image_uv": [ + 676.0074088355016, + 286.5232132285972 + ], + "depth": 27.677423780359284, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 600, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -116.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.37435054779052734, + "y": 0.394107460975647, + "z": 0.8696413040161133 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.4804921438412, + "ymin": 251.98110141959677, + "xmax": 695.5697389747229, + "ymax": 320.30923326202003 + }, + "corners_3d": [ + [ + -116.54153442382812, + -4.0818705558776855, + 0.07450133562088013 + ], + [ + -116.54153442382812, + -3.2936553955078125, + 0.07450133562088013 + ], + [ + -115.79283142089844, + -3.2936553955078125, + 0.07450133562088013 + ], + [ + -115.79283142089844, + -4.0818705558776855, + 0.07450133562088013 + ], + [ + -116.54153442382812, + -4.0818705558776855, + 1.813783884048462 + ], + [ + -116.54153442382812, + -3.2936553955078125, + 1.813783884048462 + ], + [ + -115.79283142089844, + -3.2936553955078125, + 1.813783884048462 + ], + [ + -115.79283142089844, + -4.0818705558776855, + 1.813783884048462 + ] + ], + "corners_2d": [ + [ + 669.3225668131955, + 320.30923326202003 + ], + [ + 693.0188769618427, + 311.65133812007554 + ], + [ + 680.9058640223566, + 295.72883959166734 + ], + [ + 657.4804921438412, + 304.118263001198 + ], + [ + 670.7458610486958, + 276.6352027609875 + ], + [ + 695.5697389747229, + 267.94484403524433 + ], + [ + 682.8418645027225, + 251.98110141959677 + ], + [ + 658.3150318661433, + 260.38927761290086 + ] + ], + "center_offset_px": [ + 36.007408835501565, + -73.47678677140277 + ] + }, + "trace_timestep_index": 122, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 50, + "semantic_pixel_counts": { + "1": 584564, + "2": 154140, + "3": 91969, + "4": 36654, + "6": 9218, + "7": 2855, + "9": 1141, + "10": 104, + "12": 3883, + "14": 8870, + "20": 723, + "22": 334, + "24": 27145 + }, + "instance_pixel_counts": { + "6488": 33, + "11605": 75139, + "15701": 4704, + "16479": 13469, + "16482": 2970, + "18018": 2911, + "18059": 6217, + "19554": 2555, + "20107": 17198, + "20565": 12126, + "20619": 18, + "21395": 4891, + "21397": 285, + "21643": 10253, + "21907": 225741, + "21909": 14071, + "22421": 2595, + "22931": 95486, + "23957": 1028, + "24467": 31965, + "25344": 2962, + "25600": 9111, + "36096": 600, + "36352": 607, + "36608": 713, + "36864": 682, + "37120": 926, + "37376": 355, + "37888": 5308, + "40448": 1094, + "40704": 2468, + "45409": 1115, + "45442": 334, + "45971": 1712, + "46483": 180304, + "46995": 13639, + "48225": 4222, + "49043": 30826, + "49761": 10566, + "51526": 36654, + "53857": 2680, + "56458": 8318, + "56970": 10608, + "57482": 41961, + "58506": 19079, + "60307": 159, + "60819": 6332, + "61254": 1831, + "61331": 894, + "62867": 1781 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 600, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -116.16718292236328, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3480663597583771, + "y": 0.4125472605228424, + "z": 0.878275990486145 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.3330694095966, + "ymin": 252.10998357849545, + "xmax": 695.7043535319422, + "ymax": 320.1429284207861 + }, + "corners_3d": [ + [ + -116.51525115966797, + -4.100310325622559, + 0.06586664915084839 + ], + [ + -116.51525115966797, + -3.2752156257629395, + 0.06586664915084839 + ], + [ + -115.8191146850586, + -3.2752156257629395, + 0.06586664915084839 + ], + [ + -115.8191146850586, + -4.100310325622559, + 0.06586664915084839 + ], + [ + -116.51525115966797, + -4.100310325622559, + 1.8224186897277832 + ], + [ + -116.51525115966797, + -3.2752156257629395, + 1.8224186897277832 + ], + [ + -115.8191146850586, + -3.2752156257629395, + 1.8224186897277832 + ], + [ + -115.8191146850586, + -4.100310325622559, + 1.8224186897277832 + ] + ], + "corners_2d": [ + [ + 668.3350179234593, + 320.1429284207861 + ], + [ + 693.124449134625, + 311.0902661951705 + ], + [ + 681.858914758269, + 296.2919017257727 + ], + [ + 657.3330694095966, + 305.0833312517545 + ], + [ + 669.7238413790603, + 276.0332002239492 + ], + [ + 695.7043535319422, + 266.94675717164023 + ], + [ + 683.8609026492181, + 252.10998357849545 + ], + [ + 658.1696392190127, + 260.92171757046856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 607, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -112.04119873046875, + "y": -0.6900584101676941, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4567626714706421, + "y": 0.450978547334671, + "z": 0.8977154493331909 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 676.8737228541573, + "ymin": 143.5773712326753, + "xmax": 718.999034570728, + "ymax": 212.89582323746612 + }, + "corners_3d": [ + [ + -112.58174133300781, + -1.0362153053283691, + 0.04643207788467407 + ], + [ + -112.39421844482422, + -0.1539682149887085, + 0.04643207788467407 + ], + [ + -111.50065612792969, + -0.3439015746116638, + 0.04643207788467407 + ], + [ + -111.68817901611328, + -1.2261486053466797, + 0.04643207788467407 + ], + [ + -112.58174133300781, + -1.0362153053283691, + 1.8418629169464111 + ], + [ + -112.39421844482422, + -0.1539682149887085, + 1.8418629169464111 + ], + [ + -111.50065612792969, + -0.3439015746116638, + 1.8418629169464111 + ], + [ + -111.68817901611328, + -1.2261486053466797, + 1.8418629169464111 + ] + ], + "corners_2d": [ + [ + 694.9860802197444, + 212.89582323746612 + ], + [ + 715.6618405000257, + 201.89314328135023 + ], + [ + 697.4559858705833, + 188.37970244059008 + ], + [ + 676.8737228541573, + 199.05733428247427 + ], + [ + 697.4418529277629, + 167.91337078577604 + ], + [ + 718.999034570728, + 156.98440131987059 + ], + [ + 699.9510601629971, + 143.5773712326753 + ], + [ + 678.4948298512511, + 154.16947231314978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 713, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -118.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.3891699016094208, + "y": 0.4503009021282196, + "z": 0.9479328989982605 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 892.1247319172742, + "ymin": 223.1822958219688, + "xmax": 946.9218435473967, + "ymax": 296.93178859326264 + }, + "corners_3d": [ + [ + -118.85710906982422, + 2.847794532775879, + -0.0037804841995239258 + ], + [ + -118.76296997070312, + 3.7434628009796143, + -0.0037804841995239258 + ], + [ + -117.98889923095703, + 3.6621041297912598, + -0.0037804841995239258 + ], + [ + -118.08303833007812, + 2.7664358615875244, + -0.0037804841995239258 + ], + [ + -118.85710906982422, + 2.847794532775879, + 1.892085313796997 + ], + [ + -118.76296997070312, + 3.7434628009796143, + 1.892085313796997 + ], + [ + -117.98889923095703, + 3.6621041297912598, + 1.892085313796997 + ], + [ + -118.08303833007812, + 2.7664358615875244, + 1.892085313796997 + ] + ], + "corners_2d": [ + [ + 910.0210849615686, + 296.93178859326264 + ], + [ + 932.0129710805116, + 285.6513428618465 + ], + [ + 913.9882949005096, + 270.8901105198796 + ], + [ + 892.1247319172742, + 281.8372275849721 + ], + [ + 923.9711596041932, + 249.2394072967556 + ], + [ + 946.9218435473967, + 237.9437458051853 + ], + [ + 927.75942792068, + 223.1822958219688 + ], + [ + 904.9453508252409, + 234.12743690643765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 682, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -119.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.5391063690185547, + "y": 0.3725742697715759, + "z": 0.9085460305213928 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.3440074555239, + "ymin": 328.6068394475513, + "xmax": 765.5601905824275, + "ymax": 410.3330967617057 + }, + "corners_3d": [ + [ + -120.28604888916016, + -4.060337066650391, + 0.03560149669647217 + ], + [ + -120.28604888916016, + -3.3151886463165283, + 0.03560149669647217 + ], + [ + -119.20783233642578, + -3.3151886463165283, + 0.03560149669647217 + ], + [ + -119.20783233642578, + -4.060337066650391, + 0.03560149669647217 + ], + [ + -120.28604888916016, + -4.060337066650391, + 1.8526935577392578 + ], + [ + -120.28604888916016, + -3.3151886463165283, + 1.8526935577392578 + ], + [ + -119.20783233642578, + -3.3151886463165283, + 1.8526935577392578 + ], + [ + -119.20783233642578, + -4.060337066650391, + 1.8526935577392578 + ] + ], + "corners_2d": [ + [ + 735.2914513736512, + 410.3330967617057 + ], + [ + 759.02738070998, + 400.6785754536579 + ], + [ + 738.6753665599788, + 373.8714920578665 + ], + [ + 715.3440074555239, + 383.0643018063563 + ], + [ + 740.5694304073131, + 365.48318869685863 + ], + [ + 765.5601905824275, + 355.70593194005033 + ], + [ + 743.9536407581281, + 328.6068394475513 + ], + [ + 719.4102331232349, + 337.89171568965816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 926, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -119.78268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.48548346757888794, + "y": 0.38327088952064514, + "z": 0.8983609080314636 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 295.28228375117095, + "ymin": 490.537662231356, + "xmax": 354.1857625308519, + "ymax": 576.1483315665612 + }, + "corners_3d": [ + [ + -120.22544860839844, + -15.247042655944824, + 0.045776963233947754 + ], + [ + -120.30557250976562, + -14.484700202941895, + 0.045776963233947754 + ], + [ + -119.33992004394531, + -14.383206367492676, + 0.045776963233947754 + ], + [ + -119.25979614257812, + -15.145548820495605, + 0.045776963233947754 + ], + [ + -120.22544860839844, + -15.247042655944824, + 1.842498779296875 + ], + [ + -120.30557250976562, + -14.484700202941895, + 1.842498779296875 + ], + [ + -119.33992004394531, + -14.383206367492676, + 1.842498779296875 + ], + [ + -119.25979614257812, + -15.145548820495605, + 1.842498779296875 + ] + ], + "corners_2d": [ + [ + 321.235557899736, + 576.1483315665612 + ], + [ + 354.1857625308519, + 565.8366628810568 + ], + [ + 347.42298225001576, + 532.5405711353877 + ], + [ + 315.2852554314731, + 542.3196170056934 + ], + [ + 301.0357750020668, + 535.3431999809776 + ], + [ + 336.2281516981618, + 524.7309484245475 + ], + [ + 329.5489027632717, + 490.537662231356 + ], + [ + 295.28228375117095, + 500.56861059116454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 355, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -106.4477310180664, + "y": -10.749356269836426, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.5487499833106995, + "y": 0.28403806686401367, + "z": 0.896137535572052 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 327.24958824049764, + "ymin": 131.7440309380133, + "xmax": 359.5940730419276, + "ymax": 199.4112715950082 + }, + "corners_3d": [ + [ + -106.9254379272461, + -11.141279220581055, + 0.20041733980178833 + ], + [ + -107.04354095458984, + -10.585617065429688, + 0.20041733980178833 + ], + [ + -105.97002410888672, + -10.357433319091797, + 0.20041733980178833 + ], + [ + -105.85192108154297, + -10.913095474243164, + 0.20041733980178833 + ], + [ + -106.9254379272461, + -11.141279220581055, + 1.992692470550537 + ], + [ + -107.04354095458984, + -10.585617065429688, + 1.992692470550537 + ], + [ + -105.97002410888672, + -10.357433319091797, + 1.992692470550537 + ], + [ + -105.85192108154297, + -10.913095474243164, + 1.992692470550537 + ] + ], + "corners_2d": [ + [ + 341.99218264789283, + 199.4112715950082 + ], + [ + 359.5940730419276, + 196.6273312511525 + ], + [ + 357.4336313962937, + 176.71786780599248 + ], + [ + 340.21230495739457, + 179.38090317684095 + ], + [ + 328.80389597093455, + 154.24186607691678 + ], + [ + 347.2243523109784, + 151.47924820984494 + ], + [ + 345.25365430459516, + 131.7440309380133 + ], + [ + 327.24958824049764, + 134.38155005826601 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 5308, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 736.8887827947902, + "ymin": 98.81908191612757, + "xmax": 855.0813397805014, + "ymax": 218.32802193208232 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 799.8049363842191, + 218.32802193208232 + ], + [ + 846.9192551117366, + 201.9594012029898 + ], + [ + 781.7558114879246, + 138.40935317729935 + ], + [ + 736.8887827947902, + 152.56219324600426 + ], + [ + 806.2260532105589, + 178.0767682690694 + ], + [ + 855.0813397805014, + 161.7989804478022 + ], + [ + 786.9442347359224, + 98.81908191612757 + ], + [ + 740.4962710207511, + 112.81509349491412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 1094, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 477.18889243787896, + "ymin": 0.0, + "xmax": 567.8072704701727, + "ymax": 33.00925120244028 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 521.6725751859087, + -29.182962994844274 + ], + [ + 481.6295728740274, + -19.935072479954556 + ], + [ + 525.3719565185709, + 33.00925120244028 + ], + [ + 567.8072704701727, + 22.302202214189947 + ], + [ + 518.4002868409332, + -63.73065763687606 + ], + [ + 477.18889243787896, + -54.70481266455772 + ], + [ + 521.9043063407433, + -2.9011293975330545 + ], + [ + 565.655687244919, + -13.395475191134267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 2468, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 408.8673141232284, + "ymin": 0.0, + "xmax": 493.84695055809186, + "ymax": 61.48660865409761 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 460.5805259910408, + 6.409810836409065 + ], + [ + 416.9923121088542, + 16.786938985947415 + ], + [ + 448.0939063868905, + 61.48660865409761 + ], + [ + 493.84695055809186, + 49.806838645998255 + ], + [ + 454.14009016002944, + -37.15595878142011 + ], + [ + 408.8673141232284, + -27.053395431873298 + ], + [ + 440.65630749798436, + 16.583747342267657 + ], + [ + 488.2714269206565, + 5.162744354092581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 773.1581685336976, + "ymin": 23.62603196541528, + "xmax": 793.3312146064596, + "ymax": 59.66117335660397 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 773.1581685336976, + 55.01297175125819 + ], + [ + 778.3640967617506, + 59.66117335660397 + ], + [ + 789.6944882873408, + 56.442865402658754 + ], + [ + 784.4421483127584, + 51.83326174901612 + ], + [ + 776.3869868688269, + 26.762500535955894 + ], + [ + 781.7399892723802, + 31.34862593421599 + ], + [ + 793.3312146064596, + 28.17315448754448 + ], + [ + 787.9297012524733, + 23.62603196541528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.8641783058647, + "ymin": 0.0, + "xmax": 950.6794594625412, + "ymax": 15.55167400206443 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 927.8641783058647, + 11.418559516188282 + ], + [ + 933.6567900938267, + 15.55167400206443 + ], + [ + 943.7305370693664, + 12.690305347950414 + ], + [ + 937.9035522233971, + 8.589566088840058 + ], + [ + 934.4382718869651, + -16.184164787423526 + ], + [ + 940.4023935394896, + -12.117538382169869 + ], + [ + 950.6794594625412, + -14.93299022766655 + ], + [ + 944.6796918716891, + -18.96703699769614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 603.5743721530982, + "ymin": 443.70869500080414, + "xmax": 630.1512090740791, + "ymax": 491.01427874638387 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 611.4411327660712, + 491.01427874638387 + ], + [ + 630.1512090740791, + 483.20726379435223 + ], + [ + 623.4924603950012, + 472.08877717049745 + ], + [ + 604.9145270376306, + 479.7506949359469 + ], + [ + 610.3395618090475, + 462.89290320695204 + ], + [ + 629.77388282714, + 454.9763468599276 + ], + [ + 622.8661334832275, + 443.70869500080414 + ], + [ + 603.5743721530982, + 451.4725442277908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 441.80893679076564, + "ymin": 227.255091685977, + "xmax": 463.5334693477952, + "ymax": 262.28887893233536 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 450.1573978773142, + 262.28887893233536 + ], + [ + 463.5334693477952, + 258.00865273115403 + ], + [ + 460.0459008236196, + 251.84843625663382 + ], + [ + 446.739892067784, + 256.07432574106514 + ], + [ + 445.281730370622, + 237.690302301078 + ], + [ + 459.02176460477483, + 233.41152611043054 + ], + [ + 455.4750050210397, + 227.255091685977 + ], + [ + 441.80893679076564, + 231.47817128287642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 548.0184079758122, + "ymin": 351.12254566384985, + "xmax": 574.2604552801732, + "ymax": 396.5150396469796 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 556.6841482335374, + 396.5150396469796 + ], + [ + 574.2604552801732, + 389.88342314462545 + ], + [ + 568.5972224754189, + 380.42720451338073 + ], + [ + 551.1389140526729, + 386.9451011819615 + ], + [ + 553.7319797946108, + 367.3333844341369 + ], + [ + 571.9455082867818, + 360.64904395646255 + ], + [ + 566.1051914593746, + 351.12254566384985 + ], + [ + 548.0184079758122, + 357.688267259227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 492.1349835111349, + "ymin": 257.88997961555526, + "xmax": 517.7293957473968, + "ymax": 301.0311976599651 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 501.3566516905465, + 301.0311976599651 + ], + [ + 517.7293957473968, + 295.4904126551801 + ], + [ + 512.9917783467365, + 287.57974552775954 + ], + [ + 496.7224913596659, + 293.0335853872871 + ], + [ + 496.8810399966775, + 271.3630350440655 + ], + [ + 513.8046122239587, + 265.811952048614 + ], + [ + 508.9479667317589, + 257.88997961555526 + ], + [ + 492.1349835111349, + 263.3511859967226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1026.4153773740143, + "ymin": 33.981140101508174, + "xmax": 1048.8516408760934, + "ymax": 64.07014944075581 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1026.4153773740143, + 60.122896914978924 + ], + [ + 1032.1024516881755, + 64.07014944075581 + ], + [ + 1040.7265423883018, + 61.352566557118735 + ], + [ + 1035.0155562175346, + 57.43285674135291 + ], + [ + 1034.2375860370635, + 36.64193375267149 + ], + [ + 1040.081211942776, + 40.546951038563634 + ], + [ + 1048.8516408760934, + 37.85835931324368 + ], + [ + 1042.9834204155136, + 33.981140101508174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 845.7302691022649, + "ymin": 3.6336885728270545, + "xmax": 867.2011458681867, + "ymax": 38.96568192145918 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 845.7302691022649, + 34.56289663770724 + ], + [ + 851.2247502884671, + 38.96568192145918 + ], + [ + 861.9563888557993, + 35.91744500201054 + ], + [ + 856.4213909464104, + 31.550247933204957 + ], + [ + 850.5825905574726, + 6.601542609852686 + ], + [ + 856.236760104759, + 10.939880367694059 + ], + [ + 867.2011458681867, + 7.936134610143256 + ], + [ + 861.5047760381435, + 3.6336885728270545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.904429275114, + "ymin": 0.0, + "xmax": 1099.1265600147237, + "ymax": 219.28904941174306 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1015.8700232629433, + 123.84526273399123 + ], + [ + 1007.8267974033856, + 117.65403224653721 + ], + [ + 718.904429275114, + 211.60877548017356 + ], + [ + 725.4628488777195, + 219.28904941174306 + ], + [ + 1099.1265600147237, + -118.97399863311574 + ], + [ + 1088.565353081904, + -124.32959041920026 + ], + [ + 738.6783680865883, + -41.11968005463996 + ], + [ + 747.1036767137907, + -34.12967148228432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 393.1193017586411, + "ymin": 59.84487907208336, + "xmax": 649.2894449491824, + "ymax": 684.0454664093686 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 462.7541958301448, + 319.51882411280747 + ], + [ + 448.6264003971278, + 324.22547842087624 + ], + [ + 628.5868644386135, + 684.0454664093686 + ], + [ + 646.4924994016056, + 675.5140905750882 + ], + [ + 411.64577882911703, + 59.84487907208336 + ], + [ + 393.1193017586411, + 64.38747285434926 + ], + [ + 623.6267418217554, + 451.0872649884593 + ], + [ + 649.2894449491824, + 440.91821308198723 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00123/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00123/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0eb166aa3bb7fb0250a4a617447e44c39b3ed69a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00123/meta.json @@ -0,0 +1,2688 @@ +{ + "frame_id": 123, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 61.5, + "sim_timestamp": 3611.1048085128423 + }, + "drone_pose": { + "x": -133.28687862733543, + "y": -13.220204705139635, + "z": 20.0, + "pitch": -42.551156152856095, + "yaw": 30.14087634565816, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6370706558227539, + -0.36990445852279663, + 0.6762481927871704, + 76.27841186523438 + ], + [ + 0.5021278262138367, + 0.8647934198379517, + -1.4901161193847656e-08, + -55.49430847167969 + ], + [ + -0.5848150253295898, + 0.3395630717277527, + 0.7366738319396973, + -97.17073059082031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -132.93306733367805, + "y": -12.95924733724422, + "z": 20.007135246546902 + }, + "t1_image_uv": [ + 785.3613471561977, + -550.5784321352712 + ], + "t1_depth": 0.317106895771135 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -115.66718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 619.0286480116754, + 377.2571135249225 + ], + "depth": 27.637566893384886, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 619, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -115.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5194188952445984, + "y": 0.38481029868125916, + "z": 0.8998437523841858 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 597.7682224409505, + "ymin": 339.0386981192151, + "xmax": 639.6526501813983, + "ymax": 415.1032363552362 + }, + "corners_3d": [ + [ + -116.18659973144531, + -4.072573184967041, + 0.04430866241455078 + ], + [ + -116.18659973144531, + -3.302952766418457, + 0.04430866241455078 + ], + [ + -115.14776611328125, + -3.302952766418457, + 0.04430866241455078 + ], + [ + -115.14776611328125, + -4.072573184967041, + 0.04430866241455078 + ], + [ + -116.18659973144531, + -4.072573184967041, + 1.8439961671829224 + ], + [ + -116.18659973144531, + -3.302952766418457, + 1.8439961671829224 + ], + [ + -115.14776611328125, + -3.302952766418457, + 1.8439961671829224 + ], + [ + -115.14776611328125, + -4.072573184967041, + 1.8439961671829224 + ] + ], + "corners_2d": [ + [ + 616.6431515370023, + 415.1032363552362 + ], + [ + 639.6526501813983, + 405.60245491237663 + ], + [ + 622.2242404860191, + 384.2438585768718 + ], + [ + 599.5757908872733, + 393.30967031477854 + ], + [ + 615.5727220425147, + 369.70114840349447 + ], + [ + 639.6369002047483, + 360.2511317410408 + ], + [ + 621.437625129243, + 339.0386981192151 + ], + [ + 597.7682224409505, + 348.0370585863926 + ] + ], + "center_offset_px": [ + -20.971351988324614, + 17.257113524922488 + ] + }, + "trace_timestep_index": 123, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 513595, + "2": 206249, + "3": 92636, + "4": 34578, + "6": 12332, + "7": 3081, + "9": 9249, + "10": 139, + "12": 3950, + "14": 13199, + "20": 2908, + "22": 5300, + "24": 24384 + }, + "instance_pixel_counts": { + "6488": 66, + "6744": 57, + "7512": 64, + "7768": 55, + "11605": 63175, + "12377": 140, + "15701": 7615, + "15967": 5635, + "15970": 1654, + "16213": 130, + "16479": 34447, + "16482": 2772, + "16725": 52, + "17547": 6832, + "18018": 3817, + "18059": 5779, + "18530": 49, + "19554": 2736, + "20107": 17844, + "20565": 20180, + "20619": 3534, + "21395": 18413, + "21397": 807, + "21643": 12381, + "21907": 170491, + "21909": 10496, + "22421": 790, + "22931": 34960, + "23957": 1028, + "24467": 31628, + "25344": 5715, + "25600": 9643, + "26754": 753, + "29779": 1309, + "29835": 15, + "33419": 160, + "36096": 619, + "36352": 551, + "36608": 685, + "36864": 661, + "37120": 1028, + "37376": 406, + "37632": 1161, + "37888": 5137, + "40448": 3537, + "40704": 3364, + "42071": 55, + "45409": 2754, + "45442": 5160, + "45971": 21032, + "46483": 181081, + "46995": 26108, + "48225": 4555, + "49043": 29882, + "49761": 9878, + "51526": 34578, + "53857": 3409, + "56458": 19165, + "56970": 11379, + "57482": 38322, + "58506": 19307, + "59992": 427, + "60307": 1189, + "60819": 6975, + "61254": 10735, + "61331": 1332, + "62867": 1767 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 619, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -115.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5437890291213989, + "y": 0.4112699329853058, + "z": 0.9079703092575073 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 596.5298176505203, + "ymin": 338.03433313216703, + "xmax": 640.8934778085052, + "ymax": 416.15356898112447 + }, + "corners_3d": [ + [ + -116.21097564697266, + -4.099032878875732, + 0.03618210554122925 + ], + [ + -116.21097564697266, + -3.2764930725097656, + 0.03618210554122925 + ], + [ + -115.1233901977539, + -3.2764930725097656, + 0.03618210554122925 + ], + [ + -115.1233901977539, + -4.099032878875732, + 0.03618210554122925 + ], + [ + -116.21097564697266, + -4.099032878875732, + 1.8521227836608887 + ], + [ + -116.21097564697266, + -3.2764930725097656, + 1.8521227836608887 + ], + [ + -115.1233901977539, + -3.2764930725097656, + 1.8521227836608887 + ], + [ + -115.1233901977539, + -4.099032878875732, + 1.8521227836608887 + ] + ], + "corners_2d": [ + [ + 616.2583425537177, + 416.15356898112447 + ], + [ + 640.85437156997, + 405.98803109781136 + ], + [ + 622.5986511766433, + 383.6417613736412 + ], + [ + 598.406452648106, + 393.3206740118485 + ], + [ + 615.1591757259797, + 370.3368601094704 + ], + [ + 640.8934778085052, + 360.2256171552417 + ], + [ + 621.8222095040664, + 338.03433313216703 + ], + [ + 596.5298176505203, + 347.6401097780382 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 551, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -111.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4393847584724426, + "y": 0.4400836229324341, + "z": 0.8759191036224365 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 618.0528922527444, + "ymin": 237.10276240103417, + "xmax": 656.790780284098, + "ymax": 303.06483659261016 + }, + "corners_3d": [ + [ + -112.0624771118164, + -1.0291714668273926, + 0.06823819875717163 + ], + [ + -111.87948608398438, + -0.16823810338974, + 0.06823819875717163 + ], + [ + -111.0199203491211, + -0.3509453237056732, + 0.06823819875717163 + ], + [ + -111.20291137695312, + -1.211878776550293, + 0.06823819875717163 + ], + [ + -112.0624771118164, + -1.0291714668273926, + 1.8200764656066895 + ], + [ + -111.87948608398438, + -0.16823810338974, + 1.8200764656066895 + ], + [ + -111.0199203491211, + -0.3509453237056732, + 1.8200764656066895 + ], + [ + -111.20291137695312, + -1.211878776550293, + 1.8200764656066895 + ] + ], + "corners_2d": [ + [ + 636.5073695653007, + 303.06483659261016 + ], + [ + 656.168092195178, + 291.8388032612935 + ], + [ + 638.4720223279737, + 279.8016824650445 + ], + [ + 618.8656589776458, + 290.69556812630225 + ], + [ + 636.3709268041652, + 259.9862709627982 + ], + [ + 656.790780284098, + 248.93714597173033 + ], + [ + 638.4140789447258, + 237.10276240103417 + ], + [ + 618.0528922527444, + 247.81258601901823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 685, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -117.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5276464819908142, + "y": 0.4769538640975952, + "z": 0.9464371800422668 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 829.83874334843, + "ymin": 302.4654397658639, + "xmax": 887.6695307097855, + "ymax": 381.0747105045134 + }, + "corners_3d": [ + [ + -118.49761199951172, + 2.8357625007629395, + -0.0022847652435302734 + ], + [ + -118.39790344238281, + 3.784444570541382, + -0.0022847652435302734 + ], + [ + -117.34839630126953, + 3.674136161804199, + -0.0022847652435302734 + ], + [ + -117.44810485839844, + 2.725454092025757, + -0.0022847652435302734 + ], + [ + -118.49761199951172, + 2.8357625007629395, + 1.8905895948410034 + ], + [ + -118.39790344238281, + 3.784444570541382, + 1.8905895948410034 + ], + [ + -117.34839630126953, + 3.674136161804199, + 1.8905895948410034 + ], + [ + -117.44810485839844, + 2.725454092025757, + 1.8905895948410034 + ] + ], + "corners_2d": [ + [ + 854.6476658650059, + 381.0747105045134 + ], + [ + 876.8501049859974, + 368.31225042989064 + ], + [ + 851.9189979080038, + 349.652653310803 + ], + [ + 829.83874334843, + 361.88163752234925 + ], + [ + 864.6000694499442, + 333.5629841521551 + ], + [ + 887.6695307097855, + 320.9202263759099 + ], + [ + 861.3874265982744, + 302.4654397658639 + ], + [ + 838.4451370557404, + 314.55620421539743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 661, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -119.24694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.49199214577674866, + "y": 0.3741660714149475, + "z": 0.8881665468215942 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.8911248782939, + "ymin": 417.9335516888127, + "xmax": 708.9055408201724, + "ymax": 497.73365345761954 + }, + "corners_3d": [ + [ + -119.73892974853516, + -4.061929225921631, + 0.05598098039627075 + ], + [ + -119.73892974853516, + -3.3135969638824463, + 0.05598098039627075 + ], + [ + -118.75495147705078, + -3.3135969638824463, + 0.05598098039627075 + ], + [ + -118.75495147705078, + -4.061929225921631, + 0.05598098039627075 + ], + [ + -119.73892974853516, + -4.061929225921631, + 1.8323140144348145 + ], + [ + -119.73892974853516, + -3.3135969638824463, + 1.8323140144348145 + ], + [ + -118.75495147705078, + -3.3135969638824463, + 1.8323140144348145 + ], + [ + -118.75495147705078, + -4.061929225921631, + 1.8323140144348145 + ] + ], + "corners_2d": [ + [ + 682.0502679303423, + 497.73365345761954 + ], + [ + 705.6951504267122, + 486.7934099356893 + ], + [ + 686.1755817756529, + 462.86602245311695 + ], + [ + 662.8911248782939, + 473.2903821502178 + ], + [ + 684.1285842621736, + 452.8538521347135 + ], + [ + 708.9055408201724, + 441.8843735167478 + ], + [ + 688.3759764059281, + 417.9335516888127 + ], + [ + 663.9940618576854, + 428.36129497665286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1028, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -119.28268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5785547494888306, + "y": 0.34967654943466187, + "z": 0.8962030410766602 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 228.0393442534604, + "ymin": 599.9597625857242, + "xmax": 289.90680393998076, + "ymax": 697.7162165384236 + }, + "corners_3d": [ + [ + -119.82151794433594, + -15.223361015319824, + 0.04793483018875122 + ], + [ + -119.89462280273438, + -14.527838706970215, + 0.04793483018875122 + ], + [ + -118.74385070800781, + -14.406888008117676, + 0.04793483018875122 + ], + [ + -118.67074584960938, + -15.102410316467285, + 0.04793483018875122 + ], + [ + -119.82151794433594, + -15.223361015319824, + 1.8403408527374268 + ], + [ + -119.89462280273438, + -14.527838706970215, + 1.8403408527374268 + ], + [ + -118.74385070800781, + -14.406888008117676, + 1.8403408527374268 + ], + [ + -118.67074584960938, + -15.102410316467285, + 1.8403408527374268 + ] + ], + "corners_2d": [ + [ + 257.72533375462444, + 697.7162165384236 + ], + [ + 289.90680393998076, + 685.7926220621978 + ], + [ + 281.7528978557474, + 643.7235823402801 + ], + [ + 250.62601946623943, + 654.8266963920951 + ], + [ + 234.69307469416867, + 655.0549804114946 + ], + [ + 269.0321266441128, + 642.8626093455891 + ], + [ + 261.17927617587304, + 599.9597625857242 + ], + [ + 228.0393442534604, + 611.2656458309257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 406, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -105.94583129882812, + "y": -10.750739097595215, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.5110986232757568, + "y": 0.2918493449687958, + "z": 0.9041544795036316 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 264.98442523685304, + "ymin": 237.1369877305842, + "xmax": 299.29175406299737, + "ymax": 303.3737390351123 + }, + "corners_3d": [ + [ + -106.38507843017578, + -11.142474174499512, + 0.19240039587020874 + ], + [ + -106.50643920898438, + -10.571531295776367, + 0.19240039587020874 + ], + [ + -105.50658416748047, + -10.359004020690918, + 0.19240039587020874 + ], + [ + -105.38522338867188, + -10.929946899414062, + 0.19240039587020874 + ], + [ + -106.38507843017578, + -11.142474174499512, + 2.000709295272827 + ], + [ + -106.50643920898438, + -10.571531295776367, + 2.000709295272827 + ], + [ + -105.50658416748047, + -10.359004020690918, + 2.000709295272827 + ], + [ + -105.38522338867188, + -10.929946899414062, + 2.000709295272827 + ] + ], + "corners_2d": [ + [ + 280.8227481698361, + 303.3737390351123 + ], + [ + 299.29175406299737, + 299.8617848115844 + ], + [ + 297.37195646050935, + 281.5860869687914 + ], + [ + 279.3077083103894, + 284.94312956665425 + ], + [ + 266.2203008608555, + 258.55511511792577 + ], + [ + 285.5015482997032, + 255.09961450591072 + ], + [ + 283.82491002837753, + 237.1369877305842 + ], + [ + 264.98442523685304, + 240.4340980208264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1161, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 244.37978908102048, + "ymin": 0.0, + "xmax": 335.8370879440308, + "ymax": 37.06500574681286 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 300.48914711622666, + -15.75430976926225 + ], + [ + 255.45567542758164, + -6.901145560233033 + ], + [ + 287.6262217617105, + 37.06500574681286 + ], + [ + 335.8370879440308, + 26.648974613026667 + ], + [ + 290.8834195469754, + -55.97355972948105 + ], + [ + 244.37978908102048, + -47.590073837940736 + ], + [ + 276.5821978179255, + -5.832970012005148 + ], + [ + 326.48739329409875, + -15.744275814011075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 5137, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 683.6342828090593, + "ymin": 197.29722272555873, + "xmax": 800.2343189740088, + "ymax": 313.8323563263661 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 749.004880272746, + 313.8323563263661 + ], + [ + 794.7428872835508, + 295.839863856865 + ], + [ + 727.3084355771151, + 235.663272496687 + ], + [ + 683.6342828090593, + 251.07828354057648 + ], + [ + 752.9614584700175, + 274.19764957055753 + ], + [ + 800.2343189740088, + 256.4509080381771 + ], + [ + 730.1711240108707, + 197.29722272555873 + ], + [ + 685.0950855139854, + 212.42080219144412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3537, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 420.44479670606427, + "ymin": 49.253995495970855, + "xmax": 512.0140551182576, + "ymax": 141.39020351025226 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 465.36027010749433, + 81.828900577517 + ], + [ + 425.8037438747551, + 91.74217302825588 + ], + [ + 470.0827491156422, + 141.39020351025226 + ], + [ + 512.0140551182576, + 129.8212615029668 + ], + [ + 461.06338000120627, + 49.253995495970855 + ], + [ + 420.44479670606427, + 58.86643689451893 + ], + [ + 465.4779729802375, + 107.1250998063498 + ], + [ + 508.60778792403914, + 95.86240305272486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3364, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 352.467390418072, + "ymin": 76.22687962953415, + "xmax": 438.88142149216264, + "ymax": 171.401953771527 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 405.1282399047944, + 117.61990698127482 + ], + [ + 361.5772017121485, + 128.8996001800726 + ], + [ + 393.11822726416335, + 171.401953771527 + ], + [ + 438.88142149216264, + 158.61379448126482 + ], + [ + 397.5810003860486, + 76.22687962953415 + ], + [ + 352.467390418072, + 87.12090936473186 + ], + [ + 384.49390337797286, + 128.28140890003277 + ], + [ + 431.9898996674403, + 115.87844113832168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.429484470227, + "ymin": 125.94461717383547, + "xmax": 731.6422158813565, + "ymax": 160.66325701391543 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 713.429484470227, + 156.33169980318408 + ], + [ + 718.7358729350115, + 160.66325701391543 + ], + [ + 729.6981156220643, + 157.21144033958524 + ], + [ + 724.3491375687752, + 152.92348567512235 + ], + [ + 715.0188731513088, + 129.28726267199636 + ], + [ + 720.451250877999, + 133.53653808247583 + ], + [ + 731.6422158813565, + 130.15019658521908 + ], + [ + 726.1655021415215, + 125.94461717383547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 861.4742914178034, + "ymin": 81.13608874262258, + "xmax": 881.5863462619062, + "ymax": 113.88378213501943 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 861.4742914178034, + 110.12448683421545 + ], + [ + 867.2981236271685, + 113.88378213501943 + ], + [ + 876.8112442090805, + 110.88826769568763 + ], + [ + 870.9586744625221, + 107.16424479997065 + ], + [ + 865.9346320837436, + 84.0308703195326 + ], + [ + 871.9035601361595, + 87.70782355434466 + ], + [ + 881.5863462619062, + 84.77785025600201 + ], + [ + 875.5877790566595, + 81.13608874262258 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 554.535877199354, + "ymin": 558.6903349224492, + "xmax": 584.0694320001284, + "ymax": 609.183556502021 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 564.6690730843625, + 609.183556502021 + ], + [ + 584.0694320001284, + 599.7293405790401 + ], + [ + 576.7827709040589, + 588.0724890482016 + ], + [ + 557.5250249726678, + 597.3302912360424 + ], + [ + 561.9088563628067, + 579.9952925220441 + ], + [ + 582.0378300414691, + 570.4506424972499 + ], + [ + 574.5112273330117, + 558.6903349224492 + ], + [ + 554.535877199354, + 568.029575279436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 385.9516718364687, + "ymin": 337.48224716881975, + "xmax": 409.1417406528409, + "ymax": 373.1150964014669 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 395.38543936310043, + 373.1150964014669 + ], + [ + 409.1417406528409, + 368.1720166996272 + ], + [ + 405.49605229239177, + 362.00503748992816 + ], + [ + 391.81553872432283, + 366.8796198653638 + ], + [ + 389.56437588048556, + 348.5408916789304 + ], + [ + 403.6791157288328, + 343.61988000043834 + ], + [ + 399.9865401539631, + 337.48224716881975 + ], + [ + 385.9516718364687, + 342.3334664073221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 494.6255511222547, + "ymin": 463.0479680051293, + "xmax": 523.4029036950552, + "ymax": 510.560319033219 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 505.22808151071786, + 510.560319033219 + ], + [ + 523.4029036950552, + 502.6780254173516 + ], + [ + 517.3178588103526, + 492.94346109195055 + ], + [ + 499.2707482271751, + 500.67602693880974 + ], + [ + 500.7350627142657, + 480.7155327143953 + ], + [ + 519.5464728128246, + 472.80806575025645 + ], + [ + 513.3000059758547, + 463.0479680051293 + ], + [ + 494.6255511222547, + 470.8003147712267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 435.48490786052446, + "ymin": 368.49052746429925, + "xmax": 463.164184679893, + "ymax": 412.77483525875647 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 446.2920210975145, + 412.77483525875647 + ], + [ + 463.164184679893, + 406.3110817449147 + ], + [ + 458.16615058170487, + 398.31546466636485 + ], + [ + 441.4059030127383, + 404.66788193540185 + ], + [ + 440.46461623742607, + 382.9018094425672 + ], + [ + 457.8822670954718, + 376.45789422585085 + ], + [ + 452.7831493506576, + 368.49052746429925 + ], + [ + 435.48490786052446, + 374.82016528833435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.6914788206429, + "ymin": 127.83085463802001, + "xmax": 979.4204609528716, + "ymax": 156.52922426318057 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 959.6914788206429, + 152.9420450926933 + ], + [ + 965.4183212768035, + 156.52922426318057 + ], + [ + 973.4666742459043, + 153.68649456022618 + ], + [ + 967.7213062024605, + 150.1292636255907 + ], + [ + 965.3929122612467, + 130.59871407116665 + ], + [ + 971.2533207120432, + 134.12920119693595 + ], + [ + 979.4204609528716, + 131.33134310749563 + ], + [ + 973.5411278908746, + 127.83085463802001 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 783.3222974781988, + "ymin": 104.77770126191206, + "xmax": 802.4902863789251, + "ymax": 138.57323898084002 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 783.3222974781988, + 134.51693420633373 + ], + [ + 788.8891172949373, + 138.57323898084002 + ], + [ + 799.1543304708841, + 135.34090459290158 + ], + [ + 793.5518160297643, + 131.3241231036302 + ], + [ + 786.3225570984794, + 107.90474977436824 + ], + [ + 792.0255959597143, + 111.87842595215795 + ], + [ + 802.4902863789251, + 108.71185225526165 + ], + [ + 796.7502406867995, + 104.77770126191206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.1838846166446, + "ymin": 0.0, + "xmax": 1014.7457931317558, + "ymax": 317.6122216798915 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 954.3797863532272, + 213.74525908190722 + ], + [ + 946.1929514837907, + 208.04498637728483 + ], + [ + 668.1838846166446, + 310.195167410818 + ], + [ + 675.0476247205648, + 317.6122216798915 + ], + [ + 1014.7457931317558, + -15.14471351682954 + ], + [ + 1004.4442327112372, + -19.81656983947397 + ], + [ + 674.4640424677609, + 66.06820837952756 + ], + [ + 682.9425754803708, + 72.48772192310969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.1376747135598, + "ymin": 0.0, + "xmax": 708.7952818733639, + "ymax": 20.75966041498657 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 701.4459670822674, + 5.1001167088383 + ], + [ + 696.8085238179041, + 2.116456168105401 + ], + [ + 632.1069028112151, + 17.596359587673987 + ], + [ + 636.5024869620776, + 20.75966041498657 + ], + [ + 708.7952818733639, + -162.4298008867845 + ], + [ + 703.5600788466027, + -164.70555230988418 + ], + [ + 631.1376747135598, + -152.8648183175435 + ], + [ + 636.0701791234582, + -150.4348905549316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6948376776938211591, + "instance_id": 1993, + "pixel_count": null, + "type_id": "BP_StreetLight_simple83_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 47.06075668334961, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1248.4953125230772, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 26.711561413746836 + }, + "corners_3d": [ + [ + -102.45560455322266, + 47.280364990234375, + -3.160125255584717 + ], + [ + -102.45560455322266, + 46.841156005859375, + -3.160125255584717 + ], + [ + -106.2890396118164, + 46.841148376464844, + -3.160125255584717 + ], + [ + -106.2890396118164, + 47.280357360839844, + -3.160125255584717 + ], + [ + -102.45560455322266, + 47.280364990234375, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 46.841156005859375, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 46.841148376464844, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 47.280357360839844, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1253.1027715198993, + 1.9685035678492682 + ], + [ + 1248.4953125230772, + 3.4463354366836825 + ], + [ + 1309.0257212623183, + 26.711561413746836 + ], + [ + 1313.6588516623785, + 25.09997166334847 + ], + [ + 1314.4044052480895, + -138.39286105471 + ], + [ + 1309.525344048799, + -137.20301628019803 + ], + [ + 1379.415029620905, + -118.38252763214865 + ], + [ + 1384.305308411397, + -119.69164754217849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 331.18111011013553, + "ymin": 173.34436032999503, + "xmax": 611.4120626518644, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 410.555362872586, + 430.38760508034034 + ], + [ + 395.96289968003776, + 435.8972784540408 + ], + [ + 592.6694462666482, + 814.5685866937333 + ], + [ + 611.4120626518644, + 803.8614383813173 + ], + [ + 350.0902711968053, + 173.34436032999503 + ], + [ + 331.18111011013553, + 178.43338473894835 + ], + [ + 573.0767604375235, + 569.8340615253031 + ], + [ + 599.7116402002733, + 557.5092083437813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.6047715173463, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 50.50495697703951 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1185.6020114032845, + 23.619217017426877 + ], + [ + 1180.6047715173463, + 25.22207020933672 + ], + [ + 1240.6225161180218, + 50.50495697703951 + ], + [ + 1245.6660896336514, + 48.75059854519748 + ], + [ + 1242.6478894565003, + -120.89377427050914 + ], + [ + 1237.3118745741458, + -119.59249331395722 + ], + [ + 1306.8615087606543, + -98.96006466631724 + ], + [ + 1312.2338308657554, + -100.39822681047866 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00124/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00124/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f89a9722840a9dc7ff66fb1ce72877ca51c7edc3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00124/meta.json @@ -0,0 +1,2579 @@ +{ + "frame_id": 124, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 62.0, + "sim_timestamp": 3622.090406827396 + }, + "drone_pose": { + "x": -132.93306733367805, + "y": -12.95924733724422, + "z": 20.007135246546902, + "pitch": -43.569259630676015, + "yaw": 27.558710282492413, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6423332691192627, + -0.3352145552635193, + 0.6892308592796326, + 75.94193267822266 + ], + [ + 0.46265727281570435, + 0.8865371942520142, + 0.0, + -50.01359558105469 + ], + [ + -0.6110288500785828, + 0.3188776969909668, + 0.7245417833328247, + -99.85435485839844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -132.56552180137152, + "y": -12.459409903394524, + "z": 19.96106106637473 + }, + "t1_image_uv": [ + 1242.105362047268, + -413.00310537429414 + ], + "t1_depth": 0.43539522187900015 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -115.16718292236328, + "y": -3.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 27.658361063005394, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 636, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -115.16718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5886620283126831, + "y": 0.38770824670791626, + "z": 0.8926609754562378 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.3292005827691, + "ymin": 320.62286298639265, + "xmax": 662.072198496988, + "ymax": 399.07316129801325 + }, + "corners_3d": [ + [ + -115.75584411621094, + -4.0754714012146, + 0.051476895809173584 + ], + [ + -115.75584411621094, + -3.3000547885894775, + 0.051476895809173584 + ], + [ + -114.57852172851562, + -3.3000547885894775, + 0.051476895809173584 + ], + [ + -114.57852172851562, + -4.0754714012146, + 0.051476895809173584 + ], + [ + -115.75584411621094, + -4.0754714012146, + 1.836798906326294 + ], + [ + -115.75584411621094, + -3.3000547885894775, + 1.836798906326294 + ], + [ + -114.57852172851562, + -3.3000547885894775, + 1.836798906326294 + ], + [ + -114.57852172851562, + -4.0754714012146, + 1.836798906326294 + ] + ], + "corners_2d": [ + [ + 637.5323870614005, + 399.07316129801325 + ], + [ + 661.1030860792099, + 390.2408756016624 + ], + [ + 642.3804986387925, + 365.4517849418188 + ], + [ + 619.264132292275, + 373.8239756644117 + ], + [ + 637.4179573581666, + 354.0866185789993 + ], + [ + 662.072198496988, + 345.2851324431881 + ], + [ + 642.4868171349524, + 320.62286298639265 + ], + [ + 618.3292005827691, + 328.9455708774986 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 124, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 505816, + "2": 202038, + "3": 104503, + "4": 35836, + "6": 12629, + "7": 3163, + "9": 8258, + "10": 122, + "12": 4150, + "14": 12408, + "20": 2782, + "22": 5579, + "24": 24316 + }, + "instance_pixel_counts": { + "6488": 72, + "6744": 64, + "7512": 69, + "7768": 64, + "11605": 72413, + "15701": 12322, + "15967": 4645, + "15970": 1418, + "16213": 85, + "16479": 32479, + "16482": 2961, + "16725": 2, + "17547": 5734, + "18018": 3247, + "18059": 6185, + "19554": 2880, + "20107": 18285, + "20565": 19230, + "20619": 514, + "21395": 16698, + "21397": 726, + "21643": 13141, + "21907": 172921, + "21909": 10950, + "22421": 1013, + "22931": 42765, + "23957": 1045, + "24467": 32289, + "25344": 6007, + "25600": 9785, + "26754": 788, + "29779": 451, + "36096": 636, + "36352": 608, + "36608": 754, + "36864": 737, + "37120": 1029, + "37376": 386, + "37632": 78, + "37888": 5343, + "40448": 3598, + "40704": 3389, + "45409": 2477, + "45442": 5579, + "45971": 18321, + "46483": 174971, + "46995": 16681, + "48225": 4625, + "49043": 31170, + "49761": 10433, + "51526": 35836, + "53857": 3571, + "56458": 17322, + "56970": 11430, + "57482": 41069, + "58506": 19622, + "59992": 378, + "60307": 1066, + "60819": 6633, + "61254": 9605, + "61331": 1042, + "62867": 1841 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 636, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -115.16718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5376171469688416, + "y": 0.3737325668334961, + "z": 0.9084380269050598 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 619.5665081480112, + "ymin": 321.39880363953233, + "xmax": 660.7688997913037, + "ymax": 398.1695426181373 + }, + "corners_3d": [ + [ + -115.70480346679688, + -4.061495780944824, + 0.03569984436035156 + ], + [ + -115.70480346679688, + -3.314030408859253, + 0.03569984436035156 + ], + [ + -114.62956237792969, + -3.314030408859253, + 0.03569984436035156 + ], + [ + -114.62956237792969, + -4.061495780944824, + 0.03569984436035156 + ], + [ + -115.70480346679688, + -4.061495780944824, + 1.8525758981704712 + ], + [ + -115.70480346679688, + -3.314030408859253, + 1.8525758981704712 + ], + [ + -114.62956237792969, + -3.314030408859253, + 1.8525758981704712 + ], + [ + -114.62956237792969, + -4.061495780944824, + 1.8525758981704712 + ] + ], + "corners_2d": [ + [ + 637.1492635151787, + 398.1695426181373 + ], + [ + 659.8421825243038, + 389.67552323345734 + ], + [ + 642.7574319959084, + 367.02844291474713 + ], + [ + 620.4641821912214, + 375.11757984921485 + ], + [ + 637.0148656175404, + 352.3911408558041 + ], + [ + 660.7688997913037, + 343.9282148615068 + ], + [ + 642.8829821249481, + 321.39880363953233 + ], + [ + 619.5665081480112, + 329.4401126433698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 608, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -111.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4376855492591858, + "y": 0.44624143838882446, + "z": 0.8622815608978271 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 643.782497736438, + "ymin": 220.47260535282308, + "xmax": 682.9128170138831, + "ymax": 286.03186966946237 + }, + "corners_3d": [ + [ + -111.56209564208984, + -1.0355479717254639, + 0.08187085390090942 + ], + [ + -111.37654113769531, + -0.16256821155548096, + 0.08187085390090942 + ], + [ + -110.52030181884766, + -0.34456878900527954, + 0.08187085390090942 + ], + [ + -110.70585632324219, + -1.2175486087799072, + 0.08187085390090942 + ], + [ + -111.56209564208984, + -1.0355479717254639, + 1.806433916091919 + ], + [ + -111.37654113769531, + -0.16256821155548096, + 1.806433916091919 + ], + [ + -110.52030181884766, + -0.34456878900527954, + 1.806433916091919 + ], + [ + -110.70585632324219, + -1.2175486087799072, + 1.806433916091919 + ] + ], + "corners_2d": [ + [ + 660.8546524250291, + 286.03186966946237 + ], + [ + 681.3123029263033, + 275.18688876694574 + ], + [ + 664.1482810806293, + 262.66848666274296 + ], + [ + 643.782497736438, + 273.18609546909966 + ], + [ + 661.6735923284531, + 243.49768494451155 + ], + [ + 682.9128170138831, + 232.80348288418585 + ], + [ + 665.0691529163694, + 220.47260535282308 + ], + [ + 643.9286709987905, + 230.83169198442948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 754, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -117.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5425927639007568, + "y": 0.443064421415329, + "z": 0.9390813708305359 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 853.6871450315721, + "ymin": 292.5041939356646, + "xmax": 912.2886887794477, + "ymax": 370.8902338571405 + }, + "corners_3d": [ + [ + -118.0089340209961, + 2.871028423309326, + 0.005071043968200684 + ], + [ + -117.91631317138672, + 3.752303123474121, + 0.005071043968200684 + ], + [ + -116.83707427978516, + 3.6388702392578125, + 0.005071043968200684 + ], + [ + -116.92969512939453, + 2.7575955390930176, + 0.005071043968200684 + ], + [ + -118.0089340209961, + 2.871028423309326, + 1.8832337856292725 + ], + [ + -117.91631317138672, + 3.752303123474121, + 1.8832337856292725 + ], + [ + -116.83707427978516, + 3.6388702392578125, + 1.8832337856292725 + ], + [ + -116.92969512939453, + 2.7575955390930176, + 1.8832337856292725 + ] + ], + "corners_2d": [ + [ + 878.6495942352609, + 370.8902338571405 + ], + [ + 900.1485303635218, + 359.5939551595692 + ], + [ + 875.0100280165044, + 339.4491671097812 + ], + [ + 853.6871450315721, + 350.24940203630837 + ], + [ + 889.9308151145387, + 323.69987246284927 + ], + [ + 912.2886887794477, + 312.48021487369505 + ], + [ + 885.7240005760971, + 292.5041939356646 + ], + [ + 863.552326905977, + 303.20883374657404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 737, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -118.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4143505394458771, + "y": 0.37065500020980835, + "z": 0.8706834316253662 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.7786416909034, + "ymin": 405.23801449806825, + "xmax": 724.8782456226622, + "ymax": 479.75472187957206 + }, + "corners_3d": [ + [ + -119.16129302978516, + -4.058417797088623, + 0.07346409559249878 + ], + [ + -119.16129302978516, + -3.317107915878296, + 0.07346409559249878 + ], + [ + -118.33258819580078, + -3.317107915878296, + 0.07346409559249878 + ], + [ + -118.33258819580078, + -4.058417797088623, + 0.07346409559249878 + ], + [ + -119.16129302978516, + -4.058417797088623, + 1.814831018447876 + ], + [ + -119.16129302978516, + -3.317107915878296, + 1.814831018447876 + ], + [ + -118.33258819580078, + -3.317107915878296, + 1.814831018447876 + ], + [ + -118.33258819580078, + -4.058417797088623, + 1.814831018447876 + ] + ], + "corners_2d": [ + [ + 697.0437775643171, + 479.75472187957206 + ], + [ + 720.9323732149909, + 469.8120894278856 + ], + [ + 705.3286096312008, + 449.1451936978612 + ], + [ + 681.7786416909034, + 458.6882934383311 + ], + [ + 699.8533183349703, + 435.9482811492967 + ], + [ + 724.8782456226622, + 425.9631015632991 + ], + [ + 708.4463023126308, + 405.23801449806825 + ], + [ + 683.7923509888396, + 414.80291384508166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1029, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -118.78268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.5299366116523743, + "y": 0.3905664384365082, + "z": 0.8938441276550293 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 244.57333681757132, + "ymin": 569.0515134133667, + "xmax": 306.4035218621647, + "ymax": 661.9141130980308 + }, + "corners_3d": [ + [ + -119.26889038085938, + -15.258944511413574, + 0.05029374361038208 + ], + [ + -119.35054016113281, + -14.482090950012207, + 0.05029374361038208 + ], + [ + -118.29647827148438, + -14.371304512023926, + 0.05029374361038208 + ], + [ + -118.21482849121094, + -15.148158073425293, + 0.05029374361038208 + ], + [ + -119.26889038085938, + -15.258944511413574, + 1.837981939315796 + ], + [ + -119.35054016113281, + -14.482090950012207, + 1.837981939315796 + ], + [ + -118.29647827148438, + -14.371304512023926, + 1.837981939315796 + ], + [ + -118.21482849121094, + -15.148158073425293, + 1.837981939315796 + ] + ], + "corners_2d": [ + [ + 271.1659349154703, + 661.9141130980308 + ], + [ + 306.4035218621647, + 650.411234460157 + ], + [ + 300.42454812786514, + 612.5140922509999 + ], + [ + 266.25138771611563, + 623.3007731699205 + ], + [ + 249.02867459556995, + 619.464145014081 + ], + [ + 286.5820072451151, + 607.7035173854784 + ], + [ + 280.91954966429324, + 569.0515134133667 + ], + [ + 244.57333681757132, + 580.038347046934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 386, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -105.44392395019531, + "y": -10.752124786376953, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.3095654249191284, + "y": 0.3021337687969208, + "z": 0.8676659464836121 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 295.0505280934506, + "ymin": 215.29392933287943, + "xmax": 327.12549939486104, + "ymax": 272.05709348382203 + }, + "corners_3d": [ + [ + -105.68390655517578, + -11.112018585205078, + 0.22888892889022827 + ], + [ + -105.80953979492188, + -10.520956039428711, + 0.22888892889022827 + ], + [ + -105.20394134521484, + -10.392230987548828, + 0.22888892889022827 + ], + [ + -105.07830810546875, + -10.983293533325195, + 0.22888892889022827 + ], + [ + -105.68390655517578, + -11.112018585205078, + 1.9642207622528076 + ], + [ + -105.80953979492188, + -10.520956039428711, + 1.9642207622528076 + ], + [ + -105.20394134521484, + -10.392230987548828, + 1.9642207622528076 + ], + [ + -105.07830810546875, + -10.983293533325195, + 1.9642207622528076 + ] + ], + "corners_2d": [ + [ + 308.36941790077185, + 272.05709348382203 + ], + [ + 327.12549939486104, + 269.01628112839416 + ], + [ + 326.37590048317674, + 258.01677198619694 + ], + [ + 307.86891178114513, + 260.9766242466257 + ], + [ + 295.3893484571216, + 229.11542725913938 + ], + [ + 314.9264267461138, + 226.12044571797287 + ], + [ + 314.3174763177778, + 215.29392933287943 + ], + [ + 295.0505280934506, + 218.20612081164518 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 78, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 287.28618305087906, + "ymin": 0.0, + "xmax": 375.94977773161236, + "ymax": 15.510552330002724 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 342.19457027828867, + -37.872549651454904 + ], + [ + 297.3576632288127, + -29.68374188488974 + ], + [ + 327.8249533103338, + 15.510552330002724 + ], + [ + 375.94977773161236, + 5.859936303015786 + ], + [ + 333.5818854777861, + -78.5653117020288 + ], + [ + 287.28618305087906, + -70.80142238206264 + ], + [ + 317.83153546067285, + -27.82351301067456 + ], + [ + 367.644889007107, + -37.01920161895322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 5343, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 717.8919860239741, + "ymin": 189.65253995497292, + "xmax": 836.5516726543525, + "ymax": 309.27711191850943 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 782.2448898124716, + 309.27711191850943 + ], + [ + 829.5683186521987, + 292.13953735235 + ], + [ + 762.8294330474839, + 228.40067321144835 + ], + [ + 717.8919860239741, + 243.02911828232382 + ], + [ + 787.5951596132223, + 269.4107786654887 + ], + [ + 836.5516726543525, + 252.46320610472338 + ], + [ + 767.001492299376, + 189.65253995497292 + ], + [ + 720.5889177691968, + 204.03717359624986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3598, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 458.9730976087491, + "ymin": 31.67796820986763, + "xmax": 548.6218199375952, + "ymax": 125.49089627747861 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 503.3840347662781, + 64.65088238240122 + ], + [ + 463.5027707653542, + 73.91276042965052 + ], + [ + 506.19440796151025, + 125.49089627747861 + ], + [ + 548.6218199375952, + 114.65603994971974 + ], + [ + 499.9309755287147, + 31.67796820986763 + ], + [ + 458.9730976087491, + 40.67059215386632 + ], + [ + 502.4700917437274, + 90.87423785776753 + ], + [ + 546.1201337144579, + 80.31050278043176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3389, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 390.2373282303762, + "ymin": 57.99401606028391, + "xmax": 474.4315579776022, + "ymax": 154.21411213028082 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 442.04595730864384, + 99.80474248463838 + ], + [ + 398.32958889001236, + 110.29304630817902 + ], + [ + 428.3759555637573, + 154.21411213028082 + ], + [ + 474.4315579776022, + 142.30375972904537 + ], + [ + 435.52575529599335, + 57.99401606028391 + ], + [ + 390.2373282303762, + 68.13949854459787 + ], + [ + 420.8039336435794, + 110.74187496513136 + ], + [ + 468.6106761600837, + 99.17042667385715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 751.1087682926299, + "ymin": 118.20207120762353, + "xmax": 770.5810357139161, + "ymax": 153.45889267324753 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 751.1087682926299, + 148.84904443254104 + ], + [ + 756.3785635582541, + 153.45889267324753 + ], + [ + 767.7037037567037, + 150.155238266428 + ], + [ + 762.3848519743118, + 145.5882510337272 + ], + [ + 753.6074410420109, + 121.40553016971535 + ], + [ + 759.0133201096091, + 125.93546551701118 + ], + [ + 770.5810357139161, + 122.68894496609929 + ], + [ + 765.1240380588448, + 118.20207120762353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 904.7330612012665, + "ymin": 75.0157770848902, + "xmax": 926.4556825039745, + "ymax": 108.46769486317328 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 904.7330612012665, + 104.42446204531663 + ], + [ + 910.6118356156223, + 108.46769486317328 + ], + [ + 920.5437799030026, + 105.57044866169858 + ], + [ + 914.6301643152698, + 101.56243856953319 + ], + [ + 910.3018757375405, + 77.81952874515406 + ], + [ + 916.3400524033726, + 81.7813148859554 + ], + [ + 926.4556825039745, + 78.94232659879532 + ], + [ + 920.3815023201034, + 75.0157770848902 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 575.3146214367925, + "ymin": 560.5332883143856, + "xmax": 604.366798953132, + "ymax": 610.6776485909127 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 584.4510724635651, + 610.6776485909127 + ], + [ + 604.366798953132, + 601.743281697838 + ], + [ + 597.403891077635, + 589.4812041269154 + ], + [ + 577.647939706162, + 598.2261491396013 + ], + [ + 582.349009030167, + 581.9745516558479 + ], + [ + 603.0291190284262, + 572.9333908244571 + ], + [ + 595.8224292091993, + 560.5332883143856 + ], + [ + 575.3146214367925, + 569.3756577084298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.9058754699587, + "ymin": 324.98133918001, + "xmax": 437.44562016853627, + "ymax": 360.51384607609543 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 423.57775489745796, + 360.51384607609543 + ], + [ + 437.44562016853627, + 355.9149428822961 + ], + [ + 434.0112390226137, + 349.5287144490618 + ], + [ + 420.2240282255855, + 354.0630729292403 + ], + [ + 418.3026129922199, + 335.9282373277316 + ], + [ + 432.5339495411962, + 331.34455987039087 + ], + [ + 429.05222129312165, + 324.98133918001 + ], + [ + 414.9058754699587, + 329.4991385203817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 518.278176592649, + "ymin": 459.90947350294215, + "xmax": 546.4892071775912, + "ymax": 507.23960067518345 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 527.9355109013565, + 507.23960067518345 + ], + [ + 546.4892071775912, + 499.81764419898536 + ], + [ + 540.6956044460585, + 489.61477865456226 + ], + [ + 522.2824943958655, + 496.8931115841009 + ], + [ + 524.0846382675626, + 477.62063689152745 + ], + [ + 543.2991520107205, + 470.15985612736864 + ], + [ + 537.3418366777831, + 459.90947350294215 + ], + [ + 518.278176592649, + 467.2210105708271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 462.18778118709645, + "ymin": 360.8137813673311, + "xmax": 489.22925138267385, + "ymax": 405.0441535735398 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 472.0988808604142, + 405.0441535735398 + ], + [ + 489.22925138267385, + 398.9796797182761 + ], + [ + 484.48770995072, + 390.6295534605939 + ], + [ + 467.4785779315237, + 396.58779783491536 + ], + [ + 466.9025143916275, + 375.2050523047287 + ], + [ + 484.59349090593435, + 369.14876091022984 + ], + [ + 479.74936963258835, + 360.8137813673311 + ], + [ + 462.18778118709645, + 366.7607584627487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1004.6230246524854, + "ymin": 124.52604732034726, + "xmax": 1025.967083322585, + "ymax": 153.82426629900505 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1004.6230246524854, + 149.95562227784413 + ], + [ + 1010.4332963113279, + 153.82426629900505 + ], + [ + 1018.888387886026, + 151.06744432834074 + ], + [ + 1013.0545640155656, + 147.22882815591316 + ], + [ + 1011.4242484626011, + 127.21367415649183 + ], + [ + 1017.3816254544308, + 131.02741670645042 + ], + [ + 1025.967083322585, + 128.30963774125544 + ], + [ + 1019.9855738434288, + 124.52604732034726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.4342410258876, + "ymin": 97.85812993185846, + "xmax": 844.025969367944, + "ymax": 132.27255065681553 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 823.4342410258876, + 127.93412124535223 + ], + [ + 829.0067092665645, + 132.27255065681553 + ], + [ + 839.6644612107293, + 129.1635799456228 + ], + [ + 834.0499585498264, + 124.86429109838684 + ], + [ + 827.4338363050033, + 100.8699650892957 + ], + [ + 833.1546310001072, + 105.12744276548912 + ], + [ + 844.025969367944, + 102.07636296422226 + ], + [ + 838.2615360507459, + 97.85812993185846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.2138393746666, + "ymin": 0.0, + "xmax": 1068.7617861728145, + "ymax": 310.9540168238675 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 996.718159112792, + 211.88926382881345 + ], + [ + 988.4553942164653, + 205.7709165243097 + ], + [ + 700.2138393746666, + 303.15677232103707 + ], + [ + 706.9220134465814, + 310.9540168238675 + ], + [ + 1068.7617861728145, + -21.84045352843799 + ], + [ + 1058.154915424317, + -26.939676664794945 + ], + [ + 714.1614372399629, + 56.2284157836732 + ], + [ + 722.597656130158, + 63.07715640473788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.5023316882985, + "ymin": 0.0, + "xmax": 757.3744834114854, + "ymax": 5.6404401720569695 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 744.3889111272877, + -9.227128922577322 + ], + [ + 739.7676748255674, + -12.385849504959424 + ], + [ + 673.5023316882985, + 2.3072286952424292 + ], + [ + 677.8522677541829, + 5.6404401720569695 + ], + [ + 757.3744834114854, + -180.69595146514814 + ], + [ + 752.0974132070307, + -183.12634081192186 + ], + [ + 677.7695122281757, + -171.79126449711327 + ], + [ + 682.7061357832708, + -169.20919956229625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 363.64372334337946, + "ymin": 159.64630949474474, + "xmax": 626.3813856777555, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 437.55217193293174, + 417.4970994180958 + ], + [ + 422.867043614097, + 422.5931056371458 + ], + [ + 607.1933424421221, + 814.1057223809718 + ], + [ + 626.3813856777555, + 804.121065992952 + ], + [ + 382.70073905642874, + 159.64630949474474 + ], + [ + 363.64372334337946, + 164.40939059857354 + ], + [ + 593.1144479488365, + 575.895728981545 + ], + [ + 620.5977940293271, + 564.1489882019945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1239.5635997988093, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 48.07042808068911 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1244.8845993849225, + 18.829175294216554 + ], + [ + 1239.5635997988093, + 20.4030218209935 + ], + [ + 1301.8339301649203, + 48.07042808068911 + ], + [ + 1307.2317711020812, + 46.34132548667799 + ], + [ + 1311.7861866757107, + -130.522966948572 + ], + [ + 1306.0793585079514, + -129.23101213579747 + ], + [ + 1379.2135156714476, + -106.3899802758936 + ], + [ + 1384.9919774473112, + -107.82465086823521 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00125/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00125/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f71312e5b2f688b93fb2a8c4e3a50c6db0a4d77a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00125/meta.json @@ -0,0 +1,2478 @@ +{ + "frame_id": 125, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 62.5, + "sim_timestamp": 3633.9944060181733 + }, + "drone_pose": { + "x": -132.56552180137152, + "y": -12.459409903394524, + "z": 19.96106106637473, + "pitch": -42.632821037056786, + "yaw": 23.255776434674303, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6759338974952698, + -0.29048484563827515, + 0.6772975325584412, + 79.7052230834961 + ], + [ + 0.3948364853858948, + 0.9187514185905457, + 0.0, + -40.89460372924805 + ], + [ + -0.62226802110672, + 0.26742175221443176, + 0.7357092499732971, + -100.50874328613281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -132.20008745146419, + "y": -12.286395986731332, + "z": 20.15054587503224 + }, + "t1_image_uv": [ + 723.3669816282876, + -1987.417038719594 + ], + "t1_depth": 0.168929791120776 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -114.66718292236328, + "y": -3.687763214111328, + "z": 0.9441476106644768 + }, + "image_uv": [ + 674.598404115029, + 377.70383798789754 + ], + "depth": 27.526232582700615, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 646, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -114.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4777831435203552, + "y": 0.3664933443069458, + "z": 0.8756266832351685 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8109564398054, + "ymin": 341.33863296170983, + "xmax": 694.5244333182658, + "ymax": 413.6392024589902 + }, + "corners_3d": [ + [ + -115.14496612548828, + -4.054256439208984, + 0.06852084398269653 + ], + [ + -115.14496612548828, + -3.3212695121765137, + 0.06852084398269653 + ], + [ + -114.18939971923828, + -3.3212695121765137, + 0.06852084398269653 + ], + [ + -114.18939971923828, + -4.054256439208984, + 0.06852084398269653 + ], + [ + -115.14496612548828, + -4.054256439208984, + 1.8197741508483887 + ], + [ + -115.14496612548828, + -3.3212695121765137, + 1.8197741508483887 + ], + [ + -114.18939971923828, + -3.3212695121765137, + 1.8197741508483887 + ], + [ + -114.18939971923828, + -4.054256439208984, + 1.8197741508483887 + ] + ], + "corners_2d": [ + [ + 669.2603845092607, + 413.6392024589902 + ], + [ + 692.2066556434955, + 406.4859090043979 + ], + [ + 678.3383883603884, + 385.43910558366656 + ], + [ + 655.8109564398054, + 392.27119282261947 + ], + [ + 670.5698707971084, + 369.37174447726716 + ], + [ + 694.5244333182658, + 362.25366634761195 + ], + [ + 680.0002895737057, + 341.33863296170983 + ], + [ + 656.5017084680985, + 348.12334315125634 + ] + ], + "center_offset_px": [ + 34.598404115028984, + 17.703837987897543 + ] + }, + "trace_timestep_index": 125, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 65, + "semantic_pixel_counts": { + "1": 461802, + "2": 207472, + "3": 137861, + "4": 37764, + "6": 13369, + "7": 3296, + "9": 12584, + "10": 115, + "12": 4195, + "14": 13176, + "20": 2937, + "22": 4252, + "24": 22777 + }, + "instance_pixel_counts": { + "6744": 69, + "7768": 67, + "11605": 85172, + "15701": 22411, + "15967": 7459, + "15970": 1834, + "16213": 234, + "16479": 30692, + "16482": 3243, + "16725": 60, + "17547": 8025, + "18018": 2188, + "18059": 6820, + "19554": 3041, + "20107": 14151, + "20565": 21742, + "21395": 17638, + "21397": 753, + "21643": 13991, + "21907": 154359, + "21909": 10253, + "22421": 890, + "22931": 39933, + "23957": 1057, + "24467": 32776, + "25344": 6533, + "25600": 9993, + "26754": 823, + "29779": 3772, + "29835": 1298, + "30859": 89, + "33419": 1667, + "33931": 808, + "34443": 608, + "36096": 646, + "36352": 629, + "36608": 765, + "36864": 764, + "37120": 993, + "37376": 398, + "37632": 693, + "37888": 5615, + "40448": 3556, + "40704": 3312, + "42071": 139, + "45409": 2559, + "45442": 4252, + "45971": 21810, + "46483": 156477, + "46995": 6291, + "48225": 4750, + "49043": 32518, + "49761": 11162, + "51526": 37764, + "53857": 3612, + "56458": 17787, + "56970": 11562, + "57482": 44607, + "58506": 19989, + "59992": 319, + "60307": 1277, + "60819": 6058, + "61254": 14243, + "61331": 581, + "62867": 1908 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 646, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -114.66718292236328, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.48695307970046997, + "y": 0.3757595419883728, + "z": 0.8743643760681152 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.3984250034965, + "ymin": 341.0907988043305, + "xmax": 694.9659008679457, + "ymax": 413.9097299692809 + }, + "corners_3d": [ + [ + -115.15413665771484, + -4.0635223388671875, + 0.06978315114974976 + ], + [ + -115.15413665771484, + -3.3120033740997314, + 0.06978315114974976 + ], + [ + -114.18022918701172, + -3.3120033740997314, + 0.06978315114974976 + ], + [ + -114.18022918701172, + -4.0635223388671875, + 0.06978315114974976 + ], + [ + -115.15413665771484, + -4.0635223388671875, + 1.818511962890625 + ], + [ + -115.15413665771484, + -3.3120033740997314, + 1.818511962890625 + ], + [ + -114.18022918701172, + -3.3120033740997314, + 1.818511962890625 + ], + [ + -114.18022918701172, + -4.0635223388671875, + 1.818511962890625 + ] + ], + "corners_2d": [ + [ + 669.1010153377413, + 413.9097299692809 + ], + [ + 692.6323602786912, + 406.5723169090849 + ], + [ + 678.4920703424168, + 385.1255868352553 + ], + [ + 655.3984250034965, + 392.1273383264414 + ], + [ + 670.4018864041968, + 369.7047725223738 + ], + [ + 694.9659008679457, + 362.40328269505676 + ], + [ + 680.1576349100719, + 341.0907988043305 + ], + [ + 656.0700766078626, + 348.04393627100796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 629, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -110.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5593310594558716, + "y": 0.46699532866477966, + "z": 0.9251525402069092 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 682.4530627351617, + "ymin": 235.45026138083907, + "xmax": 729.0305409198055, + "ymax": 308.16263593932206 + }, + "corners_3d": [ + [ + -111.1854019165039, + -1.0305567979812622, + 0.019004762172698975 + ], + [ + -110.9912109375, + -0.11697620153427124, + 0.019004762172698975 + ], + [ + -109.8969955444336, + -0.34956005215644836, + 0.019004762172698975 + ], + [ + -110.0911865234375, + -1.2631406784057617, + 0.019004762172698975 + ], + [ + -111.1854019165039, + -1.0305567979812622, + 1.869309902191162 + ], + [ + -110.9912109375, + -0.11697620153427124, + 1.869309902191162 + ], + [ + -109.8969955444336, + -0.34956005215644836, + 1.869309902191162 + ], + [ + -110.0911865234375, + -1.2631406784057617, + 1.869309902191162 + ] + ], + "corners_2d": [ + [ + 703.1839746302302, + 308.16263593932206 + ], + [ + 725.5080658388953, + 297.7447867135975 + ], + [ + 704.5675430591513, + 280.6763450315112 + ], + [ + 682.4530627351617, + 290.6631669388312 + ], + [ + 705.8212011014829, + 262.47403852130225 + ], + [ + 729.0305409198055, + 252.22272477617224 + ], + [ + 707.1698911034891, + 235.45026138083907 + ], + [ + 684.1862113270473, + 245.2604214611485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 765, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -116.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.6022802591323853, + "y": 0.45256513357162476, + "z": 0.9407640695571899 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 891.7132740693086, + "ymin": 320.7100644932433, + "xmax": 956.3995064365655, + "ymax": 402.7819361711586 + }, + "corners_3d": [ + [ + -117.56929016113281, + 2.867818832397461, + 0.003388345241546631 + ], + [ + -117.47467803955078, + 3.767990827560425, + 0.003388345241546631 + ], + [ + -116.27671813964844, + 3.6420798301696777, + 0.003388345241546631 + ], + [ + -116.37133026123047, + 2.741907835006714, + 0.003388345241546631 + ], + [ + -117.56929016113281, + 2.867818832397461, + 1.8849165439605713 + ], + [ + -117.47467803955078, + 3.767990827560425, + 1.8849165439605713 + ], + [ + -116.27671813964844, + 3.6420798301696777, + 1.8849165439605713 + ], + [ + -116.37133026123047, + 2.741907835006714, + 1.8849165439605713 + ] + ], + "corners_2d": [ + [ + 918.7447389948007, + 402.7819361711586 + ], + [ + 942.2178779224794, + 392.1761478728528 + ], + [ + 914.866204626847, + 367.9270471750704 + ], + [ + 891.7132740693086, + 377.9756318689689 + ], + [ + 931.9835333657606, + 355.287099462455 + ], + [ + 956.3995064365655, + 344.7527871835299 + ], + [ + 927.4073047630677, + 320.7100644932433 + ], + [ + 903.333388973082, + 330.6658853117602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 764, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -118.24694061279297, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.4946972131729126, + "y": 0.4058291018009186, + "z": 0.9013129472732544 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.0121053614481, + "ymin": 423.71165067593734, + "xmax": 757.5760402911724, + "ymax": 504.9481237057216 + }, + "corners_3d": [ + [ + -118.74163818359375, + -4.093592166900635, + 0.042829692363739014 + ], + [ + -118.74163818359375, + -3.2819337844848633, + 0.042829692363739014 + ], + [ + -117.75224304199219, + -3.2819337844848633, + 0.042829692363739014 + ], + [ + -117.75224304199219, + -4.093592166900635, + 0.042829692363739014 + ], + [ + -118.74163818359375, + -4.093592166900635, + 1.8454556465148926 + ], + [ + -118.74163818359375, + -3.2819337844848633, + 1.8454556465148926 + ], + [ + -117.75224304199219, + -3.2819337844848633, + 1.8454556465148926 + ], + [ + -117.75224304199219, + -4.093592166900635, + 1.8454556465148926 + ] + ], + "corners_2d": [ + [ + 724.6561489808381, + 504.9481237057216 + ], + [ + 751.9467332753163, + 495.43663123517484 + ], + [ + 734.7552246695454, + 469.39015582658504 + ], + [ + 708.0121053614481, + 478.4195672341343 + ], + [ + 728.9548770933668, + 459.35675864130206 + ], + [ + 757.5760402911724, + 449.8097039881813 + ], + [ + 739.3923208491017, + 423.71165067593734 + ], + [ + 711.3722113150064, + 432.75135281715745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 993, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -118.28268432617188, + "y": -14.81512451171875, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3433203399181366, + "y": 0.40172305703163147, + "z": 0.8855586051940918 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 268.2151793945741, + "ymin": 572.5985677006862, + "xmax": 324.9035427084897, + "ymax": 650.2192761593258 + }, + "corners_3d": [ + [ + -118.5821304321289, + -15.250534057617188, + 0.05857926607131958 + ], + [ + -118.6661148071289, + -14.451488494873047, + 0.05857926607131958 + ], + [ + -117.98323822021484, + -14.379714965820312, + 0.05857926607131958 + ], + [ + -117.89925384521484, + -15.178760528564453, + 0.05857926607131958 + ], + [ + -118.5821304321289, + -15.250534057617188, + 1.8296964168548584 + ], + [ + -118.6661148071289, + -14.451488494873047, + 1.8296964168548584 + ], + [ + -117.98323822021484, + -14.379714965820312, + 1.8296964168548584 + ], + [ + -117.89925384521484, + -15.178760528564453, + 1.8296964168548584 + ] + ], + "corners_2d": [ + [ + 289.1075166052029, + 650.2192761593258 + ], + [ + 324.9035427084897, + 640.9867015301628 + ], + [ + 322.99282562506716, + 616.3182164304937 + ], + [ + 287.94597864331706, + 625.1623761400115 + ], + [ + 268.98834219552845, + 607.0688664090394 + ], + [ + 306.9869695989482, + 597.6699609405357 + ], + [ + 305.3705836562897, + 572.5985677006862 + ], + [ + 268.2151793945741, + 581.5802399475675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 398, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -104.94200897216797, + "y": -10.753514289855957, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.4526025354862213, + "y": 0.30749693512916565, + "z": 0.8786118030548096 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 343.9664133978451, + "ymin": 216.10976153822426, + "xmax": 373.7826936273279, + "ymax": 277.0686446449622 + }, + "corners_3d": [ + [ + -105.32078552246094, + -11.148393630981445, + 0.21794307231903076 + ], + [ + -105.44865417480469, + -10.546838760375977, + 0.21794307231903076 + ], + [ + -104.563232421875, + -10.358634948730469, + 0.21794307231903076 + ], + [ + -104.43536376953125, + -10.960189819335938, + 0.21794307231903076 + ], + [ + -105.32078552246094, + -11.148393630981445, + 1.97516667842865 + ], + [ + -105.44865417480469, + -10.546838760375977, + 1.97516667842865 + ], + [ + -104.563232421875, + -10.358634948730469, + 1.97516667842865 + ], + [ + -104.43536376953125, + -10.960189819335938, + 1.97516667842865 + ] + ], + "corners_2d": [ + [ + 354.9190217471193, + 277.0686446449622 + ], + [ + 373.65048087861805, + 274.87609681060894 + ], + [ + 373.7826936273279, + 259.02529968594814 + ], + [ + 355.4243503981984, + 261.13156619514604 + ], + [ + 343.9664133978451, + 233.81913031967977 + ], + [ + 363.44661071179263, + 231.66552958998275 + ], + [ + 363.79389719418475, + 216.10976153822426 + ], + [ + 344.7169157783584, + 218.17546243442717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 693, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 361.27254097957467, + "ymin": 0.0, + "xmax": 442.8267303447516, + "ymax": 28.09374425972925 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 412.9806650176208, + -24.131322603825822 + ], + [ + 368.97246610860935, + -17.351081996414564 + ], + [ + 395.31077904178613, + 28.09374425972925 + ], + [ + 442.8267303447516, + 20.051708025190635 + ], + [ + 406.6197875275932, + -64.11244760895391 + ], + [ + 361.27254097957467, + -57.69753702228161 + ], + [ + 387.7159549632786, + -14.575058681262192 + ], + [ + 436.79864584273685, + -22.2221716904304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 5615, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 769.0559864470107, + "ymin": 220.29293146592377, + "xmax": 890.1099228901343, + "ymax": 343.4751318258284 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 831.2156708942392, + 343.4751318258284 + ], + [ + 881.1534009984732, + 328.1437734606377 + ], + [ + 815.9629660052956, + 259.2123476939279 + ], + [ + 769.0559864470107, + 272.144373015506 + ], + [ + 838.4501287116325, + 303.3968909844588 + ], + [ + 890.1099228901343, + 288.2309382534629 + ], + [ + 821.9515057325933, + 220.29293146592377 + ], + [ + 773.5231955181653, + 233.00754363519513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3556, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 521.2751814230011, + "ymin": 50.01212207227644, + "xmax": 606.0469433543511, + "ymax": 143.86752500981248 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 564.2711176739815, + 82.75452171096526 + ], + [ + 524.1860271769224, + 90.61834739445021 + ], + [ + 563.076302111985, + 143.86752500981248 + ], + [ + 606.0469433543511, + 134.5918245529313 + ], + [ + 562.3927284627687, + 50.01212207227644 + ], + [ + 521.2751814230011, + 57.63841563227635 + ], + [ + 560.9707663932912, + 109.40855026743668 + ], + [ + 605.1308489800833, + 100.37423908675208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3312, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 451.6020630240324, + "ymin": 74.22664097271064, + "xmax": 530.4442696201652, + "ymax": 169.64684300790063 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 501.27903771074506, + 115.72012908107627 + ], + [ + 457.56759397474417, + 124.58085601693637 + ], + [ + 484.1267457679448, + 169.64684300790063 + ], + [ + 530.4442696201652, + 159.52115199876502 + ], + [ + 496.8068602515471, + 74.22664097271064 + ], + [ + 451.6020630240324, + 82.7833923520788 + ], + [ + 478.6629962716012, + 126.42198270850838 + ], + [ + 526.6620778199587, + 116.59969869198525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 806.230346048289, + "ymin": 149.27902355737515, + "xmax": 827.3647350800024, + "ymax": 184.6750885812457 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 806.230346048289, + 179.7110375899541 + ], + [ + 811.3602553608081, + 184.6750885812457 + ], + [ + 823.2193102412277, + 181.74253344368205 + ], + [ + 818.0277359633164, + 176.81935016343232 + ], + [ + 809.9803135061554, + 152.1197087168093 + ], + [ + 815.2538450228764, + 156.99743466882745 + ], + [ + 827.3647350800024, + 154.1156890505389 + ], + [ + 822.0269601706415, + 149.27902355737515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 968.0530454408997, + "ymin": 110.67700730969628, + "xmax": 991.8672846049194, + "ymax": 144.46474164937337 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 968.0530454408997, + 140.0464358846981 + ], + [ + 973.9688411183954, + 144.46474164937337 + ], + [ + 984.5223932110052, + 141.85501589398532 + ], + [ + 978.5600412946717, + 137.47103951618806 + ], + [ + 975.027419328939, + 113.20058225691992 + ], + [ + 981.11725291175, + 117.53095392719726 + ], + [ + 991.8672846049194, + 114.97301934775084 + ], + [ + 985.7292769760375, + 110.67700730969628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 596.8660781860232, + "ymin": 601.3956166408416, + "xmax": 625.5600784584929, + "ymax": 651.8773159429425 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 604.5173575771827, + 651.8773159429425 + ], + [ + 625.5600784584929, + 643.8236920262187 + ], + [ + 619.279938181732, + 630.4019016821378 + ], + [ + 598.4379393978094, + 638.2708106119982 + ], + [ + 603.1591033289205, + 623.1327288066113 + ], + [ + 625.0112573668971, + 614.9774024938905 + ], + [ + 618.5018190226302, + 601.3956166408416 + ], + [ + 596.8660781860232, + 609.3568884852803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.13532624373795, + "ymin": 343.905525780098, + "xmax": 477.4063747434291, + "ymax": 379.1746266752819 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 463.29801480301927, + 379.1746266752819 + ], + [ + 477.4063747434291, + 375.2097400538664 + ], + [ + 474.4443902043811, + 368.52225144664544 + ], + [ + 460.4284743116479, + 372.4282406348127 + ], + [ + 459.0409037196714, + 354.5135821730604 + ], + [ + 473.50677586742415, + 350.5644868833122 + ], + [ + 470.5039920861245, + 343.905525780098 + ], + [ + 456.13532624373795, + 347.79456419991584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 546.2665283469784, + "ymin": 492.10596692447166, + "xmax": 573.6944825605077, + "ymax": 539.5704526226637 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 554.3383339108127, + 539.5704526226637 + ], + [ + 573.6944825605077, + 532.9776962126875 + ], + [ + 568.5445271511544, + 521.9713131439275 + ], + [ + 549.3594296645956, + 528.4270350781003 + ], + [ + 551.3833022427394, + 509.7922686484394 + ], + [ + 571.4218385333005, + 503.164495498171 + ], + [ + 566.1217401339179, + 492.10596692447166 + ], + [ + 546.2665283469784, + 498.5913172383156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 497.2340592580235, + "ymin": 386.05761319285756, + "xmax": 523.1252969345497, + "ymax": 430.2121713039737 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 505.47675511674413, + 430.2121713039737 + ], + [ + 523.1252969345497, + 424.90233806241326 + ], + [ + 518.9704299731497, + 416.02263738163526 + ], + [ + 501.4649587436585, + 421.2332624559959 + ], + [ + 501.3281380707954, + 400.2183672801017 + ], + [ + 519.541627027981, + 394.9177828342665 + ], + [ + 515.295152002179, + 386.05761319285756 + ], + [ + 497.2340592580235, + 391.25616092796804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1071.3716940652168, + "ymin": 164.52355043035163, + "xmax": 1094.8727581117414, + "ymax": 194.22127621056265 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1071.3716940652168, + 189.94903541833295 + ], + [ + 1077.3104166827038, + 194.22127621056265 + ], + [ + 1086.3933910177668, + 191.71200319567845 + ], + [ + 1080.4214424090796, + 187.4694832526105 + ], + [ + 1079.545147271762, + 166.96857459374186 + ], + [ + 1085.6469380318931, + 171.1820792085131 + ], + [ + 1094.8727581117414, + 168.70718867795213 + ], + [ + 1088.7368282468292, + 164.52355043035163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.1199821771106, + "ymin": 131.16595401717174, + "xmax": 904.570183676289, + "ymax": 165.8136690772009 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 882.1199821771106, + 161.10954114221096 + ], + [ + 887.6345617347777, + 165.8136690772009 + ], + [ + 898.8718102360806, + 163.03487674030185 + ], + [ + 893.3029521983905, + 158.36845569580115 + ], + [ + 887.4343403772618, + 133.85549704039317 + ], + [ + 893.1081188561644, + 138.47227166050644 + ], + [ + 904.570183676289, + 135.7449118284767 + ], + [ + 898.8400304383657, + 131.16595401717174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 747.3560039166472, + "ymin": 10.755699749515372, + "xmax": 1146.813317672922, + "ymax": 341.37732486279714 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1060.3532795636684, + 252.9118698407554 + ], + [ + 1051.9548672873766, + 246.16928671204516 + ], + [ + 747.3560039166472, + 333.01956589655146 + ], + [ + 753.7397419658745, + 341.37732486279714 + ], + [ + 1146.813317672922, + 16.399539284958223 + ], + [ + 1135.8021923992299, + 10.755699749515372 + ], + [ + 772.2428630177359, + 85.02885843441425 + ], + [ + 780.4239925729819, + 92.3608303210126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 738.4054188029263, + "ymin": 0.0, + "xmax": 832.069591613406, + "ymax": 29.374019106377546 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 810.9623377866553, + 16.483812431075762 + ], + [ + 806.444496437038, + 13.148138806187319 + ], + [ + 738.4054188029263, + 25.87778954697893 + ], + [ + 742.59827338914, + 29.374019106377546 + ], + [ + 832.069591613406, + -154.67184876398062 + ], + [ + 826.8515399534191, + -157.23019201362536 + ], + [ + 750.7925319868501, + -147.44599794059388 + ], + [ + 755.6057392644155, + -144.74875160493917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 412.0022894019594, + "ymin": 177.9173085751351, + "xmax": 640.296545551162, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 475.2333002015886, + 436.18155932800045 + ], + [ + 460.29462280452907, + 440.55767842776646 + ], + [ + 619.858655194218, + 859.4045584402378 + ], + [ + 640.2070380205607, + 850.4191921997269 + ], + [ + 431.2100628959605, + 177.9173085751351 + ], + [ + 412.0022894019594, + 181.97570654922978 + ], + [ + 611.069284576416, + 622.2784309852719 + ], + [ + 640.296545551162, + 611.6148329989583 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00129/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00129/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a876bf140427a71b6f7a5dfa38b1200ce872973 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00129/meta.json @@ -0,0 +1,2478 @@ +{ + "frame_id": 129, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 64.5, + "sim_timestamp": 3684.405037380522 + }, + "drone_pose": { + "x": -131.12529314247882, + "y": -11.571718211398652, + "z": 20.0, + "pitch": -43.5132969447838, + "yaw": 23.12863042098878, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6669257283210754, + -0.28486189246177673, + 0.6885229349136353, + 76.97671508789062 + ], + [ + 0.39279666543006897, + 0.9196253418922424, + -1.4901161193847656e-08, + -40.863929748535156 + ], + [ + -0.6331831216812134, + 0.27044951915740967, + 0.7252146005630493, + -100.66017150878906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -130.73422064333676, + "y": -11.331519418696354, + "z": 20.0 + }, + "t1_image_uv": [ + 836.1782071184147, + -551.4295018927199 + ], + "t1_depth": 0.3292397925263408 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -112.66718292236328, + "y": -3.687763214111328, + "z": 0.9441573762892586 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.676410847449432, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 610, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -112.66718292236328, + "y": -3.687762975692749, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.4924706518650055, + "y": 0.37189188599586487, + "z": 0.8882714509963989 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.1625429213084, + "ymin": 323.11435982679086, + "xmax": 659.1497778130663, + "ymax": 396.41627442994184 + }, + "corners_3d": [ + [ + -113.15965270996094, + -4.059654712677002, + 0.05588585138320923 + ], + [ + -113.15965270996094, + -3.315871000289917, + 0.05588585138320923 + ], + [ + -112.17471313476562, + -3.315871000289917, + 0.05588585138320923 + ], + [ + -112.17471313476562, + -4.059654712677002, + 0.05588585138320923 + ], + [ + -113.15965270996094, + -4.059654712677002, + 1.8324286937713623 + ], + [ + -113.15965270996094, + -3.315871000289917, + 1.8324286937713623 + ], + [ + -112.17471313476562, + -3.315871000289917, + 1.8324286937713623 + ], + [ + -112.17471313476562, + -4.059654712677002, + 1.8324286937713623 + ] + ], + "corners_2d": [ + [ + 634.8797361206605, + 396.41627442994184 + ], + [ + 658.3151651331821, + 389.26067738609026 + ], + [ + 644.9654148107912, + 367.7470735305641 + ], + [ + 621.9707290197266, + 374.57792757739924 + ], + [ + 634.6445519322599, + 351.6443554169024 + ], + [ + 659.1497778130663, + 344.51608169946735 + ], + [ + 645.1862812033944, + 323.11435982679086 + ], + [ + 621.1625429213084, + 329.90485997894245 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 129, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 65, + "semantic_pixel_counts": { + "1": 442930, + "2": 224190, + "3": 140232, + "4": 36292, + "6": 14412, + "7": 3498, + "9": 12839, + "10": 120, + "12": 4000, + "14": 14205, + "20": 3010, + "22": 3845, + "24": 22027 + }, + "instance_pixel_counts": { + "6744": 73, + "7768": 58, + "11605": 86074, + "15701": 18901, + "15967": 8371, + "15970": 1957, + "16213": 241, + "16479": 32598, + "16482": 3607, + "16725": 69, + "17547": 8637, + "18018": 2050, + "18059": 7671, + "19554": 3351, + "20107": 14179, + "20565": 26259, + "21395": 19340, + "21397": 817, + "21643": 15653, + "21907": 141701, + "21909": 9547, + "22421": 142, + "22931": 22567, + "23957": 1186, + "24467": 36655, + "25344": 7150, + "25600": 10618, + "26754": 882, + "29779": 3882, + "29835": 1440, + "30859": 97, + "33419": 1854, + "33931": 870, + "34443": 545, + "36096": 610, + "36352": 609, + "36608": 686, + "36864": 697, + "37120": 972, + "37376": 426, + "37632": 614, + "37888": 6173, + "40448": 3862, + "40704": 3556, + "42071": 142, + "45409": 2803, + "45442": 3845, + "45971": 23666, + "46483": 157692, + "46995": 4847, + "48225": 5417, + "49043": 36462, + "49761": 11314, + "51526": 36292, + "53857": 4119, + "56458": 20085, + "56970": 13039, + "57482": 45408, + "58506": 23931, + "59992": 209, + "60307": 1373, + "60819": 6299, + "61254": 14627, + "61331": 493, + "62867": 2170 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 610, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -112.66718292236328, + "y": -3.687762975692749, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5886620283126831, + "y": 0.38508129119873047, + "z": 0.8882430195808411 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 619.452026772833, + "ymin": 320.96072563297827, + "xmax": 660.9820785926461, + "ymax": 398.7321755040521 + }, + "corners_3d": [ + [ + -113.25584411621094, + -4.072844505310059, + 0.05591428279876709 + ], + [ + -113.25584411621094, + -3.3026816844940186, + 0.05591428279876709 + ], + [ + -112.07852172851562, + -3.3026816844940186, + 0.05591428279876709 + ], + [ + -112.07852172851562, + -4.072844505310059, + 0.05591428279876709 + ], + [ + -113.25584411621094, + -4.072844505310059, + 1.8324003219604492 + ], + [ + -113.25584411621094, + -3.3026816844940186, + 1.8324003219604492 + ], + [ + -112.07852172851562, + -3.3026816844940186, + 1.8324003219604492 + ], + [ + -112.07852172851562, + -4.072844505310059, + 1.8324003219604492 + ] + ], + "corners_2d": [ + [ + 635.7535677871854, + 398.7321755040521 + ], + [ + 660.0656645191159, + 391.2886705698946 + ], + [ + 644.0982691240033, + 365.57826451144416 + ], + [ + 620.3317083313277, + 372.6197816393227 + ], + [ + 635.5580282117648, + 353.95390329116793 + ], + [ + 660.9820785926461, + 346.5372587849209 + ], + [ + 644.2801090342084, + 320.96072563297827 + ], + [ + 619.452026772833, + 327.959248232342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 609, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -108.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.438720703125, + "y": 0.47227928042411804, + "z": 0.9050008058547974 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 654.9363916045354, + "ymin": 220.7431979515328, + "xmax": 695.6875100113903, + "ymax": 288.7893473969277 + }, + "corners_3d": [ + [ + -109.06852722167969, + -1.06080162525177, + 0.039137065410614014 + ], + [ + -108.87213897705078, + -0.13688409328460693, + 0.039137065410614014 + ], + [ + -108.01387023925781, + -0.3193151652812958, + 0.039137065410614014 + ], + [ + -108.21025848388672, + -1.2432327270507812, + 0.039137065410614014 + ], + [ + -109.06852722167969, + -1.06080162525177, + 1.8491387367248535 + ], + [ + -108.87213897705078, + -0.13688409328460693, + 1.8491387367248535 + ], + [ + -108.01387023925781, + -0.3193151652812958, + 1.8491387367248535 + ], + [ + -108.21025848388672, + -1.2432327270507812, + 1.8491387367248535 + ] + ], + "corners_2d": [ + [ + 670.5962966964988, + 288.7893473969277 + ], + [ + 693.5080244377273, + 278.388478622584 + ], + [ + 677.6704006189893, + 265.043853624136 + ], + [ + 654.9363916045354, + 275.11086244869205 + ], + [ + 671.8588080787172, + 244.1269550598735 + ], + [ + 695.6875100113903, + 233.8778231077216 + ], + [ + 679.1791257189196, + 220.7431979515328 + ], + [ + 655.5422793028622, + 230.65019180150819 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 686, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -115.75389099121094, + "y": 3.3920059204101562, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.6036376953125, + "y": 0.46950238943099976, + "z": 0.9224721789360046 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 876.5501843284568, + "ymin": 319.93566049212257, + "xmax": 942.0620176253897, + "ymax": 402.56515003770795 + }, + "corners_3d": [ + [ + -116.4032974243164, + 2.988172769546509, + 0.02167534828186035 + ], + [ + -116.30514526367188, + 3.9220337867736816, + 0.02167534828186035 + ], + [ + -115.10448455810547, + 3.7958390712738037, + 0.02167534828186035 + ], + [ + -115.20263671875, + 2.861978054046631, + 0.02167534828186035 + ], + [ + -116.4032974243164, + 2.988172769546509, + 1.8666197061538696 + ], + [ + -116.30514526367188, + 3.9220337867736816, + 1.8666197061538696 + ], + [ + -115.10448455810547, + 3.7958390712738037, + 1.8666197061538696 + ], + [ + -115.20263671875, + 2.861978054046631, + 1.8666197061538696 + ] + ], + "corners_2d": [ + [ + 903.4272739235626, + 402.56515003770795 + ], + [ + 928.3841728054383, + 391.2925190399141 + ], + [ + 901.1539042245993, + 366.2734103511832 + ], + [ + 876.5501843284568, + 376.9522584339511 + ], + [ + 916.0780057840532, + 356.0497725657524 + ], + [ + 942.0620176253897, + 344.81819493298264 + ], + [ + 913.1963559345786, + 319.93566049212257 + ], + [ + 887.5909519820523, + 330.54855799447614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 697, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -116.24694061279297, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.3109765350818634, + "y": 0.4061541259288788, + "z": 0.8817868828773499 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.6326757240507, + "ymin": 410.69409365341164, + "xmax": 714.245367602896, + "ymax": 480.6102816980642 + }, + "corners_3d": [ + [ + -116.55791473388672, + -4.093916893005371, + 0.062355756759643555 + ], + [ + -116.55791473388672, + -3.281608819961548, + 0.062355756759643555 + ], + [ + -115.93596649169922, + -3.281608819961548, + 0.062355756759643555 + ], + [ + -115.93596649169922, + -4.093916893005371, + 0.062355756759643555 + ], + [ + -116.55791473388672, + -4.093916893005371, + 1.8259295225143433 + ], + [ + -116.55791473388672, + -3.281608819961548, + 1.8259295225143433 + ], + [ + -115.93596649169922, + -3.281608819961548, + 1.8259295225143433 + ], + [ + -115.93596649169922, + -4.093916893005371, + 1.8259295225143433 + ] + ], + "corners_2d": [ + [ + 683.3490803567943, + 480.6102816980642 + ], + [ + 710.7516542164285, + 471.35568559044054 + ], + [ + 700.6874866745442, + 455.1750163624959 + ], + [ + 673.6326757240507, + 464.1378265146851 + ], + [ + 685.509990281374, + 436.2172932620373 + ], + [ + 714.245367602896, + 426.9234476632097 + ], + [ + 703.6345205933203, + 410.69409365341164 + ], + [ + 675.2811609952049, + 419.68073967841514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 972, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -116.28268432617188, + "y": -14.81512451171875, + "z": 1.096535325050354 + }, + "extent": { + "x": 0.4975195825099945, + "y": 0.3446643352508545, + "z": 0.8776417374610901 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 228.13600172102235, + "ymin": 542.9086966581597, + "xmax": 281.4789511801436, + "ymax": 629.341789683667 + }, + "corners_3d": [ + [ + -116.74144744873047, + -15.209905624389648, + 0.21889358758926392 + ], + [ + -116.81350708007812, + -14.52435302734375, + 0.21889358758926392 + ], + [ + -115.82392120361328, + -14.420343399047852, + 0.21889358758926392 + ], + [ + -115.75186157226562, + -15.10589599609375, + 0.21889358758926392 + ], + [ + -116.74144744873047, + -15.209905624389648, + 1.9741771221160889 + ], + [ + -116.81350708007812, + -14.52435302734375, + 1.9741771221160889 + ], + [ + -115.82392120361328, + -14.420343399047852, + 1.9741771221160889 + ], + [ + -115.75186157226562, + -15.10589599609375, + 1.9741771221160889 + ] + ], + "corners_2d": [ + [ + 250.58153929797305, + 629.341789683667 + ], + [ + 281.4789511801436, + 621.5543076846016 + ], + [ + 279.99742004081423, + 586.4048610129514 + ], + [ + 250.02229728259954, + 593.7311613693031 + ], + [ + 228.13600172102235, + 586.5844881926239 + ], + [ + 260.95838664987554, + 578.6494119301591 + ], + [ + 260.0437380476915, + 542.9086966581597 + ], + [ + 228.26025724866827, + 550.3481366510131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 426, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -102.93441772460938, + "y": -10.759026527404785, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.45316892862319946, + "y": 0.3115985095500946, + "z": 0.8951876759529114 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 314.1614408511815, + "ymin": 198.25393292543322, + "xmax": 346.2321822503961, + "ymax": 260.0136861043608 + }, + "corners_3d": [ + [ + -103.31289672851562, + -11.158035278320312, + 0.20136719942092896 + ], + [ + -103.44246673583984, + -10.548456192016602, + 0.20136719942092896 + ], + [ + -102.55593872070312, + -10.360017776489258, + 0.20136719942092896 + ], + [ + -102.4263687133789, + -10.969596862792969, + 0.20136719942092896 + ], + [ + -103.31289672851562, + -11.158035278320312, + 1.9917426109313965 + ], + [ + -103.44246673583984, + -10.548456192016602, + 1.9917426109313965 + ], + [ + -102.55593872070312, + -10.360017776489258, + 1.9917426109313965 + ], + [ + -102.4263687133789, + -10.969596862792969, + 1.9917426109313965 + ] + ], + "corners_2d": [ + [ + 326.5975118866393, + 260.0136861043608 + ], + [ + 345.5675788608456, + 257.8280279844644 + ], + [ + 346.2321822503961, + 242.0271651810529 + ], + [ + 327.6352490158295, + 244.1281952047308 + ], + [ + 314.1614408511815, + 215.92252340580893 + ], + [ + 333.91697062766673, + 213.77384026393113 + ], + [ + 334.843637250897, + 198.25393292543322 + ], + [ + 315.492441882857, + 200.316223021945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 614, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 349.9389515749647, + "ymin": 0.0, + "xmax": 433.69353107737663, + "ymax": 26.96678208338892 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 403.7436433349661, + -28.583799851620995 + ], + [ + 358.3260926859929, + -21.419757878387372 + ], + [ + 384.5774835850962, + 26.96678208338892 + ], + [ + 433.69353107737663, + 18.445482912552677 + ], + [ + 396.80673806538385, + -69.68272412048708 + ], + [ + 349.9389515749647, + -62.885271455874204 + ], + [ + 376.25505015070667, + -16.83103614134575 + ], + [ + 427.07365788188395, + -24.959801255033994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 6173, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 768.2785667000906, + "ymin": 236.14734061068606, + "xmax": 894.2865633035722, + "ymax": 367.0123149500949 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 832.5389986427399, + 367.0123149500949 + ], + [ + 884.6455533633416, + 350.4293297034042 + ], + [ + 817.1261926063444, + 275.6100689422004 + ], + [ + 768.2785667000906, + 289.5345947563409 + ], + [ + 840.2717102120713, + 326.6839891339385 + ], + [ + 894.2865633035722, + 310.2043460802109 + ], + [ + 823.5064496875507, + 236.14734061068606 + ], + [ + 772.979933342115, + 249.89342719761464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 3862, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 513.2392423687559, + "ymin": 51.96960474568732, + "xmax": 600.5438024417518, + "ymax": 150.98784863830372 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 558.0248263803256, + 85.5032491225416 + ], + [ + 516.503820663044, + 93.87127580595421 + ], + [ + 555.9557665321689, + 150.98784863830372 + ], + [ + 600.5438024417518, + 141.08429747782017 + ], + [ + 555.8866749699364, + 51.96960474568732 + ], + [ + 513.2392423687559, + 60.10662585784422 + ], + [ + 553.5317706919633, + 115.7957921341245 + ], + [ + 599.4223113950237, + 106.12103000065909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3556, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 440.46763888762825, + "ymin": 78.28189011328874, + "xmax": 521.9543499415671, + "ymax": 178.58973900460313 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 492.4464439528446, + 120.72787807121401 + ], + [ + 447.1104765122199, + 130.17400056367822 + ], + [ + 473.842216522972, + 178.58973900460313 + ], + [ + 521.9543499415671, + 167.764655733254 + ], + [ + 487.437725645205, + 78.28189011328874 + ], + [ + 440.46763888762825, + 87.43626836662116 + ], + [ + 467.69849005223034, + 134.49419189887914 + ], + [ + 517.656661177691, + 123.95267560781895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 807.0308514065109, + "ymin": 168.6043709468308, + "xmax": 829.3357845847494, + "ymax": 205.4785720459338 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 807.0308514065109, + 199.98381427908163 + ], + [ + 812.3868316689934, + 205.4785720459338 + ], + [ + 824.8636167596754, + 202.2519154271152 + ], + [ + 819.4401140039186, + 196.80373639317972 + ], + [ + 811.0591606745014, + 171.73840224763737 + ], + [ + 816.5754524912825, + 177.155105543445 + ], + [ + 829.3357845847494, + 173.97405285667386 + ], + [ + 823.7489447187055, + 168.6043709468308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.9824979302077, + "ymin": 126.09763189614995, + "xmax": 1002.3225988431141, + "ymax": 161.3052733631918 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 976.9824979302077, + 156.43108301356807 + ], + [ + 983.196143180029, + 161.3052733631918 + ], + [ + 994.2618816854927, + 158.44353076445668 + ], + [ + 987.9976416066155, + 153.60827035339844 + ], + [ + 984.6278174738978, + 128.87184199774964 + ], + [ + 991.037275190861, + 133.66329155025795 + ], + [ + 1002.3225988431141, + 130.84994640041418 + ], + [ + 995.8606721226015, + 126.09763189614995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.1731442375209, + "ymin": 681.8093599471188, + "xmax": 609.666827316202, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 586.9163130035477, + 733.8546236041502 + ], + [ + 609.666827316202, + 724.5784931205856 + ], + [ + 603.1513085321857, + 709.0407387836673 + ], + [ + 580.6330283321557, + 718.0915354554855 + ], + [ + 584.688321324816, + 707.1061331264918 + ], + [ + 608.4032755476535, + 697.6446885934499 + ], + [ + 601.6358074884664, + 681.8093599471188 + ], + [ + 578.1731442375209, + 691.0315417287254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 438.2246680551208, + "ymin": 375.4514877185768, + "xmax": 460.99807818249974, + "ymax": 411.8662334591077 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 446.12164759324526, + 411.8662334591077 + ], + [ + 460.99807818249974, + 407.5145427724933 + ], + [ + 458.0234399589495, + 400.13237367184234 + ], + [ + 443.248652664165, + 404.41717195682065 + ], + [ + 441.1314500119713, + 387.1751857113819 + ], + [ + 456.41212888572113, + 382.82640617019587 + ], + [ + 453.398084348671, + 375.4514877185768 + ], + [ + 438.2246680551208, + 379.73172335051225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 526.1500133611, + "ymin": 555.2565851509261, + "xmax": 556.1253307893506, + "ymax": 604.4037563605227 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 535.3161703069273, + 604.4037563605227 + ], + [ + 556.1253307893506, + 596.89661250566 + ], + [ + 550.8420689933399, + 584.2974570445563 + ], + [ + 530.2285399333709, + 591.6402448043193 + ], + [ + 531.3816107214856, + 575.5851357384465 + ], + [ + 552.9941265656855, + 567.9919004266875 + ], + [ + 547.551496980172, + 555.2565851509261 + ], + [ + 526.1500133611, + 562.6774587426105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 476.3455843519145, + "ymin": 433.91893998954754, + "xmax": 504.5031996889413, + "ymax": 479.77151352049333 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 485.63678025736556, + 479.77151352049333 + ], + [ + 504.5031996889413, + 473.79187001657414 + ], + [ + 500.2870305996636, + 463.7374418151859 + ], + [ + 481.58235576246375, + 469.60003940591764 + ], + [ + 480.48150379161746, + 450.0018046109254 + ], + [ + 500.0051174319456, + 444.0020119024764 + ], + [ + 495.69596471697446, + 433.91893998954754 + ], + [ + 476.3455843519145, + 439.7974414263204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1083.8105400641139, + "ymin": 179.21855398893368, + "xmax": 1108.759928772164, + "ymax": 209.98108090043274 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1083.8105400641139, + 205.31958679540034 + ], + [ + 1090.0271833717031, + 209.98108090043274 + ], + [ + 1099.4957621632138, + 207.25966113146754 + ], + [ + 1093.2434402839094, + 202.6313282545093 + ], + [ + 1092.7351263879914, + 181.87572474947387 + ], + [ + 1099.1336527466399, + 186.4842120133156 + ], + [ + 1108.759928772164, + 183.79359937740668 + ], + [ + 1102.32468674742, + 179.21855398893368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.8035711371434, + "ymin": 148.64020346727054, + "xmax": 910.6012547326369, + "ymax": 184.7395487521842 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 886.8035711371434, + 179.54074121794483 + ], + [ + 892.5801609243088, + 184.7395487521842 + ], + [ + 904.383975945053, + 181.6869308231923 + ], + [ + 898.5481560316741, + 176.53099793875938 + ], + [ + 892.5900383706114, + 151.6024943557652 + ], + [ + 898.5451764257039, + 156.72068356715658 + ], + [ + 910.6012547326369, + 153.7151959349164 + ], + [ + 904.5844404818591, + 148.64020346727054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.2335113785563, + "ymin": 20.564624309590613, + "xmax": 1166.0927327207155, + "ymax": 364.62238447223115 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1071.2600145475712, + 269.1577751058315 + ], + [ + 1062.512181596656, + 261.85381510643856 + ], + [ + 745.2335113785563, + 355.52954219273266 + ], + [ + 751.8181093677517, + 364.62238447223115 + ], + [ + 1166.0927327207155, + 26.83121314926541 + ], + [ + 1154.414426603472, + 20.564624309590613 + ], + [ + 771.4157074145658, + 102.8400225921431 + ], + [ + 779.9877432732472, + 111.05197722129373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 738.3920740754954, + "ymin": 0.0, + "xmax": 835.9195758566243, + "ymax": 28.82681118131171 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 813.3383305538582, + 15.14630825695923 + ], + [ + 808.6957730450866, + 11.585748682058522 + ], + [ + 738.3920740754954, + 25.09279622865438 + ], + [ + 742.6913880498013, + 28.82681118131171 + ], + [ + 835.9195758566243, + -161.50505078006142 + ], + [ + 830.5162484342435, + -164.27242899613293 + ], + [ + 751.4647905319752, + -153.7502652448385 + ], + [ + 756.4355226380899, + -150.82985184229653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 387.8280558907605, + "ymin": 206.8895116830162, + "xmax": 627.666439710444, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 460.2034765626513, + 467.48131182762427 + ], + [ + 444.53374514878817, + 472.23760826810906 + ], + [ + 606.0262847160736, + 936.5002887869047 + ], + [ + 627.666439710444, + 926.4725712825934 + ], + [ + 408.35588920901716, + 206.8895116830162 + ], + [ + 387.8280558907605, + 211.45628719044203 + ], + [ + 589.5299595224718, + 725.446867413429 + ], + [ + 621.7375006005136, + 712.7047895416192 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00130/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00130/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0a11a4a097436e688a36c4c2ab4bef713e4f1d2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00130/meta.json @@ -0,0 +1,2688 @@ +{ + "frame_id": 130, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 65.0, + "sim_timestamp": 3696.3745843020733 + }, + "drone_pose": { + "x": -130.73422064333676, + "y": -11.331519418696354, + "z": 20.0, + "pitch": -43.38201707672839, + "yaw": 27.376191344009538, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6453945636749268, + -0.33420059084892273, + 0.6868593692779541, + 74.42495727539062 + ], + [ + 0.4598308503627777, + 0.8880065679550171, + -1.4901161193847656e-08, + -50.05316162109375 + ], + [ + -0.6099356412887573, + 0.31583911180496216, + 0.7267903089523315, + -97.85420227050781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -130.2989440301073, + "y": -11.12898255840032, + "z": 20.01591386492534 + }, + "t1_image_uv": [ + 582.2902714644649, + -609.5048382139817 + ], + "t1_depth": 0.33768249050044347 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -112.16718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 579.1887059404752, + 363.847078551265 + ], + "depth": 27.626300852757893, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 600, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -112.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4472655653953552, + "y": 0.3780961036682129, + "z": 0.8876628875732422 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 559.0639817042182, + "ymin": 327.5706269296278, + "xmax": 598.672017068193, + "ymax": 399.6158397828817 + }, + "corners_3d": [ + [ + -112.61444854736328, + -4.065858840942383, + 0.056489527225494385 + ], + [ + -112.61444854736328, + -3.309666872024536, + 0.056489527225494385 + ], + [ + -111.71991729736328, + -3.309666872024536, + 0.056489527225494385 + ], + [ + -111.71991729736328, + -4.065858840942383, + 0.056489527225494385 + ], + [ + -112.61444854736328, + -4.065858840942383, + 1.831815242767334 + ], + [ + -112.61444854736328, + -3.309666872024536, + 1.831815242767334 + ], + [ + -111.71991729736328, + -3.309666872024536, + 1.831815242767334 + ], + [ + -111.71991729736328, + -4.065858840942383, + 1.831815242767334 + ] + ], + "corners_2d": [ + [ + 575.1254804613119, + 399.6158397828817 + ], + [ + 598.672017068193, + 391.0920846347386 + ], + [ + 585.7223917339326, + 372.18412087217155 + ], + [ + 562.5393061023083, + 380.36632750319666 + ], + [ + 572.151674322999, + 354.86772949653516 + ], + [ + 596.7953972096112, + 346.3780423665364 + ], + [ + 583.3096263570122, + 327.5706269296278 + ], + [ + 559.0639817042182, + 335.70510034470465 + ] + ], + "center_offset_px": [ + -60.81129405952481, + 3.8470785512649854 + ] + }, + "trace_timestep_index": 130, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 456615, + "2": 234989, + "3": 112284, + "4": 33070, + "6": 14341, + "7": 2816, + "9": 15216, + "10": 130, + "12": 4128, + "14": 15493, + "20": 3332, + "22": 6425, + "24": 22761 + }, + "instance_pixel_counts": { + "6488": 82, + "6744": 68, + "7768": 66, + "11605": 69527, + "15701": 8461, + "15967": 8358, + "15970": 2081, + "16213": 219, + "16479": 35879, + "16482": 3470, + "16725": 68, + "17547": 9057, + "18018": 3284, + "18059": 7388, + "19554": 3295, + "20107": 19911, + "20565": 27639, + "20619": 64, + "21395": 21647, + "21397": 946, + "21643": 15373, + "21907": 137320, + "21909": 8602, + "22931": 8673, + "23957": 1247, + "24467": 38163, + "25344": 6860, + "25600": 10149, + "26754": 840, + "29779": 3368, + "29835": 921, + "30859": 12, + "33419": 1287, + "33931": 531, + "34443": 251, + "36096": 600, + "36352": 594, + "36608": 697, + "36864": 691, + "37120": 1098, + "37376": 448, + "37632": 1524, + "37888": 6170, + "38912": 52, + "40448": 4005, + "40704": 3742, + "42071": 148, + "45409": 3276, + "45442": 6425, + "45971": 26025, + "46483": 173712, + "46995": 14135, + "48225": 5791, + "49043": 36940, + "49761": 8260, + "51526": 33070, + "53857": 4388, + "56458": 23670, + "56970": 13887, + "57482": 41066, + "58506": 26491, + "59992": 526, + "60307": 1521, + "60819": 7280, + "61254": 16966, + "61331": 971, + "62867": 2194 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 600, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -112.16718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.528749942779541, + "y": 0.3772408664226532, + "z": 0.8789550065994263 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 557.9450617823946, + "ymin": 326.1342514380223, + "xmax": 599.8431027612903, + "ymax": 401.1893487731213 + }, + "corners_3d": [ + [ + -112.69593048095703, + -4.065003871917725, + 0.0651974081993103 + ], + [ + -112.69593048095703, + -3.3105220794677734, + 0.0651974081993103 + ], + [ + -111.63843536376953, + -3.3105220794677734, + 0.0651974081993103 + ], + [ + -111.63843536376953, + -4.065003871917725, + 0.0651974081993103 + ], + [ + -112.69593048095703, + -4.065003871917725, + 1.8231074810028076 + ], + [ + -112.69593048095703, + -3.3105220794677734, + 1.8231074810028076 + ], + [ + -111.63843536376953, + -3.3105220794677734, + 1.8231074810028076 + ], + [ + -111.63843536376953, + -4.065003871917725, + 1.8231074810028076 + ] + ], + "corners_2d": [ + [ + 576.3111338595908, + 401.1893487731213 + ], + [ + 599.8431027612903, + 392.6528416312759 + ], + [ + 584.5311998819949, + 370.2992246033163 + ], + [ + 561.428116614166, + 378.4327601939138 + ], + [ + 573.4152741272674, + 356.87446550899335 + ], + [ + 598.0343888313538, + 348.370286174204 + ], + [ + 582.0948479762214, + 326.1342514380223 + ], + [ + 557.9450617823946, + 334.2194942202162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 594, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -108.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5440820455551147, + "y": 0.47247838973999023, + "z": 0.9307382702827454 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 587.0443425958305, + "ymin": 220.69357218597816, + "xmax": 631.7131776479774, + "ymax": 293.3203148293269 + }, + "corners_3d": [ + [ + -108.67162322998047, + -1.0390903949737549, + 0.013404369354248047 + ], + [ + -108.47515869140625, + -0.1147834062576294, + 0.013404369354248047 + ], + [ + -107.41077423095703, + -0.3410263657569885, + 0.013404369354248047 + ], + [ + -107.60723876953125, + -1.2653334140777588, + 0.013404369354248047 + ], + [ + -108.67162322998047, + -1.0390903949737549, + 1.8748809099197388 + ], + [ + -108.47515869140625, + -0.1147834062576294, + 1.8748809099197388 + ], + [ + -107.41077423095703, + -0.3410263657569885, + 1.8748809099197388 + ], + [ + -107.60723876953125, + -1.2653334140777588, + 1.8748809099197388 + ] + ], + "corners_2d": [ + [ + 609.270813712034, + 293.3203148293269 + ], + [ + 631.7131776479774, + 281.81870087585696 + ], + [ + 611.4486303271813, + 266.2013009160602 + ], + [ + 589.1590085584871, + 277.27078888451797 + ], + [ + 607.9667375434096, + 247.3819364257924 + ], + [ + 631.3665171692246, + 236.05404853852957 + ], + [ + 610.2776697902616, + 220.69357218597816 + ], + [ + 587.0443425958305, + 231.57845695591215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 697, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -115.73004913330078, + "y": 3.5213818550109863, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.6041699051856995, + "y": 0.4532972574234009, + "z": 0.9395058751106262 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 827.490261934541, + "ymin": 318.5365516701716, + "xmax": 889.799823564919, + "ymax": 401.6491430327923 + }, + "corners_3d": [ + [ + -116.37828826904297, + 3.133720874786377, + 0.0046465396881103516 + ], + [ + -116.28352355957031, + 4.035348892211914, + 0.0046465396881103516 + ], + [ + -115.0818099975586, + 3.9090428352355957, + 0.0046465396881103516 + ], + [ + -115.17657470703125, + 3.0074148178100586, + 0.0046465396881103516 + ], + [ + -116.37828826904297, + 3.133720874786377, + 1.8836582899093628 + ], + [ + -116.28352355957031, + 4.035348892211914, + 1.8836582899093628 + ], + [ + -115.0818099975586, + 3.9090428352355957, + 1.8836582899093628 + ], + [ + -115.17657470703125, + 3.0074148178100586, + 1.8836582899093628 + ] + ], + "corners_2d": [ + [ + 855.3579118137575, + 401.6491430327923 + ], + [ + 878.3657292470518, + 389.45010674885395 + ], + [ + 850.2640065818316, + 365.7043417443951 + ], + [ + 827.490261934541, + 377.2888951341795 + ], + [ + 865.8294294254919, + 354.2817518085243 + ], + [ + 889.799823564919, + 342.1357047658292 + ], + [ + 860.0824731383526, + 318.5365516701716 + ], + [ + 836.36163702969, + 330.0424137512997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 691, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -115.74694061279297, + "y": -3.687762975692749, + "z": 0.944147527217865 + }, + "extent": { + "x": 0.4443749487400055, + "y": 0.4088170826435089, + "z": 0.889043390750885 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 614.0730856341992, + "ymin": 407.67107009048374, + "xmax": 658.1193520029116, + "ymax": 485.74218952357126 + }, + "corners_3d": [ + [ + -116.19131469726562, + -4.0965800285339355, + 0.05510413646697998 + ], + [ + -116.19131469726562, + -3.2789459228515625, + 0.05510413646697998 + ], + [ + -115.30256652832031, + -3.2789459228515625, + 0.05510413646697998 + ], + [ + -115.30256652832031, + -4.0965800285339355, + 0.05510413646697998 + ], + [ + -116.19131469726562, + -4.0965800285339355, + 1.83319091796875 + ], + [ + -116.19131469726562, + -3.2789459228515625, + 1.83319091796875 + ], + [ + -115.30256652832031, + -3.2789459228515625, + 1.83319091796875 + ], + [ + -115.30256652832031, + -4.0965800285339355, + 1.83319091796875 + ] + ], + "corners_2d": [ + [ + 630.1150025211745, + 485.74218952357126 + ], + [ + 657.2608510641479, + 474.79145717651033 + ], + [ + 641.9960595488093, + 452.5432900957613 + ], + [ + 615.2873630735603, + 463.0200119139709 + ], + [ + 629.6178208282155, + 440.9748118213257 + ], + [ + 658.1193520029116, + 429.97760338064137 + ], + [ + 642.0930711958881, + 407.67107009048374 + ], + [ + 614.0730856341992, + 418.16926287607265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 1098, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -115.78268432617188, + "y": -14.81512451171875, + "z": 1.0962618589401245 + }, + "extent": { + "x": 0.3582666218280792, + "y": 0.3705267608165741, + "z": 0.8667453527450562 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 162.9707551459877, + "ymin": 575.7567287112524, + "xmax": 224.2595238574068, + "ymax": 654.8226011641792 + }, + "corners_3d": [ + [ + -116.10025787353516, + -15.221070289611816, + 0.22951650619506836 + ], + [ + -116.17771911621094, + -14.484076499938965, + 0.22951650619506836 + ], + [ + -115.4651107788086, + -14.409178733825684, + 0.22951650619506836 + ], + [ + -115.38764953613281, + -15.146172523498535, + 0.22951650619506836 + ], + [ + -116.10025787353516, + -15.221070289611816, + 1.9630072116851807 + ], + [ + -116.17771911621094, + -14.484076499938965, + 1.9630072116851807 + ], + [ + -115.4651107788086, + -14.409178733825684, + 1.9630072116851807 + ], + [ + -115.38764953613281, + -15.146172523498535, + 1.9630072116851807 + ] + ], + "corners_2d": [ + [ + 190.00826675777103, + 654.8226011641792 + ], + [ + 224.2595238574068, + 644.0573635625735 + ], + [ + 222.06758068071434, + 618.2726846373758 + ], + [ + 188.5448323694577, + 628.5749468007698 + ], + [ + 163.91506425316572, + 613.0154555178543 + ], + [ + 200.380705130538, + 602.027805907695 + ], + [ + 198.61157897353064, + 575.7567287112524 + ], + [ + 162.9707551459877, + 586.2455017963529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 448, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -102.43251037597656, + "y": -10.760416984558105, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.49827635288238525, + "y": 0.3221765160560608, + "z": 0.9039941430091858 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 239.52046823619827, + "ymin": 214.00827566494266, + "xmax": 275.53529032259576, + "ymax": 279.376707035404 + }, + "corners_3d": [ + [ + -102.85291290283203, + -11.179150581359863, + 0.19256073236465454 + ], + [ + -102.98688507080078, + -10.54887866973877, + 0.19256073236465454 + ], + [ + -102.0121078491211, + -10.341683387756348, + 0.19256073236465454 + ], + [ + -101.87813568115234, + -10.971955299377441, + 0.19256073236465454 + ], + [ + -102.85291290283203, + -11.179150581359863, + 2.000549077987671 + ], + [ + -102.98688507080078, + -10.54887866973877, + 2.000549077987671 + ], + [ + -102.0121078491211, + -10.341683387756348, + 2.000549077987671 + ], + [ + -101.87813568115234, + -10.971955299377441, + 2.000549077987671 + ] + ], + "corners_2d": [ + [ + 255.23372118987112, + 279.376707035404 + ], + [ + 275.50836163474946, + 276.1462844524686 + ], + [ + 275.53529032259576, + 258.4381862461875 + ], + [ + 255.6984534389942, + 261.53089502712 + ], + [ + 239.52046823619827, + 234.6000868752593 + ], + [ + 260.6836297791217, + 231.42037624181586 + ], + [ + 261.0431271845014, + 214.00827566494266 + ], + [ + 240.35652222741788, + 217.0470948099677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 1524, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 267.9509643028842, + "ymin": 0.0, + "xmax": 359.00728750430005, + "ymax": 43.30419189905524 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 325.8115175688921, + -14.41007201132993 + ], + [ + 278.9415108024538, + -5.646669070579378 + ], + [ + 308.4964478359751, + 43.30419189905524 + ], + [ + 359.00728750430005, + 32.90033990626398 + ], + [ + 316.40706204117043, + -56.0228728453186 + ], + [ + 267.9509643028842, + -47.69792696696044 + ], + [ + 297.46317429166146, + -1.0449587212410165 + ], + [ + 349.8252816402997, + -10.981952162269351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 6170, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 712.0899216920446, + "ymin": 240.03390090975944, + "xmax": 838.1319685785031, + "ymax": 371.21228442377253 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 779.9958435089187, + 371.21228442377253 + ], + [ + 830.6452541998051, + 351.7942431178241 + ], + [ + 759.9866071157239, + 279.49986968642304 + ], + [ + 712.0899216920446, + 295.89224873886667 + ], + [ + 785.6170445934902, + 330.8750460551587 + ], + [ + 838.1319685785031, + 311.5807405796545 + ], + [ + 764.3059941247202, + 240.03390090975944 + ], + [ + 714.7384257640747, + 256.21726412026254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 52, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 345.254124825366, + "ymin": 0.0, + "xmax": 410.2939150488377, + "ymax": 8.308277138315134 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 388.10272305449, + -25.842764608405957 + ], + [ + 351.22553388412905, + -18.944919084827063 + ], + [ + 371.8231123689793, + 8.308277138315134 + ], + [ + 410.2939150488377, + 0.685552721431236 + ], + [ + 382.9632735625083, + -54.44062649565552 + ], + [ + 345.254124825366, + -47.7862921080706 + ], + [ + 365.98533574408685, + -21.460020951735373 + ], + [ + 405.3636659891263, + -28.829146306442567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4005, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 442.6501151421901, + "ymin": 63.43573567568865, + "xmax": 535.816337644868, + "ymax": 164.15927444455502 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 489.8432151418923, + 97.1808077580863 + ], + [ + 447.80399827660614, + 107.26769221433221 + ], + [ + 490.90517792847174, + 164.15927444455502 + ], + [ + 535.816337644868, + 152.25860807457647 + ], + [ + 485.88033708434705, + 63.43573567568865 + ], + [ + 442.6501151421901, + 73.2507579728474 + ], + [ + 486.54941704439466, + 128.76125916023162 + ], + [ + 532.8250201975623, + 117.12804621222827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3742, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 368.93783824658806, + "ymin": 92.91354068843134, + "xmax": 456.9390267155916, + "ymax": 195.87047703801198 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 424.40027662079046, + 135.69776095045034 + ], + [ + 378.1297122073886, + 147.18355275262692 + ], + [ + 408.0100465509563, + 195.87047703801198 + ], + [ + 456.9390267155916, + 182.7329332111125 + ], + [ + 416.9620255980732, + 92.91354068843134 + ], + [ + 368.93783824658806, + 104.05770045315529 + ], + [ + 399.27459490647414, + 151.44051615959248 + ], + [ + 450.1723334388358, + 138.63185392762847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 746.1149159723125, + "ymin": 174.30883265037778, + "xmax": 766.9853102679992, + "ymax": 211.65074682906157 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 746.1149159723125, + 206.29257072651862 + ], + [ + 751.7329400842086, + 211.65074682906157 + ], + [ + 763.9809959782652, + 207.83984267012033 + ], + [ + 758.3049420766711, + 202.53515569868043 + ], + [ + 748.6809019855455, + 178.01223603728496 + ], + [ + 754.4544562559865, + 183.29493516329342 + ], + [ + 766.9853102679992, + 179.53752605378193 + ], + [ + 761.1510898134217, + 174.30883265037778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.4740447422358, + "ymin": 124.64131680950413, + "xmax": 934.9511502977925, + "ymax": 159.97858450931764 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 911.4740447422358, + 155.3229774069078 + ], + [ + 917.8052825919269, + 159.97858450931764 + ], + [ + 928.4458765860498, + 156.66783096750413 + ], + [ + 922.0743632676661, + 152.05556796672244 + ], + [ + 917.5845950441001, + 127.85130036968457 + ], + [ + 924.100715923929, + 132.42624467376896 + ], + [ + 934.9511502977925, + 129.172712889584 + ], + [ + 928.3933250646984, + 124.64131680950413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5711238804939743520, + "instance_id": 8225, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -124.40570068359375, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 538.5766317434029, + "ymin": 717.0989564995004, + "xmax": 572.9110630869302, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -124.54428100585938, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.276006698608398, + 5.545533180236816 + ], + [ + -124.26712036132812, + -9.655921936035156, + 5.545533180236816 + ], + [ + -124.54428100585938, + -9.655921936035156, + 6.416468620300293 + ], + [ + -124.54428100585938, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.276006698608398, + 6.416468620300293 + ], + [ + -124.26712036132812, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 549.9608605804849, + 771.0062068727161 + ], + [ + 572.9110630869302, + 759.5499484019224 + ], + [ + 565.4495304022879, + 743.7436540528402 + ], + [ + 542.7147084454543, + 754.9232679307638 + ], + [ + 546.0816627719298, + 744.9491663021179 + ], + [ + 570.0468308582872, + 733.2399194669777 + ], + [ + 562.3068622945474, + 717.0989564995004 + ], + [ + 538.5766317434029, + 728.5135523740995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 379.82983124223847, + "ymin": 402.3606226396444, + "xmax": 405.0335941439565, + "ymax": 439.9346434360705 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 389.8011412573826, + 439.9346434360705 + ], + [ + 405.0335941439565, + 434.56612298988466 + ], + [ + 401.6011396759684, + 427.0606636887519 + ], + [ + 386.46713769537996, + 432.3471984726888 + ], + [ + 383.19904517275205, + 415.23933111505585 + ], + [ + 398.8680450903961, + 409.8677614935788 + ], + [ + 395.39458808760963, + 402.3606226396444 + ], + [ + 379.82983124223847, + 407.64802687289176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 478.6204634904527, + "ymin": 588.018498555224, + "xmax": 511.5591448809227, + "ymax": 638.8667158907048 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 490.42548036963024, + 638.8667158907048 + ], + [ + 511.5591448809227, + 629.5839595686452 + ], + [ + 505.5006693047603, + 616.7498592215413 + ], + [ + 484.5520139732566, + 625.8304711373762 + ], + [ + 484.6521748503611, + 610.4220404181895 + ], + [ + 506.64184463592187, + 601.0150323593505 + ], + [ + 500.4097040114723, + 588.018498555224 + ], + [ + 478.6204634904527, + 597.2129155878092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 421.17274617896646, + "ymin": 464.11507768935707, + "xmax": 452.3277243800371, + "ymax": 511.5125530900989 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 433.04613876285146, + 511.5125530900989 + ], + [ + 452.3277243800371, + 504.10994284317917 + ], + [ + 447.48665172220444, + 493.8547526382486 + ], + [ + 428.3607019977713, + 501.1131562698118 + ], + [ + 425.9452001745156, + 481.85703962224676 + ], + [ + 445.934925504371, + 474.4166753597275 + ], + [ + 440.9950701081138, + 464.11507768935707 + ], + [ + 421.17274617896646, + 471.40561966101853 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1017.3161833218373, + "ymin": 172.09071038126538, + "xmax": 1040.3164657589614, + "ymax": 202.82635457569356 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1017.3161833218373, + 198.43786875257393 + ], + [ + 1023.5619912349855, + 202.82635457569356 + ], + [ + 1032.5290026317741, + 199.72289737597154 + ], + [ + 1026.2566388750379, + 195.37054567587424 + ], + [ + 1024.7887036122313, + 175.1207213528183 + ], + [ + 1031.2038011531229, + 179.45668244644395 + ], + [ + 1040.3164657589614, + 176.39026512683822 + ], + [ + 1033.8741333431215, + 172.09071038126538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 824.157416735037, + "ymin": 150.8519295934378, + "xmax": 846.3325762441566, + "ymax": 187.25739531824055 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 824.157416735037, + 182.23699753368618 + ], + [ + 830.13195519639, + 187.25739531824055 + ], + [ + 841.6071488457148, + 183.6869622975937 + ], + [ + 835.5834005306563, + 178.71508848657217 + ], + [ + 828.4650808080414, + 154.31788578761743 + ], + [ + 834.610699180918, + 159.2598776116193 + ], + [ + 846.3325762441566, + 155.74504234055445 + ], + [ + 840.1357308099861, + 150.8519295934378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.4143582320481, + "ymin": 14.909740132489901, + "xmax": 1087.806744026268, + "ymax": 372.97085916284817 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1008.275507884097, + 261.4371759990183 + ], + [ + 999.4394274902511, + 254.5493227021596 + ], + [ + 692.4143582320481, + 364.0625261730286 + ], + [ + 699.4678519368755, + 372.97085916284817 + ], + [ + 1087.806744026268, + 20.78189076724408 + ], + [ + 1076.2600249669372, + 14.909740132489901 + ], + [ + 705.5294007410786, + 110.90458549393648 + ], + [ + 714.5301051711588, + 118.96778952385571 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.8560161982498, + "ymin": 0.0, + "xmax": 756.214753428183, + "ymax": 33.32799111549224 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 742.8713637017603, + 17.2916494179384 + ], + [ + 738.0918859928413, + 13.862503174804147 + ], + [ + 668.8560161982498, + 29.70188946850817 + ], + [ + 673.3361202163974, + 33.32799111549224 + ], + [ + 756.214753428183, + -158.92104002304757 + ], + [ + 750.728092411855, + -161.5837062328286 + ], + [ + 672.6921314877295, + -149.24955791639024 + ], + [ + 677.7994017148537, + -146.41323333477249 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.44171179998824, + "ymin": 233.45549447868063, + "xmax": 602.4308476284539, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 407.6996654550521, + 494.9139821265591 + ], + [ + 391.6842171657671, + 500.7918809053778 + ], + [ + 580.8099682350977, + 971.7817145671531 + ], + [ + 602.4308476284539, + 959.4647505962756 + ], + [ + 338.75067076014705, + 233.45549447868063 + ], + [ + 317.44171179998824, + 239.17525753605042 + ], + [ + 551.1788336908495, + 769.5210327935488 + ], + [ + 583.8512621318836, + 753.5638591206987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13853028595040401182, + "instance_id": 7735, + "pixel_count": null, + "type_id": "BP_StreetLight_simple82_47_SM_2", + "bbox_3d": { + "center_world": { + "x": -104.37232208251953, + "y": 40.86442947387695, + "z": 0.7165936231613159 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1257.6287729024364, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 76.36253790511256 + }, + "corners_3d": [ + [ + -102.45560455322266, + 41.08403778076172, + -3.160125255584717 + ], + [ + -102.45560455322266, + 40.64482879638672, + -3.160125255584717 + ], + [ + -106.2890396118164, + 40.64482116699219, + -3.160125255584717 + ], + [ + -106.2890396118164, + 41.08403015136719, + -3.160125255584717 + ], + [ + -102.45560455322266, + 41.08403778076172, + 4.5933122634887695 + ], + [ + -102.45560455322266, + 40.64482879638672, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 40.64482116699219, + 4.5933122634887695 + ], + [ + -106.2890396118164, + 41.08403015136719, + 4.5933122634887695 + ] + ], + "corners_2d": [ + [ + 1263.119950495603, + 44.734261412869046 + ], + [ + 1257.6287729024364, + 46.42058256260674 + ], + [ + 1323.274991700554, + 76.36253790511256 + ], + [ + 1328.8464469365792, + 74.50209540924294 + ], + [ + 1334.7145572664463, + -108.20233333153715 + ], + [ + 1328.8179038495462, + -106.80750643469713 + ], + [ + 1406.4863857314376, + -81.88829118103354 + ], + [ + 1412.4557050678136, + -83.44513379186901 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00131/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00131/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e94b3a96da7c91f63c766c1395b9040b2ac9fb0 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00131/meta.json @@ -0,0 +1,2373 @@ +{ + "frame_id": 131, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 65.5, + "sim_timestamp": 3710.2125222140457 + }, + "drone_pose": { + "x": -130.2989440301073, + "y": -11.12898255840032, + "z": 20.01591386492534, + "pitch": -43.54941863505774, + "yaw": 21.770955948364414, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6730846166610718, + -0.2688189744949341, + 0.688979983329773, + 76.9033432006836 + ], + [ + 0.370897114276886, + 0.9286739826202393, + 0.0, + -37.9923095703125 + ], + [ + -0.6398377418518066, + 0.2555406987667084, + 0.7247803807258606, + -100.72124481201172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -130.04329806492316, + "y": -10.964798764730658, + "z": 19.99537099231269 + }, + "t1_image_uv": [ + 880.2695425095496, + -434.46255207958166 + ], + "t1_depth": 0.23036072404660615 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -111.66718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.681155126102254, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 623, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -111.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.46749019622802734, + "y": 0.37556329369544983, + "z": 0.8872756958007812 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.6270134488014, + "ymin": 323.73925002922766, + "xmax": 658.6654014186951, + "ymax": 395.75165030161185 + }, + "corners_3d": [ + [ + -112.13467407226562, + -4.063326358795166, + 0.05687671899795532 + ], + [ + -112.13467407226562, + -3.312199592590332, + 0.05687671899795532 + ], + [ + -111.19969177246094, + -3.312199592590332, + 0.05687671899795532 + ], + [ + -111.19969177246094, + -4.063326358795166, + 0.05687671899795532 + ], + [ + -112.13467407226562, + -4.063326358795166, + 1.831428050994873 + ], + [ + -112.13467407226562, + -3.312199592590332, + 1.831428050994873 + ], + [ + -111.19969177246094, + -3.312199592590332, + 1.831428050994873 + ], + [ + -111.19969177246094, + -4.063326358795166, + 1.831428050994873 + ] + ], + "corners_2d": [ + [ + 633.9602501364105, + 395.75165030161185 + ], + [ + 657.8526561507373, + 388.93209950544446 + ], + [ + 645.8648844259037, + 368.2927916273927 + ], + [ + 622.4150312030499, + 374.8155953087815 + ], + [ + 633.6832065316567, + 351.0681996492604 + ], + [ + 658.6654014186951, + 344.2741388900034 + ], + [ + 646.1257709301344, + 323.73925002922766 + ], + [ + 621.6270134488014, + 330.2246265660697 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 131, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 419040, + "2": 233367, + "3": 154812, + "4": 36892, + "6": 14704, + "7": 2937, + "9": 14034, + "10": 314, + "12": 4142, + "14": 15188, + "20": 2892, + "22": 2412, + "24": 20866 + }, + "instance_pixel_counts": { + "6744": 81, + "9045": 699, + "11605": 90564, + "15701": 21424, + "15967": 9852, + "15970": 2197, + "16213": 142, + "16479": 32034, + "16482": 3925, + "16725": 98, + "17547": 9892, + "18018": 1509, + "18059": 8371, + "19554": 3543, + "20107": 12095, + "20565": 30011, + "21395": 20598, + "21397": 881, + "21643": 16864, + "21907": 130366, + "21909": 8353, + "22931": 13384, + "23957": 1258, + "24467": 38563, + "25344": 7649, + "25600": 9816, + "26754": 911, + "29779": 5886, + "29835": 2161, + "30859": 622, + "31371": 31, + "33419": 2263, + "33931": 911, + "36096": 623, + "36352": 587, + "36608": 852, + "36864": 711, + "37120": 969, + "37376": 400, + "37632": 922, + "37888": 6595, + "40448": 4007, + "40704": 3664, + "42071": 176, + "45409": 3009, + "45442": 2412, + "45971": 26106, + "46483": 148786, + "46995": 2155, + "48225": 5804, + "49043": 39082, + "49761": 10784, + "51526": 36892, + "53857": 4374, + "56458": 21281, + "56970": 13576, + "57482": 47739, + "58506": 26518, + "59992": 8, + "60307": 1516, + "60819": 6227, + "61254": 15926, + "61331": 311, + "62867": 2320 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 623, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -111.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5262450575828552, + "y": 0.37723568081855774, + "z": 0.8785912990570068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.8372691570191, + "ymin": 322.69354471781384, + "xmax": 659.5239533415624, + "ymax": 396.9050763612117 + }, + "corners_3d": [ + [ + -112.19342803955078, + -4.064998626708984, + 0.06556111574172974 + ], + [ + -112.19342803955078, + -3.3105273246765137, + 0.06556111574172974 + ], + [ + -111.14093780517578, + -3.3105273246765137, + 0.06556111574172974 + ], + [ + -111.14093780517578, + -4.064998626708984, + 0.06556111574172974 + ], + [ + -112.19342803955078, + -4.064998626708984, + 1.8227436542510986 + ], + [ + -112.19342803955078, + -3.3105273246765137, + 1.8227436542510986 + ], + [ + -111.14093780517578, + -3.3105273246765137, + 1.8227436542510986 + ], + [ + -111.14093780517578, + -4.064998626708984, + 1.8227436542510986 + ] + ], + "corners_2d": [ + [ + 634.6483865098648, + 396.9050763612117 + ], + [ + 658.6807913804703, + 390.0358003120315 + ], + [ + 645.1819622891646, + 366.80284866226566 + ], + [ + 621.6501703532845, + 373.33650604638626 + ], + [ + 634.4049998495858, + 352.6548980505383 + ], + [ + 659.5239533415624, + 345.8101632447214 + ], + [ + 645.4098331584587, + 322.69354471781384 + ], + [ + 620.8372691570191, + 329.1892923963042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 587, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -107.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5388427376747131, + "y": 0.474318265914917, + "z": 0.9322912096977234 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 656.7718512833993, + "ymin": 219.04169741839075, + "xmax": 701.3184823322819, + "ymax": 291.4949015446076 + }, + "corners_3d": [ + [ + -108.16688537597656, + -1.041979432106018, + 0.011866092681884766 + ], + [ + -107.96965026855469, + -0.11407303810119629, + 0.011866092681884766 + ], + [ + -106.91551208496094, + -0.33813735842704773, + 0.011866092681884766 + ], + [ + -107.11274719238281, + -1.266043782234192, + 0.011866092681884766 + ], + [ + -108.16688537597656, + -1.041979432106018, + 1.8764485120773315 + ], + [ + -107.96965026855469, + -0.11407303810119629, + 1.8764485120773315 + ], + [ + -106.91551208496094, + -0.33813735842704773, + 1.8764485120773315 + ], + [ + -107.11274719238281, + -1.266043782234192, + 1.8764485120773315 + ] + ], + "corners_2d": [ + [ + 675.4393771118192, + 291.4949015446076 + ], + [ + 698.8392194140483, + 281.3415549995683 + ], + [ + 679.9231397664628, + 264.64130709929833 + ], + [ + 656.7718512833993, + 274.3896842439175 + ], + [ + 676.9516160105514, + 245.47884293678752 + ], + [ + 701.3184823322819, + 235.47452097999098 + ], + [ + 681.5702723134619, + 219.04169741839075 + ], + [ + 657.4724164737163, + 228.63060366923426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 852, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -115.68235778808594, + "y": 3.724231481552124, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.6095068454742432, + "y": 0.45571210980415344, + "z": 0.933223307132721 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 904.9062961642035, + "ymin": 341.4505010851997, + "xmax": 973.3456890558739, + "ymax": 426.2916415007293 + }, + "corners_3d": [ + [ + -116.3361587524414, + 3.334726572036743, + 0.010929107666015625 + ], + [ + -116.24089050292969, + 4.2411580085754395, + 0.010929107666015625 + ], + [ + -115.02855682373047, + 4.113736152648926, + 0.010929107666015625 + ], + [ + -115.12382507324219, + 3.2073049545288086, + 0.010929107666015625 + ], + [ + -116.3361587524414, + 3.334726572036743, + 1.8773757219314575 + ], + [ + -116.24089050292969, + 4.2411580085754395, + 1.8773757219314575 + ], + [ + -115.02855682373047, + 4.113736152648926, + 1.8773757219314575 + ], + [ + -115.12382507324219, + 3.2073049545288086, + 1.8773757219314575 + ] + ], + "corners_2d": [ + [ + 932.6999810121486, + 426.2916415007293 + ], + [ + 957.6879194945723, + 415.2865684062194 + ], + [ + 929.5043070109294, + 388.4164795607688 + ], + [ + 904.9062961642035, + 398.8157006778662 + ], + [ + 947.2983923149607, + 379.23002251751086 + ], + [ + 973.3456890558739, + 368.23771864190496 + ], + [ + 943.3579154128272, + 341.4505010851997 + ], + [ + 917.7296926574727, + 351.8089613784227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 711, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -115.24694061279297, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3943310081958771, + "y": 0.41044336557388306, + "z": 0.8831515908241272 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.5094232186411, + "ymin": 409.58120467239416, + "xmax": 712.6673694691542, + "ymax": 483.7531072403288 + }, + "corners_3d": [ + [ + -115.64127349853516, + -4.098206520080566, + 0.06098628044128418 + ], + [ + -115.64127349853516, + -3.2773196697235107, + 0.06098628044128418 + ], + [ + -114.85260772705078, + -3.2773196697235107, + 0.06098628044128418 + ], + [ + -114.85260772705078, + -4.098206520080566, + 0.06098628044128418 + ], + [ + -115.64127349853516, + -4.098206520080566, + 1.8272894620895386 + ], + [ + -115.64127349853516, + -3.2773196697235107, + 1.8272894620895386 + ], + [ + -114.85260772705078, + -3.2773196697235107, + 1.8272894620895386 + ], + [ + -114.85260772705078, + -4.098206520080566, + 1.8272894620895386 + ] + ], + "corners_2d": [ + [ + 681.1340059324854, + 483.7531072403288 + ], + [ + 709.2297749850026, + 474.86342322100944 + ], + [ + 697.1348552019971, + 454.0906788262387 + ], + [ + 669.5094232186411, + 462.6230429673987 + ], + [ + 683.1950667482079, + 439.3526752710701 + ], + [ + 712.6673694691542, + 430.42135454341974 + ], + [ + 699.9117318566915, + 409.58120467239416 + ], + [ + 670.9563968234402, + 418.1361946968646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 969, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -115.28268432617188, + "y": -14.81512451171875, + "z": 1.0959151983261108 + }, + "extent": { + "x": 0.44391605257987976, + "y": 0.3519073724746704, + "z": 0.8737107515335083 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 222.3373230435147, + "ymin": 537.4478006368863, + "xmax": 276.12618708471877, + "ymax": 619.1619622376334 + }, + "corners_3d": [ + [ + -115.68738555908203, + -15.211505889892578, + 0.22220444679260254 + ], + [ + -115.76095581054688, + -14.511547088623047, + 0.22220444679260254 + ], + [ + -114.87798309326172, + -14.418743133544922, + 0.22220444679260254 + ], + [ + -114.80441284179688, + -15.118701934814453, + 0.22220444679260254 + ], + [ + -115.68738555908203, + -15.211505889892578, + 1.9696259498596191 + ], + [ + -115.76095581054688, + -14.511547088623047, + 1.9696259498596191 + ], + [ + -114.87798309326172, + -14.418743133544922, + 1.9696259498596191 + ], + [ + -114.80441284179688, + -15.118701934814453, + 1.9696259498596191 + ] + ], + "corners_2d": [ + [ + 244.81080055920955, + 619.1619622376334 + ], + [ + 276.12618708471877, + 611.9460962406863 + ], + [ + 275.8529123755401, + 580.7717256310727 + ], + [ + 245.37924515632852, + 587.6052919774246 + ], + [ + 222.3373230435147, + 576.4702268863132 + ], + [ + 255.56817136451536, + 569.1244406206985 + ], + [ + 255.8604457754111, + 537.4478006368863 + ], + [ + 223.57585766959517, + 544.3832766022308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 400, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -101.93060302734375, + "y": -10.761802673339844, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.3826220631599426, + "y": 0.3092266917228699, + "z": 0.8743518590927124 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 320.5381507572176, + "ymin": 195.8091824205966, + "xmax": 352.04637618548577, + "ymax": 253.63789741430787 + }, + "corners_3d": [ + [ + -102.24057006835938, + -11.143823623657227, + 0.22220301628112793 + ], + [ + -102.36915588378906, + -10.538885116577148, + 0.22220301628112793 + ], + [ + -101.62063598632812, + -10.379781723022461, + 0.22220301628112793 + ], + [ + -101.49205017089844, + -10.984720230102539, + 0.22220301628112793 + ], + [ + -102.24057006835938, + -11.143823623657227, + 1.9709067344665527 + ], + [ + -102.36915588378906, + -10.538885116577148, + 1.9709067344665527 + ], + [ + -101.62063598632812, + -10.379781723022461, + 1.9709067344665527 + ], + [ + -101.49205017089844, + -10.984720230102539, + 1.9709067344665527 + ] + ], + "corners_2d": [ + [ + 332.3740906483272, + 253.63789741430787 + ], + [ + 351.0426141832549, + 251.75636627340234 + ], + [ + 352.04637618548577, + 238.49092646111805 + ], + [ + 333.688758643191, + 240.3108372968765 + ], + [ + 320.5381507572176, + 210.6902466394535 + ], + [ + 339.9518897004194, + 208.84057586717609 + ], + [ + 341.1833314605305, + 195.8091824205966 + ], + [ + 322.1055835186509, + 197.5960080903258 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 922, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 368.9068217727265, + "ymin": 0.0, + "xmax": 451.57906492572016, + "ymax": 32.68266424621032 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 422.6287204166872, + -24.06474565199528 + ], + [ + 376.81963316626076, + -17.16808351733971 + ], + [ + 401.91777531898845, + 32.68266424621032 + ], + [ + 451.57906492572016, + 24.45183010806562 + ], + [ + 416.1798918780454, + -65.41947348085114 + ], + [ + 368.9068217727265, + -58.87132253012845 + ], + [ + 394.07112181357127, + -11.388445386085209 + ], + [ + 445.4593052238214, + -19.246687512616802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 6595, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 786.1449563238251, + "ymin": 256.38974712904223, + "xmax": 915.7561063575988, + "ymax": 392.2959638686217 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 850.9988553899143, + 392.2959638686217 + ], + [ + 905.0021825952322, + 375.74066236994247 + ], + [ + 836.5533337726888, + 296.0877956264799 + ], + [ + 786.1449563238251, + 309.90299245259837 + ], + [ + 859.7203072784589, + 351.88826391252337 + ], + [ + 915.7561063575988, + 335.39785850214736 + ], + [ + 843.819881090423, + 256.38974712904223 + ], + [ + 791.6391729507924, + 270.05379057359977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4007, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 530.5359111927027, + "ymin": 61.08068431640709, + "xmax": 617.6134062862462, + "ymax": 162.56944814584853 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 575.6467623832208, + 94.87527905983507 + ], + [ + 533.3979510208592, + 103.02251069711866 + ], + [ + 572.1032834564976, + 162.56944814584853 + ], + [ + 617.6134062862462, + 152.88594634390955 + ], + [ + 573.9410538426862, + 61.08068431640709 + ], + [ + 530.5359111927027, + 69.00998226220122 + ], + [ + 570.1099710272439, + 127.12512531573228 + ], + [ + 616.96533725742, + 117.65512387371257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3664, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 456.12536751574544, + "ymin": 87.71899820401467, + "xmax": 537.2205915260429, + "ymax": 190.0713374666511 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 508.4189883528496, + 130.46385771843097 + ], + [ + 462.33787255014795, + 139.65447580523718 + ], + [ + 488.19905894654335, + 190.0713374666511 + ], + [ + 537.2205915260429, + 179.50344520187585 + ], + [ + 503.8810466716477, + 87.71899820401467 + ], + [ + 456.12536751574544, + 96.63573507836247 + ], + [ + 482.48972388545394, + 145.6978300730358 + ], + [ + 533.4120347295856, + 135.39316794873648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.651717784858, + "ymin": 191.18075186481073, + "xmax": 851.1970885447589, + "ymax": 228.76747515874993 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 827.651717784858, + 222.86981540296856 + ], + [ + 833.1021549377967, + 228.76747515874993 + ], + [ + 846.0521990266141, + 225.52785261393697 + ], + [ + 840.5268471922618, + 219.67881361262548 + ], + [ + 832.3207643261285, + 194.33046559579037 + ], + [ + 837.9442742072167, + 200.1535140695221 + ], + [ + 851.1970885447589, + 196.95460315790066 + ], + [ + 845.4952053871443, + 191.18075186481073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1004.2473162214435, + "ymin": 148.38824483132274, + "xmax": 1031.1664017384358, + "ymax": 184.35059278504187 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1004.2473162214435, + 179.10214150986616 + ], + [ + 1010.6546434715146, + 184.35059278504187 + ], + [ + 1022.1769242497, + 181.46814312374028 + ], + [ + 1015.7127375879633, + 176.2605242886128 + ], + [ + 1012.7867944624948, + 151.18526494712032 + ], + [ + 1019.4081404953516, + 156.35268497868503 + ], + [ + 1031.1664017384358, + 153.51452251844358 + ], + [ + 1024.486005931011, + 148.38824483132274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 445.32682613275836, + "ymin": 399.56456673053594, + "xmax": 468.3458754650537, + "ymax": 436.3971981803443 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 453.0332485055968, + 436.3971981803443 + ], + [ + 468.3458754650537, + 432.0746135272191 + ], + [ + 465.50018567079394, + 424.233384975066 + ], + [ + 450.297638158007, + 428.4872499004362 + ], + [ + 448.0935750197194, + 411.7344434095732 + ], + [ + 463.8311057886093, + 407.4087981962319 + ], + [ + 460.94807243203184, + 399.56456673053594 + ], + [ + 445.32682613275836, + 403.8196529982802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 528.7968826300157, + "ymin": 601.3217436592279, + "xmax": 559.6712403679453, + "ymax": 651.2084789417438 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 537.8830702171621, + 651.2084789417438 + ], + [ + 559.6712403679453, + 643.536170030769 + ], + [ + 554.507899844231, + 629.7711441835104 + ], + [ + 532.9393237749358, + 637.2673285671088 + ], + [ + 533.8838070428924, + 623.0626209006132 + ], + [ + 556.54611036959, + 615.2781921022693 + ], + [ + 551.2216412494183, + 601.3217436592279 + ], + [ + 528.7968826300157, + 608.9206239419772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 480.6650193021612, + "ymin": 469.1575404867312, + "xmax": 509.45966451591664, + "ymax": 515.7233473846029 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 489.8379028414183, + 515.7233473846029 + ], + [ + 509.45966451591664, + 509.6765331987924 + ], + [ + 505.3820836918612, + 498.806048698293 + ], + [ + 485.939277790431, + 504.72939237320884 + ], + [ + 484.6418097027152, + 486.16666646424477 + ], + [ + 504.96899497600907, + 480.08488985874413 + ], + [ + 500.8001459892902, + 469.1575404867312 + ], + [ + 480.6650193021612, + 475.1109161243347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1113.6481714875108, + "ymin": 202.46861856563538, + "xmax": 1140.1447932940591, + "ymax": 233.83995653285533 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1113.6481714875108, + 228.83012691365744 + ], + [ + 1120.0763707389606, + 233.83995653285533 + ], + [ + 1129.9434020599624, + 231.10420423126783 + ], + [ + 1123.4747830313404, + 226.12905950032211 + ], + [ + 1123.4810587426762, + 205.14198646823266 + ], + [ + 1130.1079386931262, + 210.10145607373894 + ], + [ + 1140.1447932940591, + 207.39304058183976 + ], + [ + 1133.4762579858218, + 202.46861856563538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 910.4721247205478, + "ymin": 171.09933006760346, + "xmax": 935.6717150788522, + "ymax": 207.93185570640884 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 910.4721247205478, + 202.34341458428938 + ], + [ + 916.3903117502804, + 207.93185570640884 + ], + [ + 928.660267104589, + 204.86236623463233 + ], + [ + 922.675990018089, + 199.3187804403276 + ], + [ + 917.0194127065495, + 174.08091614138144 + ], + [ + 923.1315964165708, + 179.59134156738727 + ], + [ + 935.6717150788522, + 176.56445826546377 + ], + [ + 929.4906190930155, + 171.09933006760346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 761.3383029943492, + "ymin": 41.002561743861804, + "xmax": 1203.7761065429022, + "ymax": 388.3938662327679 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1099.0973552071746, + 293.2782587728767 + ], + [ + 1090.0917036597725, + 285.461337807017 + ], + [ + 761.3383029943492, + 378.7301396246553 + ], + [ + 767.9453144636149, + 388.3938662327679 + ], + [ + 1203.7761065429022, + 47.801694026492214 + ], + [ + 1191.5548791318438, + 41.002561743861804 + ], + [ + 792.5177988715327, + 124.04018392588583 + ], + [ + 801.2525296107966, + 132.88884516976236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.1307843417557, + "ymin": 0.0, + "xmax": 862.9372212775595, + "ymax": 38.500960996015294 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 836.7571755779672, + 25.11082215876354 + ], + [ + 832.0712047647237, + 21.380872981737753 + ], + [ + 760.1307843417557, + 34.59668152205609 + ], + [ + 764.4470213766683, + 38.500960996015294 + ], + [ + 862.9372212775595, + -153.82139406067904 + ], + [ + 857.4409415081473, + -156.73611442082654 + ], + [ + 776.4131445224218, + -146.38617942429454 + ], + [ + 781.4418696531845, + -143.31645631123223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 394.7192587158623, + "ymin": 229.98139851446717, + "xmax": 628.9099159591557, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 467.25807168533925, + 491.14098029645345 + ], + [ + 451.16763095258017, + 495.83637038233417 + ], + [ + 606.2507763372222, + 993.7249514747236 + ], + [ + 628.9099159591557, + 983.5326693558519 + ], + [ + 415.9196720916548, + 229.98139851446717 + ], + [ + 394.7192587158623, + 234.55431033220214 + ], + [ + 588.9089986715288, + 800.4390382146681 + ], + [ + 623.2680319677305, + 786.9837679892154 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00133/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00133/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..afc7fd07d52d0e3b8502ffe5877406713d154814 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00133/meta.json @@ -0,0 +1,2471 @@ +{ + "frame_id": 133, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 66.5, + "sim_timestamp": 3733.489497774979 + }, + "drone_pose": { + "x": -129.50837880446377, + "y": -10.758759238311628, + "z": 19.93768897102253, + "pitch": -41.98380376155846, + "yaw": 17.63017853723839, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7084205150604248, + -0.2251349538564682, + 0.6689205169677734, + 80.83183288574219 + ], + [ + 0.3028718829154968, + 0.9530313014984131, + 0.0, + -28.97101593017578 + ], + [ + -0.6375021934509277, + 0.2025972157716751, + 0.7433339357376099, + -99.56192779541016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -129.1186101194624, + "y": -10.512799394785926, + "z": 20.0 + }, + "t1_image_uv": [ + 1025.43156280885, + -781.5699068167655 + ], + "t1_depth": 0.2898131615486666 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -110.66718292236328, + "y": -3.687763214111328, + "z": 0.9441524934768677 + }, + "image_uv": [ + 675.8520473959484, + 383.42904110163033 + ], + "depth": 27.644583882197093, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 615, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -110.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5402441024780273, + "y": 0.369875431060791, + "z": 0.906938374042511 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.3597332677447, + "ymin": 345.3811656260097, + "xmax": 695.5977281395909, + "ymax": 421.0916416024725 + }, + "corners_3d": [ + [ + -111.20742797851562, + -4.057638168334961, + 0.037214040756225586 + ], + [ + -111.20742797851562, + -3.317887544631958, + 0.037214040756225586 + ], + [ + -110.12693786621094, + -3.317887544631958, + 0.037214040756225586 + ], + [ + -110.12693786621094, + -4.057638168334961, + 0.037214040756225586 + ], + [ + -111.20742797851562, + -4.057638168334961, + 1.8510907888412476 + ], + [ + -111.20742797851562, + -3.317887544631958, + 1.8510907888412476 + ], + [ + -110.12693786621094, + -3.317887544631958, + 1.8510907888412476 + ], + [ + -110.12693786621094, + -4.057638168334961, + 1.8510907888412476 + ] + ], + "corners_2d": [ + [ + 669.1446847904074, + 421.0916416024725 + ], + [ + 693.1843272152859, + 415.58033377199956 + ], + [ + 680.8269591683934, + 391.0722150901714 + ], + [ + 657.3597332677447, + 396.2928030524667 + ], + [ + 670.4755028395168, + 375.16878261741607 + ], + [ + 695.5977281395909, + 369.69341842539023 + ], + [ + 682.6280471610758, + 345.3811656260097 + ], + [ + 658.1302262925892, + 350.5551063251389 + ] + ], + "center_offset_px": [ + 35.852047395948375, + 23.429041101630332 + ] + }, + "trace_timestep_index": 133, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 363707, + "2": 238064, + "3": 201601, + "4": 40467, + "6": 14931, + "7": 3188, + "9": 14059, + "10": 462, + "12": 4061, + "14": 18564, + "20": 3404, + "22": 19, + "24": 19073 + }, + "instance_pixel_counts": { + "9045": 2048, + "11605": 102917, + "15189": 549, + "15701": 36767, + "15967": 14288, + "15970": 2924, + "16479": 26161, + "16482": 4326, + "17547": 13687, + "18059": 9662, + "19554": 3834, + "20107": 4761, + "20565": 36619, + "21395": 22112, + "21397": 987, + "21643": 18688, + "21907": 103674, + "21909": 6648, + "22931": 4213, + "23957": 1322, + "24467": 40614, + "25344": 8474, + "25600": 9347, + "26754": 958, + "29523": 941, + "29779": 17313, + "29835": 1934, + "30859": 1600, + "31371": 913, + "36096": 615, + "36352": 591, + "36608": 782, + "36864": 694, + "37120": 983, + "37376": 396, + "37632": 2492, + "37888": 7264, + "38912": 1053, + "40448": 4072, + "40704": 3683, + "42071": 298, + "45409": 3341, + "45442": 19, + "45971": 32492, + "46483": 118277, + "48225": 6255, + "49043": 42325, + "49761": 8286, + "51526": 40467, + "53857": 4582, + "56458": 22940, + "56970": 14293, + "57482": 51959, + "58506": 28077, + "60307": 1851, + "60819": 5746, + "61254": 16505, + "62867": 2519 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 615, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -110.66718292236328, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5336620807647705, + "y": 0.4018212556838989, + "z": 0.9088203310966492 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.4091580492172, + "ymin": 345.2536199998358, + "xmax": 696.5967936747074, + "ymax": 421.2213668159347 + }, + "corners_3d": [ + [ + -111.20084381103516, + -4.0895843505859375, + 0.0353320837020874 + ], + [ + -111.20084381103516, + -3.2859416007995605, + 0.0353320837020874 + ], + [ + -110.1335220336914, + -3.2859416007995605, + 0.0353320837020874 + ], + [ + -110.1335220336914, + -4.0895843505859375, + 0.0353320837020874 + ], + [ + -111.20084381103516, + -4.0895843505859375, + 1.8529727458953857 + ], + [ + -111.20084381103516, + -3.2859416007995605, + 1.8529727458953857 + ], + [ + -110.1335220336914, + -3.2859416007995605, + 1.8529727458953857 + ], + [ + -110.1335220336914, + -4.0895843505859375, + 1.8529727458953857 + ] + ], + "corners_2d": [ + [ + 668.025144749859, + 421.2213668159347 + ], + [ + 694.1360816928994, + 415.2360170550618 + ], + [ + 681.9058708868555, + 391.0388442932922 + ], + [ + 656.4091580492172, + 396.71222790247657 + ], + [ + 669.3076800730413, + 375.2025926644252 + ], + [ + 696.5967936747074, + 369.2564502074261 + ], + [ + 683.7583059256962, + 345.2536199998358 + ], + [ + 657.1393224007821, + 350.87628641453347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 591, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -106.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4392382800579071, + "y": 0.4432169198989868, + "z": 0.8852864503860474 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 701.2027435373166, + "ymin": 248.15309259802052, + "xmax": 741.948214519261, + "ymax": 314.0324811631867 + }, + "corners_3d": [ + [ + -107.06298828125, + -1.0322667360305786, + 0.05886596441268921 + ], + [ + -106.8786849975586, + -0.1652037501335144, + 0.05886596441268921 + ], + [ + -106.0194091796875, + -0.3478500545024872, + 0.05886596441268921 + ], + [ + -106.2037124633789, + -1.2149131298065186, + 0.05886596441268921 + ], + [ + -107.06298828125, + -1.0322667360305786, + 1.8294389247894287 + ], + [ + -106.8786849975586, + -0.1652037501335144, + 1.8294389247894287 + ], + [ + -106.0194091796875, + -0.3478500545024872, + 1.8294389247894287 + ], + [ + -106.2037124633789, + -1.2149131298065186, + 1.8294389247894287 + ] + ], + "corners_2d": [ + [ + 715.5931516602132, + 314.0324811631867 + ], + [ + 738.14087641283, + 305.63051749465706 + ], + [ + 723.4992319360979, + 291.3964313902195 + ], + [ + 701.2027435373166, + 299.5040466174027 + ], + [ + 718.5573899673841, + 270.397692328174 + ], + [ + 741.948214519261, + 262.1353934587216 + ], + [ + 726.6794260120436, + 248.15309259802052 + ], + [ + 703.5584202654994, + 256.1149555039855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 782, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -115.17285919189453, + "y": 4.822038650512695, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4672021269798279, + "y": 0.47085249423980713, + "z": 0.9454457759857178 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 989.2783841737504, + "ymin": 385.9342499531518, + "xmax": 1057.899706841562, + "ymax": 466.2749887066309 + }, + "corners_3d": [ + [ + -115.68672180175781, + 4.40260124206543, + -0.0012933611869812012 + ], + [ + -115.58828735351562, + 5.339147567749023, + -0.0012933611869812012 + ], + [ + -114.65899658203125, + 5.241476058959961, + -0.0012933611869812012 + ], + [ + -114.75743103027344, + 4.304929733276367, + -0.0012933611869812012 + ], + [ + -115.68672180175781, + 4.40260124206543, + 1.8895981311798096 + ], + [ + -115.58828735351562, + 5.339147567749023, + 1.8895981311798096 + ], + [ + -114.65899658203125, + 5.241476058959961, + 1.8895981311798096 + ], + [ + -114.75743103027344, + 4.304929733276367, + 1.8895981311798096 + ] + ], + "corners_2d": [ + [ + 1011.1986340318285, + 466.2749887066309 + ], + [ + 1038.193427383385, + 456.1265250057673 + ], + [ + 1015.8715879168333, + 433.8791263961331 + ], + [ + 989.2783841737504, + 443.56031123228155 + ], + [ + 1029.7728734516872, + 418.2120002709365 + ], + [ + 1057.899706841562, + 408.0889404574683 + ], + [ + 1034.021292262897, + 385.9342499531518 + ], + [ + 1006.32659444191, + 395.56885071729033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 694, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -114.24694061279297, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.48140132427215576, + "y": 0.3730414807796478, + "z": 0.8880115151405334 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.7344026932933, + "ymin": 433.68388892497444, + "xmax": 743.6058554116375, + "ymax": 511.8879225166867 + }, + "corners_3d": [ + [ + -114.72834014892578, + -4.06080436706543, + 0.056140899658203125 + ], + [ + -114.72834014892578, + -3.3147215843200684, + 0.056140899658203125 + ], + [ + -113.76554107666016, + -3.3147215843200684, + 0.056140899658203125 + ], + [ + -113.76554107666016, + -4.06080436706543, + 0.056140899658203125 + ], + [ + -114.72834014892578, + -4.06080436706543, + 1.83216392993927 + ], + [ + -114.72834014892578, + -3.3147215843200684, + 1.83216392993927 + ], + [ + -113.76554107666016, + -3.3147215843200684, + 1.83216392993927 + ], + [ + -113.76554107666016, + -4.06080436706543, + 1.83216392993927 + ] + ], + "corners_2d": [ + [ + 712.4208691029262, + 511.8879225166867 + ], + [ + 738.7686424394769, + 505.18260443645795 + ], + [ + 725.4759214864306, + 478.84041252029624 + ], + [ + 699.7344026932933, + 485.19911007892284 + ], + [ + 715.9924258208432, + 466.76777884626176 + ], + [ + 743.6058554116375, + 460.0464970766226 + ], + [ + 729.5476337464172, + 433.68388892497444 + ], + [ + 702.5991920767326, + 440.0413486905678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 983, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -114.28268432617188, + "y": -14.81512451171875, + "z": 1.095104694366455 + }, + "extent": { + "x": 0.5827149152755737, + "y": 0.3536493182182312, + "z": 0.8874915242195129 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 249.55557046777398, + "ymin": 533.1268521563777, + "xmax": 303.7335246737749, + "ymax": 623.9013301436682 + }, + "corners_3d": [ + [ + -114.82524108886719, + -15.227746963500977, + 0.20761317014694214 + ], + [ + -114.899169921875, + -14.524322509765625, + 0.20761317014694214 + ], + [ + -113.74012756347656, + -14.402502059936523, + 0.20761317014694214 + ], + [ + -113.66619873046875, + -15.105926513671875, + 0.20761317014694214 + ], + [ + -114.82524108886719, + -15.227746963500977, + 1.9825961589813232 + ], + [ + -114.899169921875, + -14.524322509765625, + 1.9825961589813232 + ], + [ + -113.74012756347656, + -14.402502059936523, + 1.9825961589813232 + ], + [ + -113.66619873046875, + -15.105926513671875, + 1.9825961589813232 + ] + ], + "corners_2d": [ + [ + 270.07395765732696, + 623.9013301436682 + ], + [ + 301.0998907731206, + 618.6352182141263 + ], + [ + 303.7335246737749, + 578.1866577285272 + ], + [ + 273.84252201260097, + 583.0792690255029 + ], + [ + 249.55557046777398, + 579.3679182152877 + ], + [ + 282.39501079464696, + 574.0305744969685 + ], + [ + 285.8782742089117, + 533.1268521563777 + ], + [ + 254.30750527397254, + 538.0658847768964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 396, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -100.92679595947266, + "y": -10.764570236206055, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.4882568120956421, + "y": 0.3123852610588074, + "z": 0.8945278525352478 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 371.1333051022018, + "ymin": 206.30576018234294, + "xmax": 401.6709579923673, + "ymax": 266.97549419163846 + }, + "corners_3d": [ + [ + -101.33943176269531, + -11.171643257141113, + 0.20202702283859253 + ], + [ + -101.46932983398438, + -10.560525894165039, + 0.20202702283859253 + ], + [ + -100.51416015625, + -10.357497215270996, + 0.20202702283859253 + ], + [ + -100.38426208496094, + -10.96861457824707, + 0.20202702283859253 + ], + [ + -101.33943176269531, + -11.171643257141113, + 1.9910826683044434 + ], + [ + -101.46932983398438, + -10.560525894165039, + 1.9910826683044434 + ], + [ + -100.51416015625, + -10.357497215270996, + 1.9910826683044434 + ], + [ + -100.38426208496094, + -10.96861457824707, + 1.9910826683044434 + ] + ], + "corners_2d": [ + [ + 380.8647817424385, + 266.97549419163846 + ], + [ + 399.24892815361204, + 265.9147148313094 + ], + [ + 401.6709579923673, + 249.477948413349 + ], + [ + 383.6831394841718, + 250.49388264058786 + ], + [ + 371.1333051022018, + 223.42004969729592 + ], + [ + 390.22075132576833, + 222.38167429240838 + ], + [ + 392.9314325038628, + 206.30576018234294 + ], + [ + 374.27086044495974, + 207.2986447636428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 2492, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 440.4742497123377, + "ymin": 0.0, + "xmax": 516.9683912317396, + "ymax": 61.68092616687062 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 491.40026976103366, + 5.895308991931188 + ], + [ + 446.07758286380994, + 11.424981789483866 + ], + [ + 467.5300613766586, + 61.68092616687062 + ], + [ + 516.9683912317396, + 55.0270791261741 + ], + [ + 487.153913548769, + -34.7080167855824 + ], + [ + 440.4742497123377, + -29.471712565207042 + ], + [ + 462.0451302364875, + 18.267257016138558 + ], + [ + 513.1031875812596, + 11.931164810330984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 7264, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 841.2393875970428, + "ymin": 308.7171895052101, + "xmax": 976.6317092551404, + "ymax": 451.2753468393543 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 905.6266398581485, + 451.2753468393543 + ], + [ + 963.3358735099251, + 436.6316180641604 + ], + [ + 894.4512100126906, + 348.7513087380617 + ], + [ + 841.2393875970428, + 360.76902106465536 + ], + [ + 916.7265956222925, + 410.5105454149757 + ], + [ + 976.6317092551404, + 395.9153182092743 + ], + [ + 903.9004900167687, + 308.7171895052101 + ], + [ + 848.8218981104891, + 320.6021929828164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 1053, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 513.7041575086719, + "ymin": 0.0, + "xmax": 570.49714644524, + "ymax": 31.482506039736563 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 552.3903309379932, + -1.335874333249194 + ], + [ + 516.1575009539501, + 3.0866161468325686 + ], + [ + 532.4031957790128, + 31.482506039736563 + ], + [ + 570.49714644524, + 26.55314712841215 + ], + [ + 550.6702035774545, + -29.375767800860103 + ], + [ + 513.7041575086719, + -25.117303678807048 + ], + [ + 530.1497973218786, + 2.2605094718135774 + ], + [ + 569.0552291566297, + -2.4964792285277895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4072, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 592.5166098590993, + "ymin": 96.37863909591454, + "xmax": 676.8206564720653, + "ymax": 198.6918756977635 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 636.5598283484254, + 129.99993438020493 + ], + [ + 593.7293184494353, + 136.7315537293129 + ], + [ + 629.2852222218946, + 198.6918756977635 + ], + [ + 675.8011911192685, + 190.60336804992863 + ], + [ + 636.4706368543881, + 96.37863909591454 + ], + [ + 592.5166098590993, + 102.92029091638688 + ], + [ + 628.9764551287346, + 163.30172356410662 + ], + [ + 676.8206564720653, + 155.40191845747586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3683, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 516.6150377130516, + "ymin": 121.06833644287076, + "xmax": 593.2185634848616, + "ymax": 223.34030039046837 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 567.1710143471081, + 163.59227038350775 + ], + [ + 520.6788859670655, + 171.1564194016452 + ], + [ + 543.4504319887044, + 223.34030039046837 + ], + [ + 593.2185634848616, + 214.56907857213938 + ], + [ + 564.7193281541408, + 121.06833644287076 + ], + [ + 516.6150377130516, + 128.3918018401961 + ], + [ + 539.8985914447758, + 179.0679458216511 + ], + [ + 591.5190909679027, + 170.53145165008453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 888.9595663738119, + "ymin": 245.16403439815008, + "xmax": 914.9509022325435, + "ymax": 283.25971697668587 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 888.9595663738119, + 276.7680049973758 + ], + [ + 894.442777948407, + 283.25971697668587 + ], + [ + 908.1917348546287, + 280.4186874662921 + ], + [ + 902.6151706157458, + 273.9735588263565 + ], + [ + 895.2040926254249, + 247.92248002476396 + ], + [ + 900.8792500944853, + 254.33247230947478 + ], + [ + 914.9509022325435, + 251.52687748162936 + ], + [ + 909.178045400217, + 245.16403439815008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1077.5495606636914, + "ymin": 207.384320143965, + "xmax": 1107.5889210424484, + "ymax": 244.0389831057334 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1077.5495606636914, + 238.1756527172314 + ], + [ + 1084.2496569087475, + 244.0389831057334 + ], + [ + 1096.6648734732146, + 241.47355167986484 + ], + [ + 1089.8905830974031, + 235.6502183639054 + ], + [ + 1087.9689306466162, + 209.8710706361704 + ], + [ + 1094.9141700243451, + 215.6461427442594 + ], + [ + 1107.5889210424484, + 213.11906025457034 + ], + [ + 1100.5665052031372, + 207.384320143965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 485.6559703713216, + "ymin": 441.9774711185559, + "xmax": 507.62573270559665, + "ymax": 478.954305292247 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 491.83008493523033, + 478.954305292247 + ], + [ + 507.62573270559665, + 475.26846218701746 + ], + [ + 505.23961566101065, + 466.8658214928031 + ], + [ + 489.57111842425115, + 470.4885593631708 + ], + [ + 487.93934508752136, + 454.06532000170546 + ], + [ + 504.1631414129137, + 450.37884316956035 + ], + [ + 501.74564320660966, + 441.9774711185559 + ], + [ + 485.6559703713216, + 445.59919955988204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11714716296152518147, + "instance_id": 910, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -121.90570068359375, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 555.9618716696255, + "ymin": 671.0309193182203, + "xmax": 586.6412143379895, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -122.04428100585938, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.276007652282715, + 5.545533180236816 + ], + [ + -121.76712036132812, + -9.655922889709473, + 5.545533180236816 + ], + [ + -122.04428100585938, + -9.655922889709473, + 6.416468620300293 + ], + [ + -122.04428100585938, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.276007652282715, + 6.416468620300293 + ], + [ + -121.76712036132812, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 563.4171057734809, + 721.9096015626071 + ], + [ + 586.6412143379895, + 715.033895066118 + ], + [ + 582.1019341407466, + 699.5381990098288 + ], + [ + 559.1494292115257, + 706.2397208143445 + ], + [ + 560.3571439670686, + 693.7450841878333 + ], + [ + 584.5216335561815, + 686.7605065927789 + ], + [ + 579.8324222660823, + 671.0309193182203 + ], + [ + 555.9618716696255, + 677.8316445232114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 514.9217993388442, + "ymin": 524.0411571224581, + "xmax": 542.9627157039627, + "ymax": 571.2220304470584 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 522.3774388820588, + 571.2220304470584 + ], + [ + 542.9627157039627, + 565.929223658661 + ], + [ + 539.4605953903467, + 553.9740679624251 + ], + [ + 519.0893498202262, + 559.1489568393835 + ], + [ + 518.2755726313884, + 541.3855519346614 + ], + [ + 539.5959597778906, + 536.0610897939481 + ], + [ + 536.0126493830004, + 524.0411571224581 + ], + [ + 514.9217993388442, + 529.2429414299916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1192.1734481564947, + "ymin": 266.68376360021335, + "xmax": 1221.8662699443466, + "ymax": 298.7616733466785 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1192.1734481564947, + 293.10660109412873 + ], + [ + 1199.003488977625, + 298.7616733466785 + ], + [ + 1209.7449892718587, + 296.30170655001587 + ], + [ + 1202.8602857850378, + 290.68112286080066 + ], + [ + 1203.8729955013919, + 269.08582836118245 + ], + [ + 1210.9335859952387, + 274.68751470543043 + ], + [ + 1221.8662699443466, + 272.25056387909257 + ], + [ + 1214.7492073851379, + 266.68376360021335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 977.0577750183619, + "ymin": 227.50556489218727, + "xmax": 1005.0111769427838, + "ymax": 264.9339772628599 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 977.0577750183619, + 258.7398242256729 + ], + [ + 983.1288703238138, + 264.9339772628599 + ], + [ + 996.2462082138259, + 262.22346298184823 + ], + [ + 990.0910333061918, + 256.0727332589847 + ], + [ + 985.3120055451633, + 230.13525959239422 + ], + [ + 991.6017101870848, + 236.2443002662784 + ], + [ + 1005.0111769427838, + 233.57073143407268 + ], + [ + 998.6337216588583, + 227.50556489218727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 812.2799817944526, + "ymin": 101.80785136350914, + "xmax": 1280.0, + "ymax": 442.5591296698165 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1173.5089043233236, + 358.90241735395125 + ], + [ + 1164.0111696108406, + 350.1035881266872 + ], + [ + 812.2799817944526, + 431.98177376621044 + ], + [ + 818.723314642943, + 442.5591296698165 + ], + [ + 1298.1050914488796, + 109.50591101982786 + ], + [ + 1284.853430066324, + 101.80785136350914 + ], + [ + 856.8029948888045, + 174.88834556121867 + ], + [ + 865.5703587316, + 184.57091750616834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.6580350901991, + "ymin": 0.0, + "xmax": 940.7602716253973, + "ymax": 79.30658910852037 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 905.8050843292569, + 68.02743905947426 + ], + [ + 901.12278690211, + 64.06741630597992 + ], + [ + 826.6580350901991, + 75.18939389887674 + ], + [ + 830.9032433315472, + 79.30658910852037 + ], + [ + 940.7602716253973, + -110.6597001831583 + ], + [ + 935.1934292838506, + -113.73774910354484 + ], + [ + 851.5532302848626, + -105.07859159911601 + ], + [ + 856.5700004617661, + -101.86183530944169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 442.2133851251231, + "ymin": 270.43734059632914, + "xmax": 643.0152861354051, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 504.0041408993383, + 533.725224090342 + ], + [ + 487.4194470848839, + 537.7008815752448 + ], + [ + 617.4010678559056, + 1089.75467251182 + ], + [ + 641.9669919552541, + 1080.466762070912 + ], + [ + 463.9108683030777, + 270.43734059632914 + ], + [ + 442.2133851251231, + 274.2832219055879 + ], + [ + 605.2485582123312, + 908.5125989109429 + ], + [ + 643.0152861354051, + 895.8939978373666 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00137/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00137/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14e3c21f675068a501a51fe8123315351e51621b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00137/meta.json @@ -0,0 +1,2363 @@ +{ + "frame_id": 137, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 68.5, + "sim_timestamp": 3795.7099777960684 + }, + "drone_pose": { + "x": -127.85621131820947, + "y": -10.069497066085924, + "z": 20.0, + "pitch": -42.904075320412844, + "yaw": 15.623512246537969, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7054303288459778, + -0.19727174937725067, + 0.6807730197906494, + 78.56462097167969 + ], + [ + 0.2693150043487549, + 0.9630521535873413, + 0.0, + -24.736146926879883 + ], + [ + -0.6556198596954346, + 0.18334239721298218, + 0.7324944734573364, + -100.32112884521484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -127.4260744847447, + "y": -9.955947458783188, + "z": 20.0 + }, + "t1_image_uv": [ + 620.8839813090153, + -532.2143052896433 + ], + "t1_depth": 0.3258317184986812 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -108.66718292236328, + "y": -3.687763214111328, + "z": 0.9441378450396951 + }, + "image_uv": [ + 673.8130377453649, + 367.17586724686066 + ], + "depth": 27.768175295328263, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 603, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -108.66718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.36684566736221313, + "y": 0.3913363218307495, + "z": 0.8816796541213989 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.8924696637932, + "ymin": 333.80373617532246, + "xmax": 691.7140149585085, + "ymax": 399.91884317229903 + }, + "corners_3d": [ + [ + -109.03402709960938, + -4.079099178314209, + 0.06245821714401245 + ], + [ + -109.03402709960938, + -3.296426773071289, + 0.06245821714401245 + ], + [ + -108.30033874511719, + -3.296426773071289, + 0.06245821714401245 + ], + [ + -108.30033874511719, + -4.079099178314209, + 0.06245821714401245 + ], + [ + -109.03402709960938, + -4.079099178314209, + 1.825817584991455 + ], + [ + -109.03402709960938, + -3.296426773071289, + 1.825817584991455 + ], + [ + -108.30033874511719, + -3.296426773071289, + 1.825817584991455 + ], + [ + -108.30033874511719, + -4.079099178314209, + 1.825817584991455 + ] + ], + "corners_2d": [ + [ + 663.9711512615834, + 399.91884317229903 + ], + [ + 689.5115684117923, + 394.8128887300748 + ], + [ + 682.0104457307383, + 378.09774726744047 + ], + [ + 656.8924696637932, + 383.02074282896706 + ], + [ + 665.0436072610167, + 355.4918206891213 + ], + [ + 691.7140149585085, + 350.4129193958975 + ], + [ + 683.8440499633948, + 333.80373617532246 + ], + [ + 657.6339272863631, + 338.69275814644413 + ] + ], + "center_offset_px": [ + 33.81303774536491, + 7.175867246860662 + ] + }, + "trace_timestep_index": 137, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 341424, + "2": 243293, + "3": 218475, + "4": 42925, + "6": 11812, + "7": 3049, + "9": 12298, + "10": 461, + "12": 3714, + "14": 20208, + "20": 3421, + "24": 20520 + }, + "instance_pixel_counts": { + "9045": 98, + "11605": 111660, + "15189": 2015, + "15701": 38470, + "15967": 16448, + "15970": 3236, + "16479": 24206, + "16482": 3852, + "17547": 15468, + "18059": 9634, + "19554": 4325, + "20107": 918, + "20565": 42537, + "21395": 24331, + "21397": 1072, + "21643": 21874, + "21907": 83504, + "21909": 6805, + "23957": 1504, + "24467": 46140, + "25344": 7298, + "25600": 7226, + "26754": 668, + "29523": 1229, + "29779": 20603, + "30859": 815, + "31371": 1048, + "36096": 603, + "36352": 594, + "36608": 674, + "36864": 696, + "37120": 788, + "37376": 359, + "37632": 2449, + "37888": 8332, + "38912": 961, + "40448": 4477, + "40704": 3989, + "42071": 337, + "45409": 3640, + "45971": 36069, + "46483": 103022, + "48225": 7104, + "49043": 48358, + "49761": 3340, + "51526": 42925, + "53857": 5243, + "56458": 24577, + "56970": 17118, + "57482": 50127, + "58506": 32183, + "60307": 2045, + "60819": 6209, + "61254": 15051, + "62867": 2885 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 603, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -108.66718292236328, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.3440868556499481, + "y": 0.3910669982433319, + "z": 0.8634605407714844 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.1243269591807, + "ymin": 334.788676279286, + "xmax": 691.4326204295818, + "ymax": 398.94399492085967 + }, + "corners_3d": [ + [ + -109.01126861572266, + -4.078829765319824, + 0.080677330493927 + ], + [ + -109.01126861572266, + -3.2966959476470947, + 0.080677330493927 + ], + [ + -108.3230972290039, + -3.2966959476470947, + 0.080677330493927 + ], + [ + -108.3230972290039, + -4.078829765319824, + 0.080677330493927 + ], + [ + -109.01126861572266, + -4.078829765319824, + 1.807598352432251 + ], + [ + -109.01126861572266, + -3.2966959476470947, + 1.807598352432251 + ], + [ + -108.3230972290039, + -3.2966959476470947, + 1.807598352432251 + ], + [ + -108.3230972290039, + -4.078829765319824, + 1.807598352432251 + ] + ], + "corners_2d": [ + [ + 663.7669947365293, + 398.94399492085967 + ], + [ + 689.2876960773203, + 393.84754096309126 + ], + [ + 682.2487269529036, + 378.17013740177794 + ], + [ + 657.1243269591807, + 383.09503627147427 + ], + [ + 664.8072388920355, + 355.43853434481855 + ], + [ + 691.4326204295818, + 350.3687689016483 + ], + [ + 684.0548697601668, + 334.788676279286 + ], + [ + 657.8605264049795, + 339.6805340743425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 594, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -104.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.5318164229393005, + "y": 0.43490833044052124, + "z": 0.8881879448890686 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 703.513314144132, + "ymin": 231.95870104473917, + "xmax": 746.6788028847687, + "ymax": 300.7000401257294 + }, + "corners_3d": [ + [ + -105.15181732177734, + -1.0048916339874268, + 0.05596935749053955 + ], + [ + -104.9709701538086, + -0.15408265590667725, + 0.05596935749053955 + ], + [ + -103.93058013916016, + -0.3752252459526062, + 0.05596935749053955 + ], + [ + -104.1114273071289, + -1.226034164428711, + 0.05596935749053955 + ], + [ + -105.15181732177734, + -1.0048916339874268, + 1.8323452472686768 + ], + [ + -104.9709701538086, + -0.15408265590667725, + 1.8323452472686768 + ], + [ + -103.93058013916016, + -0.3752252459526062, + 1.8323452472686768 + ], + [ + -104.1114273071289, + -1.226034164428711, + 1.8323452472686768 + ] + ], + "corners_2d": [ + [ + 719.9967232806945, + 300.7000401257294 + ], + [ + 742.606250271686, + 292.9324679842281 + ], + [ + 725.7910931206308, + 275.3347394184913 + ], + [ + 703.513314144132, + 282.7730361835522 + ], + [ + 723.202966909185, + 256.9235771285919 + ], + [ + 746.6788028847687, + 249.27215500486898 + ], + [ + 729.1207947837249, + 231.95870104473917 + ], + [ + 706.0019716778121, + 239.27326464940344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 674, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -108.9643325805664, + "y": 3.868757486343384, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5458593368530273, + "y": 0.4618609547615051, + "z": 0.9406775236129761 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 887.0781522840155, + "ymin": 289.1447208127313, + "xmax": 945.6362488606526, + "ymax": 365.5016286737485 + }, + "corners_3d": [ + [ + -109.55548095703125, + 3.466484546661377, + 0.003474891185760498 + ], + [ + -109.45892333984375, + 4.385146141052246, + 0.003474891185760498 + ], + [ + -108.37318420410156, + 4.271030426025391, + 0.003474891185760498 + ], + [ + -108.46974182128906, + 3.3523688316345215, + 0.003474891185760498 + ], + [ + -109.55548095703125, + 3.466484546661377, + 1.8848299980163574 + ], + [ + -109.45892333984375, + 4.385146141052246, + 1.8848299980163574 + ], + [ + -108.37318420410156, + 4.271030426025391, + 1.8848299980163574 + ], + [ + -108.46974182128906, + 3.3523688316345215, + 1.8848299980163574 + ] + ], + "corners_2d": [ + [ + 906.5994902462148, + 365.5016286737485 + ], + [ + 932.3408340754886, + 357.899135548457 + ], + [ + 912.346803682844, + 335.97798551144393 + ], + [ + 887.0781522840155, + 343.20910981423015 + ], + [ + 918.832519895378, + 318.35738493939516 + ], + [ + 945.6362488606526, + 310.8265452046079 + ], + [ + 924.4143536707738, + 289.1447208127313 + ], + [ + 898.121321034726, + 296.29153466019795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 696, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -112.24694061279297, + "y": -3.687762975692749, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.5630712509155273, + "y": 0.3948044776916504, + "z": 0.9092326760292053 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.7111278664183, + "ymin": 415.3440543706774, + "xmax": 737.7195063755645, + "ymax": 498.4808580982074 + }, + "corners_3d": [ + [ + -112.81001281738281, + -4.08256721496582, + 0.03491973876953125 + ], + [ + -112.81001281738281, + -3.2929584980010986, + 0.03491973876953125 + ], + [ + -111.68386840820312, + -3.2929584980010986, + 0.03491973876953125 + ], + [ + -111.68386840820312, + -4.08256721496582, + 0.03491973876953125 + ], + [ + -112.81001281738281, + -4.08256721496582, + 1.853385090827942 + ], + [ + -112.81001281738281, + -3.2929584980010986, + 1.853385090827942 + ], + [ + -111.68386840820312, + -3.2929584980010986, + 1.853385090827942 + ], + [ + -111.68386840820312, + -4.08256721496582, + 1.853385090827942 + ] + ], + "corners_2d": [ + [ + 704.798106178606, + 498.4808580982074 + ], + [ + 732.9833687933091, + 492.1953143005519 + ], + [ + 719.1236246109952, + 461.29548378022497 + ], + [ + 691.7111278664183, + 467.20646380488313 + ], + [ + 708.1199077537427, + 452.62764342551674 + ], + [ + 737.7195063755645, + 446.31581557357157 + ], + [ + 723.026250992472, + 415.3440543706774 + ], + [ + 694.2776114801882, + 421.2614420940332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 788, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -110.88623046875, + "y": -10.517300605773926, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.3271191716194153, + "y": 0.3997980058193207, + "z": 0.8664413094520569 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 425.1110880926761, + "ymin": 434.7354424890017, + "xmax": 466.249966295812, + "ymax": 501.86136862250714 + }, + "corners_3d": [ + [ + -111.16976928710938, + -10.949101448059082, + 0.23010867834091187 + ], + [ + -111.25334930419922, + -10.153885841369629, + 0.23010867834091187 + ], + [ + -110.60269165039062, + -10.08549976348877, + 0.23010867834091187 + ], + [ + -110.51911163330078, + -10.880715370178223, + 0.23010867834091187 + ], + [ + -111.16976928710938, + -10.949101448059082, + 1.9629912376403809 + ], + [ + -111.25334930419922, + -10.153885841369629, + 1.9629912376403809 + ], + [ + -110.60269165039062, + -10.08549976348877, + 1.9629912376403809 + ], + [ + -110.51911163330078, + -10.880715370178223, + 1.9629912376403809 + ] + ], + "corners_2d": [ + [ + 435.36676192166044, + 501.86136862250714 + ], + [ + 466.249966295812, + 497.8362078060427 + ], + [ + 465.3562353023815, + 478.8450514656185 + ], + [ + 435.04118406333265, + 482.7228764775598 + ], + [ + 425.2562503697317, + 457.83520105000366 + ], + [ + 457.70039111414354, + 453.79178281269435 + ], + [ + 456.92876888120696, + 434.7354424890017 + ], + [ + 425.1110880926761, + 438.6237702198948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 359, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -98.9191665649414, + "y": -10.770112991333008, + "z": 1.0965744256973267 + }, + "extent": { + "x": 0.3489355444908142, + "y": 0.3012927174568176, + "z": 0.8805676102638245 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 379.8417178048403, + "ymin": 187.6319661952888, + "xmax": 408.8570557662805, + "ymax": 242.37266852797467 + }, + "corners_3d": [ + [ + -99.19783782958984, + -11.137370109558105, + 0.2160068154335022 + ], + [ + -99.3231201171875, + -10.547952651977539, + 0.2160068154335022 + ], + [ + -98.64049530029297, + -10.40285587310791, + 0.2160068154335022 + ], + [ + -98.51521301269531, + -10.992273330688477, + 0.2160068154335022 + ], + [ + -99.19783782958984, + -11.137370109558105, + 1.977142095565796 + ], + [ + -99.3231201171875, + -10.547952651977539, + 1.977142095565796 + ], + [ + -98.64049530029297, + -10.40285587310791, + 1.977142095565796 + ], + [ + -98.51521301269531, + -10.992273330688477, + 1.977142095565796 + ] + ], + "corners_2d": [ + [ + 389.15970343075816, + 242.37266852797467 + ], + [ + 406.6010642350351, + 241.72766349810723 + ], + [ + 408.8570557662805, + 230.11891411228456 + ], + [ + 391.6793734862289, + 230.74470691871107 + ], + [ + 379.8417178048403, + 199.63260701388177 + ], + [ + 397.93846192178506, + 199.00057354875727 + ], + [ + 400.4115651027448, + 187.6319661952888 + ], + [ + 382.59852500675265, + 188.24449105148875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 2449, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 465.55071988153696, + "ymin": 0.0, + "xmax": 541.695687639001, + "ymax": 60.46995395633485 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 517.2446108001908, + 1.3852125231376249 + ], + [ + 470.6719059918722, + 6.5998064370407405 + ], + [ + 490.7295235266224, + 60.46995395633485 + ], + [ + 541.695687639001, + 54.166634157450574 + ], + [ + 513.5689834531881, + -40.28156094361793 + ], + [ + 465.55071988153696, + -35.32875903895092 + ], + [ + 485.7485401548681, + 16.007111492742467 + ], + [ + 538.4514243136258, + 9.98424532716922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 8332, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 870.0984012135222, + "ymin": 340.2575014095796, + "xmax": 1013.7807106754005, + "ymax": 494.2037473666885 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 936.1259676336447, + 494.2037473666885 + ], + [ + 997.9022956949666, + 479.61667976378254 + ], + [ + 926.6757706811542, + 380.5997626672288 + ], + [ + 870.0984012135222, + 392.45501656509236 + ], + [ + 949.4615910785674, + 453.7305971236614 + ], + [ + 1013.7807106754005, + 439.09707861794664 + ], + [ + 938.099991152634, + 340.2575014095796 + ], + [ + 879.3918764492712, + 352.04646820863195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 961, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 540.698439905007, + "ymin": 0.0, + "xmax": 597.7322079670643, + "ymax": 29.272183794726175 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 580.0655379217286, + -5.424014977143315 + ], + [ + 542.7181912887033, + -1.2405776164549138 + ], + [ + 558.3870308928423, + 29.272183794726175 + ], + [ + 597.7322079670643, + 24.596240470381872 + ], + [ + 578.8311928635044, + -34.22311207259571 + ], + [ + 540.698439905007, + -30.186271421496713 + ], + [ + 556.5930814618503, + -0.7027503324122222 + ], + [ + 596.8110179349352, + -5.225536391339574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 4477, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 617.3831978076706, + "ymin": 102.26496720276799, + "xmax": 703.2720575749223, + "ymax": 210.69276057533878 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 662.560904505929, + 136.67386660882792 + ], + [ + 617.9919712986765, + 143.12608884798738 + ], + [ + 652.8025982063319, + 210.69276057533878 + ], + [ + 701.4182522990869, + 202.8923419009676 + ], + [ + 663.1788456695864, + 102.26496720276799 + ], + [ + 617.3831978076706, + 108.55457111000499 + ], + [ + 653.1932483912676, + 174.61856594812463 + ], + [ + 703.2720575749223, + 166.97291149477047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 3989, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 537.8046356424064, + "ymin": 128.13408101652433, + "xmax": 614.8522486075288, + "ymax": 235.5583714485532 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 589.6182811369553, + 171.55328814362585 + ], + [ + 541.3489678316894, + 178.79127395920463 + ], + [ + 563.0093276270952, + 235.5583714485532 + ], + [ + 614.8522486075288, + 227.12533113073158 + ], + [ + 587.8272496946104, + 128.13408101652433 + ], + [ + 537.8046356424064, + 135.1695191194289 + ], + [ + 560.0137670238523, + 190.52702161313826 + ], + [ + 613.8849579032628, + 182.2832493680806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 924.3848857136315, + "ymin": 283.31760518972084, + "xmax": 953.3127048490647, + "ymax": 322.9753290099609 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 924.3848857136315, + 315.49278725118154 + ], + [ + 930.1301206138487, + 322.9753290099609 + ], + [ + 944.9548882199061, + 320.0916416437627 + ], + [ + 939.099582756041, + 312.65925713268405 + ], + [ + 932.1357445880079, + 286.12727483446133 + ], + [ + 938.1092818371106, + 293.54926937450335 + ], + [ + 953.3127048490647, + 290.68849323394227 + ], + [ + 947.2234995406372, + 283.31760518972084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1128.222490134387, + "ymin": 244.70215268977574, + "xmax": 1162.1703784754932, + "ymax": 283.043972022533 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1128.222490134387, + 276.2410988807555 + ], + [ + 1135.414670347849, + 283.043972022533 + ], + [ + 1148.8894561494208, + 280.4228799783549 + ], + [ + 1141.6081257443223, + 273.6634982660889 + ], + [ + 1140.8967796037507, + 247.25163035761597 + ], + [ + 1148.3867238579353, + 253.98230786242596 + ], + [ + 1162.1703784754932, + 251.388683942116 + ], + [ + 1154.5873155850181, + 244.70215268977574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 491.73021055794726, + "ymin": 483.6350444064291, + "xmax": 514.4866999069396, + "ymax": 521.3334370311907 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 497.7811099715853, + 521.3334370311907 + ], + [ + 514.4866999069396, + 517.6886101943467 + ], + [ + 512.3195303884776, + 508.2470603291559 + ], + [ + 495.75723141742475, + 511.8265158969375 + ], + [ + 493.7734185347948, + 496.77191156136905 + ], + [ + 510.9623475311384, + 493.1120981709723 + ], + [ + 508.76746286779996, + 483.6350444064291 + ], + [ + 491.73021055794726, + 487.22739690684836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11827482576357856810, + "instance_id": 10902, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -118.90570068359375, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 515.0013394605747, + "ymin": 593.4143482316845, + "xmax": 544.7271207729826, + "ymax": 641.6536457221072 + }, + "corners_3d": [ + [ + -119.04428100585938, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.276008605957031, + 5.545533180236816 + ], + [ + -118.76712036132812, + -9.655923843383789, + 5.545533180236816 + ], + [ + -119.04428100585938, + -9.655923843383789, + 6.416468620300293 + ], + [ + -119.04428100585938, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.276008605957031, + 6.416468620300293 + ], + [ + -118.76712036132812, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 522.519695561456, + 641.6536457221072 + ], + [ + 544.7271207729826, + 636.2272809551463 + ], + [ + 541.4952355534648, + 622.3045384341482 + ], + [ + 519.5388109236247, + 627.6020631584336 + ], + [ + 518.0388489860578, + 612.9988035674262 + ], + [ + 541.1107288078522, + 607.5039523812628 + ], + [ + 537.8023905769212, + 593.4143482316845 + ], + [ + 515.0013394605747, + 598.7738611217301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11931460926564119918, + "instance_id": 28341, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1248.1648111171469, + "ymin": 305.64836356915265, + "xmax": 1280.0, + "ymax": 339.00541369488735 + }, + "corners_3d": [ + [ + -113.29469299316406, + 11.30508804321289, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.305087089538574, + 2.645533323287964 + ], + [ + -113.5733642578125, + 11.685009002685547, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.685009956359863, + 2.645533323287964 + ], + [ + -113.29469299316406, + 11.30508804321289, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.305087089538574, + 3.5146729946136475 + ], + [ + -113.5733642578125, + 11.685009002685547, + 3.5146729946136475 + ], + [ + -113.29469299316406, + 11.685009956359863, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1248.1648111171469, + 332.4941392148269 + ], + [ + 1255.5040468016591, + 339.00541369488735 + ], + [ + 1267.157995172122, + 336.5114417793978 + ], + [ + 1259.7527611928347, + 330.03725405294244 + ], + [ + 1262.1602225519105, + 308.0906953634718 + ], + [ + 1269.7774835430644, + 314.5649453959964 + ], + [ + 1281.659089333695, + 312.0848895689727 + ], + [ + 1273.9733882006672, + 305.64836356915265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.439005767434, + "ymin": 265.29968395106374, + "xmax": 1050.787124104847, + "ymax": 304.350258662112 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1019.439005767434, + 297.1887262648452 + ], + [ + 1025.8798689360317, + 304.350258662112 + ], + [ + 1040.066980931678, + 301.5906069284844 + ], + [ + 1033.5261299220301, + 294.4760444841726 + ], + [ + 1029.5512974346575, + 267.98637033155813 + ], + [ + 1036.2549985719472, + 275.0815253334068 + ], + [ + 1050.787124104847, + 272.3470649448831 + ], + [ + 1043.9786397449343, + 265.29968395106374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 837.6428408623788, + "ymin": 134.7983301407645, + "xmax": 1280.0, + "ymax": 482.0740743160455 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1224.4224889443203, + 399.1027000873425 + ], + [ + 1214.327089482134, + 389.0834293175852 + ], + [ + 837.6428408623788, + 470.20141504168504 + ], + [ + 844.1761649267896, + 482.0740743160455 + ], + [ + 1374.4854793558188, + 143.91479507873177 + ], + [ + 1359.809474167614, + 134.7983301407645 + ], + [ + 893.3583231472928, + 210.08278395764208 + ], + [ + 902.6102022269046, + 221.3907486858394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.0670963188242, + "ymin": 0.0, + "xmax": 988.124925435204, + "ymax": 85.65480231636934 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 945.1985379236619, + 74.7392530413349 + ], + [ + 940.3717685567483, + 70.37777598415175 + ], + [ + 862.0670963188242, + 81.13562365344694 + ], + [ + 866.403720156237, + 85.65480231636934 + ], + [ + 988.124925435204, + -110.66599660141901 + ], + [ + 982.2733337134681, + -114.117747406695 + ], + [ + 893.6770000228357, + -105.59115621051546 + ], + [ + 898.9024512601627, + -101.99657572181701 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 446.167937611366, + "ymin": 310.93979832422934, + "xmax": 636.9504651532325, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 510.7756765464868, + 573.3672365336363 + ], + [ + 493.3444940385748, + 577.2357880216509 + ], + [ + 610.3704894022973, + 1203.495331763117 + ], + [ + 636.9504651532325, + 1194.0453055038001 + ], + [ + 469.3977928915856, + 310.93979832422934 + ], + [ + 446.167937611366, + 314.83914460440644 + ], + [ + 592.1505536498332, + 1087.0036616166094 + ], + [ + 635.0916618623223, + 1072.8143238091543 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00143/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00143/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c74450b0146fac518371fdad28308746b9d54bb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00143/meta.json @@ -0,0 +1,2569 @@ +{ + "frame_id": 143, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 71.5, + "sim_timestamp": 3879.8501471688505 + }, + "drone_pose": { + "x": -125.20913438230802, + "y": -9.623394051484995, + "z": 20.0, + "pitch": -38.89217253171351, + "yaw": 15.008129530764943, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7517793774604797, + -0.20155301690101624, + 0.6278567910194397, + 83.51213836669922 + ], + [ + 0.25895610451698303, + 0.9658890962600708, + 7.450580596923828e-09, + -23.128536224365234 + ], + [ + -0.606440007686615, + 0.16258734464645386, + 0.7783288955688477, + -93.06304931640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -124.75216059905544, + "y": -9.591148464011518, + "z": 20.0 + }, + "t1_image_uv": [ + 400.87811676152296, + -414.40583168900764 + ], + "t1_depth": 0.3500426836139399 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -105.66718292236328, + "y": -3.687763214111328, + "z": 0.9441231966025225 + }, + "image_uv": [ + 663.1850083768164, + 429.47576425724566 + ], + "depth": 27.851941892984165, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 606, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -105.66718292236328, + "y": -3.687762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.5130468010902405, + "y": 0.386062890291214, + "z": 0.8980506658554077 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 645.5782340010182, + "ymin": 392.6132718180011, + "xmax": 681.9295514934062, + "ymax": 466.0736118212928 + }, + "corners_3d": [ + [ + -106.18022918701172, + -4.073825836181641, + 0.046072542667388916 + ], + [ + -106.18022918701172, + -3.3017001152038574, + 0.046072542667388916 + ], + [ + -105.15413665771484, + -3.3017001152038574, + 0.046072542667388916 + ], + [ + -105.15413665771484, + -4.073825836181641, + 0.046072542667388916 + ], + [ + -106.18022918701172, + -4.073825836181641, + 1.8421738147735596 + ], + [ + -106.18022918701172, + -3.3017001152038574, + 1.8421738147735596 + ], + [ + -105.15413665771484, + -3.3017001152038574, + 1.8421738147735596 + ], + [ + -105.15413665771484, + -4.073825836181641, + 1.8421738147735596 + ] + ], + "corners_2d": [ + [ + 654.85788586706, + 466.0736118212928 + ], + [ + 680.2473301562961, + 461.19868505211537 + ], + [ + 670.3395066090379, + 437.81040370447937 + ], + [ + 645.5782340010182, + 442.4276935344581 + ], + [ + 655.4825051407257, + 420.5027046972261 + ], + [ + 681.9295514934062, + 415.6868772545131 + ], + [ + 671.5723610127665, + 392.6132718180011 + ], + [ + 645.8061854083817, + 397.1643607237437 + ] + ], + "center_offset_px": [ + 23.185008376816427, + 69.47576425724566 + ] + }, + "trace_timestep_index": 143, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 286049, + "2": 218113, + "3": 311786, + "4": 28309, + "6": 8141, + "7": 2509, + "9": 9574, + "10": 591, + "12": 3802, + "14": 26184, + "20": 3507, + "24": 23035 + }, + "instance_pixel_counts": { + "11605": 130594, + "15189": 12772, + "15701": 41069, + "15967": 26058, + "15970": 4981, + "16479": 23112, + "16482": 3083, + "17547": 24461, + "18059": 6247, + "19554": 5182, + "20565": 69900, + "21395": 36460, + "21397": 1528, + "21643": 26569, + "21907": 27800, + "21909": 5013, + "23957": 1881, + "24467": 57599, + "25344": 5279, + "25600": 4376, + "26754": 277, + "29523": 10865, + "29779": 42221, + "30035": 520, + "30291": 3689, + "31371": 156, + "36096": 606, + "36352": 571, + "36608": 722, + "36864": 708, + "37120": 802, + "37376": 393, + "37632": 3977, + "37888": 10746, + "38912": 2009, + "40448": 5015, + "40704": 4437, + "42071": 890, + "42327": 105, + "45409": 5191, + "45971": 54151, + "46483": 50169, + "48225": 2010, + "49043": 59870, + "51526": 28309, + "53857": 6648, + "56458": 34684, + "56970": 8003, + "58506": 41884, + "60307": 3073, + "60819": 7999, + "61254": 12804, + "62867": 3541 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 606, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -105.66718292236328, + "y": -3.687762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.5490282773971558, + "y": 0.4100104868412018, + "z": 0.9087250828742981 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 644.4892347817918, + "ymin": 391.4078825613993, + "xmax": 683.1303477454586, + "ymax": 467.3387293983431 + }, + "corners_3d": [ + [ + -106.2162094116211, + -4.097773551940918, + 0.035398125648498535 + ], + [ + -106.2162094116211, + -3.27775239944458, + 0.035398125648498535 + ], + [ + -105.11815643310547, + -3.27775239944458, + 0.035398125648498535 + ], + [ + -105.11815643310547, + -4.097773551940918, + 0.035398125648498535 + ], + [ + -106.2162094116211, + -4.097773551940918, + 1.8528482913970947 + ], + [ + -106.2162094116211, + -3.27775239944458, + 1.8528482913970947 + ], + [ + -105.11815643310547, + -3.27775239944458, + 1.8528482913970947 + ], + [ + -105.11815643310547, + -4.097773551940918, + 1.8528482913970947 + ] + ], + "corners_2d": [ + [ + 654.3964357456159, + 467.3387293983431 + ], + [ + 681.378414946784, + 462.15110442500526 + ], + [ + 670.7576065313601, + 437.1287911133507 + ], + [ + 644.4892347817918, + 442.02364315200504 + ], + [ + 655.0097316585167, + 421.21363751238823 + ], + [ + 683.1303477454586, + 416.08923256019347 + ], + [ + 672.0211603031279, + 391.4078825613993 + ], + [ + 644.674761035034, + 396.23134619517407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 571, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -101.54119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.43944334983825684, + "y": 0.44079262018203735, + "z": 0.8782117962837219 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 696.7631265107213, + "ymin": 298.10069454073346, + "xmax": 736.1920424154466, + "ymax": 362.4605196502728 + }, + "corners_3d": [ + [ + -102.06268310546875, + -1.0298528671264648, + 0.06594550609588623 + ], + [ + -101.87939453125, + -0.16753244400024414, + 0.06594550609588623 + ], + [ + -101.01971435546875, + -0.3502640128135681, + 0.06594550609588623 + ], + [ + -101.2030029296875, + -1.212584376335144, + 0.06594550609588623 + ], + [ + -102.06268310546875, + -1.0298528671264648, + 1.82236909866333 + ], + [ + -101.87939453125, + -0.16753244400024414, + 1.82236909866333 + ], + [ + -101.01971435546875, + -0.3502640128135681, + 1.82236909866333 + ], + [ + -101.2030029296875, + -1.212584376335144, + 1.82236909866333 + ] + ], + "corners_2d": [ + [ + 709.9626091947963, + 362.4605196502728 + ], + [ + 732.8729704193603, + 354.886512576929 + ], + [ + 719.3710580651591, + 340.4912204750686 + ], + [ + 696.7631265107213, + 347.78308051386796 + ], + [ + 712.4884214735216, + 319.58493304684293 + ], + [ + 736.1920424154466, + 312.1731994522539 + ], + [ + 722.1526632888647, + 298.10069454073346 + ], + [ + 698.7723191163745, + 305.22669688612535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 722, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -107.92300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.4950878918170929, + "y": 0.4735445976257324, + "z": 0.945601224899292 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 888.4231015682051, + "ymin": 399.2378001181789, + "xmax": 948.1823860973241, + "ymax": 477.5866565265773 + }, + "corners_3d": [ + [ + -108.46488189697266, + 2.835749626159668, + -0.00144881010055542 + ], + [ + -108.36588287353516, + 3.7776505947113037, + -0.00144881010055542 + ], + [ + -107.3811264038086, + 3.6741490364074707, + -0.00144881010055542 + ], + [ + -107.4801254272461, + 2.732248067855835, + -0.00144881010055542 + ], + [ + -108.46488189697266, + 2.835749626159668, + 1.8897535800933838 + ], + [ + -108.36588287353516, + 3.7776505947113037, + 1.8897535800933838 + ], + [ + -107.3811264038086, + 3.6741490364074707, + 1.8897535800933838 + ], + [ + -107.4801254272461, + 2.732248067855835, + 1.8897535800933838 + ] + ], + "corners_2d": [ + [ + 907.2070180985052, + 477.5866565265773 + ], + [ + 935.076450909879, + 469.14421435217463 + ], + [ + 915.7657740654657, + 446.9494883207528 + ], + [ + 888.4231015682051, + 454.97118505161444 + ], + [ + 919.193610014143, + 429.47615251103684 + ], + [ + 948.1823860973241, + 421.13431213767353 + ], + [ + 927.6930354713343, + 399.2378001181789 + ], + [ + 899.2721871420918, + 407.146080889201 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 708, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -109.24694061279297, + "y": -3.687762975692749, + "z": 0.9441426396369934 + }, + "extent": { + "x": 0.5025438666343689, + "y": 0.3726101219654083, + "z": 0.8874477744102478 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.9380179980758, + "ymin": 479.93981874895553, + "xmax": 722.5527552636348, + "ymax": 559.2049053823737 + }, + "corners_3d": [ + [ + -109.74948120117188, + -4.060373306274414, + 0.056694865226745605 + ], + [ + -109.74948120117188, + -3.315152883529663, + 0.056694865226745605 + ], + [ + -108.74440002441406, + -3.315152883529663, + 0.056694865226745605 + ], + [ + -108.74440002441406, + -4.060373306274414, + 0.056694865226745605 + ], + [ + -109.74948120117188, + -4.060373306274414, + 1.8315904140472412 + ], + [ + -109.74948120117188, + -3.315152883529663, + 1.8315904140472412 + ], + [ + -108.74440002441406, + -3.315152883529663, + 1.8315904140472412 + ], + [ + -108.74440002441406, + -4.060373306274414, + 1.8315904140472412 + ] + ], + "corners_2d": [ + [ + 692.0519468995623, + 559.2049053823737 + ], + [ + 718.9330697555837, + 553.4509654426708 + ], + [ + 707.1068199400646, + 525.5071856392813 + ], + [ + 680.9380179980758, + 530.9327373463897 + ], + [ + 694.4537726134348, + 513.4833858212072 + ], + [ + 722.5527552636348, + 507.7481843685755 + ], + [ + 710.0913808191399, + 479.93981874895553 + ], + [ + 682.7697073360875, + 485.3333240193952 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 802, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -107.88892364501953, + "y": -10.525571823120117, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.5744971632957458, + "y": 0.3552664518356323, + "z": 0.9024814963340759 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 412.0343594153495, + "ymin": 487.18248251703733, + "xmax": 450.29527795892443, + "ymax": 571.0464325619563 + }, + "corners_3d": [ + [ + -108.42314147949219, + -10.938943862915039, + 0.19406849145889282 + ], + [ + -108.49740600585938, + -10.23230266571045, + 0.19406849145889282 + ], + [ + -107.35470581054688, + -10.112199783325195, + 0.19406849145889282 + ], + [ + -107.28044128417969, + -10.818840980529785, + 0.19406849145889282 + ], + [ + -108.42314147949219, + -10.938943862915039, + 1.9990315437316895 + ], + [ + -108.49740600585938, + -10.23230266571045, + 1.9990315437316895 + ], + [ + -107.35470581054688, + -10.112199783325195, + 1.9990315437316895 + ], + [ + -107.28044128417969, + -10.818840980529785, + 1.9990315437316895 + ] + ], + "corners_2d": [ + [ + 422.4558664263311, + 571.0464325619563 + ], + [ + 450.29527795892443, + 567.6160160737079 + ], + [ + 450.09545399511967, + 533.9433573598092 + ], + [ + 423.2131770554579, + 537.1421721038965 + ], + [ + 412.0343594153495, + 524.145883310887 + ], + [ + 441.2405703481594, + 520.7227874008529 + ], + [ + 441.3563164193481, + 487.18248251703733 + ], + [ + 413.20175112431707, + 490.36401163445294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 393, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -95.90766143798828, + "y": -10.77846622467041, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.5545215010643005, + "y": 0.2839367687702179, + "z": 0.8888330459594727 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 376.7209748473821, + "ymin": 247.8993426407818, + "xmax": 406.01420179588797, + "ymax": 308.2807378667534 + }, + "corners_3d": [ + [ + -96.39102935791016, + -11.171489715576172, + 0.20772182941436768 + ], + [ + -96.50910186767578, + -10.616025924682617, + 0.20772182941436768 + ], + [ + -95.4242935180664, + -10.385442733764648, + 0.20772182941436768 + ], + [ + -95.30622100830078, + -10.940906524658203, + 0.20772182941436768 + ], + [ + -96.39102935791016, + -11.171489715576172, + 1.985387921333313 + ], + [ + -96.50910186767578, + -10.616025924682617, + 1.985387921333313 + ], + [ + -95.4242935180664, + -10.385442733764648, + 1.985387921333313 + ], + [ + -95.30622100830078, + -10.940906524658203, + 1.985387921333313 + ] + ], + "corners_2d": [ + [ + 385.42005120899705, + 308.2807378667534 + ], + [ + 401.700159237309, + 307.78492697129366 + ], + [ + 406.01420179588797, + 289.82614817545226 + ], + [ + 390.1420916660995, + 290.29759887464013 + ], + [ + 376.7209748473821, + 265.8482851010619 + ], + [ + 393.56315649513056, + 265.3656497306848 + ], + [ + 398.2297969145837, + 247.8993426407818 + ], + [ + 381.8238921471867, + 248.35748625603787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 3977, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 478.5626036892449, + "ymin": 56.00142310748305, + "xmax": 554.7512082868565, + "ymax": 158.49170432911316 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 530.4704010631284, + 96.77977850094646 + ], + [ + 483.0136012382687, + 101.97929665575424 + ], + [ + 502.3748082109779, + 158.49170432911316 + ], + [ + 554.7512082868565, + 152.09890237369353 + ], + [ + 527.3970812764455, + 56.00142310748305 + ], + [ + 478.5626036892449, + 60.92182534773724 + ], + [ + 498.0322449532284, + 114.5823539352003 + ], + [ + 552.0922584103254, + 108.49541199258687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 10746, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 907.4692703686967, + "ymin": 477.0520845177387, + "xmax": 1071.7361471633758, + "ymax": 654.4510991874115 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 985.5036494817841, + 654.4510991874115 + ], + [ + 1053.0545663867342, + 637.303806770417 + ], + [ + 968.4818442891474, + 518.2255919294578 + ], + [ + 907.4692703686967, + 531.6851149774964 + ], + [ + 1001.3965412578228, + 613.2531760603202 + ], + [ + 1071.7361471633758, + 596.0211638588856 + ], + [ + 981.589151238502, + 477.0520845177387 + ], + [ + 918.3022768386334, + 490.438470353517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2009, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 554.7824417334659, + "ymin": 61.827453236499935, + "xmax": 612.3259163459019, + "ymax": 126.02999230685327 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 594.4237374006141, + 90.00787911341325 + ], + [ + 556.4093938429181, + 94.1747858810308 + ], + [ + 572.087675976269, + 126.02999230685327 + ], + [ + 612.3259163459019, + 121.32715866601302 + ], + [ + 593.5440794517741, + 61.827453236499935 + ], + [ + 554.7824417334659, + 65.83813550634306 + ], + [ + 570.6813694836395, + 96.54135506264424 + ], + [ + 611.7579394777881, + 92.00387605345566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 5015, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 632.9718844085004, + "ymin": 206.57840908270737, + "xmax": 723.3837608468651, + "ymax": 322.0652707128902 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 679.5427070207212, + 240.96942945407272 + ], + [ + 633.1536390995534, + 247.7006787722861 + ], + [ + 669.8867653905112, + 322.0652707128902 + ], + [ + 721.0122635329069, + 313.7465648509773 + ], + [ + 680.5815196587115, + 206.57840908270737 + ], + [ + 632.9718844085004, + 213.12575548071703 + ], + [ + 670.7719410793261, + 285.6945501707937 + ], + [ + 723.3837608468651, + 277.55517466851705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4437, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 549.9428903360789, + "ymin": 234.96170683341094, + "xmax": 629.9264173041443, + "ymax": 349.1391375966631 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 603.5023505266383, + 278.52277344200667 + ], + [ + 552.9587227851612, + 286.14866153270316 + ], + [ + 575.1551032840172, + 349.1391375966631 + ], + [ + 629.9264173041443, + 340.0890880927223 + ], + [ + 602.2520061415045, + 234.96170683341094 + ], + [ + 549.9428903360789, + 242.35580584485098 + ], + [ + 572.6986666187709, + 303.6456631910796 + ], + [ + 629.5495048657662, + 294.816392398264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 974.9316896194828, + "ymin": 433.53137111102836, + "xmax": 1008.1016329757877, + "ymax": 476.09621653508646 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 974.9316896194828, + 466.92326649123515 + ], + [ + 981.8593995680251, + 476.09621653508646 + ], + [ + 998.0859370774824, + 472.70320521998593 + ], + [ + 991.0178376882438, + 463.59966615323907 + ], + [ + 984.237025897865, + 436.83032761742265 + ], + [ + 991.4588367809131, + 445.93884988887146 + ], + [ + 1008.1016329757877, + 442.5690559707069 + ], + [ + 1000.7322972595068, + 433.53137111102836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1196.5428525660327, + "ymin": 388.4860520983839, + "xmax": 1235.2126431257034, + "ymax": 429.37602742765887 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1196.5428525660327, + 421.1358892175786 + ], + [ + 1205.2926193623668, + 429.37602742765887 + ], + [ + 1219.864083708072, + 426.32909521708393 + ], + [ + 1211.003813238939, + 418.1480720391799 + ], + [ + 1211.1807287336756, + 391.4432041972786 + ], + [ + 1220.3111513004128, + 399.60165402941834 + ], + [ + 1235.2126431257034, + 396.584434260534 + ], + [ + 1225.966922418093, + 388.4860520983839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 494.0420726874702, + "ymin": 657.5440895276847, + "xmax": 518.999924965221, + "ymax": 698.8225722237119 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 500.19701725123673, + 698.8225722237119 + ], + [ + 518.999924965221, + 694.4068762391389 + ], + [ + 516.7488545958685, + 682.5029019061142 + ], + [ + 498.1397381182978, + 686.8241101613655 + ], + [ + 496.1134929349849, + 673.958262890666 + ], + [ + 515.4800442193139, + 669.5156097171515 + ], + [ + 513.2030894758672, + 657.5440895276847 + ], + [ + 494.0420726874702, + 661.8889529543454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.601744348614, + "ymin": 412.4451145066301, + "xmax": 1114.446412848339, + "ymax": 454.2340169576808 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1078.601744348614, + 445.5037304118093 + ], + [ + 1086.4118954300984, + 454.2340169576808 + ], + [ + 1101.8529256370857, + 451.00525726827806 + ], + [ + 1093.9168950271128, + 442.33942782339966 + ], + [ + 1090.4831468549464, + 415.58173313685097 + ], + [ + 1098.6310045069727, + 424.23888344266777 + ], + [ + 1114.446412848339, + 421.03661705557846 + ], + [ + 1106.1667047809724, + 412.4451145066301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 417774133715356494, + "instance_id": 20043, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_1", + "bbox_3d": { + "center_world": { + "x": -92.76558685302734, + "y": 10.286703109741211, + "z": 7.711620807647705 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 920.8015547420416, + "ymin": 2.032016150387733, + "xmax": 934.9138074674729, + "ymax": 8.445508020254351 + }, + "corners_3d": [ + [ + -92.91188049316406, + 10.490398406982422, + 7.657553195953369 + ], + [ + -92.61929321289062, + 10.490397453308105, + 7.657553195953369 + ], + [ + -92.61929321289062, + 10.0830078125, + 7.657553195953369 + ], + [ + -92.91188049316406, + 10.083008766174316, + 7.657553195953369 + ], + [ + -92.91188049316406, + 10.490398406982422, + 7.765688419342041 + ], + [ + -92.61929321289062, + 10.490397453308105, + 7.765688419342041 + ], + [ + -92.61929321289062, + 10.0830078125, + 7.765688419342041 + ], + [ + -92.91188049316406, + 10.083008766174316, + 7.765688419342041 + ] + ], + "corners_2d": [ + [ + 934.3589111520538, + 7.483284427847025 + ], + [ + 930.5718295779739, + 4.9270925018003595 + ], + [ + 920.8015547420416, + 5.877678212526462 + ], + [ + 924.5375797044491, + 8.445508020254351 + ], + [ + 934.9138074674729, + 4.575345528236539 + ], + [ + 931.1162618263768, + 2.032016150387733 + ], + [ + 921.3288757511846, + 2.9778118063961188 + ], + [ + 925.0751874817847, + 5.532742341594087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.321616109878, + "ymin": 270.87038654391534, + "xmax": 1280.0, + "ymax": 638.7710058705552 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1295.6224939313975, + 542.7790297437163 + ], + [ + 1283.4427348363952, + 530.8166096304396 + ], + [ + 875.321616109878, + 624.3070816064763 + ], + [ + 883.039791520603, + 638.7710058705552 + ], + [ + 1465.4935680664776, + 281.79008222115465 + ], + [ + 1447.5431498516527, + 270.87038654391534 + ], + [ + 942.9795567297044, + 358.1374761190111 + ], + [ + 954.174625673555, + 372.04363430826453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3441318619550174279, + "instance_id": 18380, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_0", + "bbox_3d": { + "center_world": { + "x": -92.76558685302734, + "y": 10.286710739135742, + "z": 7.7116265296936035 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 920.7262687238051, + "ymin": 1.9975954395880535, + "xmax": 934.9903866573136, + "ymax": 8.480035095702078 + }, + "corners_3d": [ + [ + -92.9134521484375, + 10.492599487304688, + 7.656977653503418 + ], + [ + -92.61772155761719, + 10.492598533630371, + 7.656977653503418 + ], + [ + -92.61772155761719, + 10.080821990966797, + 7.656977653503418 + ], + [ + -92.9134521484375, + 10.080822944641113, + 7.656977653503418 + ], + [ + -92.9134521484375, + 10.492599487304688, + 7.766275405883789 + ], + [ + -92.61772155761719, + 10.492598533630371, + 7.766275405883789 + ], + [ + -92.61772155761719, + 10.080821990966797, + 7.766275405883789 + ], + [ + -92.9134521484375, + 10.080822944641113, + 7.766275405883789 + ] + ], + "corners_2d": [ + [ + 934.4293733285897, + 7.507360407451813 + ], + [ + 930.6013847503739, + 4.923700826864035 + ], + [ + 920.7262687238051, + 5.884485737198531 + ], + [ + 924.502097439076, + 8.480035095702078 + ], + [ + 934.9903866573136, + 4.5681147151928485 + ], + [ + 931.1517069116264, + 1.9975954395880535 + ], + [ + 921.2591104115766, + 2.953486861770955 + ], + [ + 925.0454472136262, + 5.535857993326545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 885.5694236131293, + "ymin": 0.0, + "xmax": 1015.6223127027342, + "ymax": 187.50248035418824 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 971.4500237468621, + 176.26794870746141 + ], + [ + 966.210499022511, + 171.59388185288998 + ], + [ + 885.5694236131293, + 182.64965283414273 + ], + [ + 890.2531580241441, + 187.50248035418824 + ], + [ + 1015.6223127027342, + -6.818910553757121 + ], + [ + 1009.2950666148078, + -10.470172893745143 + ], + [ + 918.6977056149096, + -1.8212320583147061 + ], + [ + 924.3250538956078, + 1.9888009691197226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9687458267791988257, + "instance_id": 8598, + "pixel_count": null, + "type_id": "BP_StreetLight_simple19_56_SM_2", + "bbox_3d": { + "center_world": { + "x": -72.57238006591797, + "y": 11.89626693725586, + "z": 4.052502155303955 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.7301262767709, + "ymin": 0.0, + "xmax": 808.2637889454905, + "ymax": 23.760769226708305 + }, + "corners_3d": [ + [ + -72.79197692871094, + 13.812986373901367, + 0.17578339576721191 + ], + [ + -72.35277557373047, + 13.81298542022705, + 0.17578339576721191 + ], + [ + -72.352783203125, + 9.979547500610352, + 0.17578339576721191 + ], + [ + -72.79198455810547, + 9.979548454284668, + 0.17578339576721191 + ], + [ + -72.79197692871094, + 13.812986373901367, + 7.929221153259277 + ], + [ + -72.35277557373047, + 13.81298542022705, + 7.929221153259277 + ], + [ + -72.352783203125, + 9.979547500610352, + 7.929221153259277 + ], + [ + -72.79198455810547, + 9.979548454284668, + 7.929221153259277 + ] + ], + "corners_2d": [ + [ + 793.7857806691732, + 17.776880127366383 + ], + [ + 790.9748187261482, + 15.269285362518644 + ], + [ + 729.7301262767709, + 21.183461787205943 + ], + [ + 732.2176336826268, + 23.760769226708305 + ], + [ + 808.2637889454905, + -126.47966747065004 + ], + [ + 805.0980088557872, + -128.30654071157323 + ], + [ + 738.2505878095737, + -123.99465012960371 + ], + [ + 741.0310637418173, + -122.112114015734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 445.59977916837687, + "ymin": 480.4311361140476, + "xmax": 672.1860384360142, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 513.8893492220047, + 747.6567666923082 + ], + [ + 494.3599482419346, + 752.292376927443 + ], + [ + 624.9005740904995, + 1631.0488585232788 + ], + [ + 658.1307247811925, + 1616.8428581894493 + ], + [ + 471.8912338960294, + 480.4311361140476 + ], + [ + 445.59977916837687, + 485.1958544928239 + ], + [ + 613.0490667432199, + 1694.6061021769774 + ], + [ + 672.1860384360142, + 1668.6037070088962 + ] + ], + "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": 1139.3598372127165, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 71.63600718774569 + }, + "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": [ + [ + 1251.0550357868544, + -29.231072100704182 + ], + [ + 1139.3598372127165, + 8.302224118391734 + ], + [ + 1343.8860428112803, + 71.63600718774569 + ], + [ + 1450.0230377496418, + 22.66451276399158 + ], + [ + 1408.8335475918807, + -437.0181604987315 + ], + [ + 1284.514472253282, + -439.8621189159194 + ], + [ + 1589.8614036400936, + -445.009044101324 + ], + [ + 1695.9103332615346, + -440.98959634860284 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00144/meta.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00144/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e61810887cde9dcdd7063d1bd39e65345719bb6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/frames_playback/frame_00144/meta.json @@ -0,0 +1,2153 @@ +{ + "frame_id": 144, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 72.0, + "sim_timestamp": 3891.138001203304 + }, + "drone_pose": { + "x": -124.75216059905544, + "y": -9.591148464011518, + "z": 20.0, + "pitch": -42.97145369133469, + "yaw": 16.774075215248434, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7005599737167358, + -0.2111656665802002, + 0.6816339492797852, + 75.78901672363281 + ], + [ + 0.28859859704971313, + 0.9574502110481262, + 0.0, + -26.82025146484375 + ], + [ + -0.6526305675506592, + 0.19671858847141266, + 0.7316933870315552, + -97.93769836425781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -124.20898478677356, + "y": -9.593813702597393, + "z": 20.08452458028185 + }, + "t1_image_uv": [ + 165.54882426242074, + -878.3519902357255 + ], + "t1_depth": 0.322349608881409 + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -105.16718292236328, + "y": -3.687763214111328, + "z": 0.9441231966025225 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.956175502946238, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 615, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -105.16718292236328, + "y": -3.687762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.48646968603134155, + "y": 0.38501644134521484, + "z": 0.8907550573348999 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.3000817801641, + "ymin": 323.87659295751985, + "xmax": 658.0390355994108, + "ymax": 395.64829543911134 + }, + "corners_3d": [ + [ + -105.65365600585938, + -4.072779655456543, + 0.05336815118789673 + ], + [ + -105.65365600585938, + -3.302746534347534, + 0.05336815118789673 + ], + [ + -104.68070983886719, + -3.302746534347534, + 0.05336815118789673 + ], + [ + -104.68070983886719, + -4.072779655456543, + 0.05336815118789673 + ], + [ + -105.65365600585938, + -4.072779655456543, + 1.8348782062530518 + ], + [ + -105.65365600585938, + -3.302746534347534, + 1.8348782062530518 + ], + [ + -104.68070983886719, + -3.302746534347534, + 1.8348782062530518 + ], + [ + -104.68070983886719, + -4.072779655456543, + 1.8348782062530518 + ] + ], + "corners_2d": [ + [ + 632.2139509822224, + 395.64829543911134 + ], + [ + 657.2650954731304, + 390.30565649330754 + ], + [ + 647.5592850836415, + 368.56261258969 + ], + [ + 623.0457984645766, + 373.65624422085847 + ], + [ + 631.8628191373559, + 350.7827788207404 + ], + [ + 658.0390355994108, + 345.4699510842128 + ], + [ + 647.8898272744655, + 323.87659295751985 + ], + [ + 622.3000817801641, + 328.9310785820291 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 144, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 315911, + "2": 226961, + "3": 256120, + "4": 41034, + "6": 9123, + "7": 2481, + "9": 10039, + "10": 583, + "12": 3815, + "14": 26717, + "20": 3595, + "24": 25221 + }, + "instance_pixel_counts": { + "11605": 124678, + "15189": 4984, + "15701": 31396, + "15967": 21336, + "15970": 4157, + "16479": 26556, + "16482": 3520, + "17547": 20051, + "18059": 7921, + "19554": 5199, + "20565": 62441, + "21395": 30535, + "21397": 1375, + "21643": 26620, + "21907": 44934, + "21909": 7928, + "23957": 1920, + "24467": 58593, + "25344": 5991, + "25600": 5166, + "26754": 479, + "29523": 3451, + "29779": 28396, + "30291": 20, + "30859": 22, + "31371": 732, + "36096": 615, + "36352": 582, + "36608": 754, + "36864": 686, + "37120": 761, + "37376": 417, + "37632": 4188, + "37888": 10477, + "38912": 2135, + "40448": 5246, + "40704": 4671, + "42071": 447, + "45409": 4749, + "45971": 46364, + "46483": 75126, + "48225": 3800, + "49043": 60359, + "51526": 41034, + "53857": 6770, + "56458": 32061, + "56970": 15867, + "57482": 5321, + "58506": 43033, + "60307": 2659, + "60819": 7748, + "61254": 13155, + "62867": 3591 + } + }, + "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": 141, + "instance_id": 36096, + "pixel_count": 615, + "type_id": "walker.pedestrian.0047", + "bbox_3d": { + "center_world": { + "x": -105.16718292236328, + "y": -3.687762975692749, + "z": 0.9441232085227966 + }, + "extent": { + "x": 0.5846679210662842, + "y": 0.3771955370903015, + "z": 0.8894132971763611 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.6225362347818, + "ymin": 321.8418467820132, + "xmax": 658.826301795423, + "ymax": 397.8400702782049 + }, + "corners_3d": [ + [ + -105.7518539428711, + -4.064958572387695, + 0.05470991134643555 + ], + [ + -105.7518539428711, + -3.3105673789978027, + 0.05470991134643555 + ], + [ + -104.58251190185547, + -3.3105673789978027, + 0.05470991134643555 + ], + [ + -104.58251190185547, + -4.064958572387695, + 0.05470991134643555 + ], + [ + -105.7518539428711, + -4.064958572387695, + 1.8335365056991577 + ], + [ + -105.7518539428711, + -3.3105673789978027, + 1.8335365056991577 + ], + [ + -104.58251190185547, + -3.3105673789978027, + 1.8335365056991577 + ], + [ + -104.58251190185547, + -4.064958572387695, + 1.8335365056991577 + ] + ], + "corners_2d": [ + [ + 633.4202648909268, + 397.8400702782049 + ], + [ + 658.0177632550711, + 392.58036139206786 + ], + [ + 646.3581367288043, + 366.44376452552314 + ], + [ + 622.3937719033978, + 371.41023607763884 + ], + [ + 633.1232513116599, + 353.030618629077 + ], + [ + 658.826301795423, + 347.7990656896184 + ], + [ + 646.6350593186991, + 321.8418467820132 + ], + [ + 621.6225362347818, + 326.76918284124747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 582, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": -101.04119873046875, + "y": -0.6900584101676941, + "z": 0.9441573023796082 + }, + "extent": { + "x": 0.43894529342651367, + "y": 0.4596540629863739, + "z": 0.8882373571395874 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 671.7531942218232, + "ymin": 226.79567927756838, + "xmax": 711.594003618369, + "ymax": 292.6615166449969 + }, + "corners_3d": [ + [ + -101.56611633300781, + -1.048405647277832, + 0.05591994524002075 + ], + [ + -101.37498474121094, + -0.14918673038482666, + 0.05591994524002075 + ], + [ + -100.51628112792969, + -0.33171117305755615, + 0.05591994524002075 + ], + [ + -100.70741271972656, + -1.2309300899505615, + 0.05591994524002075 + ], + [ + -101.56611633300781, + -1.048405647277832, + 1.8323945999145508 + ], + [ + -101.37498474121094, + -0.14918673038482666, + 1.8323945999145508 + ], + [ + -100.51628112792969, + -0.33171117305755615, + 1.8323945999145508 + ], + [ + -100.70741271972656, + -1.2309300899505615, + 1.8323945999145508 + ] + ], + "corners_2d": [ + [ + 685.1391204399356, + 292.6615166449969 + ], + [ + 708.8819052721504, + 284.28488847067973 + ], + [ + 695.2182605841475, + 270.11578897590977 + ], + [ + 671.7531942218232, + 278.2035151080634 + ], + [ + 686.9353004226485, + 248.9761149368729 + ], + [ + 711.594003618369, + 240.7295909655813 + ], + [ + 697.3532916019664, + 226.79567927756838 + ], + [ + 672.9937671424831, + 234.74683442059873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 754, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": -107.42300415039062, + "y": 3.2549493312835693, + "z": 0.9441524147987366 + }, + "extent": { + "x": 0.558398425579071, + "y": 0.47336041927337646, + "z": 0.9414703845977783 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 862.0924759926886, + "ymin": 323.3375379533186, + "xmax": 923.1458525222517, + "ymax": 403.6247694529818 + }, + "corners_3d": [ + [ + -108.02782440185547, + 2.84255051612854, + 0.002682030200958252 + ], + [ + -107.92886352539062, + 3.784085273742676, + 0.002682030200958252 + ], + [ + -106.81818389892578, + 3.6673481464385986, + 0.002682030200958252 + ], + [ + -106.91714477539062, + 2.725813388824463, + 0.002682030200958252 + ], + [ + -108.02782440185547, + 2.84255051612854, + 1.8856227397918701 + ], + [ + -107.92886352539062, + 3.784085273742676, + 1.8856227397918701 + ], + [ + -106.81818389892578, + 3.6673481464385986, + 1.8856227397918701 + ], + [ + -106.91714477539062, + 2.725813388824463, + 1.8856227397918701 + ] + ], + "corners_2d": [ + [ + 882.9110062814509, + 403.6247694529818 + ], + [ + 910.2776337615161, + 394.71898167212515 + ], + [ + 888.9404914083777, + 370.5770233493601 + ], + [ + 862.0924759926886, + 379.02387047459183 + ], + [ + 894.5924656789427, + 356.1663348286478 + ], + [ + 923.1458525222517, + 347.30860461360334 + ], + [ + 900.4705659653836, + 323.3375379533186 + ], + [ + 872.4795537091635, + 331.7178524842241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 686, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": -108.74694061279297, + "y": -3.687762975692749, + "z": 0.9441378712654114 + }, + "extent": { + "x": 0.45006343722343445, + "y": 0.3778013288974762, + "z": 0.8875899314880371 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.7741248560253, + "ymin": 410.1619514615686, + "xmax": 699.4827065935701, + "ymax": 485.4796221758552 + }, + "corners_3d": [ + [ + -109.19700622558594, + -4.065564155578613, + 0.05654793977737427 + ], + [ + -109.19700622558594, + -3.3099615573883057, + 0.05654793977737427 + ], + [ + -108.296875, + -3.3099615573883057, + 0.05654793977737427 + ], + [ + -108.296875, + -4.065564155578613, + 0.05654793977737427 + ], + [ + -109.19700622558594, + -4.065564155578613, + 1.8317277431488037 + ], + [ + -109.19700622558594, + -3.3099615573883057, + 1.8317277431488037 + ], + [ + -108.296875, + -3.3099615573883057, + 1.8317277431488037 + ], + [ + -108.296875, + -4.065564155578613, + 1.8317277431488037 + ] + ], + "corners_2d": [ + [ + 669.9796095635126, + 485.4796221758552 + ], + [ + 696.6948872071065, + 479.1771297548481 + ], + [ + 685.9140113965592, + 455.0128277819465 + ], + [ + 659.7741248560253, + 461.0174785499537 + ], + [ + 671.4633975546673, + 440.68709145761886 + ], + [ + 699.4827065935701, + 434.3651262832066 + ], + [ + 688.115300153967, + 410.1619514615686 + ], + [ + 660.7282017514913, + 416.1709675427018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 761, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -107.38936614990234, + "y": -10.52694034576416, + "z": 1.0965499877929688 + }, + "extent": { + "x": 0.5823926329612732, + "y": 0.35885104537010193, + "z": 0.8966863751411438 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 391.58024836886807, + "ymin": 421.8682355440298, + "xmax": 431.66927277093976, + "ymax": 505.026039252499 + }, + "corners_3d": [ + [ + -107.93106079101562, + -10.9447021484375, + 0.19986361265182495 + ], + [ + -108.0060806274414, + -10.230932235717773, + 0.19986361265182495 + ], + [ + -106.84767150878906, + -10.10917854309082, + 0.19986361265182495 + ], + [ + -106.77265167236328, + -10.822948455810547, + 0.19986361265182495 + ], + [ + -107.93106079101562, + -10.9447021484375, + 1.9932363033294678 + ], + [ + -108.0060806274414, + -10.230932235717773, + 1.9932363033294678 + ], + [ + -106.84767150878906, + -10.10917854309082, + 1.9932363033294678 + ], + [ + -106.77265167236328, + -10.822948455810547, + 1.9932363033294678 + ] + ], + "corners_2d": [ + [ + 403.7715149983916, + 505.026039252499 + ], + [ + 431.66927277093976, + 500.95994511576976 + ], + [ + 430.3345923497909, + 467.5323951171914 + ], + [ + 403.33595946062434, + 471.33967019816447 + ], + [ + 391.6241738762923, + 459.49305133162176 + ], + [ + 421.00054654170054, + 455.40598511811845 + ], + [ + 419.96135159739447, + 421.8682355440298 + ], + [ + 391.58024836886807, + 425.6824734161147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 417, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -95.40576171875, + "y": -10.779851913452148, + "z": 1.0965548753738403 + }, + "extent": { + "x": 0.3301660120487213, + "y": 0.303457647562027, + "z": 0.8806218504905701 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 346.58781743188206, + "ymin": 185.46293401894863, + "xmax": 376.90045274149173, + "ymax": 239.7312867659242 + }, + "corners_3d": [ + [ + -95.66561889648438, + -11.145323753356934, + 0.21593302488327026 + ], + [ + -95.79180908203125, + -10.551671028137207, + 0.21593302488327026 + ], + [ + -95.14590454101562, + -10.414380073547363, + 0.21593302488327026 + ], + [ + -95.01971435546875, + -11.00803279876709, + 0.21593302488327026 + ], + [ + -95.66561889648438, + -11.145323753356934, + 1.9771766662597656 + ], + [ + -95.79180908203125, + -10.551671028137207, + 1.9771766662597656 + ], + [ + -95.14590454101562, + -10.414380073547363, + 1.9771766662597656 + ], + [ + -95.01971435546875, + -11.00803279876709, + 1.9771766662597656 + ] + ], + "corners_2d": [ + [ + 357.09197452168087, + 239.7312867659242 + ], + [ + 374.6985852923063, + 238.87920567058603 + ], + [ + 376.90045274149173, + 227.94656575531607 + ], + [ + 359.5454528074431, + 228.77470834112324 + ], + [ + 346.58781743188206, + 197.00402532115595 + ], + [ + 364.8593936689775, + 196.16912201569255 + ], + [ + 367.28592953642175, + 185.46293401894863 + ], + [ + 349.2851790197569, + 186.27353010459828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 147, + "instance_id": 37632, + "pixel_count": 4188, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -82.61115264892578, + "y": -4.2496018409729, + "z": 1.0450384616851807 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 444.9173462391452, + "ymin": 0.0, + "xmax": 526.8271004230048, + "ymax": 93.03729158580063 + }, + "corners_3d": [ + [ + -79.47147369384766, + -3.0624561309814453, + -0.004057178273797035 + ], + [ + -79.477294921875, + -5.452023029327393, + -0.004057178273797035 + ], + [ + -85.7508316040039, + -5.4367475509643555, + -0.004057178273797035 + ], + [ + -85.74501037597656, + -3.047180652618408, + -0.004057178273797035 + ], + [ + -79.47147369384766, + -3.0624561309814453, + 2.0941340923309326 + ], + [ + -79.477294921875, + -5.452023029327393, + 2.0941340923309326 + ], + [ + -85.7508316040039, + -5.4367475509643555, + 2.0941340923309326 + ], + [ + -85.74501037597656, + -3.047180652618408, + 2.0941340923309326 + ] + ], + "corners_2d": [ + [ + 499.97142677769705, + 27.25646036844512 + ], + [ + 450.9528970507138, + 33.43591049934571 + ], + [ + 472.9892876826834, + 93.03729158580063 + ], + [ + 526.8271004230048, + 85.50095342041686 + ], + [ + 495.5510437723126, + -15.778121716606961 + ], + [ + 444.9173462391452, + -9.89004520058677 + ], + [ + 467.0777231124898, + 47.111786206465354 + ], + [ + 522.8710006612824, + 39.88298594089349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 148, + "instance_id": 37888, + "pixel_count": 10477, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -112.3023910522461, + "y": 2.8250439167022705, + "z": 0.8010656237602234 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 890.4277752335207, + "ymin": 412.94176685334156, + "xmax": 1053.1294940028342, + "ymax": 588.0302412186243 + }, + "corners_3d": [ + [ + -114.29847717285156, + 1.9044756889343262, + -0.007489129900932312 + ], + [ + -114.29397583007812, + 3.7553186416625977, + -0.007489129900932312 + ], + [ + -110.3062973022461, + 3.745612144470215, + -0.007489129900932312 + ], + [ + -110.31080627441406, + 1.8947691917419434, + -0.007489129900932312 + ], + [ + -114.29847717285156, + 1.9044756889343262, + 1.609620451927185 + ], + [ + -114.29397583007812, + 3.7553186416625977, + 1.609620451927185 + ], + [ + -110.3062973022461, + 3.745612144470215, + 1.609620451927185 + ], + [ + -110.31080627441406, + 1.8947691917419434, + 1.609620451927185 + ] + ], + "corners_2d": [ + [ + 967.9355987782258, + 588.0302412186243 + ], + [ + 1033.9818230279227, + 569.4371847467073 + ], + [ + 950.6850034694382, + 453.4901582876104 + ], + [ + 890.4277752335207, + 468.3559790999141 + ], + [ + 984.1551519807812, + 548.3402927723455 + ], + [ + 1053.1294940028342, + 529.5330721803314 + ], + [ + 964.1296210072488, + 412.94176685334156 + ], + [ + 901.4350725865468, + 427.82395468127874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 152, + "instance_id": 38912, + "pixel_count": 2135, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -81.40263366699219, + "y": -0.7524740695953369, + "z": 0.7357860207557678 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 524.2611282027715, + "ymin": 0.0, + "xmax": 585.2516931386681, + "ymax": 57.7006504674946 + }, + "corners_3d": [ + [ + -79.4973373413086, + 0.22802752256393433, + -0.0017290636897087097 + ], + [ + -79.50213623046875, + -1.7422423362731934, + -0.0017290636897087097 + ], + [ + -83.30792999267578, + -1.732975721359253, + -0.0017290636897087097 + ], + [ + -83.30313110351562, + 0.23729413747787476, + -0.0017290636897087097 + ], + [ + -79.4973373413086, + 0.22802752256393433, + 1.4733011722564697 + ], + [ + -79.50213623046875, + -1.7422423362731934, + 1.4733011722564697 + ], + [ + -83.30792999267578, + -1.732975721359253, + 1.4733011722564697 + ], + [ + -83.30313110351562, + 0.23729413747787476, + 1.4733011722564697 + ] + ], + "corners_2d": [ + [ + 565.9087699374959, + 19.195198804497977 + ], + [ + 526.7374712946212, + 24.135504670781927 + ], + [ + 543.9090822630452, + 57.7006504674946 + ], + [ + 585.2516931386681, + 52.15158963761445 + ], + [ + 564.3034989563217, + -10.51574486298773 + ], + [ + 524.2611282027715, + -5.738402881857496 + ], + [ + 541.678972554509, + 26.76853771020592 + ], + [ + 583.9932597162812, + 21.3885205880041 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 158, + "instance_id": 40448, + "pixel_count": 5246, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -96.98728942871094, + "y": -0.7145992517471313, + "z": 0.76578688621521 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 609.0708072352811, + "ymin": 141.2181870373697, + "xmax": 702.729212993, + "ymax": 260.7637249952273 + }, + "corners_3d": [ + [ + -94.48108673095703, + 0.220112144947052, + -0.0015755868516862392 + ], + [ + -94.48567199707031, + -1.6615042686462402, + -0.0015755868516862392 + ], + [ + -99.49348449707031, + -1.649310827255249, + -0.0015755868516862392 + ], + [ + -99.48889923095703, + 0.2323055863380432, + -0.0015755868516862392 + ], + [ + -94.48108673095703, + 0.220112144947052, + 1.5331494808197021 + ], + [ + -94.48567199707031, + -1.6615042686462402, + 1.5331494808197021 + ], + [ + -99.49348449707031, + -1.649310827255249, + 1.5331494808197021 + ], + [ + -99.48889923095703, + 0.2323055863380432, + 1.5331494808197021 + ] + ], + "corners_2d": [ + [ + 657.1027028735978, + 176.6238373973036 + ], + [ + 609.9569795170272, + 184.42312501261497 + ], + [ + 649.1414657399084, + 260.7637249952273 + ], + [ + 700.7648584739511, + 251.23065203350592 + ], + [ + 657.6015436286186, + 141.2181870373697 + ], + [ + 609.0708072352811, + 148.84766036896266 + ], + [ + 649.4406868924287, + 223.7847711106853 + ], + [ + 702.729212993, + 214.40123241460805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 159, + "instance_id": 40704, + "pixel_count": 4671, + "type_id": "vehicle.jeep.wrangler_rubicon", + "bbox_3d": { + "center_world": { + "x": -98.20136260986328, + "y": -4.21268367767334, + "z": 0.9409949779510498 + }, + "extent": { + "x": 1.9331103563308716, + "y": 0.9525982737541199, + "z": 0.9389679431915283 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 524.85324618618, + "ymin": 172.32332830508636, + "xmax": 609.0363610163371, + "ymax": 290.4722302789818 + }, + "corners_3d": [ + [ + -96.26593780517578, + -3.2647953033447266, + 0.0020270226523280144 + ], + [ + -96.27057647705078, + -5.169986248016357, + 0.0020270226523280144 + ], + [ + -100.13678741455078, + -5.160572528839111, + 0.0020270226523280144 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 0.0020270226523280144 + ], + [ + -96.26593780517578, + -3.2647953033447266, + 1.8799629211425781 + ], + [ + -96.27057647705078, + -5.169986248016357, + 1.8799629211425781 + ], + [ + -100.13678741455078, + -5.160572528839111, + 1.8799629211425781 + ], + [ + -100.13214874267578, + -3.2553815841674805, + 1.8799629211425781 + ] + ], + "corners_2d": [ + [ + 580.5168772937884, + 216.97372429605554 + ], + [ + 529.1233518463448, + 225.8008829619548 + ], + [ + 553.6338525658904, + 290.4722302789818 + ], + [ + 609.0363610163371, + 280.0893992745854 + ], + [ + 578.2536654585514, + 172.32332830508636 + ], + [ + 524.85324618618, + 180.9456271268692 + ], + [ + 550.0128460573428, + 244.35209969924531 + ], + [ + 607.7551908392751, + 234.14426391140734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 867987687856440889, + "instance_id": 14726, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.6163073128043, + "ymin": 372.5697002281995, + "xmax": 993.133555838371, + "ymax": 415.28977879532994 + }, + "corners_3d": [ + [ + -113.19542694091797, + 0.9043391346931458, + 5.545533180236816 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 5.545533180236816 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 0.9043391346931458, + 6.416468620300293 + ], + [ + -113.47260284423828, + 0.9043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 1.2842603921890259, + 6.416468620300293 + ], + [ + -113.19542694091797, + 1.2842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 959.6163073128043, + 406.1455815585839 + ], + [ + 966.569156235256, + 415.28977879532994 + ], + [ + 982.6782603388133, + 411.4903068095103 + ], + [ + 975.5984594167433, + 402.4187865126862 + ], + [ + 969.3111927594373, + 376.28718372151747 + ], + [ + 976.5742068482523, + 385.41232145033314 + ], + [ + 993.133555838371, + 381.6201150968806 + ], + [ + 985.7365719962514, + 372.5697002281995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3194724103113944203, + "instance_id": 35628, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1179.2550954992994, + "ymin": 321.96370193038473, + "xmax": 1218.4220813494467, + "ymax": 363.10047005935604 + }, + "corners_3d": [ + [ + -113.1954345703125, + 6.4043378829956055, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.404336929321289, + 5.545533180236816 + ], + [ + -113.47261047363281, + 6.784258842468262, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.784259796142578, + 5.545533180236816 + ], + [ + -113.1954345703125, + 6.4043378829956055, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.404336929321289, + 6.416468620300293 + ], + [ + -113.47261047363281, + 6.784258842468262, + 6.416468620300293 + ], + [ + -113.1954345703125, + 6.784259796142578, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1179.2550954992994, + 354.9294307240624 + ], + [ + 1187.8440001014649, + 363.10047005935604 + ], + [ + 1202.2342560644545, + 359.7064022511324 + ], + [ + 1193.5470076885179, + 351.5967729056733 + ], + [ + 1194.695970553471, + 325.27712005476366 + ], + [ + 1203.6791148260022, + 333.4039973537209 + ], + [ + 1218.4220813494467, + 330.02775414606464 + ], + [ + 1209.3360171926993, + 321.96370193038473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9415019540101184371, + "instance_id": 29627, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -114.00495147705078, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 481.88532980181304, + "ymin": 606.9816426726977, + "xmax": 507.82513152869166, + "ymax": 647.3878549078952 + }, + "corners_3d": [ + [ + -114.144287109375, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.176011085510254, + 2.645533323287964 + ], + [ + -113.86561584472656, + -9.555926322937012, + 2.645533323287964 + ], + [ + -114.144287109375, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -114.144287109375, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -113.86561584472656, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 489.1517670756226, + 647.3878549078952 + ], + [ + 507.82513152869166, + 642.4881154102352 + ], + [ + 505.19496815707157, + 630.7327564602838 + ], + [ + 486.6980631586904, + 635.5348963542492 + ], + [ + 484.3665607089904, + 623.8147676481273 + ], + [ + 503.65021548562936, + 618.8610922841849 + ], + [ + 500.98083848825524, + 606.9816426726977 + ], + [ + 481.88532980181304, + 611.8335688920714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16985435563084560756, + "instance_id": 29753, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1062.5084053321762, + "ymin": 348.8447427299388, + "xmax": 1098.7833382745455, + "ymax": 390.83413462204595 + }, + "corners_3d": [ + [ + -113.19542694091797, + 3.404339075088501, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 5.545533180236816 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 5.545533180236816 + ], + [ + -113.19542694091797, + 3.404339075088501, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.4043385982513428, + 6.416468620300293 + ], + [ + -113.47260284423828, + 3.7842605113983154, + 6.416468620300293 + ], + [ + -113.19542694091797, + 3.7842609882354736, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1062.5084053321762, + 382.15270759099684 + ], + [ + 1070.256857941523, + 390.83413462204595 + ], + [ + 1085.548500033683, + 387.2274681449505 + ], + [ + 1077.6870331247665, + 378.6132822061635 + ], + [ + 1074.987693057775, + 352.3698884294743 + ], + [ + 1083.0889754347459, + 361.0196969328319 + ], + [ + 1098.7833382745455, + 357.4255784375945 + ], + [ + 1090.5632443908135, + 348.8447427299388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1652099308705386961, + "instance_id": 53649, + "pixel_count": null, + "type_id": "AmericanLights_Town04_22_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.4927039466774, + "ymin": 199.16851634860967, + "xmax": 1280.0, + "ymax": 575.2561239810668 + }, + "corners_3d": [ + [ + -113.36796569824219, + 11.773303031921387, + 0.0 + ], + [ + -112.93515014648438, + 11.777151107788086, + 0.0 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 0.0 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 0.0 + ], + [ + -113.36796569824219, + 11.773303031921387, + 8.446706771850586 + ], + [ + -112.93515014648438, + 11.777151107788086, + 8.446706771850586 + ], + [ + -112.82797241210938, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -113.26078796386719, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1271.0680847948527, + 470.31458940650634 + ], + [ + 1259.4027818180828, + 458.7553484204628 + ], + [ + 859.4927039466774, + 561.1727836229932 + ], + [ + 867.2353947757251, + 575.2561239810668 + ], + [ + 1449.5101413568552, + 210.1203444227007 + ], + [ + 1431.9697137016115, + 199.16851634860967 + ], + [ + 928.9460256315647, + 298.75072516076557 + ], + [ + 940.3605420670851, + 312.90687048964935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4778399714404120621, + "instance_id": 11704, + "pixel_count": null, + "type_id": "BP_StreetLight_simple24_SM_2", + "bbox_3d": { + "center_world": { + "x": -92.7655029296875, + "y": 11.89626693725586, + "z": 4.052505016326904 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.4668430156393, + "ymin": 0.0, + "xmax": 998.8100287783014, + "ymax": 117.55163656262982 + }, + "corners_3d": [ + [ + -92.98509979248047, + 13.812986373901367, + 0.17578625679016113 + ], + [ + -92.5458984375, + 13.81298542022705, + 0.17578625679016113 + ], + [ + -92.54590606689453, + 9.979547500610352, + 0.17578625679016113 + ], + [ + -92.985107421875, + 9.979548454284668, + 0.17578625679016113 + ], + [ + -92.98509979248047, + 13.812986373901367, + 7.929224014282227 + ], + [ + -92.5458984375, + 13.81298542022705, + 7.929224014282227 + ], + [ + -92.54590606689453, + 9.979547500610352, + 7.929224014282227 + ], + [ + -92.985107421875, + 9.979548454284668, + 7.929224014282227 + ] + ], + "corners_2d": [ + [ + 952.2287131519379, + 104.58943108859677 + ], + [ + 946.9199381315718, + 99.79673288126094 + ], + [ + 865.4668430156393, + 112.56325635768778 + ], + [ + 870.2552051149867, + 117.55163656262982 + ], + [ + 998.8100287783014, + -87.25563582748612 + ], + [ + 992.3149540263121, + -91.10524827996414 + ], + [ + 899.5875157417346, + -80.83173562117236 + ], + [ + 905.4102489267525, + -76.80077907131516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10852301832535277585, + "instance_id": 4352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_23_Poles_4", + "bbox_3d": { + "center_world": { + "x": -119.75180053710938, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 427.23019686128134, + "ymin": 435.32543332675266, + "xmax": 686.4362862106145, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.7266845703125, + -9.432034492492676, + 0.0 + ], + [ + -113.72283935546875, + -9.864850044250488, + 0.0 + ], + [ + -125.77691650390625, + -9.972002983093262, + 0.0 + ], + [ + -125.78076171875, + -9.53918743133545, + 0.0 + ], + [ + -113.7266845703125, + -9.432034492492676, + 8.446706771850586 + ], + [ + -113.72283935546875, + -9.864850044250488, + 8.446706771850586 + ], + [ + -125.77691650390625, + -9.972002983093262, + 8.446706771850586 + ], + [ + -125.78076171875, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 504.0312813402203, + 692.4278005656121 + ], + [ + 484.73931633421853, + 697.5361081465824 + ], + [ + 634.8458745879598, + 1510.2313198759439 + ], + [ + 665.7476943216784, + 1496.1978069827685 + ], + [ + 453.9537431615504, + 435.32543332675266 + ], + [ + 427.23019686128134, + 440.8587212455911 + ], + [ + 630.6525616247427, + 1607.6404720940832 + ], + [ + 686.4362862106145, + 1581.1250245312638 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777092554/aug_001/perturbation_report.json b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/perturbation_report.json new file mode 100644 index 0000000000000000000000000000000000000000..3ac1b214e44cf7857775a85aba385b03f692ac36 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777092554/aug_001/perturbation_report.json @@ -0,0 +1,201 @@ +{ + "aug_index": 1, + "is_original": false, + "frames": 156, + "perturbation_frames": 156, + "pedestrian_delta": { + "dx": { + "count": 156.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dy": { + "count": 156.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dz": { + "count": 156.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "norm_xy": { + "count": 156.0, + "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": 156.0, + "min": -0.16621303453908354, + "max": 0.18234673094841014, + "mean": 0.008133228190659135, + "std": 0.06785088184245103, + "p50": 0.0, + "p95": 0.1300298782276883, + "p99": 0.17016515653873365 + }, + "dy": { + "count": 156.0, + "min": -0.16074774362652988, + "max": 0.17513403906713165, + "mean": 0.002266697623544168, + "std": 0.07367999620752928, + "p50": 0.0, + "p95": 0.14990872174867764, + "p99": 0.17204888012619396 + }, + "dz": { + "count": 156.0, + "min": -0.15698385309568508, + "max": 0.17591821667013008, + "mean": 0.009740772565825121, + "std": 0.06481816856096508, + "p50": 0.0, + "p95": 0.12781078539684643, + "p99": 0.17072868539041272 + }, + "norm_xyz": { + "count": 156.0, + "min": 0.0, + "max": 0.1997907144089193, + "mean": 0.09084596394220387, + "std": 0.07840318735897348, + "p50": 0.10440763290148522, + "p95": 0.19244305206878523, + "p99": 0.19757142173510245 + } + }, + "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": true, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + 0.05953298302620169, + 0.16736030279101044, + 0.05166076171833822 + ] + }, + { + "frame_id": 1, + "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": [ + -0.0989374221952346, + -0.09659546236656524, + 0.031574087764813186 + ] + }, + { + "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": [ + -0.04602404603869559, + -0.14373899748444785, + 0.025211062114458116 + ] + }, + { + "frame_id": 3, + "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": [ + 0.15966949824382937, + 0.10113665690778362, + -0.03751158410256039 + ] + }, + { + "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": [ + -0.0860288231018842, + 0.10293451837191014, + -0.022174195096628324 + ] + } + ], + "v5_joint_prob": { + "frames_pos_applied": 97, + "frames_viewpoint_applied": 103 + } +} \ No newline at end of file