diff --git "a/data_v7/Town05_Opt/trajectory_1777175211/ORI/frames_playback/frame_00000/meta.json" "b/data_v7/Town05_Opt/trajectory_1777175211/ORI/frames_playback/frame_00000/meta.json" new file mode 100644--- /dev/null +++ "b/data_v7/Town05_Opt/trajectory_1777175211/ORI/frames_playback/frame_00000/meta.json" @@ -0,0 +1,3635 @@ +{ + "frame_id": 0, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 0.0, + "sim_timestamp": 8409.705228602048 + }, + "drone_pose": { + "x": 24.225808583074596, + "y": -107.56493034143168, + "z": 22.0, + "pitch": -46.476317589530694, + "yaw": 70.70995378081126, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.22749727964401245, + -0.6499921083450317, + 0.7250898480415344, + 48.45307922363281 + ], + [ + 0.9438583850860596, + 0.33035045862197876, + -2.9802322387695312e-08, + 58.399864196777344 + ], + [ + -0.23953376710414886, + 0.6843820810317993, + 0.6886543035507202, + -82.96299743652344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 23.34996459735175, + "y": -107.99651109264387, + "z": 21.2 + }, + "t1_image_uv": [ + 7188.000275879859, + 10468.520652298103 + ], + "t1_depth": 0.10029562636641098 + }, + "target": { + "enabled": true, + "actor_id": 195, + "world_location": { + "x": 30.83281707763672, + "y": -88.68776321411133, + "z": 0.9418364214893882 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 29.04214615518817, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 654, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 30.83281707763672, + "y": -88.68775939941406, + "z": 0.9418363571166992 + }, + "extent": { + "x": 0.5110400319099426, + "y": 0.5815087556838989, + "z": 0.9094094634056091 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 615.5533934577563, + "ymin": 322.883882519378, + "xmax": 664.1047777035254, + "ymax": 396.62099957247926 + }, + "corners_3d": [ + [ + 31.414325714111328, + -89.19879913330078, + 0.03242689371109009 + ], + [ + 30.25130844116211, + -89.19879913330078, + 0.03242689371109009 + ], + [ + 30.25130844116211, + -88.17671966552734, + 0.03242689371109009 + ], + [ + 31.414325714111328, + -88.17671966552734, + 0.03242689371109009 + ], + [ + 31.414325714111328, + -89.19879913330078, + 1.8512458801269531 + ], + [ + 30.25130844116211, + -89.19879913330078, + 1.8512458801269531 + ], + [ + 30.25130844116211, + -88.17671966552734, + 1.8512458801269531 + ], + [ + 31.414325714111328, + -88.17671966552734, + 1.8512458801269531 + ] + ], + "corners_2d": [ + [ + 616.6462249961984, + 387.2273665144663 + ], + [ + 652.4786438811092, + 396.62099957247926 + ], + [ + 663.0416329389412, + 373.34980469155147 + ], + [ + 627.9057014466149, + 364.36715625010487 + ], + [ + 615.5533934577563, + 345.8359591759483 + ], + [ + 653.0681115275406, + 355.28106091819245 + ], + [ + 664.1047777035254, + 331.89699007675785 + ], + [ + 627.3527867189878, + 322.883882519378 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 0, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 80, + "semantic_pixel_counts": { + "1": 599202, + "2": 156848, + "3": 46227, + "6": 25117, + "7": 5838, + "9": 14124, + "10": 1794, + "12": 3010, + "14": 28250, + "20": 6016, + "24": 35174 + }, + "instance_pixel_counts": { + "643": 2532, + "1369": 4951, + "1881": 706, + "2393": 100, + "4961": 1783, + "6019": 5547, + "7299": 1570, + "11395": 5165, + "13698": 225, + "13954": 525, + "14211": 7644, + "14723": 9734, + "14978": 963, + "15964": 334, + "21653": 2278, + "21849": 12754, + "22272": 3749, + "22361": 4409, + "22528": 10203, + "22784": 8941, + "22873": 5421, + "23040": 6218, + "23189": 1490, + "24409": 586, + "24921": 6463, + "25433": 7488, + "25945": 8528, + "26457": 353, + "26969": 5877, + "27993": 5246, + "28764": 485, + "30812": 171, + "31324": 216, + "34639": 1394, + "34892": 419, + "35404": 200, + "35919": 5947, + "37777": 1724, + "38223": 4880, + "38275": 2832, + "40085": 3295, + "40597": 2203, + "41109": 3077, + "41307": 18203, + "41347": 401, + "41603": 382, + "41859": 354, + "42133": 3479, + "42643": 1291, + "43155": 609, + "43157": 3181, + "43669": 2331, + "44181": 1537, + "44384": 21257, + "44693": 1656, + "44896": 17834, + "45408": 16798, + "45717": 3646, + "49553": 31529, + "49920": 654, + "50065": 385154, + "50176": 485, + "50320": 14124, + "50432": 530, + "50577": 55705, + "50688": 579, + "51089": 42280, + "51200": 762, + "51601": 64607, + "52883": 1404, + "52992": 15390, + "53395": 25720, + "53907": 2944, + "54419": 1836, + "54784": 12860, + "54931": 1370, + "62029": 1225, + "64344": 4019, + "64856": 5885, + "65154": 942 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 654, + "type_id": "walker.pedestrian.0038", + "bbox_3d": { + "center_world": { + "x": 30.83281707763672, + "y": -88.68775939941406, + "z": 0.9418363571166992 + }, + "extent": { + "x": 0.4889013469219208, + "y": 0.5150097608566284, + "z": 0.9006655812263489 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.9449453960027, + "ymin": 324.08975842474587, + "xmax": 661.7456130396484, + "ymax": 395.3746923825479 + }, + "corners_3d": [ + [ + 31.34782600402832, + -89.1766586303711, + 0.04117077589035034 + ], + [ + 30.317806243896484, + -89.1766586303711, + 0.04117077589035034 + ], + [ + 30.317808151245117, + -88.19886016845703, + 0.04117077589035034 + ], + [ + 31.347827911376953, + -88.19886016845703, + 0.04117077589035034 + ], + [ + 31.34782600402832, + -89.1766586303711, + 1.8425018787384033 + ], + [ + 30.317806243896484, + -89.1766586303711, + 1.8425018787384033 + ], + [ + 30.317808151245117, + -88.19886016845703, + 1.8425018787384033 + ], + [ + 31.347827911376953, + -88.19886016845703, + 1.8425018787384033 + ] + ], + "corners_2d": [ + [ + 618.9216225814664, + 387.0631789359915 + ], + [ + 650.649487320834, + 395.3746923825479 + ], + [ + 660.7955632162286, + 373.13401667201595 + ], + [ + 629.6580545736296, + 365.17079426748165 + ], + [ + 617.9449453960027, + 346.0702888741345 + ], + [ + 651.1470730131232, + 354.42652424766374 + ], + [ + 661.7456130396484, + 332.08007435641855 + ], + [ + 629.1894215557617, + 324.08975842474587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 485, + "type_id": "walker.pedestrian.0045", + "bbox_3d": { + "center_world": { + "x": 34.958805084228516, + "y": -85.69005584716797, + "z": 0.9418412446975708 + }, + "extent": { + "x": 0.3554394841194153, + "y": 0.409843772649765, + "z": 0.8708140850067139 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 536.3856613903234, + "ymin": 240.42944138724312, + "xmax": 568.1510486587498, + "ymax": 296.1571779878736 + }, + "corners_3d": [ + [ + 35.28579330444336, + -86.12294006347656, + 0.07102715969085693 + ], + [ + 34.48401641845703, + -85.9525146484375, + 0.07102715969085693 + ], + [ + 34.63181686401367, + -85.25717163085938, + 0.07102715969085693 + ], + [ + 35.43359375, + -85.42759704589844, + 0.07102715969085693 + ], + [ + 35.28579330444336, + -86.12294006347656, + 1.8126553297042847 + ], + [ + 34.48401641845703, + -85.9525146484375, + 1.8126553297042847 + ], + [ + 34.63181686401367, + -85.25717163085938, + 1.8126553297042847 + ], + [ + 35.43359375, + -85.42759704589844, + 1.8126553297042847 + ] + ], + "corners_2d": [ + [ + 540.4299572717773, + 294.0607578050751 + ], + [ + 564.3878082098184, + 296.1571779878736 + ], + [ + 568.1510486587498, + 282.12412528192147 + ], + [ + 544.5392520486905, + 280.08931260109057 + ], + [ + 536.3856613903234, + 254.34894694747953 + ], + [ + 561.3095309613618, + 256.4390163759605 + ], + [ + 565.2710629628928, + 242.45564981668093 + ], + [ + 540.721493364438, + 240.42944138724312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 530, + "type_id": "walker.pedestrian.0037", + "bbox_3d": { + "center_world": { + "x": 28.576993942260742, + "y": -81.74504852294922, + "z": 0.9418363571166992 + }, + "extent": { + "x": 0.471405029296875, + "y": 0.5739672780036926, + "z": 0.9346900582313538 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 747.6455618222483, + "ymin": 205.2336762741807, + "xmax": 789.9303556614952, + "ymax": 269.53717296012286 + }, + "corners_3d": [ + [ + 29.098541259765625, + -82.27386474609375, + 0.007146298885345459 + ], + [ + 27.95689582824707, + -82.15387725830078, + 0.007146298885345459 + ], + [ + 28.05544662475586, + -81.21623229980469, + 0.007146298885345459 + ], + [ + 29.197092056274414, + -81.33621978759766, + 0.007146298885345459 + ], + [ + 29.098541259765625, + -82.27386474609375, + 1.8765263557434082 + ], + [ + 27.95689582824707, + -82.15387725830078, + 1.8765263557434082 + ], + [ + 28.05544662475586, + -81.21623229980469, + 1.8765263557434082 + ], + [ + 29.197092056274414, + -81.33621978759766, + 1.8765263557434082 + ] + ], + "corners_2d": [ + [ + 747.6455618222483, + 264.54374001120584 + ], + [ + 780.4278927165826, + 269.53717296012286 + ], + [ + 783.9433468471856, + 252.40509791824948 + ], + [ + 751.7492940314282, + 247.59535597683254 + ], + [ + 752.1855545033434, + 222.063992001248 + ], + [ + 786.3841727182355, + 227.0276533155371 + ], + [ + 789.9303556614952, + 210.00724200939962 + ], + [ + 756.3714862757683, + 205.2336762741807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 579, + "type_id": "walker.pedestrian.0028", + "bbox_3d": { + "center_world": { + "x": 21.609479904174805, + "y": -88.33940124511719, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4005481004714966, + "y": 0.6282812356948853, + "z": 0.9178382754325867 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 920.3720601076637, + "ymin": 392.61593689923615, + "xmax": 984.2275071049347, + "ymax": 465.9505268919356 + }, + "corners_3d": [ + [ + 22.237760543823242, + -88.73995208740234, + 0.023983478546142578 + ], + [ + 20.981199264526367, + -88.73995208740234, + 0.023983478546142578 + ], + [ + 20.981199264526367, + -87.93885040283203, + 0.023983478546142578 + ], + [ + 22.237760543823242, + -87.93885040283203, + 0.023983478546142578 + ], + [ + 22.237760543823242, + -88.73995208740234, + 1.859660029411316 + ], + [ + 20.981199264526367, + -88.73995208740234, + 1.859660029411316 + ], + [ + 20.981199264526367, + -87.93885040283203, + 1.859660029411316 + ], + [ + 22.237760543823242, + -87.93885040283203, + 1.859660029411316 + ] + ], + "corners_2d": [ + [ + 920.3720601076637, + 454.43338533309816 + ], + [ + 964.7982729094799, + 465.9505268919356 + ], + [ + 967.836663213966, + 445.1479780565909 + ], + [ + 924.1988817584918, + 434.05378872250344 + ], + [ + 934.5145740445543, + 413.20581462527207 + ], + [ + 981.3611637331668, + 424.85874056392055 + ], + [ + 984.2275071049347, + 403.8198504827234 + ], + [ + 938.2570147096401, + 392.61593689923615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 200, + "instance_id": 51200, + "pixel_count": 762, + "type_id": "walker.pedestrian.0042", + "bbox_3d": { + "center_world": { + "x": 42.078147888183594, + "y": -96.85797882080078, + "z": 0.9418412446975708 + }, + "extent": { + "x": 0.4606591761112213, + "y": 0.4852636754512787, + "z": 0.914436936378479 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 114.78761603396333, + "ymin": 426.2793216111253, + "xmax": 190.73774148518982, + "ymax": 504.7092658150075 + }, + "corners_3d": [ + [ + 42.648582458496094, + -97.20767974853516, + 0.027404308319091797 + ], + [ + 41.69926452636719, + -97.40946197509766, + 0.027404308319091797 + ], + [ + 41.507713317871094, + -96.5082778930664, + 0.027404308319091797 + ], + [ + 42.45703125, + -96.3064956665039, + 0.027404308319091797 + ], + [ + 42.648582458496094, + -97.20767974853516, + 1.8562781810760498 + ], + [ + 41.69926452636719, + -97.40946197509766, + 1.8562781810760498 + ], + [ + 41.507713317871094, + -96.5082778930664, + 1.8562781810760498 + ], + [ + 42.45703125, + -96.3064956665039, + 1.8562781810760498 + ] + ], + "corners_2d": [ + [ + 140.72220759865246, + 489.77361914711537 + ], + [ + 164.21968967361738, + 504.7092658150075 + ], + [ + 190.73774148518982, + 481.5489810437009 + ], + [ + 167.36928307997266, + 467.2023424514629 + ], + [ + 114.78761603396333, + 449.1539310435077 + ], + [ + 139.16498491532258, + 464.31616903551424 + ], + [ + 167.5781227911507, + 440.81331898572705 + ], + [ + 143.32940666018197, + 426.2793216111253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 207, + "instance_id": 52992, + "pixel_count": 15390, + "type_id": "vehicle.mercedes.coupe", + "bbox_3d": { + "center_world": { + "x": 18.011943817138672, + "y": -94.8658676147461, + "z": 0.8074854612350464 + }, + "extent": { + "x": 2.5133883953094482, + "y": 1.0757731199264526, + "z": 0.8253258466720581 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 950.3451432388226, + "ymin": 590.0329791015508, + "xmax": 1210.0010080162538, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 20.523710250854492, + -93.78630828857422, + -0.017840400338172913 + ], + [ + 20.52695083618164, + -95.93785095214844, + -0.017840400338172913 + ], + [ + 15.500179290771484, + -95.94542694091797, + -0.017840400338172913 + ], + [ + 15.496938705444336, + -93.79388427734375, + -0.017840400338172913 + ], + [ + 20.523710250854492, + -93.78630828857422, + 1.632811188697815 + ], + [ + 20.52695083618164, + -95.93785095214844, + 1.632811188697815 + ], + [ + 15.500179290771484, + -95.94542694091797, + 1.632811188697815 + ], + [ + 15.496938705444336, + -93.79388427734375, + 1.632811188697815 + ] + ], + "corners_2d": [ + [ + 960.7894123845897, + 623.9193543986919 + ], + [ + 950.3451432388226, + 702.4754332029045 + ], + [ + 1178.3177693088223, + 774.656238772304 + ], + [ + 1175.3887004407059, + 687.7656294634571 + ], + [ + 977.5688217974864, + 590.0329791015508 + ], + [ + 967.6343702586354, + 670.7607518757701 + ], + [ + 1210.0010080162538, + 745.398667815561 + ], + [ + 1204.8729689519514, + 655.6045862757974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 214, + "instance_id": 54784, + "pixel_count": 12860, + "type_id": "vehicle.bmw.grandtourer", + "bbox_3d": { + "center_world": { + "x": 19.20667266845703, + "y": -91.36432647705078, + "z": 0.832971453666687 + }, + "extent": { + "x": 2.3055028915405273, + "y": 1.1208566427230835, + "z": 0.8336379528045654 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 928.0229071076615, + "ymin": 465.73840754644675, + "xmax": 1139.0412393991153, + "ymax": 622.5401816488838 + }, + "corners_3d": [ + [ + 21.51048469543457, + -90.23999786376953, + -0.0006665065884590149 + ], + [ + 21.51386260986328, + -92.48170471191406, + -0.0006665065884590149 + ], + [ + 16.902860641479492, + -92.48865509033203, + -0.0006665065884590149 + ], + [ + 16.899484634399414, + -90.24694061279297, + -0.0006665065884590149 + ], + [ + 21.51048469543457, + -90.23999786376953, + 1.6666094064712524 + ], + [ + 21.51386260986328, + -92.48170471191406, + 1.6666094064712524 + ], + [ + 16.902860641479492, + -92.48865509033203, + 1.6666094064712524 + ], + [ + 16.899484634399414, + -90.24694061279297, + 1.6666094064712524 + ] + ], + "corners_2d": [ + [ + 939.0973286405942, + 502.37652123376677 + ], + [ + 928.0229071076615, + 569.1792675498676 + ], + [ + 1113.9933242661375, + 622.5401816488838 + ], + [ + 1114.921125155863, + 549.9394259437654 + ], + [ + 953.3403638722843, + 465.73840754644675 + ], + [ + 942.5732617577726, + 533.6862402980674 + ], + [ + 1139.0412393991153, + 588.2324973028938 + ], + [ + 1138.5160416081815, + 514.0780900942791 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2608818120515412785, + "instance_id": 12643, + "pixel_count": null, + "type_id": "AmericanLights_Town04_13_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 26.255699157714844, + "y": -79.0340347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 867.6843640185564, + "ymin": 62.37326296329468, + "xmax": 883.2625823349248, + "ymax": 94.36581097952393 + }, + "corners_3d": [ + [ + 26.394285202026367, + -78.84407806396484, + 5.545533180236816 + ], + [ + 26.394285202026367, + -79.22399139404297, + 5.545533180236816 + ], + [ + 26.11711311340332, + -79.22399139404297, + 5.545533180236816 + ], + [ + 26.11711311340332, + -78.84407806396484, + 5.545533180236816 + ], + [ + 26.394285202026367, + -78.84407806396484, + 6.416468620300293 + ], + [ + 26.394285202026367, + -79.22399139404297, + 6.416468620300293 + ], + [ + 26.11711311340332, + -79.22399139404297, + 6.416468620300293 + ], + [ + 26.11711311340332, + -78.84407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 869.7510866862788, + 86.93651283173529 + ], + [ + 867.6843640185564, + 92.84253172131088 + ], + [ + 876.3094771845379, + 94.36581097952393 + ], + [ + 878.3117589694973, + 88.43566771089593 + ], + [ + 874.5141855157613, + 62.37326296329468 + ], + [ + 872.4431951254248, + 68.20196789591904 + ], + [ + 881.2589110808606, + 69.70562028171685 + ], + [ + 883.2625823349248, + 63.8526096121841 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2886067528565808389, + "instance_id": 1373, + "pixel_count": null, + "type_id": "AmericanLights_Town04_11_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 41.745052337646484, + "y": -99.91596221923828, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 27.71698285273237, + "ymin": 493.679640840007, + "xmax": 65.46121456724882, + "ymax": 530.7061525649717 + }, + "corners_3d": [ + [ + 41.605716705322266, + -100.10592651367188, + 2.645533323287964 + ], + [ + 41.605716705322266, + -99.72599792480469, + 2.645533323287964 + ], + [ + 41.8843879699707, + -99.72599792480469, + 2.645533323287964 + ], + [ + 41.8843879699707, + -100.10592651367188, + 2.645533323287964 + ], + [ + 41.605716705322266, + -100.10592651367188, + 3.5146729946136475 + ], + [ + 41.605716705322266, + -99.72599792480469, + 3.5146729946136475 + ], + [ + 41.8843879699707, + -99.72599792480469, + 3.5146729946136475 + ], + [ + 41.8843879699707, + -100.10592651367188, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 53.97176725382792, + 530.7061525649717 + ], + [ + 65.46121456724882, + 518.0659622469374 + ], + [ + 56.125743039500776, + 514.8644924384193 + ], + [ + 44.56742879417152, + 527.4351629681861 + ], + [ + 37.340111457123726, + 509.67481182122134 + ], + [ + 49.33497339348958, + 496.9111527674837 + ], + [ + 39.78361582121806, + 493.679640840007 + ], + [ + 27.71698285273237, + 506.3711280833751 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3191229953939377919, + "instance_id": 65422, + "pixel_count": null, + "type_id": "AmericanLights_Town04_10_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 41.21599197387695, + "y": -88.60569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.75218200067417, + "ymin": 135.0771903502644, + "xmax": 314.01935918702685, + "ymax": 169.45782856772848 + }, + "corners_3d": [ + [ + 41.354576110839844, + -88.795654296875, + 5.545533180236816 + ], + [ + 41.07740783691406, + -88.795654296875, + 5.545533180236816 + ], + [ + 41.07740783691406, + -88.41574096679688, + 5.545533180236816 + ], + [ + 41.354576110839844, + -88.41574096679688, + 5.545533180236816 + ], + [ + 41.354576110839844, + -88.795654296875, + 6.416468620300293 + ], + [ + 41.07740783691406, + -88.795654296875, + 6.416468620300293 + ], + [ + 41.07740783691406, + -88.41574096679688, + 6.416468620300293 + ], + [ + 41.354576110839844, + -88.41574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 298.6212918991486, + 167.61247366381804 + ], + [ + 306.8323206362525, + 169.45782856772848 + ], + [ + 314.01935918702685, + 162.2780206350513 + ], + [ + 305.86401511852944, + 160.46479414994735 + ], + [ + 290.75218200067417, + 142.16079404228572 + ], + [ + 299.1347661611907, + 143.99006940028136 + ], + [ + 306.55528933953065, + 136.87389210030534 + ], + [ + 298.2306619162006, + 135.0771903502644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4115746266436443991, + "instance_id": 22431, + "pixel_count": null, + "type_id": "AmericanLights_Town04_12_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 20.43404197692871, + "y": -91.89429473876953, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1899566650390625, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1028.4119568923716, + "ymin": 394.74608294906386, + "xmax": 1054.7455338369211, + "ymax": 436.35689538944916 + }, + "corners_3d": [ + [ + 20.29545783996582, + -91.70433807373047, + 5.545533180236816 + ], + [ + 20.5726261138916, + -91.70433807373047, + 5.545533180236816 + ], + [ + 20.5726261138916, + -92.0842514038086, + 5.545533180236816 + ], + [ + 20.29545783996582, + -92.0842514038086, + 5.545533180236816 + ], + [ + 20.29545783996582, + -91.70433807373047, + 6.416468620300293 + ], + [ + 20.5726261138916, + -91.70433807373047, + 6.416468620300293 + ], + [ + 20.5726261138916, + -92.0842514038086, + 6.416468620300293 + ], + [ + 20.29545783996582, + -92.0842514038086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1042.4756263426143, + 423.7802899896925 + ], + [ + 1029.5595806445058, + 420.61541847312867 + ], + [ + 1028.4119568923716, + 433.117619798629 + ], + [ + 1041.4757400558458, + 436.35689538944916 + ], + [ + 1054.7455338369211, + 397.92869294587854 + ], + [ + 1041.3996872290427, + 394.74608294906386 + ], + [ + 1040.3591749399943, + 407.32168797608216 + ], + [ + 1053.8628327905428, + 410.5814378528356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5847102999126404316, + "instance_id": 56556, + "pixel_count": null, + "type_id": "AmericanLights_Town04_12_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 20.43404769897461, + "y": -89.39429473876953, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1899566650390625, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.5068905079982, + "ymin": 318.9076073370368, + "xmax": 1060.0671225418855, + "ymax": 358.6158633199306 + }, + "corners_3d": [ + [ + 20.29546356201172, + -89.20433807373047, + 5.545533180236816 + ], + [ + 20.5726318359375, + -89.20433807373047, + 5.545533180236816 + ], + [ + 20.5726318359375, + -89.5842514038086, + 5.545533180236816 + ], + [ + 20.29546356201172, + -89.5842514038086, + 5.545533180236816 + ], + [ + 20.29546356201172, + -89.20433807373047, + 6.416468620300293 + ], + [ + 20.5726318359375, + -89.20433807373047, + 6.416468620300293 + ], + [ + 20.5726318359375, + -89.5842514038086, + 6.416468620300293 + ], + [ + 20.29546356201172, + -89.5842514038086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1048.518895054929, + 347.7646537029044 + ], + [ + 1036.4974908756294, + 345.0311434106465 + ], + [ + 1035.5068905079982, + 355.8227037754213 + ], + [ + 1047.65618131206, + 358.6158633199306 + ], + [ + 1060.0671225418855, + 321.64465436472335 + ], + [ + 1047.6743434949908, + 318.9076073370368 + ], + [ + 1046.7800818509745, + 329.7155957976812 + ], + [ + 1059.3088291104848, + 332.514083541345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8169280517330325871, + "instance_id": 28497, + "pixel_count": null, + "type_id": "AmericanLights_Town04_12_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 20.434038162231445, + "y": -94.89429473876953, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1018.3136307890371, + "ymin": 503.0322934728682, + "xmax": 1047.1428463984253, + "ymax": 547.0622697971994 + }, + "corners_3d": [ + [ + 20.295454025268555, + -94.70433807373047, + 5.545533180236816 + ], + [ + 20.572622299194336, + -94.70433807373047, + 5.545533180236816 + ], + [ + 20.572622299194336, + -95.0842514038086, + 5.545533180236816 + ], + [ + 20.295454025268555, + -95.0842514038086, + 5.545533180236816 + ], + [ + 20.295454025268555, + -94.70433807373047, + 6.416468620300293 + ], + [ + 20.572622299194336, + -94.70433807373047, + 6.416468620300293 + ], + [ + 20.572622299194336, + -95.0842514038086, + 6.416468620300293 + ], + [ + 20.295454025268555, + -95.0842514038086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1033.8869215734726, + 531.8118411672275 + ], + [ + 1019.7044062411651, + 527.9797589690207 + ], + [ + 1018.3136307890371, + 543.1308803268975 + ], + [ + 1032.674459106287, + 547.0622697971994 + ], + [ + 1047.1428463984253, + 506.9095096735504 + ], + [ + 1032.440234303568, + 503.0322934728682 + ], + [ + 1031.1714515058954, + 518.3668031547559 + ], + [ + 1046.0658086887117, + 522.3479396381756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12526924232150581901, + "instance_id": 36226, + "pixel_count": null, + "type_id": "AmericanLights_Town04_10_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 41.215980529785156, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 387.3845601585293, + "ymin": 45.082722559976105, + "xmax": 405.55609309400916, + "ymax": 76.4837624752426 + }, + "corners_3d": [ + [ + 41.35456466674805, + -83.295654296875, + 5.545533180236816 + ], + [ + 41.077396392822266, + -83.295654296875, + 5.545533180236816 + ], + [ + 41.077396392822266, + -82.91574096679688, + 5.545533180236816 + ], + [ + 41.35456466674805, + -82.91574096679688, + 5.545533180236816 + ], + [ + 41.35456466674805, + -83.295654296875, + 6.416468620300293 + ], + [ + 41.077396392822266, + -83.295654296875, + 6.416468620300293 + ], + [ + 41.077396392822266, + -82.91574096679688, + 6.416468620300293 + ], + [ + 41.35456466674805, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 392.432515659915, + 75.03266503208607 + ], + [ + 399.90038780992097, + 76.4837624752426 + ], + [ + 405.55609309400916, + 70.83374432633696 + ], + [ + 398.1349250141184, + 69.40508356889256 + ], + [ + 387.3845601585293, + 50.6311227456726 + ], + [ + 394.99471623869283, + 52.06208745017523 + ], + [ + 400.80394534950295, + 46.49111562287965 + ], + [ + 393.2422535159446, + 45.082722559976105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12639202973351403708, + "instance_id": 48352, + "pixel_count": null, + "type_id": "AmericanLights_Town04_13_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 31.755699157714844, + "y": -79.03404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.5420631930629, + "ymin": 34.234893875794455, + "xmax": 716.1829142566789, + "ymax": 65.26023777705603 + }, + "corners_3d": [ + [ + 31.894285202026367, + -78.84408569335938, + 5.545533180236816 + ], + [ + 31.894285202026367, + -79.2239990234375, + 5.545533180236816 + ], + [ + 31.61711311340332, + -79.2239990234375, + 5.545533180236816 + ], + [ + 31.61711311340332, + -78.84408569335938, + 5.545533180236816 + ], + [ + 31.894285202026367, + -78.84408569335938, + 6.416468620300293 + ], + [ + 31.894285202026367, + -79.2239990234375, + 6.416468620300293 + ], + [ + 31.61711311340332, + -79.2239990234375, + 6.416468620300293 + ], + [ + 31.61711311340332, + -78.84408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 706.782037355545, + 58.39730355787367 + ], + [ + 703.5420631930629, + 63.85351960978318 + ], + [ + 711.5071826869228, + 65.26023777705603 + ], + [ + 714.6925543273649, + 59.782602717798625 + ], + [ + 708.111907143464, + 34.234893875794455 + ], + [ + 704.8173439577208, + 39.6109886941573 + ], + [ + 712.9452041010193, + 40.99731721076961 + ], + [ + 716.1829142566789, + 35.59969472256506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12773935450048134478, + "instance_id": 20093, + "pixel_count": null, + "type_id": "AmericanLights_Town04_13_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 21.354949951171875, + "y": -79.13402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.8282067936846, + "ymin": 170.256655407574, + "xmax": 1016.8676609707056, + "ymax": 200.1877508167891 + }, + "corners_3d": [ + [ + 21.494285583496094, + -78.9440689086914, + 2.645533323287964 + ], + [ + 21.494285583496094, + -79.32398223876953, + 2.645533323287964 + ], + [ + 21.215614318847656, + -79.32398223876953, + 2.645533323287964 + ], + [ + 21.215614318847656, + -78.9440689086914, + 2.645533323287964 + ], + [ + 21.494285583496094, + -78.9440689086914, + 3.5146729946136475 + ], + [ + 21.494285583496094, + -79.32398223876953, + 3.5146729946136475 + ], + [ + 21.215614318847656, + -79.32398223876953, + 3.5146729946136475 + ], + [ + 21.215614318847656, + -78.9440689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1000.8161026458102, + 191.93894079745283 + ], + [ + 999.8282067936846, + 198.48955424185982 + ], + [ + 1008.5118362777567, + 200.1877508167891 + ], + [ + 1009.4345814195786, + 193.61101580959368 + ], + [ + 1008.0611129416498, + 170.256655407574 + ], + [ + 1007.1106791216519, + 176.76789593674673 + ], + [ + 1015.9852700534923, + 178.4562172098571 + ], + [ + 1016.8676609707056, + 171.91848709644992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13153036041689817703, + "instance_id": 26594, + "pixel_count": null, + "type_id": "AmericanLights_Town04_13_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 29.255699157714844, + "y": -79.0340347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.5371471412709, + "ymin": 46.744713949247114, + "xmax": 790.4605853951954, + "ymax": 78.20302206236215 + }, + "corners_3d": [ + [ + 29.394285202026367, + -78.84407806396484, + 5.545533180236816 + ], + [ + 29.394285202026367, + -79.22399139404297, + 5.545533180236816 + ], + [ + 29.11711311340332, + -79.22399139404297, + 5.545533180236816 + ], + [ + 29.11711311340332, + -78.84407806396484, + 5.545533180236816 + ], + [ + 29.394285202026367, + -78.84407806396484, + 6.416468620300293 + ], + [ + 29.394285202026367, + -79.22399139404297, + 6.416468620300293 + ], + [ + 29.11711311340332, + -79.22399139404297, + 6.416468620300293 + ], + [ + 29.11711311340332, + -78.84407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 779.2678308687307, + 71.09097991638987 + ], + [ + 776.5371471412709, + 76.74504265176222 + ], + [ + 784.7925194522198, + 78.20302206236215 + ], + [ + 787.4643485352772, + 72.52636361587082 + ], + [ + 782.0917985212959, + 46.744713949247114 + ], + [ + 779.3278719878468, + 52.3197549823081 + ], + [ + 787.7580306040837, + 53.757644789561084 + ], + [ + 790.4605853951954, + 48.15986887112433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13329002482990641261, + "instance_id": 28144, + "pixel_count": null, + "type_id": "AmericanLights_Town04_11_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 33.84429931640625, + "y": -100.0159683227539, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 284.46732568245375, + "ymin": 520.3398478366432, + "xmax": 319.07061537355673, + "ymax": 564.7249042786777 + }, + "corners_3d": [ + [ + 33.705711364746094, + -100.2059326171875, + 5.545533180236816 + ], + [ + 33.705711364746094, + -99.82600402832031, + 5.545533180236816 + ], + [ + 33.982887268066406, + -99.82600402832031, + 5.545533180236816 + ], + [ + 33.982887268066406, + -100.2059326171875, + 5.545533180236816 + ], + [ + 33.705711364746094, + -100.2059326171875, + 6.416468620300293 + ], + [ + 33.705711364746094, + -99.82600402832031, + 6.416468620300293 + ], + [ + 33.982887268066406, + -99.82600402832031, + 6.416468620300293 + ], + [ + 33.982887268066406, + -100.2059326171875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 308.48591603188856, + 564.7249042786777 + ], + [ + 319.07061537355673, + 549.0237427048298 + ], + [ + 307.0319079069237, + 545.0793804633158 + ], + [ + 296.32544171862827, + 560.6768063995366 + ], + [ + 297.0078389301063, + 540.24507516094 + ], + [ + 308.1074491096099, + 524.3345658890053 + ], + [ + 295.69615732748133, + 520.3398478366432 + ], + [ + 284.46732568245375, + 536.1416414896368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15140420839366841571, + "instance_id": 58324, + "pixel_count": null, + "type_id": "AmericanLights_Town04_11_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 31.34429931640625, + "y": -100.01595306396484, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.8029068987364, + "ymin": 557.3830610206257, + "xmax": 431.35299844423355, + "ymax": 602.4966008467529 + }, + "corners_3d": [ + [ + 31.205713272094727, + -100.20591735839844, + 5.545533180236816 + ], + [ + 31.205713272094727, + -99.82598876953125, + 5.545533180236816 + ], + [ + 31.482885360717773, + -99.82598876953125, + 5.545533180236816 + ], + [ + 31.482885360717773, + -100.20591735839844, + 5.545533180236816 + ], + [ + 31.205713272094727, + -100.20591735839844, + 6.416468620300293 + ], + [ + 31.205713272094727, + -99.82598876953125, + 6.416468620300293 + ], + [ + 31.482885360717773, + -99.82598876953125, + 6.416468620300293 + ], + [ + 31.482885360717773, + -100.20591735839844, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 421.95440598508736, + 602.4966008467529 + ], + [ + 431.35299844423355, + 585.8111606489045 + ], + [ + 418.56619462929933, + 581.6216947654272 + ], + [ + 409.02793214845667, + 598.1935123075307 + ], + [ + 414.16199109425156, + 578.5787530756013 + ], + [ + 423.99923627694045, + 561.6348837291774 + ], + [ + 410.7891307778657, + 557.3830610206257 + ], + [ + 400.8029068987364, + 574.2074743081383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16473611266273262646, + "instance_id": 13884, + "pixel_count": null, + "type_id": "AmericanLights_Town04_10_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 41.21598434448242, + "y": -86.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 337.6273758224162, + "ymin": 91.44523591781291, + "xmax": 358.34631749221774, + "ymax": 124.41187132441661 + }, + "corners_3d": [ + [ + 41.35456848144531, + -86.295654296875, + 5.545533180236816 + ], + [ + 41.07740020751953, + -86.295654296875, + 5.545533180236816 + ], + [ + 41.07740020751953, + -85.91574096679688, + 5.545533180236816 + ], + [ + 41.35456848144531, + -85.91574096679688, + 5.545533180236816 + ], + [ + 41.35456848144531, + -86.295654296875, + 6.416468620300293 + ], + [ + 41.07740020751953, + -86.295654296875, + 6.416468620300293 + ], + [ + 41.07740020751953, + -85.91574096679688, + 6.416468620300293 + ], + [ + 41.35456848144531, + -85.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 344.0669599126614, + 122.76343140198435 + ], + [ + 351.9239048693136, + 124.41187132441661 + ], + [ + 358.34631749221774, + 117.99591788894591 + ], + [ + 350.54071898715836, + 116.3746230544318 + ], + [ + 337.6273758224162, + 97.76094197295163 + ], + [ + 345.64164037443334, + 99.39088849413145 + ], + [ + 352.25604581524783, + 93.0477645871814 + ], + [ + 344.29514931153153, + 91.44523591781291 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16954762205237256334, + "instance_id": 36512, + "pixel_count": null, + "type_id": "AmericanLights_Town04_11_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 36.84429931640625, + "y": -100.0159683227539, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 154.0659357978558, + "ymin": 478.77933189696324, + "xmax": 192.84656885411562, + "ymax": 522.298514915472 + }, + "corners_3d": [ + [ + 36.705711364746094, + -100.2059326171875, + 5.545533180236816 + ], + [ + 36.705711364746094, + -99.82600402832031, + 5.545533180236816 + ], + [ + 36.982887268066406, + -99.82600402832031, + 5.545533180236816 + ], + [ + 36.982887268066406, + -100.2059326171875, + 5.545533180236816 + ], + [ + 36.705711364746094, + -100.2059326171875, + 6.416468620300293 + ], + [ + 36.705711364746094, + -99.82600402832031, + 6.416468620300293 + ], + [ + 36.982887268066406, + -99.82600402832031, + 6.416468620300293 + ], + [ + 36.982887268066406, + -100.2059326171875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 181.03716517186496, + 522.298514915472 + ], + [ + 192.84656885411562, + 507.6676947700897 + ], + [ + 181.62220291436233, + 503.9901433950432 + ], + [ + 169.70945736832454, + 518.5276365143689 + ], + [ + 165.71956711683578, + 497.285691875201 + ], + [ + 178.11536003143743, + 482.4951059826188 + ], + [ + 166.57072640046732, + 478.77933189696324 + ], + [ + 154.0659357978558, + 493.4724585407354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17913153872696402598, + "instance_id": 42594, + "pixel_count": null, + "type_id": "AmericanLights_Town04_10_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 41.115970611572266, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 469.4712570037084, + "ymin": 55.4991865666297, + "xmax": 483.28321620540896, + "ymax": 82.28053381250777 + }, + "corners_3d": [ + [ + 41.255306243896484, + -78.3948974609375, + 2.645533323287964 + ], + [ + 40.97663497924805, + -78.3948974609375, + 2.645533323287964 + ], + [ + 40.97663497924805, + -78.01498413085938, + 2.645533323287964 + ], + [ + 41.255306243896484, + -78.01498413085938, + 2.645533323287964 + ], + [ + 41.255306243896484, + -78.3948974609375, + 3.5146729946136475 + ], + [ + 40.97663497924805, + -78.3948974609375, + 3.5146729946136475 + ], + [ + 40.97663497924805, + -78.01498413085938, + 3.5146729946136475 + ], + [ + 41.255306243896484, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 472.3861809167332, + 81.01997394110333 + ], + [ + 478.9581238084213, + 82.28053381250777 + ], + [ + 483.28321620540896, + 77.39478585733491 + ], + [ + 476.74761112690555, + 76.15095838415886 + ], + [ + 469.4712570037084, + 60.312147999979004 + ], + [ + 476.152582485127, + 61.558377292211276 + ], + [ + 480.57153406008695, + 56.728588671460386 + ], + [ + 473.9277512971528, + 55.4991865666297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1038593305571904675, + "instance_id": 41804, + "pixel_count": null, + "type_id": "BP_Lamppost_tall18_SM_1", + "bbox_3d": { + "center_world": { + "x": 18.247793197631836, + "y": -78.67239379882812, + "z": 3.553394079208374 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1079.073139228142, + "ymin": 155.69428327111513, + "xmax": 1147.8857524984894, + "ymax": 214.31779878822292 + }, + "corners_3d": [ + [ + 17.28162384033203, + -79.7604751586914, + 3.3911538124084473 + ], + [ + 17.281620025634766, + -77.58432006835938, + 3.391157388687134 + ], + [ + 19.21396255493164, + -77.58431243896484, + 3.391157388687134 + ], + [ + 19.213966369628906, + -79.76046752929688, + 3.3911538124084473 + ], + [ + 17.28162384033203, + -79.7604751586914, + 3.7156307697296143 + ], + [ + 17.281620025634766, + -77.58432006835938, + 3.715634346008301 + ], + [ + 19.21396255493164, + -77.58431243896484, + 3.715634346008301 + ], + [ + 19.213966369628906, + -79.76046752929688, + 3.7156307697296143 + ] + ], + "corners_2d": [ + [ + 1143.9007972782774, + 214.31779878822292 + ], + [ + 1143.1805443514584, + 175.34749244158346 + ], + [ + 1081.2427694263663, + 163.9411999562074 + ], + [ + 1079.073139228142, + 201.8181627932376 + ], + [ + 1147.8857524984894, + 205.95531652342228 + ], + [ + 1146.9791987968852, + 167.07035638049874 + ], + [ + 1084.5275042479393, + 155.69428327111513 + ], + [ + 1082.4948627981787, + 193.48003799853052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2415552381029022696, + "instance_id": 59515, + "pixel_count": null, + "type_id": "BP_StreetLight_simple56_139_SM_2", + "bbox_3d": { + "center_world": { + "x": 51.14997863769531, + "y": -79.8194808959961, + "z": 4.029999732971191 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 145.64761361611681, + "ymin": 0.0, + "xmax": 280.9825245613868, + "ymax": 136.06272803609522 + }, + "corners_3d": [ + [ + 50.93037796020508, + -77.90276336669922, + 0.15328097343444824 + ], + [ + 51.36958694458008, + -77.90276336669922, + 0.15328097343444824 + ], + [ + 51.36957931518555, + -81.73619842529297, + 0.15328097343444824 + ], + [ + 50.93037033081055, + -81.73619842529297, + 0.15328097343444824 + ], + [ + 50.93037796020508, + -77.90276336669922, + 7.9067182540893555 + ], + [ + 51.36958694458008, + -77.90276336669922, + 7.9067182540893555 + ], + [ + 51.36957931518555, + -81.73619842529297, + 7.9067182540893555 + ], + [ + 50.93037033081055, + -81.73619842529297, + 7.9067182540893555 + ] + ], + "corners_2d": [ + [ + 280.9825245613868, + 88.47076877708008 + ], + [ + 272.2142380795994, + 86.68207241762406 + ], + [ + 217.26876352451814, + 134.03663007752445 + ], + [ + 226.45968514757175, + 136.06272803609522 + ], + [ + 224.24564392867006, + -98.5289404377778 + ], + [ + 214.2544659810328, + -100.07575745835072 + ], + [ + 145.64761361611681, + -58.72198070760163 + ], + [ + 156.1840919710874, + -56.933760760657606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4718369552795130614, + "instance_id": 63066, + "pixel_count": null, + "type_id": "AmericanLights_Town04_13_Poles_4", + "bbox_3d": { + "center_world": { + "x": 27.101810455322266, + "y": -78.79798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.4151885148005, + "ymin": 0.0, + "xmax": 1071.0206863091287, + "ymax": 257.67956314654964 + }, + "corners_3d": [ + [ + 21.076696395874023, + -79.0679702758789, + 0.0 + ], + [ + 21.07284927368164, + -78.6351547241211, + 0.0 + ], + [ + 33.12692642211914, + -78.52800750732422, + 0.0 + ], + [ + 33.13077163696289, + -78.96082305908203, + 0.0 + ], + [ + 21.076696395874023, + -79.0679702758789, + 8.446706771850586 + ], + [ + 21.07284927368164, + -78.6351547241211, + 8.446706771850586 + ], + [ + 33.12692642211914, + -78.52800750732422, + 8.446706771850586 + ], + [ + 33.13077163696289, + -78.96082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 992.2341214124158, + 257.67956314654964 + ], + [ + 993.4669162690897, + 250.1945144041252 + ], + [ + 671.025893142548, + 181.44427150061185 + ], + [ + 667.4151885148005, + 187.82656507157014 + ], + [ + 1070.3017440842655, + 32.92313943842282 + ], + [ + 1071.0206863091287, + 26.053913336560754 + ], + [ + 677.2102703187173, + -35.88795008641455 + ], + [ + 672.9301835888963, + -30.22372662486862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5484862462313137600, + "instance_id": 49285, + "pixel_count": null, + "type_id": "BP_Lamppost_tall18_SM_0", + "bbox_3d": { + "center_world": { + "x": 18.247798919677734, + "y": -78.67239379882812, + "z": 3.552293539047241 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1079.0092941199987, + "ymin": 155.6679814997575, + "xmax": 1147.9268873511319, + "ymax": 214.4037946539598 + }, + "corners_3d": [ + [ + 17.28043556213379, + -79.76166534423828, + 3.3889684677124023 + ], + [ + 17.28042984008789, + -77.58312225341797, + 3.3889718055725098 + ], + [ + 19.21516227722168, + -77.58312225341797, + 3.3889718055725098 + ], + [ + 19.215167999267578, + -79.76166534423828, + 3.3889684677124023 + ], + [ + 17.28043556213379, + -79.76166534423828, + 3.7156152725219727 + ], + [ + 17.28042984008789, + -77.58312225341797, + 3.71561861038208 + ], + [ + 19.21516227722168, + -77.58312225341797, + 3.71561861038208 + ], + [ + 19.215167999267578, + -79.76166534423828, + 3.7156152725219727 + ] + ], + "corners_2d": [ + [ + 1143.9150312970726, + 214.4037946539598 + ], + [ + 1143.1934532388616, + 175.38946402979826 + ], + [ + 1081.1840225462022, + 163.96955669950205 + ], + [ + 1079.0092941199987, + 201.88804033493668 + ], + [ + 1147.9268873511319, + 205.98578308031452 + ], + [ + 1147.0175445016498, + 167.05743475949347 + ], + [ + 1084.4901721744618, + 155.6679814997575 + ], + [ + 1082.4534549709617, + 193.4945675687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5862262525110309002, + "instance_id": 35536, + "pixel_count": null, + "type_id": "BP_Lamppost_tall6_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 18.248254776000977, + "y": -58.61511993408203, + "z": 2.4428248405456543 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1068.680934039714, + "ymin": 0.0, + "xmax": 1152.5938633057572, + "ymax": 22.324080374539335 + }, + "corners_3d": [ + [ + 17.21982765197754, + -59.765472412109375, + 0.09999990463256836 + ], + [ + 17.21982765197754, + -57.46476745605469, + 0.09999990463256836 + ], + [ + 19.276681900024414, + -57.46476745605469, + 0.09999990463256836 + ], + [ + 19.276681900024414, + -59.765472412109375, + 0.09999990463256836 + ], + [ + 17.21982765197754, + -59.765472412109375, + 4.78564977645874 + ], + [ + 17.21982765197754, + -57.46476745605469, + 4.78564977645874 + ], + [ + 19.276681900024414, + -57.46476745605469, + 4.78564977645874 + ], + [ + 19.276681900024414, + -59.765472412109375, + 4.78564977645874 + ] + ], + "corners_2d": [ + [ + 1114.1956662006721, + 22.324080374539335 + ], + [ + 1114.6333590459485, + 0.8385446955220459 + ], + [ + 1070.5527400682085, + -5.605405653794492 + ], + [ + 1068.680934039714, + 15.450426263501981 + ], + [ + 1152.5938633057572, + -78.84956192840724 + ], + [ + 1151.7442947855614, + -98.53310507242111 + ], + [ + 1103.8584147457345, + -104.41683237449269 + ], + [ + 1103.0106943826274, + -85.15778246376499 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13299618643148540650, + "instance_id": 59914, + "pixel_count": null, + "type_id": "AmericanLights_Town04_12_Poles_4", + "bbox_3d": { + "center_world": { + "x": 20.197988510131836, + "y": -94.0481948852539, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.5270142167202, + "ymin": 221.78583027775593, + "xmax": 1108.2553830526408, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 20.467966079711914, + -100.07331085205078, + 0.0 + ], + [ + 20.0351505279541, + -100.07715606689453, + 0.0 + ], + [ + 19.928010940551758, + -88.02307891845703, + 0.0 + ], + [ + 20.36082649230957, + -88.01923370361328, + 0.0 + ], + [ + 20.467966079711914, + -100.07331085205078, + 8.446706771850586 + ], + [ + 20.0351505279541, + -100.07715606689453, + 8.446706771850586 + ], + [ + 19.928010940551758, + -88.02307891845703, + 8.446706771850586 + ], + [ + 20.36082649230957, + -88.01923370361328, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 929.5270142167202, + 885.2008495665045 + ], + [ + 950.6785543268136, + 893.0072821972987 + ], + [ + 1004.6328654557817, + 457.32301028421193 + ], + [ + 989.2328128615115, + 453.2952761327482 + ], + [ + 1057.6334758825708, + 714.160580640616 + ], + [ + 1089.153942073194, + 724.1897489793996 + ], + [ + 1108.2553830526408, + 225.87361974198865 + ], + [ + 1088.0161219717008, + 221.78583027775593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13325343638131387701, + "instance_id": 13613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_10_Poles_4", + "bbox_3d": { + "center_world": { + "x": 41.452030181884766, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 232.88055555888246, + "ymin": 0.0, + "xmax": 487.3480935914897, + "ymax": 330.1790443045721 + }, + "corners_3d": [ + [ + 41.182029724121094, + -77.92668914794922, + 0.0 + ], + [ + 41.61484909057617, + -77.92284393310547, + 0.0 + ], + [ + 41.72203063964844, + -89.97692108154297, + 0.0 + ], + [ + 41.28921127319336, + -89.98076629638672, + 0.0 + ], + [ + 41.182029724121094, + -77.92668914794922, + 8.446706771850586 + ], + [ + 41.61484909057617, + -77.92284393310547, + 8.446706771850586 + ], + [ + 41.72203063964844, + -89.97692108154297, + 8.446706771850586 + ], + [ + 41.28921127319336, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 487.3480935914897, + 134.0889671471448 + ], + [ + 477.7617012157869, + 132.06611985644057 + ], + [ + 312.3800311587253, + 327.02121708243874 + ], + [ + 323.82733556712503, + 330.1790443045721 + ], + [ + 458.9732829040036, + -77.38046527647248 + ], + [ + 447.69710447600903, + -79.13215884240486 + ], + [ + 232.88055555888246, + 97.77306955172907 + ], + [ + 246.79749920799446, + 100.77951931034511 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14344351553085905407, + "instance_id": 65305, + "pixel_count": null, + "type_id": "BP_StreetLight_simple55_135_SM_2", + "bbox_3d": { + "center_world": { + "x": 40.8009147644043, + "y": -69.984130859375, + "z": 4.029754161834717 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 513.2402250147683, + "ymin": 0.0, + "xmax": 610.4167694288321, + "ymax": 49.96766020826874 + }, + "corners_3d": [ + [ + 42.71763229370117, + -69.76451873779297, + 0.15303540229797363 + ], + [ + 42.71763610839844, + -70.20372772216797, + 0.15303540229797363 + ], + [ + 38.88419723510742, + -70.20374298095703, + 0.15303540229797363 + ], + [ + 38.884193420410156, + -69.76453399658203, + 0.15303540229797363 + ], + [ + 42.71763229370117, + -69.76451873779297, + 7.906473159790039 + ], + [ + 42.71763610839844, + -70.20372772216797, + 7.906473159790039 + ], + [ + 38.88419723510742, + -70.20374298095703, + 7.906473159790039 + ], + [ + 38.884193420410156, + -69.76453399658203, + 7.906473159790039 + ] + ], + "corners_2d": [ + [ + 533.1451830396918, + 31.786786141011305 + ], + [ + 529.3150740409981, + 36.18230402894295 + ], + [ + 607.0173839989441, + 49.96766020826874 + ], + [ + 610.4167694288321, + 45.394551774556476 + ], + [ + 517.7401921667973, + -146.9771012091818 + ], + [ + 513.2402250147683, + -143.26156739044058 + ], + [ + 602.1168924761319, + -131.5638788848397 + ], + [ + 606.0542659557262, + -135.45200358438245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16680607086405122766, + "instance_id": 52858, + "pixel_count": null, + "type_id": "AmericanLights_Town04_11_Poles_4", + "bbox_3d": { + "center_world": { + "x": 35.99818801879883, + "y": -100.25202178955078, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 353.9168769631176, + "xmax": 511.899142522107, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 42.0233039855957, + -99.98204040527344, + 0.0 + ], + [ + 42.02714920043945, + -100.41485595703125, + 0.0 + ], + [ + 29.973073959350586, + -100.52200317382812, + 0.0 + ], + [ + 29.969226837158203, + -100.08918762207031, + 0.0 + ], + [ + 42.0233039855957, + -99.98204040527344, + 8.446706771850586 + ], + [ + 42.02714920043945, + -100.41485595703125, + 8.446706771850586 + ], + [ + 29.973073959350586, + -100.52200317382812, + 8.446706771850586 + ], + [ + 29.969226837158203, + -100.08918762207031, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 89.58883911008195, + 579.4089266001286 + ], + [ + 77.61646975812664, + 593.4058051853749 + ], + [ + 503.8086981522696, + 753.6167777145566 + ], + [ + 511.899142522107, + 735.8089849056336 + ], + [ + -89.67464566716376, + 353.9168769631176 + ], + [ + -108.31927757836081, + 369.1275948984587 + ], + [ + 450.7229352529214, + 551.6504994308222 + ], + [ + 462.8425373739748, + 530.5647867992477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16705651273109864386, + "instance_id": 49919, + "pixel_count": null, + "type_id": "BP_Lamppost_tall18_SM_2", + "bbox_3d": { + "center_world": { + "x": 18.248153686523438, + "y": -78.67236328125, + "z": 2.4428248405456543 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.1327316892239, + "ymin": 126.2270682343499, + "xmax": 1163.7256095363139, + "ymax": 293.86037370032574 + }, + "corners_3d": [ + [ + 17.2197265625, + -79.82271575927734, + 0.09999990463256836 + ], + [ + 17.2197265625, + -77.52201080322266, + 0.09999990463256836 + ], + [ + 19.276580810546875, + -77.52201080322266, + 0.09999990463256836 + ], + [ + 19.276580810546875, + -79.82271575927734, + 0.09999990463256836 + ], + [ + 17.2197265625, + -79.82271575927734, + 4.78564977645874 + ], + [ + 17.2197265625, + -77.52201080322266, + 4.78564977645874 + ], + [ + 19.276580810546875, + -77.52201080322266, + 4.78564977645874 + ], + [ + 19.276580810546875, + -79.82271575927734, + 4.78564977645874 + ] + ], + "corners_2d": [ + [ + 1108.6672428491202, + 293.86037370032574 + ], + [ + 1109.5181954226603, + 252.08177209822333 + ], + [ + 1048.74361959959, + 239.75779962547364 + ], + [ + 1045.1327316892239, + 280.3779965231761 + ], + [ + 1163.7256095363139, + 178.97805586332802 + ], + [ + 1161.9645806507028, + 138.18105530652196 + ], + [ + 1093.709554099451, + 126.2270682343499 + ], + [ + 1091.9693403196882, + 165.76619948337247 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file