diff --git "a/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00112/meta.json" "b/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00112/meta.json" new file mode 100644--- /dev/null +++ "b/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00112/meta.json" @@ -0,0 +1,3297 @@ +{ + "frame_id": 112, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 56.0, + "sim_timestamp": 5910.528859329876 + }, + "drone_pose": { + "x": 13.283832920173888, + "y": 3.4002739927828243, + "z": 20.0, + "pitch": -41.90921097628543, + "yaw": 63.2099831905047, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33542919158935547, + -0.6643245816230774, + 0.6679522395133972, + -20.073713302612305 + ], + [ + 0.89266437292099, + 0.45072197914123535, + 0.0, + 10.325425148010254 + ], + [ + -0.3010607361793518, + 0.5962571501731873, + 0.7442041635513306, + -8.857404708862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 13.78183817112623, + "y": 3.8815259898570487, + "z": 20.0 + }, + "t1_image_uv": [ + 191.0350454606031, + -501.637353673962 + ], + "t1_depth": 0.4867530188145186 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 22.83281707763672, + "y": 22.312236785888672, + "z": 0.9847652411458694 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 28.46795721616903, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 527, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 22.83281707763672, + "y": 22.31223487854004, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.4206164479255676, + "y": 0.31976318359375, + "z": 0.9305151700973511 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 625.1160159442512, + "ymin": 325.0907423759993, + "xmax": 655.1242172416013, + "ymax": 394.3019577051262 + }, + "corners_3d": [ + [ + 22.761503219604492, + 21.788707733154297, + 0.05425006151199341 + ], + [ + 22.309289932250977, + 22.240921020507812, + 0.05425006151199341 + ], + [ + 22.904130935668945, + 22.83576202392578, + 0.05425006151199341 + ], + [ + 23.35634422302246, + 22.383548736572266, + 0.05425006151199341 + ], + [ + 22.761503219604492, + 21.788707733154297, + 1.9152803421020508 + ], + [ + 22.309289932250977, + 22.240921020507812, + 1.9152803421020508 + ], + [ + 22.904130935668945, + 22.83576202392578, + 1.9152803421020508 + ], + [ + 23.35634422302246, + 22.383548736572266, + 1.9152803421020508 + ] + ], + "corners_2d": [ + [ + 634.239999011246, + 394.3019577051262 + ], + [ + 654.4729227630614, + 389.68575041408906 + ], + [ + 645.6145968556683, + 371.6937874569243 + ], + [ + 625.7472137736142, + 376.1250498531972 + ], + [ + 633.9793906364957, + 347.46079766121727 + ], + [ + 655.1242172416013, + 342.88906035518585 + ], + [ + 645.8619339131931, + 325.0907423759993 + ], + [ + 625.1160159442512, + 329.47131256165386 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 112, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 284339, + "2": 338594, + "3": 66718, + "5": 4803, + "6": 14264, + "7": 2521, + "9": 80443, + "10": 75852, + "12": 2179, + "14": 29291, + "20": 3607, + "24": 18989 + }, + "instance_pixel_counts": { + "3485": 232, + "4224": 548, + "6289": 25, + "7299": 433, + "9557": 36, + "17502": 55142, + "19038": 20410, + "19354": 166, + "19866": 5621, + "20378": 28327, + "20573": 29534, + "20890": 24538, + "21085": 200321, + "21402": 10151, + "21914": 11423, + "23421": 540, + "25693": 1953, + "34899": 1718, + "35072": 14259, + "35442": 2960, + "36252": 71450, + "36764": 144490, + "36978": 593, + "37276": 63143, + "39073": 696, + "40531": 235, + "42145": 290, + "42657": 242, + "43008": 527, + "43264": 229, + "43520": 81, + "43776": 462, + "44032": 291, + "44288": 589, + "44544": 24792, + "44705": 604, + "44922": 10075, + "45388": 1027, + "45434": 5813, + "45644": 279, + "46848": 4499, + "47002": 1916, + "49778": 63165, + "51309": 80443, + "51612": 2869, + "58697": 4803, + "59772": 574, + "60284": 2454, + "60796": 7488, + "61308": 7397, + "61820": 3038, + "62844": 3153, + "63386": 5256 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 527, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 22.83281707763672, + "y": 22.31223487854004, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.4650305211544037, + "y": 0.3771911561489105, + "z": 0.9316859841346741 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.7861553605418, + "ymin": 323.7510178726289, + "xmax": 657.5143827072831, + "ymax": 395.72858205375536 + }, + "corners_3d": [ + [ + 22.77070426940918, + 21.716693878173828, + 0.05307924747467041 + ], + [ + 22.237276077270508, + 22.250123977661133, + 0.05307924747467041 + ], + [ + 22.894929885864258, + 22.90777587890625, + 0.05307924747467041 + ], + [ + 23.42835807800293, + 22.374345779418945, + 0.05307924747467041 + ], + [ + 22.77070426940918, + 21.716693878173828, + 1.9164512157440186 + ], + [ + 22.237276077270508, + 22.250123977661133, + 1.9164512157440186 + ], + [ + 22.894929885864258, + 22.90777587890625, + 1.9164512157440186 + ], + [ + 23.42835807800293, + 22.374345779418945, + 1.9164512157440186 + ] + ], + "corners_2d": [ + [ + 632.8694768975846, + 395.72858205375536 + ], + [ + 656.7587596660445, + 390.27135754191363 + ], + [ + 646.9291825221094, + 370.3972034960878 + ], + [ + 623.5166070413958, + 375.61322284568394 + ], + [ + 632.5459177274205, + 348.8153574690563 + ], + [ + 657.5143827072831, + 343.41023704976584 + ], + [ + 647.2343389334674, + 323.7510178726289 + ], + [ + 622.7861553605418, + 328.9068065814678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 229, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 26.958803176879883, + "y": 25.309940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.22423705458641052, + "y": 0.224029541015625, + "z": 0.5936340689659119 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 559.6092851406944, + "ymin": 248.58545297805472, + "xmax": 579.5723675730519, + "ymax": 288.5345071958333 + }, + "corners_3d": [ + [ + 26.892757415771484, + 24.99992561340332, + 0.3911360502243042 + ], + [ + 26.648727416992188, + 25.37569808959961, + 0.3911360502243042 + ], + [ + 27.02484893798828, + 25.61995506286621, + 0.3911360502243042 + ], + [ + 27.268878936767578, + 25.244182586669922, + 0.3911360502243042 + ], + [ + 26.892757415771484, + 24.99992561340332, + 1.578404188156128 + ], + [ + 26.648727416992188, + 25.37569808959961, + 1.578404188156128 + ], + [ + 27.02484893798828, + 25.61995506286621, + 1.578404188156128 + ], + [ + 27.268878936767578, + 25.244182586669922, + 1.578404188156128 + ] + ], + "corners_2d": [ + [ + 567.643759668304, + 288.5345071958333 + ], + [ + 579.5723675730519, + 284.4146543280285 + ], + [ + 573.4370059691405, + 277.43179633621673 + ], + [ + 561.5830462683883, + 281.4785888482402 + ], + [ + 565.8057211282121, + 259.54866241111927 + ], + [ + 578.0455526201505, + 255.479660849998 + ], + [ + 571.7704844318164, + 248.58545297805472 + ], + [ + 559.6092851406944, + 252.58049283346742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 81, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 20.576993942260742, + "y": 29.254947662353516, + "z": 0.8067765235900879 + }, + "extent": { + "x": 0.25823360681533813, + "y": 0.3584044873714447, + "z": 0.6135923862457275 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 777.3631648824054, + "ymin": 239.98457919780896, + "xmax": 807.4457239084045, + "ymax": 282.8902838788542 + }, + "corners_3d": [ + [ + 20.60186004638672, + 28.81390380859375, + 0.19318413734436035 + ], + [ + 20.1507568359375, + 29.370969772338867, + 0.19318413734436035 + ], + [ + 20.552127838134766, + 29.69599151611328, + 0.19318413734436035 + ], + [ + 21.003231048583984, + 29.138925552368164, + 0.19318413734436035 + ], + [ + 20.60186004638672, + 28.81390380859375, + 1.4203689098358154 + ], + [ + 20.1507568359375, + 29.370969772338867, + 1.4203689098358154 + ], + [ + 20.552127838134766, + 29.69599151611328, + 1.4203689098358154 + ], + [ + 21.003231048583984, + 29.138925552368164, + 1.4203689098358154 + ] + ], + "corners_2d": [ + [ + 785.0848364992969, + 282.8902838788542 + ], + [ + 803.2593654029424, + 277.655702074232 + ], + [ + 795.3964035525121, + 269.411648742098 + ], + [ + 777.3631648824054, + 274.535700151103 + ], + [ + 788.830791787525, + 253.28352666338026 + ], + [ + 807.4457239084045, + 248.11732757329446 + ], + [ + 799.3379137602723, + 239.98457919780896 + ], + [ + 780.8710210133032, + 245.03893065724998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 462, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 13.332817077636719, + "y": 22.31223487854004, + "z": 1.1432759761810303 + }, + "extent": { + "x": 0.3849066197872162, + "y": 0.4038122594356537, + "z": 0.9425840377807617 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 934.7040205618443, + "ymin": 425.97810424693483, + "xmax": 993.9444553379014, + "ymax": 502.34858356975053 + }, + "corners_3d": [ + [ + 13.346185684204102, + 21.754526138305664, + 0.20069193840026855 + ], + [ + 12.775108337402344, + 22.325603485107422, + 0.20069193840026855 + ], + [ + 13.319448471069336, + 22.869943618774414, + 0.20069193840026855 + ], + [ + 13.890525817871094, + 22.298866271972656, + 0.20069193840026855 + ], + [ + 13.346185684204102, + 21.754526138305664, + 2.085860013961792 + ], + [ + 12.775108337402344, + 22.325603485107422, + 2.085860013961792 + ], + [ + 13.319448471069336, + 22.869943618774414, + 2.085860013961792 + ], + [ + 13.890525817871094, + 22.298866271972656, + 2.085860013961792 + ] + ], + "corners_2d": [ + [ + 950.0868057422413, + 502.34858356975053 + ], + [ + 976.5530646699408, + 494.990172852986 + ], + [ + 960.730335242538, + 474.26615254453225 + ], + [ + 934.7040205618443, + 481.3206381769696 + ], + [ + 966.2350209801447, + 454.06107790846534 + ], + [ + 993.9444553379014, + 446.69461795846917 + ], + [ + 976.9420287391545, + 425.97810424693483 + ], + [ + 949.7133468491136, + 433.02504000927166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 291, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 19.217317581176758, + "y": 11.18487548828125, + "z": 1.1371675729751587 + }, + "extent": { + "x": 0.4870098829269409, + "y": 0.5405688285827637, + "z": 0.9432360529899597 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 520.2862630716204, + "ymin": 679.5125460985839, + "xmax": 584.8211266509569, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 19.330934524536133, + 10.466206550598145, + 0.19393151998519897 + ], + [ + 18.490732192993164, + 11.146588325500488, + 0.19393151998519897 + ], + [ + 19.103700637817383, + 11.903544425964355, + 0.19393151998519897 + ], + [ + 19.94390296936035, + 11.223162651062012, + 0.19393151998519897 + ], + [ + 19.330934524536133, + 10.466206550598145, + 2.0804035663604736 + ], + [ + 18.490732192993164, + 11.146588325500488, + 2.0804035663604736 + ], + [ + 19.103700637817383, + 11.903544425964355, + 2.0804035663604736 + ], + [ + 19.94390296936035, + 11.223162651062012, + 2.0804035663604736 + ] + ], + "corners_2d": [ + [ + 533.5076554391806, + 778.8991777445372 + ], + [ + 584.8211266509569, + 768.0701162610563 + ], + [ + 577.204171168157, + 724.8859265396484 + ], + [ + 527.5875678276819, + 734.9879669798622 + ], + [ + 526.3287018413769, + 735.0341459991479 + ], + [ + 581.1349191973746, + 723.8773853832585 + ], + [ + 573.1609805222023, + 679.5125460985839 + ], + [ + 520.2862630716204, + 689.872742003626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 589, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 34.07815170288086, + "y": 14.142022132873535, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.38435545563697815, + "y": 0.27835386991500854, + "z": 0.8812108635902405 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 123.05151263719426, + "ymin": 380.07818057651366, + "xmax": 172.75628284803378, + "ymax": 445.6446604506363 + }, + "corners_3d": [ + [ + 34.102264404296875, + 13.668071746826172, + 0.10355925559997559 + ], + [ + 33.63536834716797, + 13.971277236938477, + 0.10355925559997559 + ], + [ + 34.054039001464844, + 14.615972518920898, + 0.10355925559997559 + ], + [ + 34.52093505859375, + 14.312767028808594, + 0.10355925559997559 + ], + [ + 34.102264404296875, + 13.668071746826172, + 1.8659809827804565 + ], + [ + 33.63536834716797, + 13.971277236938477, + 1.8659809827804565 + ], + [ + 34.054039001464844, + 14.615972518920898, + 1.8659809827804565 + ], + [ + 34.52093505859375, + 14.312767028808594, + 1.8659809827804565 + ] + ], + "corners_2d": [ + [ + 145.51241818689869, + 445.6446604506363 + ], + [ + 165.90621702262484, + 444.0803531328093 + ], + [ + 172.75628284803378, + 424.6687681452383 + ], + [ + 152.79285833675482, + 426.1694663387816 + ], + [ + 123.05151263719426, + 400.95124829285385 + ], + [ + 144.40882449720817, + 399.39316046494525 + ], + [ + 152.023672295744, + 380.07818057651366 + ], + [ + 131.13784713337805, + 381.5701290455192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 24792, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 114.7057722756258, + "ymin": 407.7623179329424, + "xmax": 393.21973043428613, + "ymax": 680.5982674680738 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 147.26063804823633, + 639.4378630702967 + ], + [ + 223.72545560350005, + 680.5982674680738 + ], + [ + 393.21973043428613, + 490.33942772238277 + ], + [ + 323.7196976120985, + 461.1977375533367 + ], + [ + 114.7057722756258, + 587.2330911964087 + ], + [ + 195.16240900450396, + 629.2054325306462 + ], + [ + 379.1669201228814, + 436.85406846083754 + ], + [ + 306.2675297853966, + 407.7623179329424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 4499, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 487.9166135330755, + "ymin": 106.70466796281198, + "xmax": 601.4683383144703, + "ymax": 210.15320405238072 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 601.4683383144703, + 151.49636406710795 + ], + [ + 556.8155874927998, + 139.89445108830145 + ], + [ + 492.0682694369142, + 196.39580222862224 + ], + [ + 539.4550982186166, + 210.15320405238072 + ], + [ + 600.4583402906699, + 117.99473145443528 + ], + [ + 554.6748734491744, + 106.70466796281198 + ], + [ + 487.9166135330755, + 161.78656572474458 + ], + [ + 536.5761323077971, + 175.2362539432965 + ] + ], + "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": 546.7971025981233, + "ymin": 634.8562529198629, + "xmax": 571.3882327786911, + "ymax": 679.9547501303075 + }, + "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": [ + [ + 559.3420259596487, + 658.7716799461892 + ], + [ + 549.6389723365108, + 674.1538219742251 + ], + [ + 561.7977776386083, + 679.9547501303075 + ], + [ + 571.3882327786911, + 664.4214564209193 + ], + [ + 556.8395347006244, + 634.8562529198629 + ], + [ + 546.7971025981233, + 650.3951777187885 + ], + [ + 559.3257866873283, + 656.2585528051468 + ], + [ + 569.248799101278, + 640.5621294807952 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.52143295843143, + "ymin": 360.3352070336057, + "xmax": 150.60851681275096, + "ymax": 405.0588085748419 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 141.42502836502854, + 390.0834174915248 + ], + [ + 127.37592299594212, + 400.9781452976117 + ], + [ + 136.60860424672353, + 405.0588085748419 + ], + [ + 150.60851681275096, + 394.0659493097761 + ], + [ + 127.15701711803501, + 360.3352070336057 + ], + [ + 112.52143295843143, + 371.1716502555727 + ], + [ + 121.95378643038794, + 375.2324344179975 + ], + [ + 136.53896768673707, + 364.2955542835535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.6754686133302, + "ymin": 446.37034259906136, + "xmax": 351.4516665520288, + "ymax": 494.41510187409494 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 340.40011214462317, + 476.3719375846524 + ], + [ + 327.6426907635018, + 489.4926776245901 + ], + [ + 338.7798871145279, + 494.41510187409494 + ], + [ + 351.4516665520288, + 481.16458168117106 + ], + [ + 330.9705171872248, + 446.37034259906136 + ], + [ + 317.6754686133302, + 459.494423544156 + ], + [ + 329.1187813009872, + 464.42096181819 + ], + [ + 342.32399565107994, + 451.16292202492946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 200.89530892081467, + "ymin": 397.42294380060537, + "xmax": 237.3025597686306, + "ymax": 443.60334946153375 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 227.33382066800675, + 427.3390776830788 + ], + [ + 213.78428922059044, + 439.1692140594887 + ], + [ + 223.8167138885455, + 443.60334946153375 + ], + [ + 237.3025597686306, + 431.66214425766464 + ], + [ + 215.01618865664835, + 397.42294380060537 + ], + [ + 200.89530892081467, + 409.21833903287575 + ], + [ + 211.16999928940209, + 413.64176448881847 + ], + [ + 225.22486963166688, + 401.7322751319029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 48.83142358856139, + "ymin": 150.91227358248972, + "xmax": 79.59509644970706, + "ymax": 170.75520728640518 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 53.705091788770005, + 162.98536304026453 + ], + [ + 76.71798204090715, + 170.75520728640518 + ], + [ + 79.59509644970706, + 169.16247347501013 + ], + [ + 56.60292097553349, + 161.42918368308437 + ], + [ + 48.83142358856139, + 152.45650115792907 + ], + [ + 71.98041194032703, + 160.16757081111123 + ], + [ + 74.8929832685908, + 158.58676302200638 + ], + [ + 51.76479063878264, + 150.91227358248972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1202.8162365380763, + "ymin": 0.0, + "xmax": 1257.351789869622, + "ymax": 24.634597656938297 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1252.8084289123924, + 24.634597656938297 + ], + [ + 1254.1384719708947, + 6.464615505089 + ], + [ + 1205.825700531521, + -1.2817752999768004 + ], + [ + 1202.8162365380763, + 16.328800929194472 + ], + [ + 1256.1300695439475, + 17.019229211552613 + ], + [ + 1257.351789869622, + -0.9815213804911309 + ], + [ + 1208.740866496033, + -8.653715286171291 + ], + [ + 1205.8184981964441, + 8.789955786675307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5911986359451111656, + "instance_id": 59600, + "pixel_count": null, + "type_id": "BP_Lamppost_tall19_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 63.2324104309082, + "y": 34.13483428955078, + "z": 2.854238748550415 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 84.24249117049749, + "ymax": 10.578579378760935 + }, + "corners_3d": [ + [ + 62.203983306884766, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 32.98448181152344, + 5.197063446044922 + ], + [ + 62.203983306884766, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 32.98448181152344, + 5.197063446044922 + ] + ], + "corners_2d": [ + [ + 46.652445249212974, + 10.578579378760935 + ], + [ + 84.24249117049749, + -4.8906901149997 + ], + [ + 57.3566127564701, + -11.571591290514107 + ], + [ + 19.462001390649903, + 3.478071054856059 + ], + [ + 6.238159977443502, + -86.07369972519268 + ], + [ + 47.607126644060145, + -99.45131691714977 + ], + [ + 19.499059721370372, + -105.21190338096943 + ], + [ + -22.179061658785827, + -92.22095116036746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.0287698220205, + "ymin": 98.47027586305342, + "xmax": 819.4243903670517, + "ymax": 363.38900397262915 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 783.3749925256332, + 363.38900397262915 + ], + [ + 788.333854807935, + 354.94423223321974 + ], + [ + 676.8346230630766, + 319.6119661449101 + ], + [ + 671.0287698220205, + 327.3712907817574 + ], + [ + 813.7852624241115, + 137.2442246948729 + ], + [ + 819.4243903670517, + 129.6999040820985 + ], + [ + 684.1732004582461, + 98.47027586305342 + ], + [ + 677.2808208689394, + 105.28265729194337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.6465847042525, + "ymin": 105.98308369675345, + "xmax": 700.0488909248979, + "ymax": 117.50175649208248 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 695.419296911612, + 117.50175649208248 + ], + [ + 699.881789686422, + 112.86530105154196 + ], + [ + 686.188304340549, + 109.6470693775689 + ], + [ + 681.6465847042525, + 114.23490723820845 + ], + [ + 695.5751155941468, + 113.81264261875646 + ], + [ + 700.0488909248979, + 109.19095227618948 + ], + [ + 686.3165167715022, + 105.98308369675345 + ], + [ + 681.7630600130985, + 110.5561766080194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.5478213426321, + "ymin": 105.9215811116267, + "xmax": 700.1482955050245, + "ymax": 117.56423779510834 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 695.4690694544663, + 117.56423779510834 + ], + [ + 699.9791227346944, + 112.87750344899501 + ], + [ + 686.1388146517829, + 109.62482210773908 + ], + [ + 681.5478213426321, + 114.26188597126861 + ], + [ + 695.6267181026533, + 113.83532493946907 + ], + [ + 700.1482955050245, + 109.16367526311626 + ], + [ + 686.26825969856, + 105.9215811116267 + ], + [ + 681.6652728642443, + 110.54358111150813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1202.8684838342097, + "ymin": 0.0, + "xmax": 1257.320978287576, + "ymax": 24.56842563733727 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1252.800089901607, + 24.56842563733727 + ], + [ + 1254.129023893419, + 6.419834288344475 + ], + [ + 1205.8730643101976, + -1.3167885808683195 + ], + [ + 1202.8684838342097, + 16.27371603815834 + ], + [ + 1256.099523818274, + 17.003510256976313 + ], + [ + 1257.320978287576, + -0.9771440564317686 + ], + [ + 1208.7691903550647, + -8.640146165447618 + ], + [ + 1205.8510512461617, + 8.78472754024392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 193.50386386742895, + "ymin": 75.08995591035097, + "xmax": 220.80684414015366, + "ymax": 92.2322481797321 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 196.75935848669678, + 86.16299621177018 + ], + [ + 218.561857929709, + 92.2322481797321 + ], + [ + 220.80684414015366, + 90.98945247006054 + ], + [ + 199.02660976205198, + 84.94544700343022 + ], + [ + 193.50386386742895, + 76.2958407769238 + ], + [ + 215.43429945481864, + 82.30749557118264 + ], + [ + 217.70250447252732, + 81.07641974327566 + ], + [ + 195.79452554853407, + 75.08995591035097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 303.5175183615062, + "ymin": 26.907258610405222, + "xmax": 329.0313632130665, + "ymax": 42.641788736281 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 305.80347796837606, + 37.45889170672905 + ], + [ + 327.15235649029586, + 42.641788736281 + ], + [ + 329.0313632130665, + 41.58108547857415 + ], + [ + 307.7058361393242, + 36.41827404442256 + ], + [ + 303.5175183615062, + 27.936473824327607 + ], + [ + 324.9917112770001, + 33.0629846664977 + ], + [ + 326.887909409816, + 32.01376621886209 + ], + [ + 305.4373064010424, + 26.907258610405222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1172.6927744907657, + "ymin": 0.0, + "xmax": 1269.721093123169, + "ymax": 97.82863063675455 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1222.688382718123, + 97.82863063675455 + ], + [ + 1225.0653826963603, + 77.06901362717576 + ], + [ + 1176.7378976488972, + 68.161836678231 + ], + [ + 1172.6927744907657, + 88.27622125577471 + ], + [ + 1268.8845530337521, + -7.754982692257727 + ], + [ + 1269.721093123169, + -26.16364177160841 + ], + [ + 1217.0270870584463, + -34.03124173342934 + ], + [ + 1214.199832616913, + -16.238152523522615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 885.0615598354607, + "ymin": 0.0, + "xmax": 1006.7823210159424, + "ymax": 56.54570406941616 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 963.5566431462302, + 56.54570406941616 + ], + [ + 965.6286125308608, + 53.0172125055625 + ], + [ + 887.5601220711022, + 37.98441561373676 + ], + [ + 885.0615598354607, + 41.32365802218271 + ], + [ + 1004.7417415164668, + -118.22748593775202 + ], + [ + 1006.7823210159424, + -120.95747907131073 + ], + [ + 917.8954651639642, + -132.53932774715446 + ], + [ + 915.2994886229778, + -129.9734827364927 + ] + ], + "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": 42.60389888118573, + "ymin": 258.9134356649679, + "xmax": 589.7591439401266, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 579.9229887987182, + 736.5260871165726 + ], + [ + 589.7591439401266, + 719.7476659436592 + ], + [ + 190.4821095013071, + 520.6255001992619 + ], + [ + 177.6874540772684, + 532.3528404730604 + ], + [ + 557.6157478515299, + 479.1834344415792 + ], + [ + 571.4490976079034, + 461.04837753344617 + ], + [ + 61.05564731576965, + 258.9134356649679 + ], + [ + 42.60389888118573, + 270.1877950032538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1059.7099106045273, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 7.161698990634534 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1067.4689125261668, + -8.127165375235052 + ], + [ + 1227.3369858147116, + 7.161698990634534 + ], + [ + 1202.5637612143735, + -46.30343127722114 + ], + [ + 1059.7099106045273, + -58.58674046972425 + ], + [ + 1147.0178801514346, + -275.6765313701392 + ], + [ + 1340.6757680381652, + -267.32546376276935 + ], + [ + 1297.7837937433628, + -296.1146957188006 + ], + [ + 1128.5197635952518, + -302.56793842615207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 51.07902604952926, + "ymax": 367.57357298300474 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -86.78574580479187, + 367.57357298300474 + ], + [ + 51.07902604952926, + 297.0678352470561 + ], + [ + -12.76901627697032, + 252.2123557006679 + ], + [ + -147.22115163995545, + 314.5622357521932 + ], + [ + -484.6393034385012, + -211.7111730756169 + ], + [ + -233.79622094461843, + -246.3841631011262 + ], + [ + -301.5966982097392, + -265.32902762477624 + ], + [ + -537.2450154356943, + -236.24184234082065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10995512028101811758, + "instance_id": 11806, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4970_5", + "bbox_3d": { + "center_world": { + "x": 63.23024368286133, + "y": 30.54021453857422, + "z": 8.201587677001953 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 54.54422550218612, + "ymax": 48.83485633597297 + }, + "corners_3d": [ + [ + 61.431114196777344, + 28.033018112182617, + 0.5935924649238586 + ], + [ + 60.66808319091797, + 32.26016616821289, + 0.5935924649238586 + ], + [ + 64.8783187866211, + 33.020145416259766, + 0.5505568385124207 + ], + [ + 65.64134979248047, + 28.792997360229492, + 0.5505568385124207 + ], + [ + 61.5821647644043, + 28.060283660888672, + 15.852618217468262 + ], + [ + 60.81913375854492, + 32.28742980957031, + 15.852618217468262 + ], + [ + 65.02937316894531, + 33.04741287231445, + 15.809582710266113 + ], + [ + 65.79240417480469, + 28.820262908935547, + 15.809582710266113 + ] + ], + "corners_2d": [ + [ + -32.91103162476145, + 48.83485633597297 + ], + [ + 54.54422550218612, + 19.582797443775235 + ], + [ + 11.723754833430462, + 0.39904989643946465 + ], + [ + -74.44758904948526, + 27.418371846353978 + ], + [ + -228.92949083996177, + -350.30745443395153 + ], + [ + -104.91898363520909, + -360.4968224660331 + ], + [ + -150.8309581760774, + -365.9953909298566 + ], + [ + -271.51366072745736, + -356.71383313685294 + ] + ], + "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": 764.8562545381105, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 598.1235534936692 + }, + "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": [ + [ + 1066.7432254674518, + 598.1235534936692 + ], + [ + 1049.912265243508, + 398.45697605701673 + ], + [ + 801.0814140679093, + 356.914874735259 + ], + [ + 764.8562545381105, + 536.7353188536257 + ], + [ + 1282.1449765591124, + 178.43404567609713 + ], + [ + 1205.0378485783463, + 8.23848306874578 + ], + [ + 858.2288493971828, + -23.642491971957213 + ], + [ + 822.7298784126033, + 122.8768085751864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1016.8628898385504, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 88.84043770816857 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1192.0494232048022, + 88.84043770816857 + ], + [ + 1168.8472298774564, + 25.9978027386681 + ], + [ + 1016.8628898385504, + 11.44480776166364 + ], + [ + 1021.8064786925322, + 70.67408936101856 + ], + [ + 1313.3150586582392, + -205.67491578577255 + ], + [ + 1270.2813407115245, + -243.2146878223333 + ], + [ + 1086.7824852564963, + -251.6647912048818 + ], + [ + 1102.5498379847213, + -216.7059417179696 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file