diff --git "a/data_v7/Town05_Opt/trajectory_1777264769/ORI/frames_playback/frame_00173/meta.json" "b/data_v7/Town05_Opt/trajectory_1777264769/ORI/frames_playback/frame_00173/meta.json" new file mode 100644--- /dev/null +++ "b/data_v7/Town05_Opt/trajectory_1777264769/ORI/frames_playback/frame_00173/meta.json" @@ -0,0 +1,3810 @@ +{ + "frame_id": 173, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 86.5, + "sim_timestamp": 2045.2374790715985 + }, + "drone_pose": { + "x": -38.68841634196043, + "y": -69.83042088013627, + "z": 20.0, + "pitch": -46.161217105284514, + "yaw": -77.30944309272807, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.15216100215911865, + 0.6757111549377441, + 0.7212915420532227, + -55.724151611328125 + ], + [ + -0.975570797920227, + 0.2196853756904602, + 0.0, + 53.08401107788086 + ], + [ + -0.15845724940299988, + -0.7036709785461426, + 0.6926316022872925, + 29.1545467376709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": null, + "t1_image_uv": null, + "t1_depth": null + }, + "target": { + "enabled": true, + "actor_id": 141, + "world_location": { + "x": -34.66718292236328, + "y": -87.68776321411133, + "z": 0.9380811595915657 + }, + "image_uv": [ + 640.0000000000001, + 360.0000000000001 + ], + "depth": 26.42748083578873, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 399, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -34.66718292236328, + "y": -87.68775939941406, + "z": 0.9380810856819153 + }, + "extent": { + "x": 0.18354368209838867, + "y": 0.2913573980331421, + "z": 0.9168930649757385 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.0027598479277, + "ymin": 327.89633502570456, + "xmax": 649.1160699443784, + "ymax": 391.0604815541349 + }, + "corners_3d": [ + [ + -34.85072708129883, + -87.97911834716797, + 0.021188020706176758 + ], + [ + -34.85072708129883, + -87.39640045166016, + 0.021188020706176758 + ], + [ + -34.483638763427734, + -87.39640045166016, + 0.021188020706176758 + ], + [ + -34.483638763427734, + -87.97911834716797, + 0.021188020706176758 + ], + [ + -34.85072708129883, + -87.97911834716797, + 1.8549741506576538 + ], + [ + -34.85072708129883, + -87.39640045166016, + 1.8549741506576538 + ], + [ + -34.483638763427734, + -87.39640045166016, + 1.8549741506576538 + ], + [ + -34.483638763427734, + -87.97911834716797, + 1.8549741506576538 + ] + ], + "corners_2d": [ + [ + 631.4393545842074, + 376.17041538226033 + ], + [ + 635.8885503226502, + 391.0604815541349 + ], + [ + 648.6681565260814, + 388.92168962606445 + ], + [ + 644.0438306357667, + 374.0929062226561 + ], + [ + 631.0027598479277, + 329.98030373500484 + ], + [ + 635.675632982479, + 344.92939971888757 + ], + [ + 649.1160699443784, + 342.7807533748157 + ], + [ + 644.2496236402006, + 327.89633502570456 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 173, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 560139, + "2": 133191, + "3": 39686, + "5": 13240, + "6": 14430, + "7": 2218, + "9": 57080, + "10": 54851, + "12": 2721, + "14": 16030, + "20": 5762, + "24": 21366, + "25": 886 + }, + "instance_pixel_counts": { + "87": 357, + "5003": 19014, + "5515": 7327, + "6027": 15589, + "6539": 13225, + "9090": 34091, + "9101": 1273, + "9613": 202, + "10637": 932, + "11149": 231, + "11663": 2364, + "12175": 5097, + "13199": 9848, + "14223": 12117, + "14440": 6539, + "17519": 38449, + "18315": 248108, + "19851": 224659, + "20363": 32217, + "21389": 11457, + "22413": 6510, + "22925": 761, + "23296": 10801, + "23552": 2164, + "25731": 18631, + "30600": 3262, + "31112": 5743, + "35161": 5523, + "35417": 239, + "35653": 13240, + "36096": 399, + "36352": 618, + "36608": 551, + "36864": 507, + "37120": 323, + "37376": 323, + "38785": 54807, + "40960": 9558, + "41472": 6472, + "45222": 3127, + "45953": 886, + "54670": 1014, + "55182": 2033, + "56200": 3263, + "56712": 11544, + "58248": 22401, + "58760": 20414, + "61530": 12350, + "62042": 6383, + "62554": 13922, + "63066": 492, + "64598": 199 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 141, + "instance_id": 36096, + "pixel_count": 399, + "type_id": "walker.pedestrian.0005", + "bbox_3d": { + "center_world": { + "x": -34.66718292236328, + "y": -87.68775939941406, + "z": 0.9380810856819153 + }, + "extent": { + "x": 0.18479734659194946, + "y": 0.28895995020866394, + "z": 0.9161999225616455 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.9764639725288, + "ymin": 327.9678445912757, + "xmax": 649.1414263693309, + "ymax": 390.9891209718153 + }, + "corners_3d": [ + [ + -34.85198211669922, + -87.97672271728516, + 0.021881163120269775 + ], + [ + -34.85198211669922, + -87.39879608154297, + 0.021881163120269775 + ], + [ + -34.482383728027344, + -87.39879608154297, + 0.021881163120269775 + ], + [ + -34.482383728027344, + -87.97672271728516, + 0.021881163120269775 + ], + [ + -34.85198211669922, + -87.97672271728516, + 1.854280948638916 + ], + [ + -34.85198211669922, + -87.39879608154297, + 1.854280948638916 + ], + [ + -34.482383728027344, + -87.39879608154297, + 1.854280948638916 + ], + [ + -34.482383728027344, + -87.97672271728516, + 1.854280948638916 + ] + ], + "corners_2d": [ + [ + 631.4140407739942, + 376.22125584404785 + ], + [ + 635.8261336938322, + 390.9891209718153 + ], + [ + 648.6926284769249, + 388.83595828559476 + ], + [ + 644.1056513868456, + 374.12928879751615 + ], + [ + 630.9764639725288, + 330.06632406631314 + ], + [ + 635.61016372889, + 344.8927007980235 + ], + [ + 649.1414263693309, + 342.7296382835375 + ], + [ + 644.3144399817829, + 327.9678445912757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 142, + "instance_id": 36352, + "pixel_count": 618, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -30.541194915771484, + "y": -84.69005584716797, + "z": 0.9380761981010437 + }, + "extent": { + "x": 0.18862059712409973, + "y": 0.3426220715045929, + "z": 0.9179674983024597 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 802.2442010419131, + "ymin": 380.9796553802695, + "xmax": 838.223716641497, + "ymax": 449.6039338067091 + }, + "corners_3d": [ + [ + -30.79692840576172, + -84.98597717285156, + 0.020108699798583984 + ], + [ + -30.65445899963379, + -84.31570434570312, + 0.020108699798583984 + ], + [ + -30.28546142578125, + -84.39413452148438, + 0.020108699798583984 + ], + [ + -30.42793083190918, + -85.06440734863281, + 0.020108699798583984 + ], + [ + -30.79692840576172, + -84.98597717285156, + 1.8560436964035034 + ], + [ + -30.65445899963379, + -84.31570434570312, + 1.8560436964035034 + ], + [ + -30.28546142578125, + -84.39413452148438, + 1.8560436964035034 + ], + [ + -30.42793083190918, + -85.06440734863281, + 1.8560436964035034 + ] + ], + "corners_2d": [ + [ + 802.2442010419131, + 431.4336850792522 + ], + [ + 815.8056186032362, + 449.6039338067091 + ], + [ + 827.9421458820163, + 444.9470999467526 + ], + [ + 814.2361506751027, + 426.93058873492424 + ], + [ + 811.0033902993412, + 385.52139912997376 + ], + [ + 825.4668086626468, + 403.8685540690351 + ], + [ + 838.223716641497, + 399.1631763007767 + ], + [ + 823.6010871228061, + 380.9796553802695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 143, + "instance_id": 36608, + "pixel_count": 551, + "type_id": "walker.pedestrian.0046", + "bbox_3d": { + "center_world": { + "x": -36.92300796508789, + "y": -80.74504852294922, + "z": 1.090483546257019 + }, + "extent": { + "x": 0.2683373987674713, + "y": 0.35154539346694946, + "z": 0.9238168597221375 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 591.8634203247753, + "ymin": 552.634299160477, + "xmax": 626.3940479287419, + "ymax": 629.4558975592339 + }, + "corners_3d": [ + [ + -37.22662353515625, + -81.06661987304688, + 0.1666666865348816 + ], + [ + -37.15312957763672, + -80.36737823486328, + 0.1666666865348816 + ], + [ + -36.61939239501953, + -80.42347717285156, + 0.1666666865348816 + ], + [ + -36.69288635253906, + -81.12271881103516, + 0.1666666865348816 + ], + [ + -37.22662353515625, + -81.06661987304688, + 2.0143003463745117 + ], + [ + -37.15312957763672, + -80.36737823486328, + 2.0143003463745117 + ], + [ + -36.61939239501953, + -80.42347717285156, + 2.0143003463745117 + ], + [ + -36.69288635253906, + -81.12271881103516, + 2.0143003463745117 + ] + ], + "corners_2d": [ + [ + 594.7634846214543, + 602.9883102365984 + ], + [ + 603.7865267199194, + 629.4558975592339 + ], + [ + 626.3940479287419, + 622.5138685261969 + ], + [ + 616.9504012351498, + 596.3320424227794 + ], + [ + 591.8634203247753, + 559.4668910324935 + ], + [ + 601.4122318842245, + 586.6820919837498 + ], + [ + 625.5071866227286, + 579.5367783801269 + ], + [ + 615.4811356386649, + 552.634299160477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 144, + "instance_id": 36864, + "pixel_count": 507, + "type_id": "walker.pedestrian.0015", + "bbox_3d": { + "center_world": { + "x": -44.16718292236328, + "y": -87.68775939941406, + "z": 0.9554004669189453 + }, + "extent": { + "x": 0.15928465127944946, + "y": 0.43325677514076233, + "z": 0.9011053442955017 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 266.91344244321147, + "ymin": 381.007094526233, + "xmax": 299.189596927037, + "ymax": 452.86431255141946 + }, + "corners_3d": [ + [ + -44.32646942138672, + -88.12101745605469, + 0.054295122623443604 + ], + [ + -44.32646942138672, + -87.25450134277344, + 0.054295122623443604 + ], + [ + -44.007896423339844, + -87.25450134277344, + 0.054295122623443604 + ], + [ + -44.007896423339844, + -88.12101745605469, + 0.054295122623443604 + ], + [ + -44.32646942138672, + -88.12101745605469, + 1.8565058708190918 + ], + [ + -44.32646942138672, + -87.25450134277344, + 1.8565058708190918 + ], + [ + -44.007896423339844, + -87.25450134277344, + 1.8565058708190918 + ], + [ + -44.007896423339844, + -88.12101745605469, + 1.8565058708190918 + ] + ], + "corners_2d": [ + [ + 287.0264230122822, + 428.15295864414134 + ], + [ + 286.0808751216699, + 452.86431255141946 + ], + [ + 298.5267826506298, + 450.7751345964476 + ], + [ + 299.189596927037, + 426.15712869923686 + ], + [ + 268.365413741321, + 383.0194283263083 + ], + [ + 266.91344244321147, + 407.9681087066364 + ], + [ + 280.0706644075703, + 405.8565014656414 + ], + [ + 281.2070823018085, + 381.007094526233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 145, + "instance_id": 37120, + "pixel_count": 323, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": -38.28268051147461, + "y": -98.81512451171875, + "z": 1.0904786586761475 + }, + "extent": { + "x": 0.1972314566373825, + "y": 0.32438480854034424, + "z": 0.9645970463752747 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 458.10432146346716, + "ymin": 117.88521069749333, + "xmax": 476.911963278814, + "ymax": 176.6208198528586 + }, + "corners_3d": [ + [ + -38.444923400878906, + -99.1583480834961, + 0.1258816123008728 + ], + [ + -38.51273727416992, + -98.51313018798828, + 0.1258816123008728 + ], + [ + -38.12043762207031, + -98.4719009399414, + 0.1258816123008728 + ], + [ + -38.0526237487793, + -99.11711883544922, + 0.1258816123008728 + ], + [ + -38.444923400878906, + -99.1583480834961, + 2.0550756454467773 + ], + [ + -38.51273727416992, + -98.51313018798828, + 2.0550756454467773 + ], + [ + -38.12043762207031, + -98.4719009399414, + 2.0550756454467773 + ], + [ + -38.0526237487793, + -99.11711883544922, + 2.0550756454467773 + ] + ], + "corners_2d": [ + [ + 465.75951513588956, + 165.96444230634762 + ], + [ + 465.6054320791577, + 176.6208198528586 + ], + [ + 476.9053935694293, + 175.85139386514047 + ], + [ + 476.911963278814, + 165.21496382399513 + ], + [ + 458.36701402353054, + 118.62054883627411 + ], + [ + 458.10432146346716, + 129.0821567158232 + ], + [ + 469.89721623780633, + 128.3264002699767 + ], + [ + 469.9993365137872, + 117.88521069749333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 146, + "instance_id": 37376, + "pixel_count": 323, + "type_id": "walker.pedestrian.0019", + "bbox_3d": { + "center_world": { + "x": -23.421844482421875, + "y": -95.85797882080078, + "z": 0.9380761981010437 + }, + "extent": { + "x": 0.16400755941867828, + "y": 0.4319775402545929, + "z": 0.9001181721687317 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 889.8467353011961, + "ymin": 115.97013991908813, + "xmax": 914.2444556380688, + "ymax": 173.84294232017788 + }, + "corners_3d": [ + [ + -23.492454528808594, + -96.31461334228516, + 0.03795802593231201 + ], + [ + -23.672080993652344, + -95.46954345703125, + 0.03795802593231201 + ], + [ + -23.351234436035156, + -95.4013442993164, + 0.03795802593231201 + ], + [ + -23.171607971191406, + -96.24641418457031, + 0.03795802593231201 + ], + [ + -23.492454528808594, + -96.31461334228516, + 1.8381943702697754 + ], + [ + -23.672080993652344, + -95.46954345703125, + 1.8381943702697754 + ], + [ + -23.351234436035156, + -95.4013442993164, + 1.8381943702697754 + ], + [ + -23.171607971191406, + -96.24641418457031, + 1.8381943702697754 + ] + ], + "corners_2d": [ + [ + 889.8467353011961, + 159.77611244239327 + ], + [ + 894.5365699025269, + 173.84294232017788 + ], + [ + 903.7740800021325, + 173.77746078567128 + ], + [ + 898.9249093629926, + 159.71287563874583 + ], + [ + 899.5869247761656, + 116.03224696876933 + ], + [ + 904.6411129219546, + 129.8572920373676 + ], + [ + 914.2444556380688, + 129.79289205129035 + ], + [ + 909.018178826579, + 115.97013991908813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 160, + "instance_id": 40960, + "pixel_count": 9558, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -20.078948974609375, + "y": -87.9240493774414, + "z": 0.8171296119689941 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1008.4154089400165, + "ymin": 227.44149431795924, + "xmax": 1220.0394927477303, + "ymax": 335.1759036081872 + }, + "corners_3d": [ + [ + -22.696250915527344, + -88.89287567138672, + -0.002061982173472643 + ], + [ + -22.69915771484375, + -86.96311950683594, + -0.002061982173472643 + ], + [ + -17.46164894104004, + -86.95523071289062, + -0.002061982173472643 + ], + [ + -17.458742141723633, + -88.8849868774414, + -0.002061982173472643 + ], + [ + -22.696250915527344, + -88.89287567138672, + 1.6363211870193481 + ], + [ + -22.69915771484375, + -86.96311950683594, + 1.6363211870193481 + ], + [ + -17.46164894104004, + -86.95523071289062, + 1.6363211870193481 + ], + [ + -17.458742141723633, + -88.8849868774414, + 1.6363211870193481 + ] + ], + "corners_2d": [ + [ + 1008.4154089400165, + 292.4187438878283 + ], + [ + 1039.5305029222313, + 335.1759036081872 + ], + [ + 1196.5877332742825, + 308.7721976432011 + ], + [ + 1159.5697107819842, + 268.2515723761536 + ], + [ + 1023.6598330954832, + 251.47749340375836 + ], + [ + 1056.8536136012146, + 294.1291538958475 + ], + [ + 1220.0394927477303, + 267.7714624673863 + ], + [ + 1180.488817517706, + 227.44149431795924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 162, + "instance_id": 41472, + "pixel_count": 6472, + "type_id": "vehicle.nissan.patrol_2021", + "bbox_3d": { + "center_world": { + "x": -48.16534423828125, + "y": -102.95108795166016, + "z": 1.0736638307571411 + }, + "extent": { + "x": 2.782914400100708, + "y": 1.0749834775924683, + "z": 1.0225735902786255 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 134.62726769692216, + "ymin": 51.25370061795235, + "xmax": 221.8436780452551, + "ymax": 191.44353892218615 + }, + "corners_3d": [ + [ + -49.02790451049805, + -100.09518432617188, + 0.05109024420380592 + ], + [ + -46.884033203125, + -100.25694274902344, + 0.05109024420380592 + ], + [ + -47.30278778076172, + -105.80699920654297, + 0.05109024420380592 + ], + [ + -49.446659088134766, + -105.6452407836914, + 0.05109024420380592 + ], + [ + -49.02790451049805, + -100.09518432617188, + 2.0962376594543457 + ], + [ + -46.884033203125, + -100.25694274902344, + 2.0962376594543457 + ], + [ + -47.30278778076172, + -105.80699920654297, + 2.0962376594543457 + ], + [ + -49.446659088134766, + -105.6452407836914, + 2.0962376594543457 + ] + ], + "corners_2d": [ + [ + 157.03755105915627, + 191.44353892218615 + ], + [ + 221.8436780452551, + 180.7025761185473 + ], + [ + 221.27827398476836, + 99.80723498266491 + ], + [ + 162.9307855809788, + 108.52321986216322 + ], + [ + 134.62726769692216, + 140.8465780290067 + ], + [ + 202.70272974891236, + 130.29773351565487 + ], + [ + 204.07895384205125, + 51.25370061795235 + ], + [ + 143.09423881580898, + 59.73605842757809 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1397134781552785210, + "instance_id": 15095, + "pixel_count": null, + "type_id": "AmericanLights_Town04_15_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.85569763183594, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 255.78545441068098, + "ymin": 0.0, + "xmax": 273.10438767776435, + "ymax": 14.342827885550491 + }, + "corners_3d": [ + [ + -43.99428176879883, + -101.3059310913086, + 5.545533180236816 + ], + [ + -43.99428176879883, + -100.9260025024414, + 5.545533180236816 + ], + [ + -43.71711349487305, + -100.9260025024414, + 5.545533180236816 + ], + [ + -43.71711349487305, + -101.3059310913086, + 5.545533180236816 + ], + [ + -43.99428176879883, + -101.3059310913086, + 6.416468620300293 + ], + [ + -43.99428176879883, + -100.9260025024414, + 6.416468620300293 + ], + [ + -43.71711349487305, + -100.9260025024414, + 6.416468620300293 + ], + [ + -43.71711349487305, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 264.1991562443056, + 8.906439427389273 + ], + [ + 263.66536385218114, + 14.342827885550491 + ], + [ + 272.6458644236073, + 13.443492414091452 + ], + [ + 273.10438767776435, + 8.021981696428043 + ], + [ + 256.3971838580345, + -17.521149788178548 + ], + [ + 255.78545441068098, + -12.197067696387535 + ], + [ + 264.9647912288268, + -13.077952376469455 + ], + [ + 265.4978979536747, + -18.387160918537063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2618456511093177771, + "instance_id": 43901, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -39.78401565551758, + "y": -86.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 416.79211302176964, + "ymin": 266.388830484541, + "xmax": 437.2200631836687, + "ymax": 309.4424725763146 + }, + "corners_3d": [ + [ + -39.64543151855469, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -86.295654296875, + 5.545533180236816 + ], + [ + -39.92259979248047, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -85.91574096679688, + 5.545533180236816 + ], + [ + -39.64543151855469, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -86.295654296875, + 6.416468620300293 + ], + [ + -39.92259979248047, + -85.91574096679688, + 6.416468620300293 + ], + [ + -39.64543151855469, + -85.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 435.90888958536743, + 296.1895453713691 + ], + [ + 423.35548786615425, + 298.03712552290847 + ], + [ + 424.51660276950696, + 309.4424725763146 + ], + [ + 437.2200631836687, + 307.54972273948505 + ], + [ + 429.7383777492623, + 266.388830484541 + ], + [ + 416.79211302176964, + 268.2317724862365 + ], + [ + 417.9065709594362, + 279.6133604264822 + ], + [ + 431.01249849213536, + 277.7239728410437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7823839604041993560, + "instance_id": 22605, + "pixel_count": null, + "type_id": "AmericanLights_Town04_15_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.35569763183594, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 68.14464657344251, + "ymin": 0.0, + "xmax": 91.72617005005293, + "ymax": 32.71561263292324 + }, + "corners_3d": [ + [ + -49.49428176879883, + -101.30591583251953, + 5.545533180236816 + ], + [ + -49.49428176879883, + -100.92598724365234, + 5.545533180236816 + ], + [ + -49.21711349487305, + -100.92598724365234, + 5.545533180236816 + ], + [ + -49.21711349487305, + -101.30591583251953, + 5.545533180236816 + ], + [ + -49.49428176879883, + -101.30591583251953, + 6.416468620300293 + ], + [ + -49.49428176879883, + -100.92598724365234, + 6.416468620300293 + ], + [ + -49.21711349487305, + -100.92598724365234, + 6.416468620300293 + ], + [ + -49.21711349487305, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 82.31836820634453, + 26.970858398939185 + ], + [ + 80.20235545171806, + 32.71561263292324 + ], + [ + 89.6940987426093, + 31.765079396523163 + ], + [ + 91.72617005005293, + 26.036485622136865 + ], + [ + 70.41104968863442, + 0.17724434300123448 + ], + [ + 68.14464657344251, + 5.809889690010209 + ], + [ + 77.85795206407784, + 4.877762993145211 + ], + [ + 80.0364782692368, + -0.7386981871106855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8401393169735615097, + "instance_id": 30978, + "pixel_count": null, + "type_id": "AmericanLights_Town04_15_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.85569763183594, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 154.7537380971096, + "ymin": 0.0, + "xmax": 175.40588932833566, + "ymax": 24.23787922376323 + }, + "corners_3d": [ + [ + -46.99428176879883, + -101.3059310913086, + 5.545533180236816 + ], + [ + -46.99428176879883, + -100.9260025024414, + 5.545533180236816 + ], + [ + -46.71711349487305, + -100.9260025024414, + 5.545533180236816 + ], + [ + -46.71711349487305, + -101.3059310913086, + 5.545533180236816 + ], + [ + -46.99428176879883, + -101.3059310913086, + 6.416468620300293 + ], + [ + -46.99428176879883, + -100.9260025024414, + 6.416468620300293 + ], + [ + -46.71711349487305, + -100.9260025024414, + 6.416468620300293 + ], + [ + -46.71711349487305, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 166.23166885780046, + 18.636461858505243 + ], + [ + 164.85627979264882, + 24.23787922376323 + ], + [ + 174.11036659520704, + 23.311145969719234 + ], + [ + 175.40588932833566, + 17.72528843405945 + ], + [ + 156.24514411762476, + -7.990822801546756 + ], + [ + 154.7537380971096, + -2.501673261456915 + ], + [ + 164.21870568075582, + -3.4099681750310538 + ], + [ + 165.6265863037346, + -8.883547621446155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11370871345933471748, + "instance_id": 1104, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -39.884029388427734, + "y": -78.20494079589844, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 465.091569602964, + "ymin": 664.65615575982, + "xmax": 488.19612125130186, + "ymax": 708.2026414826821 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 485.9279831957808, + 685.981307609731 + ], + [ + 471.1490754247278, + 689.0867618647999 + ], + [ + 473.20999788751874, + 708.2026414826821 + ], + [ + 488.19612125130186, + 705.0073036374648 + ], + [ + 480.4140485719495, + 664.65615575982 + ], + [ + 465.091569602964, + 667.8212716758546 + ], + [ + 467.13721539866754, + 687.3160980361997 + ], + [ + 482.6825580848101, + 684.0560156480597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 13864251068403141504, + "instance_id": 32971, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -39.784019470214844, + "y": -83.10569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 426.4250698435957, + "ymin": 364.34854285941276, + "xmax": 448.8101949441369, + "ymax": 410.28563254290395 + }, + "corners_3d": [ + [ + -39.64543533325195, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -83.295654296875, + 5.545533180236816 + ], + [ + -39.922603607177734, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -82.91574096679688, + 5.545533180236816 + ], + [ + -39.64543533325195, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -83.295654296875, + 6.416468620300293 + ], + [ + -39.922603607177734, + -82.91574096679688, + 6.416468620300293 + ], + [ + -39.64543533325195, + -82.91574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 447.2083312334722, + 394.09104521007646 + ], + [ + 433.3635569221234, + 396.3458413062084 + ], + [ + 434.78268686959916, + 410.28563254290395 + ], + [ + 448.8101949441369, + 407.9698217795057 + ], + [ + 440.74928774277754, + 364.34854285941276 + ], + [ + 426.4250698435957, + 366.612003065474 + ], + [ + 427.79598249052816, + 380.6127060925052 + ], + [ + 442.31590624313225, + 378.28589951755595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15348604559986913947, + "instance_id": 39922, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -39.78401184082031, + "y": -88.60569763183594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 410.09504368100085, + "ymin": 198.2591412390904, + "xmax": 429.13331949951, + "ymax": 239.10657397319363 + }, + "corners_3d": [ + [ + -39.64542770385742, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.41574096679688, + 6.416468620300293 + ], + [ + -39.64542770385742, + -88.41574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 428.007937015848, + 227.7332638237118 + ], + [ + 416.3599651283712, + 229.320221120568 + ], + [ + 417.35626107685437, + 239.10657397319363 + ], + [ + 429.13331949951, + 237.4837071544017 + ], + [ + 422.0804627746035, + 198.2591412390904 + ], + [ + 410.09504368100085, + 199.83512306095227 + ], + [ + 411.0470235876521, + 209.55735715874724 + ], + [ + 423.16916472852233, + 207.94469875839516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15667035415900801290, + "instance_id": 2633, + "pixel_count": null, + "type_id": "AmericanLights_Town04_15_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.95494842529297, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 428.1562228964749, + "ymin": 51.158968116376116, + "xmax": 440.96987758448086, + "ymax": 80.44607191468316 + }, + "corners_3d": [ + [ + -39.09428405761719, + -101.2059326171875, + 2.645533323287964 + ], + [ + -39.09428405761719, + -100.82600402832031, + 2.645533323287964 + ], + [ + -38.81561279296875, + -100.82600402832031, + 2.645533323287964 + ], + [ + -38.81561279296875, + -101.2059326171875, + 2.645533323287964 + ], + [ + -39.09428405761719, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -39.09428405761719, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -38.81561279296875, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -38.81561279296875, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 432.1021148152869, + 74.95285544099971 + ], + [ + 432.90314118117163, + 80.44607191468316 + ], + [ + 440.96987758448086, + 79.53293955775604 + ], + [ + 440.10840612831146, + 74.05359141017163 + ], + [ + 428.1562228964749, + 52.0459084901953 + ], + [ + 428.94166232328274, + 57.46476497867144 + ], + [ + 437.1676238212217, + 56.563883835302136 + ], + [ + 436.31933756384217, + 51.158968116376116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 653.1096183097202, + "xmax": 8.087328168669842, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -735.1821016428539, + 1018.5092597859289 + ], + [ + -754.3804506988927, + 1048.0964994412934 + ], + [ + 2.7259720892869836, + 884.5855067513756 + ], + [ + 8.087328168669842, + 860.4121826579837 + ], + [ + -1523.7863925719544, + 867.4924147856029 + ], + [ + -1576.675003720898, + 910.2442893932072 + ], + [ + -318.33733859771655, + 684.4381818069652 + ], + [ + -302.74270565137203, + 653.1096183097202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 584.6157927427621, + "ymin": 508.9971571868987, + "xmax": 724.438627036936, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46483612060547, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -77.6895751953125, + 0.13915228843688965 + ], + [ + -35.407981872558594, + -79.99028015136719, + 0.13915228843688965 + ], + [ + -37.46483612060547, + -79.99028015136719, + 4.824802398681641 + ], + [ + -37.46483612060547, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -77.6895751953125, + 4.824802398681641 + ], + [ + -35.407981872558594, + -79.99028015136719, + 4.824802398681641 + ] + ], + "corners_2d": [ + [ + 593.3721708643029, + 648.0060710444218 + ], + [ + 614.1936093667346, + 749.0000726033434 + ], + [ + 710.2654457162904, + 727.4142677948203 + ], + [ + 682.8585050454449, + 629.4247254169875 + ], + [ + 584.6157927427621, + 528.9736841123042 + ], + [ + 608.8891432634551, + 639.4724951472181 + ], + [ + 724.438627036936, + 615.5784939684356 + ], + [ + 690.7694572551954, + 508.9971571868987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4998482127975027282, + "instance_id": 21010, + "pixel_count": null, + "type_id": "AmericanLights_Town04_15_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.70180892944336, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 454.8830073519579, + "ymax": 180.82052207515494 + }, + "corners_3d": [ + [ + -38.676692962646484, + -101.08203887939453, + 0.0 + ], + [ + -38.672847747802734, + -101.51485443115234, + 0.0 + ], + [ + -50.726924896240234, + -101.62200164794922, + 0.0 + ], + [ + -50.730770111083984, + -101.1891860961914, + 0.0 + ], + [ + -38.676692962646484, + -101.08203887939453, + 8.446706771850586 + ], + [ + -38.672847747802734, + -101.51485443115234, + 8.446706771850586 + ], + [ + -50.726924896240234, + -101.62200164794922, + 8.446706771850586 + ], + [ + -50.730770111083984, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 454.8830073519579, + 140.15053506375097 + ], + [ + 453.95015232174717, + 133.77354393410442 + ], + [ + 112.37232553812737, + 173.76408422687086 + ], + [ + 110.39087801866594, + 180.82052207515494 + ], + [ + 416.58927775888435, + -96.02511467291595 + ], + [ + 415.8426131455592, + -101.3815155925547 + ], + [ + -2.502526939502104, + -67.48897834577889 + ], + [ + -6.13564395322021, + -61.4331042508461 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5223937798210712812, + "instance_id": 60660, + "pixel_count": null, + "type_id": "BP_StreetLight_simple69_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -25.4432315826416, + "y": -98.48323059082031, + "z": 4.029787540435791 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 795.6555991435885, + "ymin": 0.0, + "xmax": 881.7615343207656, + "ymax": 160.7883720344655 + }, + "corners_3d": [ + [ + -25.22362518310547, + -100.39994812011719, + 0.15306878089904785 + ], + [ + -25.662832260131836, + -100.39994812011719, + 0.15306878089904785 + ], + [ + -25.662837982177734, + -96.56651306152344, + 0.15306878089904785 + ], + [ + -25.223630905151367, + -96.56651306152344, + 0.15306878089904785 + ], + [ + -25.22362518310547, + -100.39994812011719, + 7.906506538391113 + ], + [ + -25.662832260131836, + -100.39994812011719, + 7.906506538391113 + ], + [ + -25.662837982177734, + -96.56651306152344, + 7.906506538391113 + ], + [ + -25.223630905151367, + -96.56651306152344, + 7.906506538391113 + ] + ], + "corners_2d": [ + [ + 806.4857327003314, + 103.33195563381491 + ], + [ + 795.6555991435885, + 104.67576426105904 + ], + [ + 830.9156877035192, + 160.7883720344655 + ], + [ + 842.4921681034253, + 159.23454728820852 + ], + [ + 836.1112899143886, + -106.38214044300707 + ], + [ + 823.4129967437202, + -105.2455950962293 + ], + [ + 868.0260255861775, + -57.12543950870014 + ], + [ + 881.7615343207656, + -58.47559012055564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 401.0684314213759, + "ymin": 92.91257131394985, + "xmax": 520.7760836391805, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -39.81796646118164, + -77.92668914794922, + 0.0 + ], + [ + -39.38514709472656, + -77.92284393310547, + 0.0 + ], + [ + -39.2779655456543, + -89.97692108154297, + 0.0 + ], + [ + -39.710784912109375, + -89.98076629638672, + 0.0 + ], + [ + -39.81796646118164, + -77.92668914794922, + 8.446706771850586 + ], + [ + -39.38514709472656, + -77.92284393310547, + 8.446706771850586 + ], + [ + -39.2779655456543, + -89.97692108154297, + 8.446706771850586 + ], + [ + -39.710784912109375, + -89.98076629638672, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 499.80191320829476, + 765.6400953920706 + ], + [ + 520.7760836391805, + 761.1472976721017 + ], + [ + 468.22499612892034, + 352.08428133331296 + ], + [ + 453.27009614705867, + 354.3342120043747 + ], + [ + 437.14402522412354, + 534.9312256123867 + ], + [ + 467.73817782292343, + 529.5054224324265 + ], + [ + 420.3430660509654, + 92.91257131394985 + ], + [ + 401.0684314213759, + 95.03918961703931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 590.5240416681409, + "ymin": 543.3939244688945, + "xmax": 716.563668856356, + "ymax": 672.7574277219645 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 591.1384539519588, + 570.9225865399292 + ], + [ + 613.2819198023269, + 672.7574277219645 + ], + [ + 715.5499456765006, + 651.0441613370854 + ], + [ + 685.9311150110924, + 552.4243090306986 + ], + [ + 590.5240416681409, + 561.9829252588568 + ], + [ + 612.9173057230846, + 664.4452441162769 + ], + [ + 716.563668856356, + 642.5799901404873 + ], + [ + 686.4997441875557, + 543.3939244688945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 590.5952566619436, + "ymin": 543.4551478751182, + "xmax": 716.482826022442, + "ymax": 672.6282785863664 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 591.2047796835789, + 570.903286849318 + ], + [ + 613.3302859323081, + 672.6282785863664 + ], + [ + 715.4768461178105, + 650.943163632681 + ], + [ + 685.8921176909287, + 552.4259973100028 + ], + [ + 590.5952566619436, + 562.0224682636997 + ], + [ + 612.9687700697539, + 664.3700287786169 + ], + [ + 716.482826022442, + 642.5341645068951 + ], + [ + 686.4565197343936, + 543.4551478751182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11094051639152387795, + "instance_id": 54182, + "pixel_count": null, + "type_id": "BP_StreetLight_simple70_SM_2", + "bbox_3d": { + "center_world": { + "x": -6.02786922454834, + "y": -98.48323059082031, + "z": 4.029787540435791 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1239.7680463121378, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 97.41547064559569 + }, + "corners_3d": [ + [ + -5.808262825012207, + -100.39994812011719, + 0.15306878089904785 + ], + [ + -6.247470855712891, + -100.39994812011719, + 0.15306878089904785 + ], + [ + -6.247475624084473, + -96.56651306152344, + 0.15306878089904785 + ], + [ + -5.808267593383789, + -96.56651306152344, + 0.15306878089904785 + ], + [ + -5.808262825012207, + -100.39994812011719, + 7.906506538391113 + ], + [ + -6.247470855712891, + -100.39994812011719, + 7.906506538391113 + ], + [ + -6.247475624084473, + -96.56651306152344, + 7.906506538391113 + ], + [ + -5.808267593383789, + -96.56651306152344, + 7.906506538391113 + ] + ], + "corners_2d": [ + [ + 1249.055343542711, + 48.41768720950586 + ], + [ + 1239.7680463121378, + 49.570059899725834 + ], + [ + 1303.0636262536486, + 97.41547064559569 + ], + [ + 1312.8812727523411, + 96.09772107468149 + ], + [ + 1348.122219472169, + -152.209058412775 + ], + [ + 1337.5142761889779, + -151.25960730030232 + ], + [ + 1419.9484018536145, + -111.37740413653677 + ], + [ + 1431.2473580354772, + -112.48805048368337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 2632823498462011149, + "instance_id": 3359, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2344_118", + "bbox_3d": { + "center_world": { + "x": -10.495529174804688, + "y": -110.40950775146484, + "z": 7.496057987213135 + }, + "extent": { + "x": 5.409572124481201, + "y": 5.236627578735352, + "z": 8.010706901550293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 891.7371153084389, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 27.479187201503635 + }, + "corners_3d": [ + [ + -4.370372295379639, + -114.78765869140625, + -0.5146489143371582 + ], + [ + -14.672418594360352, + -116.67363739013672, + -0.5146489143371582 + ], + [ + -16.620685577392578, + -106.03135681152344, + -0.5146489143371582 + ], + [ + -6.318640232086182, + -104.14537811279297, + -0.5146489143371582 + ], + [ + -4.370372295379639, + -114.78765869140625, + 15.506765365600586 + ], + [ + -14.672418594360352, + -116.67363739013672, + 15.506765365600586 + ], + [ + -16.620685577392578, + -106.03135681152344, + 15.506765365600586 + ], + [ + -6.318640232086182, + -104.14537811279297, + 15.506765365600586 + ] + ], + "corners_2d": [ + [ + 1089.6119509537853, + -75.52961083070295 + ], + [ + 891.7371153084389, + -72.22810807515305 + ], + [ + 945.8170857812316, + 27.479187201503635 + ], + [ + 1177.850880747604, + 22.92030142969611 + ], + [ + 1223.3823996118367, + -479.3844501920454 + ], + [ + 967.2046787924104, + -478.164914815615 + ], + [ + 1059.5981033914381, + -439.21863593969704 + ], + [ + 1376.0901295207066, + -441.09360713672663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 4583335198238427989, + "instance_id": 21963, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2731_98", + "bbox_3d": { + "center_world": { + "x": -10.154134750366211, + "y": -106.0651626586914, + "z": 6.229435443878174 + }, + "extent": { + "x": 4.179378032684326, + "y": 4.060829162597656, + "z": 6.62318229675293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.4443999168835, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 54.61517966621676 + }, + "corners_3d": [ + [ + -13.315958023071289, + -110.96009826660156, + -0.39374685287475586 + ], + [ + -15.1380033493042, + -103.04546356201172, + -0.39374685287475586 + ], + [ + -6.992311000823975, + -101.17022705078125, + -0.39374685287475586 + ], + [ + -5.170266628265381, + -109.0848617553711, + -0.39374685287475586 + ], + [ + -13.315958023071289, + -110.96009826660156, + 12.852617263793945 + ], + [ + -15.1380033493042, + -103.04546356201172, + 12.852617263793945 + ], + [ + -6.992311000823975, + -101.17022705078125, + 12.852617263793945 + ], + [ + -5.170266628265381, + -109.0848617553711, + 12.852617263793945 + ] + ], + "corners_2d": [ + [ + 965.4443999168835, + -30.044826957293253 + ], + [ + 1009.4695210364532, + 54.14371511895911 + ], + [ + 1206.832630872891, + 54.61517966621676 + ], + [ + 1138.820375697532, + -29.680857660688844 + ], + [ + 1049.9225052590373, + -370.58477954331613 + ], + [ + 1122.6767522683979, + -322.0329357506637 + ], + [ + 1380.6670669447826, + -321.75087347146405 + ], + [ + 1268.4003957619923, + -370.3823695324015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7951931410654245425, + "instance_id": 12594, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5154_51", + "bbox_3d": { + "center_world": { + "x": -30.2923583984375, + "y": -105.24735260009766, + "z": 1.4501495361328125 + }, + "extent": { + "x": 3.413510322570801, + "y": 3.644299030303955, + "z": 2.537168264389038 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 520.4116762370495, + "ymin": 0.0, + "xmax": 776.6919628897572, + "ymax": 148.81807778470716 + }, + "corners_3d": [ + [ + -35.281471252441406, + -105.45156860351562, + -1.0870187282562256 + ], + [ + -30.170202255249023, + -100.25555419921875, + -1.0870187282562256 + ], + [ + -25.30324363708496, + -105.04313659667969, + -1.0870187282562256 + ], + [ + -30.414514541625977, + -110.23915100097656, + -1.0870187282562256 + ], + [ + -35.281471252441406, + -105.45156860351562, + 3.9873178005218506 + ], + [ + -30.170202255249023, + -100.25555419921875, + 3.9873178005218506 + ], + [ + -25.30324363708496, + -105.04313659667969, + 3.9873178005218506 + ], + [ + -30.414514541625977, + -110.23915100097656, + 3.9873178005218506 + ] + ], + "corners_2d": [ + [ + 531.4098039414167, + 94.66207021731469 + ], + [ + 682.1187514672982, + 148.81807778470716 + ], + [ + 764.501407793875, + 72.431718654978 + ], + [ + 622.3359978431512, + 27.96391433487605 + ], + [ + 520.4116762370495, + -25.57807173706516 + ], + [ + 686.7336263778989, + 24.673273861392147 + ], + [ + 776.6919628897572, + -45.9889696530592 + ], + [ + 620.7242775038794, + -86.44514850054418 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8077876891690451600, + "instance_id": 37058, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5156_53", + "bbox_3d": { + "center_world": { + "x": -15.743038177490234, + "y": -107.57192993164062, + "z": 1.4496076107025146 + }, + "extent": { + "x": 3.413510322570801, + "y": 3.644299030303955, + "z": 2.537168264389038 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 854.9066427531488, + "ymin": 0.0, + "xmax": 1065.5147082846727, + "ymax": 73.48136666680466 + }, + "corners_3d": [ + [ + -14.999075889587402, + -102.63436889648438, + -1.0875606536865234 + ], + [ + -10.864629745483398, + -108.63687133789062, + -1.0875606536865234 + ], + [ + -16.48699951171875, + -112.50949096679688, + -1.0875606536865234 + ], + [ + -20.62144660949707, + -106.50698852539062, + -1.0875606536865234 + ], + [ + -14.999075889587402, + -102.63436889648438, + 3.9867758750915527 + ], + [ + -10.864629745483398, + -108.63687133789062, + 3.9867758750915527 + ], + [ + -16.48699951171875, + -112.50949096679688, + 3.9867758750915527 + ], + [ + -20.62144660949707, + -106.50698852539062, + 3.9867758750915527 + ] + ], + "corners_2d": [ + [ + 1012.5620506366932, + 73.48136666680466 + ], + [ + 1031.4101503303696, + 0.3107052716227372 + ], + [ + 888.6286836188136, + -23.45773359192981 + ], + [ + 854.9066427531488, + 44.09249068502157 + ], + [ + 1049.0994722775545, + -45.02469331481308 + ], + [ + 1065.5147082846727, + -111.35350466492719 + ], + [ + 909.420547095736, + -132.61604110045118 + ], + [ + 875.0328779992484, + -71.82529204921451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8418028394944126001, + "instance_id": 12764, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_5155_52", + "bbox_3d": { + "center_world": { + "x": -0.10823684185743332, + "y": -109.92742156982422, + "z": 1.445652723312378 + }, + "extent": { + "x": 3.41351056098938, + "y": 3.6442995071411133, + "z": 2.537168264389038 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1111.8208175480145, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 13.203794214982224 + }, + "corners_3d": [ + [ + -2.042206287384033, + -105.32386779785156, + -1.0915155410766602 + ], + [ + 4.611831188201904, + -108.29833221435547, + -1.0915155410766602 + ], + [ + 1.8257324695587158, + -114.53097534179688, + -1.0915155410766602 + ], + [ + -4.828304767608643, + -111.55651092529297, + -1.0915155410766602 + ], + [ + -2.042206287384033, + -105.32386779785156, + 3.982820987701416 + ], + [ + 4.611831188201904, + -108.29833221435547, + 3.982820987701416 + ], + [ + 1.8257324695587158, + -114.53097534179688, + 3.982820987701416 + ], + [ + -4.828304767608643, + -111.55651092529297, + 3.982820987701416 + ] + ], + "corners_2d": [ + [ + 1239.3721716838318, + 13.203794214982224 + ], + [ + 1318.7319464367292, + -28.084746647540044 + ], + [ + 1192.82705968891, + -72.99534498429074 + ], + [ + 1111.8208175480145, + -37.722396652099235 + ], + [ + 1292.7318031537848, + -99.73899746163039 + ], + [ + 1375.018755603163, + -136.71722629955678 + ], + [ + 1235.0492649972234, + -176.4721426412824 + ], + [ + 1150.2818195197085, + -145.28923335075785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10827265668832960996, + "instance_id": 58401, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2730_97", + "bbox_3d": { + "center_world": { + "x": -27.681903839111328, + "y": -107.19534301757812, + "z": 7.26941442489624 + }, + "extent": { + "x": 4.896050453186035, + "y": 4.757172584533691, + "z": 7.758913516998291 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 509.16612055342443, + "ymin": 0.0, + "xmax": 910.5924722221077, + "ymax": 124.33110971085998 + }, + "corners_3d": [ + [ + -34.47722244262695, + -106.5429458618164, + -0.4894990921020508 + ], + [ + -27.22525978088379, + -100.38406372070312, + -0.4894990921020508 + ], + [ + -20.88658332824707, + -107.84774017333984, + -0.4894990921020508 + ], + [ + -28.138547897338867, + -114.00662231445312, + -0.4894990921020508 + ], + [ + -34.47722244262695, + -106.5429458618164, + 15.028327941894531 + ], + [ + -27.22525978088379, + -100.38406372070312, + 15.028327941894531 + ], + [ + -20.88658332824707, + -107.84774017333984, + 15.028327941894531 + ], + [ + -28.138547897338867, + -114.00662231445312, + 15.028327941894531 + ] + ], + "corners_2d": [ + [ + 545.5699525001863, + 66.24538341590596 + ], + [ + 755.4763722433021, + 124.33110971085998 + ], + [ + 840.4451162240254, + 18.016544876304863 + ], + [ + 652.1940198257437, + -25.489304848617223 + ], + [ + 509.16612055342443, + -402.3856628630663 + ], + [ + 805.2348988813507, + -374.443551775591 + ], + [ + 910.5924722221077, + -424.27376860500215 + ], + [ + 656.0889892568302, + -443.0764974962825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.79012547073626, + "ymin": 0.0, + "xmax": 652.3563732950955, + "ymax": 130.18928186812892 + }, + "corners_3d": [ + [ + -42.32275390625, + -110.74749755859375, + -0.42456769943237305 + ], + [ + -38.674442291259766, + -102.44004821777344, + -0.42456769943237305 + ], + [ + -30.09263038635254, + -106.20884704589844, + -0.42456769943237305 + ], + [ + -33.74094009399414, + -114.51629638671875, + -0.42456769943237305 + ], + [ + -42.32275390625, + -110.74749755859375, + 13.455196380615234 + ], + [ + -38.674442291259766, + -102.44004821777344, + 13.455196380615234 + ], + [ + -30.09263038635254, + -106.20884704589844, + 13.455196380615234 + ], + [ + -33.74094009399414, + -114.51629638671875, + 13.455196380615234 + ] + ], + "corners_2d": [ + [ + 352.3148352948208, + 37.08112200719995 + ], + [ + 453.31447756849695, + 130.18928186812892 + ], + [ + 649.3110743262681, + 57.17246350994816 + ], + [ + 535.125815994989, + -19.997858213266056 + ], + [ + 261.79012547073626, + -354.6067969015444 + ], + [ + 383.4658899893743, + -300.7077151302087 + ], + [ + 652.3563732950955, + -343.3747397218292 + ], + [ + 505.68976701873794, + -385.40148830768123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15640137526918587751, + "instance_id": 26405, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2700_67", + "bbox_3d": { + "center_world": { + "x": 4.031472682952881, + "y": -108.68603515625, + "z": 6.4505133628845215 + }, + "extent": { + "x": 4.333752155303955, + "y": 4.210824012756348, + "z": 6.867822647094727 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1206.752245599146, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 10.822078213102088 + }, + "corners_3d": [ + [ + 3.4808242321014404, + -114.70344543457031, + -0.4173092842102051 + ], + [ + -1.9992884397506714, + -108.30872344970703, + -0.4173092842102051 + ], + [ + 4.582120895385742, + -102.66862487792969, + -0.4173092842102051 + ], + [ + 10.062233924865723, + -109.06334686279297, + -0.4173092842102051 + ], + [ + 3.4808242321014404, + -114.70344543457031, + 13.318336486816406 + ], + [ + -1.9992884397506714, + -108.30872344970703, + 13.318336486816406 + ], + [ + 4.582120895385742, + -102.66862487792969, + 13.318336486816406 + ], + [ + 10.062233924865723, + -109.06334686279297, + 13.318336486816406 + ] + ], + "corners_2d": [ + [ + 1223.506194693642, + -89.85421768461197 + ], + [ + 1206.752245599146, + -28.646974562389687 + ], + [ + 1412.3993595310924, + 10.822078213102088 + ], + [ + 1408.3330866591969, + -58.10129027371664 + ], + [ + 1362.6166272976982, + -416.875727998769 + ], + [ + 1361.0019541510615, + -385.3188098408227 + ], + [ + 1640.2013301523616, + -364.04077517331666 + ], + [ + 1604.7892960403888, + -400.716698112626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16802134287382261102, + "instance_id": 28333, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2348_122", + "bbox_3d": { + "center_world": { + "x": -18.288772583007812, + "y": -114.34536743164062, + "z": 6.137966632843018 + }, + "extent": { + "x": 4.417799472808838, + "y": 4.276562213897705, + "z": 6.542049884796143 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.1835931279606, + "ymin": 0.0, + "xmax": 1052.5488320253953, + "ymax": 3.9859414741813453 + }, + "corners_3d": [ + [ + -23.494022369384766, + -117.61817932128906, + -0.404083251953125 + ], + [ + -21.728931427001953, + -109.2491683959961, + -0.404083251953125 + ], + [ + -13.08352279663086, + -111.07255554199219, + -0.404083251953125 + ], + [ + -14.848613739013672, + -119.44156646728516, + -0.404083251953125 + ], + [ + -23.494022369384766, + -117.61817932128906, + 12.68001651763916 + ], + [ + -21.728931427001953, + -109.2491683959961, + 12.68001651763916 + ], + [ + -13.08352279663086, + -111.07255554199219, + 12.68001651763916 + ], + [ + -14.848613739013672, + -119.44156646728516, + 12.68001651763916 + ] + ], + "corners_2d": [ + [ + 724.1835931279606, + -66.31638103035908 + ], + [ + 812.3064742622337, + 3.9859414741813453 + ], + [ + 968.7856072294065, + -31.295023386085063 + ], + [ + 868.7406744020122, + -94.48037749716963 + ], + [ + 744.1040440908437, + -385.3355978129048 + ], + [ + 859.446116508952, + -345.61377838737747 + ], + [ + 1052.5488320253953, + -365.84035275658596 + ], + [ + 919.6179316537604, + -400.60946674015827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16903995903109461004, + "instance_id": 3188, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1951_137", + "bbox_3d": { + "center_world": { + "x": -13.292604446411133, + "y": -110.07227325439453, + "z": 6.023865699768066 + }, + "extent": { + "x": 4.043490409851074, + "y": 3.9287960529327393, + "z": 6.4078369140625 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 861.4589498055936, + "ymin": 0.0, + "xmax": 1218.6757979494053, + "ymax": 26.800332284478714 + }, + "corners_3d": [ + [ + -9.060844421386719, + -106.3470230102539, + -0.3839712142944336 + ], + [ + -9.447163581848145, + -114.19511413574219, + -0.3839712142944336 + ], + [ + -17.524364471435547, + -113.79752349853516, + -0.3839712142944336 + ], + [ + -17.138046264648438, + -105.94943237304688, + -0.3839712142944336 + ], + [ + -9.060844421386719, + -106.3470230102539, + 12.431702613830566 + ], + [ + -9.447163581848145, + -114.19511413574219, + 12.431702613830566 + ], + [ + -17.524364471435547, + -113.79752349853516, + 12.431702613830566 + ], + [ + -17.138046264648438, + -105.94943237304688, + 12.431702613830566 + ] + ], + "corners_2d": [ + [ + 1096.7865634504956, + 4.053769850233493 + ], + [ + 1006.9744107941941, + -64.66477332516843 + ], + [ + 861.4589498055936, + -46.58329503449096 + ], + [ + 936.4411552399032, + 26.800332284478714 + ], + [ + 1218.6757979494053, + -336.91559933267683 + ], + [ + 1092.0229978248008, + -376.72907415276734 + ], + [ + 914.7858144861138, + -366.4685594285015 + ], + [ + 1019.1181436714724, + -323.232539198841 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file